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1. i Input mae HEN N N Record bit 0 TE Record bit 1 l Ba I l l l l l l l l i i i l l I l l i l Output i Ready l I l l i i Output Running 4 5 Flag Positioning Mode 4 5 1 Description Function Maximum Speed 2 Maximum Speed 1 Minimum Speed Parameter fields in the Flag Position operation type Operation Type Position Demard Direction Target Speed Y Maximum Ramp Brake Ramp Break R epetitions Nest Record Ramp Type Flag Position 400 et or MOOD o 200000 2083 2083 a W Nanotec PLUG amp DRIVE The flag positioning mode offers a combination of the speed and positioning modes The motor is first operated in speed mode to travel an undefined distance with a specific speed for example When a trigger trigger point is reached e g a limit switch operation is switched to the relative positioning mode to travel to a defined setpoint position relative to the trigger position Manater PLUG amp DRIVE Manually setting the trigger signal The trigger signal can be set manually at input 5 via the NanoP ro control software If you start the motor for test purposes click on the lt Test Record gt button the following button changes Trigger on Stop Record Quick Stopp Daten speichern Daten auslesen e The lt Test Record gt button changes to the lt Trigger o
2. 11 Clock Direction Right 12 Positionmode Relative 400 Lefi Brake Ramp 288 3 Ha ms 13 Positionmode Relative 400 Lefl 14 Positionmode Relative 400 Lefl Break fi ms 15 Positionmode Relative 400 Lefl 16 Positionmode Relative 400 Lefl Fepetitions f 17 Reference Run External Left 101 18 Speed Left 2000 Reverse Direction 19 Speed Left 2000 20 Clock Direction Left Next Record Number Type 7 21 Clock Direction Right O OTe Hace 22 Positionmode Relative 400 Lefl Ramp Type Trapezoid Ramp 7 23 Positionmode Relative 400 Lefl Stop Record 24 Positionmode Relative 400 Lefl 25 Positionmode Relative 400 Lefl Quick Stop 26 Pasitionmode Relative 400 Lefl 27 Positionmode Relative 400 Lefl 7 28 Positionmode Relative 400 Lefi Save to Drive 29 Pasitionmode Relative 400 Lefl 30 Positionmode Relative 400 Lefl Read from Drive 31 Positionmode Relative 400 Lefl 32 Positionmode Absolute 400 100 0 Steps 1000 Hz Query State Reset Counter Read Counter 400 Hz 1 1 399 400 Steps Delivery Status 2 08 400 08 402 16 ms Issue V2 3 15 of 90 VY Manater PLUG amp DRIVE Drive Profile selection list Drive Profile 01 Positionmode Relative 400 O2 Reference Aun Internal Left 200 03 Speed Lett 2000 04 Flag Position 400 Left 2000 05 Reference Run External L
3. 0 eed Normal Operation Disable The limit switch has no function The following parameters can be set Parameters Type Selection of the reference switch as an opener or closer depending on the version Data on whether the limit switch external and internal should During Homing During Normal Operation be approached during the reference run free forwards without direction change or backwards in the opposite direction Data on how the motor should behave when recognizing the limit switch external and internal during normal operation no reference run Proceed as follows to set the limit switch behavior Step Setthe parameters according to your requirements Click on the lt Save Data gt button The settings are saved Inputs W Nanotec PLUG amp DRIVE The following settings can be made Switching behavior A selection can be made for each input as to whether it switches with rising or falling edge L falling edge J rising edge Input function User defined The input is masked i e it is not directly interpreted by the controller and is available to the user as a general purpose input The masking of an input means that its state high low can be evaluated via the interface Further information can be found in the relevant Command Reference section of the programming manual Start reset An impulse at the Start R eset input starts the selec
4. During the internal reference run the motor travels to an internal reference point at the set minimum speed Please refer to Section 4 3 Relative and absolute positioning internal and external reference run During an external reference run the motor travels to a switch connected to the reference input Please refer to Section 4 3 Relative and absolute positioning internal and external reference run Use this mode when you wish to travel with a specific Speed e g a conveyor belt or pump speed In the speed mode the motor accelerates with a Specified ramp from the starting speed start frequency V Start to the specified maximum speed maximum frequency V Normal Several inputs enable the speed to be changed on the fly to different speeds Please refer to Section 4 4 Speed Mode The flag positioning mode offers a combination of the speed and positioning modes The motor is initially operated in speed mode when a trigger point is reached it changes to the positioning mode and the Specified setpoint position relative to the trigger position is approached This operating mode is used for labeling for example the motor first travels with the set ramp to the synchronous speed of the conveyed goods When the labels are detected the preset distance position Is traveled to apply the labels Please refer to Section 4 5 Flag Positioning Mode W Nanotec PLUG amp DRIVE Operation mode Applicatio
5. CL Parameter Scope Sample Rate f DO me Volage M Stat Drive Profile Unit Target Position 1 Grid Pattern 05 Current Position 1 Grid Pattem 05 Following Error 1 Grid Patter 05 Target Current 1 Grid Pattern 0 Input Voltage 1 Grid Pattern OV Temperature 1 Grid Pattern Analog Input 1 Grid Pattern 0 W be EE EE EE bk EE kk Digital Inputs Performance 1 Grid Pattern 0 yy Coefficient 1 Grid Pattern 0 2 Reset Counter Time a J gt 1 Grid Pattern 0 me Start Save Open Screenshot Stop Selectable parameters z 5 LLE N EE IN HE bk bb Eurentirain 1 Grid Pattern 0 A Target position and Current position parameters The target position is the target value calculated by the ramp generator of the motor The current position is the position determined with the help of the motor encoder In normal cases the target and current positions should match The current position is always 0 in a motor without encoder If the target and current position deviate from one another this may be due to various reasons e Step loss during the run When the motor does not reach its target position during open loop operation step losses have occurred Possible countermeasures Selecta flatter ramp Selecta lower speed Increase motor current so that the motor has more strength W Nanotec PLUG amp DRIVE e Incorrect setting of the encoder When the
6. Un KP en Ina KI en KD n1 en The next integral value is derived from In IE KI te Un Control variable KP Proportional component derived from the numerator 2 ominator KI P roportional component derived from the numerator 2 ominator KD P roportional component derived from the numerator 2deominator en Deviation of actual value from setpoint value En Deviation of previous actual value from previous setpoint value Ina Last integral value Speed error monitoring The speed controller monitors the set speed If the actual speed deviates for a specific time from the setpoint speed the controller is deactivated and the motor stops W Nanotec PLUG amp DRIVE The speed monitoring can be adjusted as required with the parameters in the Following Error Speed Mode area e Count The maximum amount based deviation of the actual from the setpoint positionis output in steps value range 0 2000000000 e Time Time is output in milliseconds 13 3 Position loop Description The position controller controls the position It is used in the following modes e Relative Absolute Position Mode e Flag Position mode e Clock Direction mode e Analogue Position mode e Reference run Internal calculation principles and parameters With the position controller the controlled variables always refer to the actual position deviation in steps The set parameters are used to convert the system deviation deviation of actual
7. When the setting is made during the run the correction will be implemented during the run itself The ramp and the speed from the travel profile selected here are used for the correction run W Nanotec PLUG amp DRIVE Starting within the swing out time The specification of a swing out time before measurement of the rotor position by the encoder limits the possibility of rapid reversing movements In the relative positioning mode a break between two reversing rotary motions must also be defined minimum 1 ms If the set break is shorter than the swing out time the motor waits until the rotor is in a suitable position and then carries out the next record This favorable position is determined when the tolerance width is set and avoids step losses The length of the break and swing out time in ms after the completion of a record is determined by the number of encoder edges It is possible to realize rapid reversing movements with the specification of a tolerance width in edges Swing out of the rotor Start Suitable position Tolerance width t ms Start command 80 ms break Encoder edges The encoder has a 5 to 10 times higher resolution than the motor The encoders used operate with 500 pulses revolution This squaring results in a resolution of 2 000 edges The 1 8 stepper motors operate with 200 steps revolution therefore a full step equals 10 encoder edges half step 5 edges
8. Position Steps d Feed Rate i mer Gear Reduction 1 Display Properties Position Polling 200 m Display Properties The following parameters can be set Parameters Function Note Distance The distance can be The units of measure set here are displayed in inserted in the parameter fields of the e Steps various operating modes e Degrees S peed The speed rotational The units of measure set here are speed can be displayed inserted in the parameter fields of the IN various operating modes Position The counter reading can The units of measure set here are be displayed in inserted in the parameter fields of the e Steps various operating modes e Degrees e mm Feed rate Definition of the feed If one of the above parameters is set to rate in mm rev mm then the corresponding feed must be entered in the Feed Rate field Gear reduction Option field for When the option field is set the field activating the Gear Gear Reduction is activated and the Reduction field reduction value can be entered Input of the gear Gear Reduction W 1 reduction when the field is activated Update interval for the On older computers it can make sense ramp graph in ms in the to seta high value The default setting is Movement Mode gt tab 200 ms Position Polling W Nanotec PLUG amp DRIVE 8 lt Errorcorrection gt tab Display The settings for speed monitoring and error correction
9. Torque mode Manatec User Manual PLUG amp DRIVE NanoP ro cMode tab 4 2 Entering the profile parameters Introduction Up to 32 travel profiles can be defined and programmed You can assign important profile parameters to a travel profile using the NanoPro software The parameters listed below do not all have to be specified for all travel modes When the operation mode is activated or changed the relevant fields are displayed in the lt Movement Mode gt tab lt Movement Mode gt tab The profile parameters for a specific travel profile are set on the lt Movement Mode gt tab Movement Mode Motor Settings Brake Display Froperties Erorcorection Input Output Communication Statusdisplay Cl Parameter Scope Expert Drive Profile Operation Type Positionmode Relative 7 Drive Speed 400 Hz 01 Positionmode Relative 400 Le a Acceleration 288 3 Ha ms 02 Reference Run Internal Left 20C Position Demand 400 Steps 208 ms 03 Speed Left 2000 exe Acceleration Time 04 Flag Position 400 Left 2000 Direction Left 7 Step Mode Half Step 05 Reference Run External Left 20I 06 Positionmode Absolute 400 10 Minimal Speed 400 Hz Phase Current 10 07 Positionmode Absolute 400 10 08 Positionmode Relative 400 Left Target Speed 1000 Hz Ha Ere 03 Flag Position 400 Left 2000 E Dutput Speed 400 Hz 10 Clock Direction Left Ramp Ha ms Step Resolution 1 8
10. detected automatically for Plug amp Drive motors Enter the required parameters inthe e See Section 4 2 Entering the tabs and click if necessary on the profile parameters for example Save Data gt button to transfer the settings of the respective tab to the motor controller Click on the lt Save Configuration to Drive gt button if necessary to transfer all settings from NanoP ro to the controller V Manater PLUG amp DRIVE d 4 1 Overview Introduction lt Mode gt tab Depending on the travel profile the motor can be operated using 14 different Operating modes see also Section 4 2 Entering the profile parameters Due to the great capacity and functions available it offers designers and developers a rapid and simple method of resolving numerous drive requirements with less programming effort Select the required operating mode for each drive profile and configure the controller according to your requirements Overview of operating modes and their areas of application Operation mode Application P ositionmode Relative Use this mode when you wish to travel to a specific Positionmode Absolute Internal reference run External reference run Speed mode Flag positioning mode position The motor travels according to a specified drive profile from a Position A to a Position B Please refer to Section 4 3 Relative and absolute positioning internal and external reference run
11. lt Firmware check automatic gt When the checkbox is activated an automatic check is made of whether a firmware update is available e lt Show Expert Tab gt When the checkbox is activated the lt Expert gt tab is displayed in the tab bar e lt Supportlog gt When the checkbox is activated a log file is automatically created for support purposes The lt Help gt menu has the following menu items Help Content About HanaoPFra e lt Content gt Call up the online help for NanoP ro e lt About NanoPro gt Display the version information for the latest installation of NanoP ro Manater PLUG amp DRIVE 2 2 2 The menu window Tabs The menu window contains the following tabs Movement Mode Motor Settings Brake Display Properties E rorcorrection Input Output Communication Statusdizplay CL Parameter Scope Expert Tab See Section State 4 lt Mode gt tab Motor Settings 5 Motor settings gt tab Brake 6 lt Brake gt tab Display P roperties 7 Display Settings gt tab Error correction 8 lt Errorcorrection gt tab Inputs 9 lt nputs gt tab Outputs 10 lt Outputs gt tab Communication 11 lt Communication gt tab Statusdisplay 12 lt Status display gt tab CL Parameter 13 lt CL P arameter gt tab closed loop Scope 14 lt Scope gt tab E xpert display must be activated via 15 lt Expert gt tab lt System gt Show Expert
12. 1 0 Activate Output Polling Save Data Note The number of outputs depends on the controller in use Settings The following settings can be made Switching behavior A selection can be made for each output whether it switches with rising or falling edge e falling edge e EI rising edge Output function e User defined The output is masked i e itis not directly interpreted by the controller and is available to the user as a general purpose output e Ready e Running Nanotec PLUG amp DRIVE e Error The error state cannot be displayed in NanoPro The Activate Polling Output checkbox has no effect The entry in the selection menu can however be used to configure external I Os Eror Preaay Running Sete The motor cannot travel The error needs to be rectified first oo 1 The motor is processing the last command Oi o Motor idle waiting for new command Error speed monitoring or limit switch normal operation 1 oo Reference point zero position reached Setting the output When the checkbox is activated the corresponding output of the firmware is set provided it is masked for open use State Display In addition the state of the outputs present when the tab was opened is displayed green high red low Activate Output Polling The status display of the outputs is activated if the checkbox Is activated W Nanotec PLUG amp DRIVE 11 Co
13. CL Parameter gt tab closed loop W Nanotec PLUG amp DRIVE Adjusting the encoder Note e Before adjusting the encoder the motor type or the motor step angle must be correctly set see Section 5 lt Motor settings gt tab e The lt Encoder Wizard gt button is only available for stepper motors not BLDC Resolution and direction of rotation of the encoder can be adjusted using the lt Encoder Wizard gt The motor makes one revolution if the button is pressed The resolution of the rotation encoder is automatically matched and displayed in the lt Motor Settings gt tab Depending on the connection the rotation is also matched if necessary and displayed in the lt Motor Settings gt tab Reverse Encoder Direction checkbox Is activated Manater PLUG amp DRIVE 6 lt Brake gt tab Display Settings for the brake are adopted using the lt Brake gt tab Movement Mode Motor Settings Brake Display Properties Erorcorrection Input Output Communication Statusdisplay CL Parameter Scope Espert External Brake Time ta jo me Time th lo me Start Time te lo ms Motor Bremse geschlossen The external brake can be configured by three parameters genet ta tb te Zeit The parameters define times me Possible values are 0 655 35 Power up Sequence When the Controller is turned on the brake is active and the drive ig not under current Then the drive is set
14. Display Movement Mode Motor Settings Brake Display Properties Emorcorection Input Output Communication Statusdisplay CL Parameter Scope Expert Cer 03 Positionmode 04 Positionmode 05 Positionmode 06 Positionmode Relat Relat Relative 400 Output Speed Relative 400 Relative 400 SAD EI Relative 400 Relat Relative 400 Relat Relat Relative 400 Relative 400 Relative 400 Relative 400 Relat Relat Relative 400 23 Positionmode Query State Reset Counter Function Relative 400 Relative 400 Acceleration Time Relative 400 Step Mode Relative 400 Relative 400 Phase Curent ive 400 Gear Reduction ive 400 a ive 400 ive 400 ive 400 ive 400 ive 400 The torque mode is used to rotate the motor at a constant torque The torque is determined by the analog input see configuration of analog input in lt Input gt tab The maximum current is limited by the set phase current see Phase current parameter in the lt Motor Settings gt tab The rotational speed is not fixed in this mode the greater the load on the motor the lower the rotational speed The speed that is set depends on the type of motor used and the current setting Ramps are not used in the Torque mode The rate at which the motor accelerates only depends on the setting for current Note The T
15. Following eror Reset Error Yes Mo A following error occurs if the motor is in soeed mode and either closed loop or error correction is activated and the actual value differs from the measured value The error can be reset by pressing the lt Y es button Clock frequency If an attempt is made to communicate with the controller while the motor is presently operated in the Clock Direction mode with a clock frequency of more than 65 kHz then the following message appears x The controller doesn t communicate at the moment due to a high frequency at the clock input Communication can only take place again if a clock frequency of less than 65 kHz Is set secila V9 2 OT anf C Issue V2 3 87 of 9 N U Index Absolute positioning mode ee 19 ACTS ONAGS iss EE N Ge 78 Analog DEE se ee ee De NE 78 Analog MOC ie eN Ee SG ee N 35 Analogue positioning mode eese 37 Automatic E rrorcorrecHON ee 49 Autotune Wizard ses He es N N 73 Ee N EE EE N 60 ME EE N 45 Brake Ha ie Ee ed ee ie N 21 si ME EE rie 21 30 Cascade controller 68 CL is EE EE EE EE es 64 CL Parameters EE 64 Clock Direction mode seeren 32 Closed loop current control 11 43 64 COMMUNIC QUOI as oes ED ER RR Re EE DE 60 Correction FUN esse ee 49 Counter ed rer eae ene E ee ee 18 PRS OE AE EE 17 CuUment DEAD oues ee DAE ER Ee rede 78 Current POSITION ee ee ee RR ee 71 Delivery COnAIUBP ses es oe ee 18 Digital INPUTS ao
16. Input External reference switch Output Ready Output Running 34 of 90 Issue V2 3 Manater PLUG amp DRIVE 4 7 Analog and J oystick Mode Note The analog and joystick modes differ only in a few details Both modes are therefore described here in one Section 4 7 1 Description Function In the analog or joystick mode a stepper motor is operated in a simple application e with a specific speed e g via an external potentiometer e orsynchronously with a superordinate controller with analog output 10 V to 10 V The motor is simply actuated either by a potentiometer or an external power supply and a joystick maximum 10 V to 10 V The motor operates at a speed proportional to the applied voltage The voltage is resolved with an accuracy of 10 bits The smaller the selected voltage range is the worse the resolution of the speed will be To define the voltage range see Section 9 lt Inputs gt tab Parameter fields in the Analog operation mode Operationsmodus TEN Richtung kinks o s i s s Startgeschwindigket OO Hz Sollgeschwindigkeit hooo o Hz Rampe 283 00 Ha ms Bremsrampe 2683 000 Hz m Fampentyp TapezRampe sl Parameter fields in the J oystick operation mode Operationsmodus N Startgeschwindigkeit OO Hz Sollgeschwindigkeit Maga Hz Hampe 2083 00 Harms Bremsrampe 2683 Harms Fampentyo Trapez Rampe 4 7 2 Assignment of the inputs and outputs Gene
17. Maximum Maximum speed 2 The maximum speed after the trigger pulse positioning mode in Hz Default set to 1000 Hz To avoid step losses it should be selected to be above the natural resonance of the motor Too high a maximum speed can cause step losses and motor stalling Ramp Brake Ramp Input of ramp gradient in Hz ms Brake ramp The value 0 means that the value set in the Ramp field for the acceleration ramp is also applied for the brake ramp Break e The idle time of the motor in ms when several runs must be implemented in sequence e The minimum duration of the adjustable break is 1 ms Repetitions The Repetitions parameter indicates how often the selected travel profile should be implemented automatically in sequence without another start command Next Record A travel profile can be defined in this selection menu to be called up when the current record is ended Ramp Type The following ramp types can be selected e Trapezoid ramp e Sinus ramp e jerk Free Ramp see Section 4 3 3 Vi Nanatec l User Manual PLUG amp DRIVE NanoPro Profile graph display The displayed profile graph shows the ramp times acceleration time and the overall actuating time for the applicable travel profile The graphic is recalculated after every relevant input This allows you to continually check and where necessary correct the settings made 6639 Hz 4000 Hz 400 Hz Gi 4160 400 Steps z 56 302 31 ms 4 5 4 Si
18. Profile parameters Parameter descriptions The following parameters can be setin the analog positioning mode Parameters Position Demand e Distance for the selected travel profile e The number of motor steps to be output can be selected up to 16 777 215 steps Minimal Speed Starting speed The minimum speed in Hz is the startup speed start stop frequency of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a minimum speed can also lead to step losses Target Speed Normal speed The maximum speed in Hz Is the setpoint speed of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a maximum speed can cause step losses and motor stalling Ramp Input of ramp gradient in Hz ms In the analog positioning mode the ramp determines the maximum acceleration If the voltage changes too fast e g by turning the potentiometer too rapidly this ramp is used to accelerate to the maximum rotational speed Brake ramp Input of ramp gradient in Hz ms In the analog positioning mode the brake ramp determines the maximum deceleration If the voltage changes too fast e g by turning the potentiometer too rapidly this ramp is used to decelerate to a standstill The value 0 means that the value set for the acceleration ramp can also be used for the brake ramp Nanotec acacia PLUG amp DRIVE 4 9 Torque mode
19. Resolution 500 F the rotation encoder resolution is not corect please choose the right resolution 500 Please choose the parameters for dive Default Default g Check whether the encoder resolution was detected correctly and change the value in the upper selection menu if necessary In BLDC motors the encoder resolution cannot be detected automatically and therefore must be set by the user Then selecta parameter set in the lower selection menu if necessary User Manual V Nanotec NanoP ro PLUG amp DRIVE lt CL Parameter gt tab closed loop Click on the lt Next gt button A calibration run is then performed The following window appears during the process The following window appears after the successful calibration run Ve Closed Loop Wizard 1 N i The calibration un was successful for controller SMCI47 5 R5485 Check the measurement results of the calibration run 72 of 90 Issue V2 3 Manater PLUG amp DRIVE Click on the lt Next gt button The following window appears Vv Closed Loop Wizard The drive configuration completed successful To adjust the PID parameters please follow the user guide You can open the according help screen by pressing F1 on the CL Parameters page Save configuration file after finishing the wizard _ al es Click Finish to complete the Wizard Activate the checkbox if the configuration file should be saved Click on the lt Finis
20. Tab gt Transferring settings to from controller The current configuration settings can be saved in the connected controller or read from the connected controller using the following buttons Read Configuration Hom Drive e lt Save Configuration to Drive gt The current settings are transferred from the NanoPro to the connected controller Save Contiqueration to Drive e lt Read Configuration from Drive gt The current settings are transferred from the connected controller to NanoPro W Nanotec PLUG amp DRIVE 3 Configuring the controller General information This section describes the general procedure for configuring the controller The parameters to be configured on the respective tabs are described in detail in Sections 4 to 15 Procedure To configure the drivers proceed as follows Commission the controller and See technical manual of the establish communication with the respective controller controller Click on the lt R ead Configuration from See Section 5 lt Motor settings gt tab Drive gt button The connected controller type is detected and displayed in the lt Motor settings tab The parameters applicable for the respective controller type are displayed If this is nota Plug amp Drive motor See Section 5 lt Motor settings gt tab Select the motor type and motor designation See motor type plate in the lt Motor settings gt tab Motor type and designation are
21. The recommended tolerance width Is 2 edges Manater PLUG amp DRIVE 9 lt Inputs gt tab Display Movement Mode Motor Settings Brake Display Properties Emorcorection Input Output Communication Statusdisplay CL Parameter Scope Exper Inputs Start Reset Record bit 1 Recordbt2 Ecemal reference switch Behavior for temal Homing Input Debounce Time 20 ms Type Erang Hoang Userdefined I Os are not used by the drive controller and can be used as general purpose O During Normal Operation Activate Input Polling Save Data Analog input The lt Input gt tab the following parameters for the analog input can be defined paramers Faneten OO Lower voltage These values determine the upper and lower limits of the input threshold voltage and The voltage is resolved with an accuracy of 10 bits The smaller Upper voltage the selected range is the worse the resolution of the speed will threshold be and vice versa e Startspeed lower limit e Setpointspeed upper limit e Maximum range 10 V 10 V Calculation example Selected voltage range 0 V to 5 V Start speed 400 Hz 0V Setpoint speed 1000 Hz 5 V Speed adjustable 10 bit 1024 5 V 1024 0 0048 V corresponds to 2 344 Hz 400 Hz 1000 Hz 600 Hz 256 2 344 Hz The divisor 256 in the above equation is derived from the percentage of the voltage range used The voltage range of 5 V out
22. and the motor stops The position monitoring can be adjusted as required with the parameters in the Following Error Pos Mode area e Count The maximum amount based deviation of the actual position from the setpoint position is output in steps Value range 0 2000000000 e Time Time is output in milliseconds Help for setting the control parameters of the position controller To adjust the parameters itis necessary to apply the load that the controller later needs to control to the motor It does not make sense to set the controller for an unloaded motor as the behavior will change completely when the load is applied to the motor The following table shows possible problems and countermeasures Problem Countermeasures Motor oscillates up or too long e Reduce component fterwards afterwards e Increase D component e Increase P component Motor cracks during the run e Reduce D component Motor takes too long to reach the end e Increase component Slowly Motor signals position error Increase permissible following error Following Error Pos Mode Operate controller more firmly increase P component increase component Decrease maximum speed Increase phase current CAUTION Note maximum motor current A new rotor position initialization may be necessary Motor not accelerating as fast as the set Increase phase current ramp possibly combined with a position error during the acceleration ph
23. button to check whether a motor is connected to the currently configured motor address e lt Search Drive Address gt Prerequisite Only one motor is connected The address of the connected motor is adopted e lt Change Drive Address gt Prerequisite Only one motor is connected The drive address configured in the selection menu is assigned to the motor e lt Choose Drive Address gt The address configured in the Drive Address selection menu Is transferred to the Motor selection menu menu bar Manater PLUG amp DRIVE Change Drive Baudrate Select the required baud rate from the Drive Baudrate selection menu and then click on the lt Save Settings gt button to transfer the new setting Activating the communication check with CRC Activate the Check Communication with CRC checkbox and then click on the lt Save Settings gt button to verify communication between the PC and controller using a checksum Search Controller When the lt Search Controller gt button is activated all COM ports and baud rates are run through until a controller is found W Nanotec PLUG amp DRIVE 12 lt Status display tab Introduction The lt Statusdisplay gt tab can display general status messages stored error entries and programming settings can also be made lt Statusdisplay gt tab Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay CL Para
24. can destroy the end stage Never disconnect the link when operating voltage is applied Never disconnect lines when live Nanotec PLUG amp DRIVE 17 2 Error messages Communication error This message appears when data transmission to the controller is not possible X Communication Error The following causes may be responsible e The wrong COM portis set see Section 11 Communication tab e The communication cable is not connected or interrupted e A nonexistent motor number is set e The voltage supply to the motor is interrupted Controller is not ready If inadmissible data is sent to the motor controller during the output of a travel profile the following message appears Ad Controller is not ready Stop profile no Pressing the lt Yes gt button stops the travel profile and the controller switches back to the Ready state The data can then be resent to the controller Pressing the lt No gt button allows the travel profile to continue Position error Ifa button is clicked while the motor is in error mode position error or limit switch in normal operation the following message Is displayed j Position erol Reset Error The error can be reset by pressing the sY es gt button PLUG amp DRIVE NanoP ro Troubleshooting Following error If a button is clicked while the motor is in error mode following error the following message Is displayed i
25. clock direction left right modes the motor travels 10 steps with a frequency of approx 2 Hz and then accelerates to the programmed maximum frequency Nanotec PLUG amp DRIVE Mode selection Operation mode Clock direction Clock direction mode mode mode mode selection 1 selection 2 Clock Direction Left 1 Clock Direction Run Int R ef Clock Direction Run Ext 1 1 R ef State Display In addition the state of the inputs present when the tab was opened is displayed green high red low Input Debounce Time Sets the time in ms that needs to elapse after a signal change at an input until the Signal has stabilized Activate Input Polling The status display of the inputs Is activated if the checkbox Is activated W Nanotec PLUG amp DRIVE 10 lt Outputs gt tab Display Movement Mode Motor Settings Brake Display Properties Errorcorection Input Output Communication Statusdisplay CL Parameter Scope Expert Outputs e AE Output 1 Ready set Outputi Running set Output 2 Userdefined set Gutput 3 Userdetined set Output 4 Userdetined sel Output 5 Userdetined set Output E Userdetined set Output E Userdetined sel Output g Output 2 Output 3 M i Output 4 e e Output 5 Output 6 J 3 Output J ral Output 8 Userdetined Os are not used by the drie controller and can be used as general purpose
26. ee ee oe 78 IS CUO EE EG 21 Display Properties errereen 45 47 BSE AS ME OO E DA 47 DAVE Step ANG IC ese ie RE ie 41 EMCI OIC Ee AE ee Oe 78 Encoder EE N 48 50 Encoder direction of rotation 43 Encoder POSIUON seed se SE ie EE 62 End position tolerance ees ee ee 66 Error COMCCHON sie se de bode ee gee 48 ENON DIER Ae ene ie ee ee 62 Error messages see ek ek Ee ek Ge 85 W Nanotec PLUG amp DRIVE EKOO se N ie EE 80 External reference FUN 13 19 32 53 Feed TOE ee ee od be oi 47 EE EE N 52 Firmware update see ee eek ee ee 10 Flag POSITIONING mode ee 28 FOO WING effort 66 67 78 Frequency decreaS ee eek ekke RARR RR RR RR RR RR RR Re ee ee 25 list AA EE EP 25 Gear reduUCHON uesa 47 Input Debounce TIME see 57 IDEES osoon gestions ps Des ie ge oe ee 51 Vie Elle RE ER RE EE EE OR 1 Velde ie AE EE N RE N 60 Internal reference run 13 19 32 53 J oystick mode ee ek ek Ee 35 Limit switch DehaVIOF esse ees 53 during normal operation cccccseeeeeeseeeees 55 during reference FUN ee ee ee RE EE 55 ko OE N OE OE Ed 55 Menu 2E EE csscnensetsaacausaaseut 9 Bea EE ER sens 10 Ee EE EE ET 9 lee ER EE ET EE EN 9 84 SE ET EE 10 Minimal Speed ie EG N ee 21 Motor Settings 11 12 16 17 40 44 Motor TYDE esse es eie 40 Motor ele EE EE 9 84 Change Drive Address ee ee ee 60 Check Drive Address ia ee 60 Choose Drive Address s 60 COV O een E 9 Define Addre
27. of a possible range of 20 V equals 25 Based on the 10 bit resolution this is equal to 25 of 1024 256 W Nanotec PLUG amp DRIVE Play dead range F ilter Time constant hysteresis The Play setting provides an option to hide the interference or ripple voltage in the lower limit range A play of 10 would limit the control range to 0 5 5 0 V witha lower limit of 0 V and an upper limit of 5 V V Normal upper Limit 1 000 Hz SV n 0 5V OV LLCC TN V Start lower Limit 400 Hz Dead EL 10 Calculation example for play Selected voltage range 0 5 V to 45 V Startspeed 400 Hz 0 5 V Setpoint speed 1000 Hz 5 V Speed adjustable 10 bit 1024 4 5 V 1024 0 0044 V corresponds to 2 604 Hz 400 Hz 1000 Hz 600 Hz 230 4 2 604 Hz Divisor from the percentage of the voltage range used The voltage range of 4 5 V out of a possible range of 20 V equals 22 5 Based on the 10 bit resolution this corresponds to 22 5 of 256 230 4 The analog input samples the input voltage with a frequency of 1 kHz The input voltage can be smoothed with the help of the analog input A filter value between 0 and 16 results in a simple average value formation over the given number a value of 0 or 1 indicated that averaging has not occurred As filtering only takes 16 milliseconds with a sample frequency of 1 kHz over maximum 16 supporting points it is possible to use a recursive filter where t
28. opens The address must be between 1 and 254 e lt Remove Motor gt Motors that are no longer required can be removed from the controller in the lt Remove Motor gt menu item This opens a window with the query Do you really want to delete this motor which you can duit with the lt Y es button e lt Copy Motor to gt You can copy and adopt the current settings for a new motor with this menu item An input window for the motor address opens The address must be between 1 and 254 e lt Refresh all Motorvalues gt All motor settings are transferred to the NanoPro control software W Nanotec PLUG amp DRIVE e lt Save all Motorvalues gt All motor settings are saved in the controller lt System gt menu lt Help gt menu The lt System gt menu has the following menu items update to latest Firmware Firmwarefile update select Firmware Check For firmware update Firmware check automatic Show Expert Tab Supportlog e lt Firmware change gt lt update to latest firmware gt Update the firmware in the controller to the latest firmware located in the firmware file for that controller lt select firmware gt Select the firmware e lt Firmwarefile update Update of the firmware file in the NanoPro installation directory to a new firmware file from the Nanotec webserver e lt Check for firmware update gt Manually check whether an update for the firmware is available e
29. position from setpoint position into the control variable current value The control variable of the position controller is determined with the following equation Un KP e l KI e KD e En The next integral value is derived from In KI Te Un Control variable KP Proportional component derived from the numerator 2 KI P roportional component derived from the numerator 2deominator KD P roportional component derived from the numerator 2deominator en Deviation of actual value from setpoint value n 1 Deviation of previous actual value from previous setpoint value la Last integral value Reaching the end position If the position controller is active the motor will only signal that it is ready after the end of a run when the measured position remains within a tolerance window for a specific time The tolerance width and the minimum time can be set with the parameters in the Position Error area e Count The maximum amount based permissible deviation from the end position is output in steps e Time The minimum time in milliseconds that the motor must stay at the corresponding position before it signals that itis ready V Manater PLUG amp DRIVE Position error monitoring The position controller monitors the set position at all times even following errors are recorded during travel If the actual position deviates by a specific value from the setpoint position the controller is deactivated
30. ra ER E ER GE ER DE ee 17 PEGGING OR ase ike Ge RE 17 SEO SOG oi ie N ie od ee 71 Sensei NO EE EN 79 Search Controllef ees 61 Send State Byte Automatically Upon End Of RECO EO OR RE EE READ 42 Signal curves Clock Direction mode 34 Flag POSITIONING mode see 31 Relative Absolute Position Mode 24 Speed ba ee AN OE OE 21 oes ER EG 47 Speed mode ee ek Ee ee EE 25 8 ele SLAE oe EE ER Ee ee EE ek NE EE 19 Start Drive Profile 79 State Display ees ee ee ke 17 57 59 62 o Uie diSDINE oe eg ee oe ea 62 SEP MOTE ses NG EE Ge GR 41 STOPPING a record ee ee 17 Swng OUE TE seen ia 49 SYSTEM requirements ee ee ee ER 7 ES E 11 Bra ER N EE ON 45 Ck Parame Ei onpa 64 COMMUNICA ese EE ED 60 Display Properties cecer 45 47 E rror COMO CUOM sesse se ee EE 48 DUE oe ei N E es 51 Motor Settings iese n Ee Re 40 45 TAO TUS MR ORE IE EE EN 58 SCOPO EDE DA EDS RE OR EG ER EDE 11 SNe E e EEA EEEE E EE EEE EE TEE 13 S als diS play ese RE GE 62 Target Cunen ES Do 78 Target DOS INO es ie sa Ee Ee ie 71 TCS Dee tes ee ed 21 Temperature AE EE EE N 18 Ede ie OR EE ET IE 17 UNC O Uses RE RE OE 60 Tolerance Width ee ee ee 49 Torgu MOE use es Ee ee ee ee 39 koei cerre EN 15 18 eie eli ME N a N 29 W Nanotec PLUG amp DRIVE dele RE EE N N 10 User defined inputs ee EE ee ee 55 User defined Outputs cucuowmisismiosiosa 58 V Maxim EE N Er Ee Ne 30 Velocity LOOP ee ee ee RR RE ee
31. should lie outside the resonance ranges Too high a maximum speed can cause step losses and motor stalling The units of measurement can be changed in the lt Display Properties gt tab Ramp gradient Values are entered in Hz ms The steeper the ramp the faster the acceleration however If the acceleration is too high the motor can skip and lose steps Any possible resonance ranges must be traversed as fast as possible The maximum value is 3000 Hz ms The set value is output as the next possible speed due to the coding in the motor at 3000 Hz ms e g as 2988 3 Hz ms The minimum value is 0 1 Hz ms Brake ramp The value 0 means that the value set in the Ramp field for the acceleration ramp is also applied for the brake ramp The idle time of the motor in ms when several runs must be implemented in sequence The minimum duration of the adjustable break is 1 ms W Nanotec PLUG amp DRIVE Parameters R epetitions The Repetitions parameter indicates how often the selected only with relative travel profile should be implemented automatically in sequence positioning without another start command A value of 0 means that the selected travel profile is traveled an infinite number of consecutive times Reverse direction e An automatic change of direction can be activated in the only with relative Reverse Direction option field positioning In active change of direction the rotation direction of
32. to the controller W Nanotec PLUG amp DRIVE 13 lt CL Parameter gt tab closed loop 13 1 Configuring the closed loop current control Function In the Closed Loop mode the motor does not behave like a normal stepper motor but instead like a servomotor It is controlled via a PID controller dependent on an encoder The controller includes two controllers and each controller has its own parameter set lt CL Parameter gt tab Settings for the closed loop current control are made via the lt CL Parameter gt tab Movement Mode Motor Settings Brake Display Properties Erorcorection Input Output Communication Statusdisplay CL Parameter Scope Expert Yelocity Loop ee Position Loop A Cascade Speed Loop Velocity Cascade Position Loop Position Proportional Part Proportional Pat Proportional Part Proportional Part 0 25 fioo jo fioo 4l 2 g i g l g Integral Part Integral Part Integral Part Integral Part 0 0625 f Fo oo a f oO Ai gt EE je al E gt Differential Part Differential Part Differential Part Differential Part 0 300 EIN all gt E i E Foston Era Following Error Pos Mode Following Error Speed Mode Load Defaultsethings Count f Steps Count f On steps Speed 300 Hz Defaut Time fioo ms Time 250 me Time 250 ms Enable CL Ott Closed Loop Status off Save Data CL Wizard Autotuning Wizard Procedure Proceed as f
33. Deactivate means that the encoder monitoring has been switched off All fields in this area are switched to inactive The Disable mode must be selected if no encoder Is being used The rotation encoder monitoring mode checks the position of the rotor at the end of the run after the swing out time or during the run As described above the position of the rotor can also be checked and corrected if necessary at the end of the run if the Automatic Error Correction option field is activated After a record is completed the rotor Swings out around the set target position before it comes to a standstill This settling is taken into account by a settling time to prevent the risk of faulty measurements The settling time decreases the smaller the moment of inertia of the rotor and other external moments of inertia are and the larger the damping system rigidity and friction are The tolerance is the maximum deviation in micro steps How large a step is depends on the currently set step mode If the encoder resolution is insufficient step mode gt 1 10 in 1 8 motors or gt 1 5 in 0 9 motors additional errors will result from the conversion of encoder increments into microsteps At the end of a record the controller calculates the lost steps and compensates for them with a defined correction run The parameters must be selected so that the controller safely implements the correction without losing any steps
34. Language Moto Motor Type PD4 N Interf window 2 for each motor sd Save Configuration to Drive Read Configuration from Drive ri Motor System Help ace A5485 Version Date Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay CL Parameter Scope Expert Drive Profile 5 Operation Type Pasitionmode Relative X Drive Speed 400 Hz 01 Positionmode Relative 400 Lef i 02 Heleieres Run intemal Left 20C Position Demand 400 Steps Ee ee 03 Speed Left 20 Acceleration Time 2 08 ms 04 Flag Position 400 Left 2000 Direction Lett Step Mode Half Step 05 Reference Run External Left 201 ce 4 OE Positionmode Absolute 400 10 Minimal Speed 400 Hz Phase Current 10 07 Positionmode Absolute 400 10f 08 Positionmode Relative 400 Lefi Target Speed fi 000 Hz es ee a 09 Flag Position 400 Left 2000 a E is Dutput Speed 400 Hz 10 Clock Direction Left amp Z ms p 11 Clock Direction Right oe be 12 Positionmode Relative 400 Leti Brake Ramp 288 3 Hz ms 13 Positionmode Relative 400 Lefi 14 Positionmode Relative 400 Lefi Break fi ms 15 Positionmode Relative 400 Lefi s 16 Positionmode Relative 400 Lefi Repetitions NN 17 Reference Run External Left 10I od 18 Speed Left 20 Reverse Direction 19 Speed Left 2000 Were i 20 Clock Direction Left ext Recor Num
35. W Nanotec PLUG amp DRIVE User Manual Motor 1 Operating Mode Operation Mode le l E lid Motor Type SMCP33 Interface R5485 Version Date 22 18 2010 Save Configuration to Drive Read Configuration from Drive Movement Mode Motor Settings Brake Display Properties Erorcormection Input Output Communication Statusdisplay CL Parameter Scope Expert Drive Profile Operation Type Positionmode Relative x Drive Speed 400 Hz Positionmode Relative 400 x Acceleration ED Hz ms O2 Positionmode Relative 400 Position Demand 400 Steps O03 Positionmode Relative 400 T Acceleration Time 12 ms 04 Positionmode Relative 400 Direction Left 7 Step Mode Half Step 05 Positionmode Relative 400 _ Positionmode Relative 400 Minimal Speed 400 Hz Phase Current 25 Pasitionmode Relative 400 Gear Reducti 11 Fostionmode Relative 400 Target Speed 1000 Hz ar Reduction Output Speed 400 Hz 0E OF 08 09 Positionmode Relative 400 z 50 sf 10 Positionmode Relative 400 amp Z2 ms z 11 Positionmode Relative 400 Ee Dense oh EE 12 Positionmode Relative 400 Brake Ramp lo Ha ms p 13 Positionmode Relative 400 14 Positionmode Relative 400 Break fo me Test Record 15 Positionmode Relative 400 16 Positionmode Relative 400 __ Repetitions 17 Positionmode Relative 400 EE op Meema 18 Positionmode Relative 400 Reverse Directio
36. activate Activating the checkbox displays the progression of the respective parameter in the Scope mode Color The color with which the parameter Is displayed can be changed by clicking on the colored box l Target Position LL 1 Grid Pattern 0 S x I Current Position Ax Grundfarben 7 Following Error ali N E pm mm mm EE Target Current N EEN EE I Input Voltage mm E E E EE Temperature mm ti MT Analog Input Benutzerdefinierte Farben Digital Inputs N EN EN EE eee BEBE ff F Performance Farben definieren gt gt Coefficient Abbrechen Scaling The scaling of the parameter is specified under the lt Unit gt button and can be changed with the arrow keys to the left of the checkboxes Clicking on the lt Unit gt button changes its labeling to lt Value gt The current parameter values are then displayed instead of parameter scaling when the Scope mode Is running The horizontal axis can be changed in the ms grid using the lt Time gt slider Adjustment parameters The following settings can be made for the Scope mode Sampling Rate Setting of the sample rate in milliseconds Voltage Voltage with which the motor is driven Start Drive Profile When the checkbox is activated the travel profile currently set in the controller starts at the same time as the scope mode Controlling the Scope mode Reset Counter Sets the travel profile to the zero position Sta
37. are made on the lt E rrorcorrection gt tab Movement Mode Motor Settings Brake Display Properties Emorcomection input Output Rotation Encoder Monitoring t the End of a Travel Een ies Time 20 ms Tolerance Width 2 Edges Automatic Emorcomection wv 01 Positionmode Relative 400 Save Data Motor function test The motor has an integrated encoder signal evaluation for checking motor functions and to signal step losses If the motor loses more than 1 half step 0 9 with a 1 8 Stepper motor output 2 signals an error lt is possible to compensate for this error at the end of or during the run Manater PLUG amp DRIVE Parameter descriptions The following parameters can be set for the motor Parameters Rotation Encoder Monitoring Swing Out Time Tolerance Width Automatic Errorcorrection Record for correction run Function The following modes can be selected e Deactivate e Atend of run e During run Definition of a settling time in 1 ms steps the time that the encoder waits before it measures the position of the rotor The recommended standard value Is 80 ms Input of a tolerance within the encoder edges The recommended Standard value Is 2 edges Option field for activating the automatic error correction Selection menu for definition of travel profile used for Automatic Errorcorrection activated option field see above Note
38. ase CAUTION Note maximum motor current Seta slower ramp Use a stronger motor with appropriately set phase current W Nanotec PLUG amp DRIVE Cascade controller The cascade controller consists of two closed loops an internal closed loop that controls the speed and an external closed loop that controls the position The outer control loop does not directly control the motor current but the setpoint set speed of the inner control loop The autotune wizard can also be used to empirically determine the control parameters for the cascade controller CL Wizard Start the closed loop wizard with which the closed loop mode can be set up using the lt CL Wizard gt button CAUTION Motor makes several revolutions e Ensure thata motor is connected e Check the interface parameters in the lt Communication gt tab Proceed as follows Step Action 1 Click on the lt CL Wizard gt button Mit dem Assisten konnen Sie den Closed Loop Modus einnichten Stellen Sie bitte sicher das ein Motor angeschlossen und die Kommunikation richtig eingestell ist Dieser Lauf ist nicht fur eine Linearachse geeignet N da der Motor stark beschleunigen und eventuell eine grosse Strecke zurucklegen wird Ich habe die W amung gelesen und machte wirklich diesen Lauf durchfuhren lassen Klicken Ste auf Weiter um den Yorgang fortzusetzen Abbrechen Yeter gt Vi Nanatec i User Manual PLUG am
39. ase curent The controller will perform a testun and determine the FID parameters Adjust the following parameters if necessary e Drive direction direction of rotation in which the autotune run takes place e Control loop gradient proportional factor for sharpness of the controller in area 0 1 to 10 Value lt 1 controller weaker Value 1 controller neutral Value gt 1 controller sharper Maximum way maximum distance that is covered during an autotuning run Maximum speed speed to which the motor accelerates during an autotuning run Phase Current current that is applied to the motor during the autotuning run y Nanotec User Manual PLUG amp DRIVE NanoPro lt CL Parameter gt tab closed loop 4 Click on the lt Next gt button An autotuning run is performed The following window appears after the procedure TT x The PID parameters were detected successfully To do further adjustments please follow the user guide You can open the according help screen by pressing F1 on the CL Parameters page Click Finish to complete the Wizard The PID parameters could not be determined Please increase the maximum way or decrease the maximum speed n or the phase current Click Finish to complete the Wizard The specified maximum way may have been too short to reach the specified maximum speed Try to increase the way or to reduce the speed or current PLUG amp ORIVE Click on the lt Finish gt butto
40. ber Type hi OO TestResod 21 Clock Direction Right Fes Heca 22 Positionmode Relative 400 Lefl Ramp Type Trapezoid Ramp 23 Positionmode Relative 400 Left Stop Record 24 Positionmode Relative 400 Lefl 25 Positionmode Relative 400 Lefl Quick Stop 26 Positionmade Relative 400 Lefl 27 Positionmode Relative 400 Lell 28 Positionmode Relative 400 Left Save to Drive 29 Positionmode Relative 400 Lefl 30 Positionmode Relative 400 Lefi Read from Drive 31 Positionmode Relative 400 Lefl 32 Positionmode Absolute 400 10 0 Steps 1000 Hz Query State Read Counter 400 Hz 1 1 399 400 Steps Delivery Status 2 08 400 08 402 16 ms Manater PLUG amp DRIVE 2 2 1 The menu bar lt File gt menu Standard functions for file editing Language Motor 1 lt Language gt menu The operating interface language can be changed here German English Motor 1 Motor selection menu Selection of the required motor In networks up to 254 motors can be operated on a linked basis and actuated by the NanoPro control software Language Motor 1 Motor lt Motor gt menu The lt Motor gt menu has the following menu items Motor System Help Add Motor Remove Motor Copy Motor EO Refresh all Motorvalues I Save all Motoryvalues e lt Add Motor gt New motors can be added via the lt Add Motor gt menu item An input window for the motor address
41. closed loop mode Is active Status Controller The current measured temperature inside the controller temperature The temperature is only displayed if the current firmware Supports reading out of the temperature From firmware version 21 10 2012 Error Display Error memory for the last 32 errors Note After the controller is switched on the Undervoltage error message appears with the error position 13 Because the undervoltage occurs with the last switch off of the controller this error message Is entirely normal V Manater PLUG amp DRIVE Activating the status display as follows to activate the motor status Action Note See Aton aga Select the lt Statusdisplay gt tab tab seen the Activate Polling checkbox Programming settings Controllers can be programmed via J AVA Nano Easy or via the COM interface see the programming manual The following settings can be made in the Programming Language area Setting Function Autostart When the checkbox is activated the loaded program is automatically executed if the motor is powered Activate Com P olling If this checkbox is activated any responses of the executed program via the COM interface are displayed in the field under the checkbox Start program S top Starts Stops the loaded program program Displays the last entry of the error memory Nanoj Easy Open the Nano Easy editor if installed Transfer program Transfer the program
42. curves for setpoint and actual position are mirrored during a run the rotation direction of the encoder is inverted e g run of 400 steps then setpoint position 400 and actual position 400 Countermeasure Reverse the rotation direction of the encoder in the lt Motor S ettings gt tab CAUTION To have these settings accepted for closed loop operation the motor must be disconnected from the power supply When the curves are identical in direction but differ in gradient then the resolution of the encoder is incorrect Counter measure Adjust the encoder resolution in the lt Motor Settings gt tab Other parameters Following error The following error indicates the difference between the target and actual position If the following error exceeds the set value the motor will output a position error For the open loop mode the limit value can be set in the lt Errorcorrection gt tab For the closed loop mode there are separate values for the speed mode and the positioning mode They can be set in the lt CL Parameter gt tab Target Current The Target Current value specifies the set phase current in open loop mode In closed loop mode the current calculated by the motor Is displayed Parameters for the Closed Loop mode Indicates the power output by the motor Indicates the efficiency of the motor Indicates the current consumption of the motor Manater PLUG amp DRIVE Display of parameters Activate De
43. download at www nanotec com User Manual ay Nanotec N 3 noP ro PLUG amp DRIVE A of 90 Issue V2 3 Manater PLUG amp DRIVE Contents solied AE RE EN EE OR ME N N EE OE 2 Note ve NU Gl lle EE EE EE OG 3 CORTET AE AA RR N EO AE NG 5 1 Tr Ee ie EE EE N 7 2 Overview of the user INUEriaCe ese se Ke Ke EKEN NE N ee ee ERK N KA KW ee EG Nee eke ds 8 Did General informatON ees ee ee AA AA AA RE EE ee ee ee ee ee ee ee ke EE ee 8 2 2 Subdivision of the user MIEAEE ee ee ea EG RE ei RR re EE ee oi ge 8 2 2 1 PACON eo ao E EE E EE rere 8 2 2 2 The menu WINdOW tfc ete actuaries RE Ee GE GE Ge oi Ge RE Ge 11 3 Seile degie Me CONT ONG EE EE EE EI 12 4 lt Mod gt ro EE OR N OE EE EE EE 13 4 1 OVET W EE ere EE EA eee ere ER 13 4 2 E jilei ing Uie prole parame OIE so eet ae ee cnn ee ce er 15 4 3 Relative and absolute positioning internal and external reference FUN ee 19 4 3 1 DES CAOUOM AR ER N EE N N 19 4 3 2 Assignment of the inputs ANd OUTPUTS cccecessseseeecceeeeeeeeeeeeseeeeeeesaeeeeseeeeeseetessanesseeeeenteaes 20 4 3 3 Profile batsielels se Ed ON T ee OE 21 4 3 4 LIS UG Sea N OE RE OE A NE N 24 4 4 PMOI a n OE EG GO EG Ne eg OR Ee EO ee ee ian OR ee ee ee ee Le Ne 24 4 4 1 FSS SVAN OO p O ete ae ince ee Ee Ee ee ee ee E Ge io 25 4 4 2 Assignment of the inputs and OUTOUTS ccccceeseccsseeeccecueeeeesaueeeeesueueersuesseeesaesensaneueetsaeneets 26 4 4 3 PONE ba ME e Siga eo ee E E n ee E 26 4 4 4 Sig
44. e 37 P rolle parame sei ee ei ee Si ge AG NE 38 TOIUC OG REEDE OO N OE OE OE OE OE OE EE OR EE N 39 Motor settinds gt tab ses oase De N Rd ke ed ee os id GO es ve de ed de GR eo de 40 SS AK CAD iiss hese EE E EE 45 lt DIS play Settings gt TaD ede SR N AK N N Ge Ee GR dd de Ge Rd GE Ge We ie Ge kk 47 SE EEO FC OC OID ro EE N EE EE EE 48 SMU S vs ER RR ER N EE 51 se vel ed co EE LA EE 58 lt C OMMUNICAHON gt TaD iss dd EER NR RE N GE Ed EE Ee ee ak GAN GR We ek de GR Mee de ede ee ee 60 Status display TB sesde ee dee Ke sd RE ee n ee ee ee ede ee eN Ee Ge ee nee eie ee ee ee 62 lt CL Parameter gt tab closed loop eie RR RR EEE EER RR RR EER EER EE ERR RR K EER EER EER EEER RR RR EEE EE EE EE EER 64 Configuring the closed loop current Control Re ee ee ee RR ee ee ee ee ee ee ee EE 64 VECO BOD ss eo Se n ee ee Ee OG Ge Ne 65 are Res EE EE EE TT 66 ales sl TA eee EE EE EN EE OE errr 77 SEDET AD races EE ER ER AE RE EE N 80 Operating multiple MOWIS anus 84 Troubles NOO NNi ER EE aaia eaaa 85 General NOMAN sg E ee Ee N ie ii oo EE 85 BOR TCS SCS ME N EO N oe 86 Nanotec PLUG amp DRIVE 1 Installation System requirements e MS Windows 2000 XP Vista Windows 7 e Free COM porton your Windows PC Procedure To install the NanoP ro control software on your PC you must first download the software from the Nanotec website To do this proceed as follows Open the Nanotec website at htto www nanotec com in your bro
45. e Right Minimal Speed Starting speed The minimum speed in Hz is the startup speed start stop frequency of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a minimum speed can also lead to step losses Target Speed only Normal speed active if there is no The maximum speed in Hz is the setpoint speed of the external frequency motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a maximum speed can cause step losses and motor stalling Ramp Brake Ramp Input of ramp gradient in Hz ms Brake ramp The value 0 means that the value set in the Ramp field for the acceleration ramp Is also applied for the brake ramp Note For controllers with a dspDrive when using the clock direction mode in 1 32 or 1 64 step mode the scaling factors P and should be set to 0 in the PI parameters of the dspDrive since resonances may otherwise occur at high speeds User Manual V Nanater N a noP ro PLUG amp DRIE lt Mode gt tab 4 6 4 Signal curves in the Clock Direction Mode In this example the left and right modes are started after one another and then the external reference run is carried out Motor Speed External 0 reference run Motor Speed Clock i Direction left travel away from limit switch Input Start Reset Clockmode Select input 1 Clockmode Select input 2
46. e maximum speed in Hz Is the setpoint speed of the motor To avoid rough operation it should lie outside resonance ranges Too high a maximum speed can cause step losses and motor stalling Ramp Brake Ramp Input of ramp gradient in Hz ms Brake ramp The value 0 means that the value set in the Ramp field for the acceleration ramp is also applied for the brake ramp Ramp Type The following ramp types can be selected e Trapezoid ramp e Sinus ramp e jerk Free Ramp see Section 4 3 3 Manatec gie PLUG amp DRIVE Profile graph display The displayed profile graph shows the ramp times acceleration time and the setpoint speed for the applicable travel profile The graphic is recalculated after every relevant input This allows you to continually check and where necessary correct the settings made 4 4 4 Signal curves in the Speed Mode Example of a signal curve In the example speeds of travel profile 4 travel profile 7 and after a change of direction the speed of travel profile 13 are used Input i l Record bit 2 input i Record bit3 i l l l l ProfileNo 4 Profile No 7 i Motor Speed 0 J r Motor Speed l Profile No 13 l l i l l i l i input StartfReset i l i i l i Input ad MEEN ENE N EE SEE Direction l l i l
47. ed instead of the selection field for the drive step angle in the motor settings area Pole pairs Entry of the pole pair number Only displayed if a BLDC only for BLDC motors of the connected motor motor is selected Phase current The phase current can be set The peak current is lower in in steps of 1 the full step mode than in The corresponding absolute _ the other step modes To value is automatically provide the same power as calculated and displayed in the in the full step mode the Current and Peak Current motor requires a higher display fields peak current at smaller step modes W Nanotec PLUG amp DRIVE Phase Current During ldleness BLDC max Reverse Clearance Send State Byte Automatically Upon End of Record Encoder Type Encoder Resolution Input of phase current at standstill in percent The corresponding absolute value is automatically calculated and displayed in the Current and Peak Current display fields It is recommended to select the highest possible current reduction for standstill Entry of the peak current for BLDC motors in percent Entry of the current time constants for BLDC motors in milliseconds Entering a number of steps to compensate for the backlash of the mechanics e g for linear axes or gears If this option field is activated Status bytes are automatically sent at the end of a run Encoder model used Resolution of t
48. ee 65 VOGO os OR EE OE 79 Viola CG MIE oe ee eo EE 51
49. eed to configure one of the Nanotec SMC1I12 SMC 133 SMC135 SMCI36 SMC147 S 2 SMCP 33 stepper motor controllers or a Plug amp Drive motor of the PDx N series with the aid of the NanoPro control software without much experience of stepper motor technology Important information This manual only contains a description of the NanoPro control software version 1 7 0 0 or later For the connection and the commissioning of stepper motor controllers or Plug amp Drive motors see the respective technical manuals Nanotec reserves the right to make technical alterations and further develop hardware and software in the interests of its customers to improve the function of this product without prior notice For criticisms proposals and suggestions for improvement please contact the above address or send an email to info nanotec com Additional manuals Please also note the following manuals from Nanotec Programming manual Control programming e Command reference e Nano e COM interface NanoCAN User Manual Configuration of the CAN communication for CANopen capable controllers with the NanoCAN software Nanotec CANopen reference Comprehensive documentation of the CANopen functions i Mare EE Referemehandbuach CANopen Pa Bird od meray Figg E Driva Mekore Technical manuals Connection and commissioning of stepper motor controllers or Plug amp Drive motors The manuals are available for
50. eft 20 06 Positionmode Absolute 400 TO 07 Positionmode Absolute 400 10 08 Paositionmode Relative 400 Le 09 Flag Position 400 Left 2000 10 Clock Direction Left 11 Clock Direction Right 12 Positionmode Relative 400 Lefl 13 Positionmode Relative 400 Le 14 Positionmode Relative 400 Lefi 15 Positionmode Relative 400 Lefl 1E Posittonmode Relative 400 Lefl 17 Reference Aun External Lett 101 18 Speed Left 2000 14 Speed Left 2000 20 Clock Direction Left 21 Clock Direction Right 22 Posittonmode Relative 400 Lefl 23 Pasitionmode Relative 400 Lell e This window displays the maximum possible 32 travel profiles e After selecting the required travel profile the corresponding profile parameters are displayed in the parameter area Operation Type selection menu e The required operating type can be selected here Profile parameters Operation Type Positionmode Relative Position Demand 400 Steps Direction left A Target Speed li 000 Hz Ramp 2883 Ha ms Brake Ramp 283 Ha mse Break NN me Repetitions Poo Reverse Direction Hest Record Number Type sl Ramp Type SimusRamp sl e Displays parameters dependent on the selected operating type and travel profile e Settings of required parameters for the various profiles max 32 Motor parameters Drive Speed 000 Hz Acceleration 100 03 Ha ms Acceleration Time B me Step Mode Half Step P
51. es cover the entire range e g a jump from 10 V to 10 V Behavior for Internal External Homing There are various options for defining behavior at the external and internal limit Switches e Free backwards reference run and normal operation e Free forwards reference run and normal operation e Stop only for normal operation e Disable only for normal operation User Manual Y Nanotec NanoPro PLUG amp DRIVE lt Inputs gt tab Free backwards The motor changes direction on recognition of the limit switch and leaves the limit Switch Reference Run 100 ms Break Reference Position Motor Speed 0 Motor Speed Input Start Reset Input External reference witch Output Ready Output Running Free forwards The motor continues in the same direction after recognizing the limit switch and leaves the limit switch Reference Run 100 ms Break Reference Position Motor Speed 0 Motor Speed Input Start Reset Input External reference witch Output Ready Output Running 54 of 90 Issue V2 3 Manater Procedure PLUG amp DRIVE Stop The motor immediately stops upon recognition of the limit switch A reference run must then be implemented as the motor may have lost steps overflow Motor Speed Motor Sp Input Start Reset Input External reference switch Output Ready Output Running
52. gnal curves in the Flag Positioning Mode In this example travel profile 4 is started and then a reference run programmed as travel profile 8 is started Profile No 4 speed Profil No 4 positioning l I l I l Motor Speed 0 Motor Speed Profil No 8 Reference Run Input StartfReset input Trigger Ed l l I l l l I l i i l l I l l l i i en a E Te TE Record bit 0 i i l l i i l l l l I Input i TE E Record bit 1 l l l I l l i i Input EE Ma rot Record bit 2 1 i i l l l l l l I input l l i l l External l reference switch i i T 4 l l l l l I l l i i l l l Output i io Ready o l l l i l I I i i i Output i i Running l W Nanotec PLUG amp DRIVE 4 6 Clock Direction Mode Int Ref E xt Ref Left Right 4 6 1 Description Function In the Clock Direction Modes the motor is operated via two inputs with a clock and a direction signal from a superordinate positioning control indexer With the Clock Direction Left Right modes the motor can be moved manually into the selected rotation direction With every clock signal the motor moves one step in the direction set by the direction signal The motor can be started by clicking on the lt Test Record button In the Int Ref Ext Ref Clock Direction Mode
53. h gt button to complete the Closed Loop Wizard Autotune Wizard Using the lt Autotuning Wizard gt button start the autotune wizard that can be used to empirically determine suitable control parameters Please ensure that you have fully executed the closed loop wizard before starting the autotune wizard CAUTION Motor haltingly makes several revolutions Possible damage to the system in which the motor has been installed e Ensure that a motor is connected e Check the interface parameters in the lt Communication gt tab W Nanotec PLUG amp DRIVE Proceed as follows Dieser Assistent wird die PID Parameter fur Ste ermitteln Stellen Sie bitte sicher dass eine Steuerung angeschlossen ist und die kommunikation funktioniert da der Motor stark beschleunigen und eventuell Dieser Lauf ist nicht fur eine Linearachse geeignet PAN eme grosse Strecke zurucklegen wird PLUG amp DRIVE Ich habe die W amung gelesen und machte wirklich diesen Lauf durchfuhren lassen Klicken Sie auf weiter um den Vorgang fortzusetzen teler Abbrechen Click on the lt Next gt button The following window appears Ve Autotune Wizard Following hardware has been found SMCP33 23 04 2010 Drive direction Control loop gradient al gt Maximum way f0 Steps Maximum speed 2000 Hz Phase Current 25 Curent O07 A Peak Curent 0 9 A Please set rotation direction autotune parameter maximum way speed and ph
54. hase Current 102 Gear Reduction 1 1 Output Speed 000 Hz Resolution 1 8 step e Display of the parameters of the connected motor e Setting of parameters see Section 5 Motor settings tab Manater PLUG amp DRIVE Buttons for communication with the controller Test Record Stop Record Quick Stopp save to Drive Read Hom Drive e lt lTestRecord gt Activation of the lt Test Record gt button transmits the current record to the controller and starts it The parameters are not stored by the controller e lt Stop Record gt The currently operating record is stopped e lt Quick Stop gt The currently operating record is stopped independent of the travel profile with the Quick Stop ramp For the settings see Section 5 lt Motor settings gt tab e lt Save Data gt Pressing the lt Save Data gt button permanently stores the set travel profile in the controller Transfer can take a few seconds and Is visually displayed with a progress bar The travel profiles can then be selected and started via the motor inputs e lt Read from Drive gt All record data stored in the controller is loaded onto your PC Display profile graph 1000 Hz 394 Steps 400 Steps e The displayed profile graph can be used to rapidly see the ramp times acceleration time and the overall actuating time for the applicable travel profile e The graphic is recalculated after every relevant input Buttons for motor p
55. he determined value depends on the actually measured value and on the previous filter value This method can be used to average a greater number of supporting points even if insufficient memory is available However this is nota real average value but a signal rounding of the input voltage first order low pass or PT1 element The recursive filter is used from a value of 17 The first 4 bits of the value as a power of 2 define the time constant T in ms time after which the filter output has approached the filter input to within 50 and the last 4 bits of the value define the hysteresis maximum change of the value at the filter input toward which the filter output is insensitive The two components of the filter setting can be separately set using the two sliders the corresponding total value is automatically entered in the F ilter field The following table shows the values of the time constant for a hysteresis of 0 With an input jump from 0 to 1 the filter output follows the following rule Output 1 0 5 where tis the time along the x axis and T the time constant of the filter Manater PLUG amp DRIVE Parameters 5 T after changing the input voltage the value at the filter output has thus reached 97 of the input value 10 T after changing the input voltage the value at the filter output will have reached 99 9 of the input value The deviation corresponds to one stage of the AD converter when the input chang
56. he rotation encoder pulses revolution This current reduction serves to minimize the heat generated by the dissipation loss of the motor windings and the output stage of the controller When the full holding torque is required ata standstill however then the current reduction should not be activated and the phase current should not be reduced The peak current must be at least as large as the phase current otherwise the phase current Is used The time constant defines the duration for which the set peak current can flow The number of steps Specified here is added every time the movement changes The use of this option is sensible if just one motor is actuated and the end of the run must be evaluated Note This option may not be used under any circumstances If a network IS in use as this could lead to conflicts and therefore to transmission errors The following types are available No encoder Incremental with index Incremental without index Absolute single turn The following resolutions can be selected 192 200 256 400 500 512 1000 1024 2000 2048 4000 4096 Nanotec PLUG amp DRIVE Parameters Reverse the encoder Option field for activating the In some cases a false direction of rotation encoder direction of rotation direction of rotation is defined This can be seen when the error message Position error is always displayed when testing records This functio
57. ion field for the drive step angle in the motor settings area Note No stepper motor must be operated with the selected BLDC motor or BLDC motor with encoder setting Otherwise the motor could be destroyed during Operation V Manater PLUG amp DRIVE Selection of motor designation Motor Type Selection of the motor type EEN Wiring Selection of the wiring Serial or parallel Motor Settings Step mode The following step modes can The smaller the selected be selected Step size is the larger the e Full Step resolution With 1 8 stepper motors a ol Ep half step is therefore 0 9 Quarter Step and a tenth step 0 18 for Fifth Step example Adaptive microstep means Eighth Step that the step angle is Tenth Step automatically enlarged at 16th step increasing speed Example at 30 rpm the 32nd Step motor runs in 64th step 64th Step mode and at 3000 rpm at Feed rate Tull step as a higher speed is possible here and in Adaptive microstep 1 128 general accuracy plays a Subordinate role In the Feed Rate mode the number of full steps is defined by the feed rate Drive Step Angle Full Step step width not for BLDC motors Setting of the step angle of the In general the motor is a connected motor 1 8 stepper motor default Another step angle can be selected if necessary in the selection menu Note When a BLDC motor is selected the input field for the pole pair number is display
58. ive only with controllers with a dspDrive P component of the current Value range 0 to 1000 controller at a standstill Default value 1 P component of the current Value range 0 to 1000 controller during the run Default value 1 Scaling factor for the speed Value range 0 to 1000 dependent adjustment of the P Default value 58 P low P high P scale component of the current P component P run controller during the run speed P scaling component of the current Value range 0 to 1000 controller ata standstill Default value 1 component of the current Value range 0 to 1000 controller during the run Default value 1 Value range 0 to 1000 Default value 200 low high scale Scaling factor for the speed dependent adjustment of the component of the current component I run controller during the run Speed I scaling Hall mode only for BLDC drive Nanotec PLUG amp DRIVE Parameters Value 1 to 6 Positions of Hall sensors Fora detailed explanation see Hall Mode Command in the programming manual W Nanotec PLUG amp DRIVE 16 Operating multiple motors Introduction Up to 254 motors can be controlled in a network The motor address must be assigned in advance for each motor see Section 11 lt Communication gt tab New motors can be added in the Motor menu by clicking on the lt Add Motor gt button All the motors are displayed in the selecti
59. meter Scope Expert Encoder Position 0 Demand Position 0 M State Display M Error Display M Programming Language Ready Referenceposition Achieved 1 Error Initialized EEPROM Block Autostart Master Mode active 2 Error No Error M i Operation Typ Positionmode Absolute 3 Error No Error Activate Com Polling 4 Error No Error Last Eror Initialized EEPROM Block 5 Error No Error Error Position 1 6 Error No Error 7 Eror No Error 8 Error No Error 9 Error No Error 10 Error No Error 11 Error No Error 12 Error No Error 13 Error No Error 14 Error No Error 15 Error No Error 16 Error No Error 17 Error No Error 18 Error No Error 19 Error No Error 20 Error No Error Areal EE 21 Error No Error RED ld la P prog 22 Error No Error 23 Error No Error Read Error hHanolEasy Transfer program 24 Error No Error f 25 Error No Error Closed Loop Status off 26 Error No Error 27 Error No Error 28 Error No Error 29 Error No Error 30 Error No Error 31 Error No Error Activate Polling 32 Error No Error Save Data Display The lt Statusdisplay gt tab contains the following displays Display Encoder Position Actual encoder position if an encoder is connected Demand Position Current setpoint position of the motor State Display Actual mode state and last error entry Closed Loop Indicator of whether
60. mmunication tab Display The settings for interface parameters and the motor address made on the Communication tab Movement Mode Motor Settings Brake Display Properties Erorcorrection Input Dutput Communication Statusdisplay CL Parameter Scope Expert Com Port Drive Address Part com Drive Address E write Timeout 2000 m Choose Drive Address Check Drive Address Read Timeout 2000 me Baudrate 115200 bps Change Drive Address Search Drive Address Drive Communication Settings Drive Baudrate 115200 bps Check Communication with CRE Save Settings Search Controller Interface parameters The following interface parameters can be set Interface In the Port field select the COM port to which the motor is connected e The number of the COM port to which the motor is connected can be found in the device manager of your Windows PC Write R ead Timeout Maximum timeout in milliseconds when transferring data to from the controller Baudrate Data transfer rate in bits per second Setting the drive address To ensure a fault free connection with the motor the motor address module address must be set correctly All motors are delivered with the default address 1 To operate more motors in an RS 485 network each motor must be assigned a unique address The following functions are available in this menu e lt Check Drive Address gt Press the
61. n 19 Positionmode Relative 400 Quick Stop 20 Positionmode Relative 400 Next Record Number Type 21 Positionmode Relative 400 Saveto Drive 22 Positionmode Relative 400 Ramp Type Trapezoid Ramp sl 23 Fositi de Relative 400 ostionmode Relative esd om Deve 0 Steps ee EE EE EE EE Query State Read Counter 400 Hz 4 a 400 Steps Delivery Status 408 ns 1000 Hz NanoPro Control software for stepper motor controllers and Plug amp Drive motors valid from version 1 7 0 0 NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 KapellenstraBe 6 Fax 49 0 89 900 686 50 D 85622 Feldkirchen b Munich Germany info nanotec com W Nanotec PLUG amp DRIVE Editorial 2013 Nanotec Electronic GmbH amp Co KG Kapellenstrafse 6 D 85622 Feldkirchen b Munich Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec com All rights reserved MS Windows 2000 XP Vista 7 are registered trademarks of the Microsoft Corporation Translation of original handbook Version Change overview pae femms 01 10 2009 Revision of the new software release for version 1 52 09 05 11 2010 Revision of the new software release for version 1 60 0 0 03 11 2011 Revision of the new software release for version 1 7 0 0 Manater PLUG amp DRIVE About this manual Target group This user manual is aimed at designers and developers who n
62. n Clock direction mode left Use this mode when you wish to operate the motor with a superordinate controller e g CNC controller ET In the clock direction mode the motor is operated via Clock direction mode two inputs with a clock and a direction signal from a Int Ref superordinate positioning control indexer Clock direction mode Depending on the mode selected Int Ref Ext Ref Ext Ref the internal and external reference runs are supported Please refer to Section 4 6 Clock Direction Mode Int Ref Ext Ref Analog and joystick mode The motor is controlled in this operating mode simply with a potentiometer or a joystick 10 V to 10 V Use this mode if you want to use the motor in a simple application e Setting a specific speed e g via an external potentiometer e Traveling synchronously with a superordinate controller with analog output 10 V to 10 V Please refer to Section 4 7 Analog and J oystick Mode Analogue positioning mode Use this mode when you wish to travel to a specific position The voltage level at the analog input is proportionate to the desired position thus enabling servo performance Please refer to Section 4 8 Analogue Positioning Mode Torque mode Use this mode when you require a specific output torque independent of the speed as is the case in typical winding and unwinding applications The maximum torque is specified via the analog input Please refer to Section 4 9
63. n can be used to change the A B track in the software Feed Rate Numerator Entry of the numerator of The feed rate is only used if the feed rate numerator and the denominator are not equal number of steps per to 0 Otherwise the encoder rotation of the motor shaft resolution Is used for the feed rate step mode Values for the feed rate that are not meaningful are not accepted when entered Feed Rate Entry of the denominator of The feed rate is only used if Denominator the feed rate numerator and the denominator are not equal number of steps per to 0 Otherwise the encoder rotation of the motor shaft resolution is used for the feed rate step mode Values for the feed rate that are not meaningful are not accepted when entered This value defines the This value defines the Gear factor Entry of the numerator or Unlike the feed rate the Numerator denominator denominator of the gear gear factor is used for all factor travel modes The gear factor is used to If the gear factor is 1 ithas take into account the step No effect up reduction ratio of an Value range for numerator upstream gear so that and denominator 1 to 255 precisely the input travel profile is achieved at the gear output side Quick Stop Ramp Ramp gradient for the Quick Value range Stop function in Hz ms 21 84 to 4230 95 Hz ms S peedmode Control Selection of the control Please also refer to Section behavior in CL speed mode 13 lt
64. n gt button When this button Is clicked the trigger signal is set and the motor changes from the Speed mode to the Relative positioning mode 4 5 2 Assignment of the inputs and outputs General information The inputs and outputs are freely configurable see Section 9 lt Inputs gt tab and Section 10 lt Outputs gt tab Possible input configuration The inputs can be configured with the following functions e Start reset starts the speed mode e Record bit 0 to record bit 4 e Trigger starts the positioning mode e External reference switch 4 5 3 Profile parameters Parameter descriptions The following parameters can be set in the flag positioning mode Parameters Position Demand e Distance for the selected travel profile e The number of motor steps to be output can be selected up to 16 777 215 steps Direction Direction of rotation of travel profile e Left e Right W Nanotec PLUG amp DRIVE Minimal Speed Starting speed The minimum speed in Hz is the startup speed start stop frequency of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a minimum speed can also lead to step losses Target Speed Maximum speed 1 The maximum speed before the trigger pulse Speed mode in Hz To avoid step losses it should be selected to be above the natural resonance of the motor Too high a maximum speed can cause step losses and motor stalling V
65. n to complete the autotuning wizard Click on the lt Save Data gt button to save the determined parameters in the controller Issue V2 3 75 of 90 W Nanotec PLUG amp DRIVE Ouick CL Wizard Like the CL Wizard the Quick CL Wizard determines the encoder offset but it only requires a few steps of travel distance For this reason the CL mode can already be activated by selecting Auto E nable with Offset without index without requiring a reference run after the motor controller is switched on and after the Quick CL Wizard IS executed Proceed as follows Click on the lt Quick CL Wizard gt button The following window appears Info P Achtung Die Motonvelle wird sich um ein paar Schritte vor und 2uruck bewegen Die Ermittlung des Poscnt Uffsets wurde erfolgreich abgeschlossen The encoder offset is only determined if the value is 0 before the quick test run Otherwise the shaft does not move and a value is not determined The encoder offset can be set manually via the Expert tab Nanotec PLUG amp DRIVE 14 lt Scope gt tab Function In scope mode important motor parameters can be displayed and recorded during a run This is primarily used to check the set parameters or the commissioning of a drive Display The scope mode settings are made in the lt Scope gt tab Movement Mode Motor Settings Brake Display Properties E rorcorrection Input Output Communication Statusdisplay
66. nal curves in the Speed Mode ee ee ee Re ee ee ee RR Ee ee ee ee ee ee ee RR ee ee ee ee eek RE RE 21 4 5 Flag Positioning ModE ies N ER ee EO ee EK ee ee ee ed 27 4 5 1 Bela 1 Naseer erence ape EE 28 4 5 2 Assignmentof We iis and OUD AE ee ee nance anion tenanentassants 29 4 5 3 PROTE HO eel sce see OE Re Ra ED ee ie ee ER DE 29 4 5 4 Signal curves in the Flag Positioning Mode ee ee ee ee RR ee ee ee ee ee ee ee ee Ee 31 4 6 Clock Direction Mode Int Ref Ext Ref LefVRIghE ee see ee ee ee RR ee ee RR ee ee ee ee RE 31 4 6 1 Di Tel EE ee E E EE RD ee T E 32 4 6 2 Assignment of the inputs ANd OUTPUTS ccceceseeeeeeccceeeeeseeeeeeeeeeeeeeseeeeeseeeeeeeeeessaneseeeeenteaes 32 4 6 3 sae der ie SEER OE OE OE wtdiceuiaeanpeouardevardanet 33 4 6 4 Signal curves in the Clock Direction Mode cccccccssseeeeeeeeeeeeesueeseesaeeeeeeaneueersnaeesersaeeeeesagess 34 4 7 Analog Aid OVSUCK Mode ss ee eg ee ei ig n ie NE ie ed ee ee Ga 34 4 7 1 Bere ON Oil RR N N OE EE N OE EE N N 35 4 7 2 Assignment of the inputs and OUtDUTS cccecccsseseeececesseeeeeeceeseeeuseeessaneceeeeessaueeseeessaaeeeeeenes 35 4 7 3 Prole Dat IVC sies Re io DR oo N De ee bo Go re ee oe 36 4 8 Analogue Poster Mode ne N e GR N GE de ae Ge ds 37 4 8 1 4 8 2 4 8 3 13 1 13 2 13 3 W Nanotec PLUG amp DRIVE Doc ede e EO N N N A 37 Assignment of the inputs and OUtDUIS ee ee RR RE Ee ee ee ee ee AR EE ee ee ee ee ee ee RE Ee ee ee ee e
67. nt 0 36 A Click Nest to continue lt Back Next gt Cancel Specify the phase current in Note An excessively high phase current can damage your motor See the phase Current data in the data sheet of your motor Click on the lt Test drive gt button if necessary The following window appears Warning The connected drive will perform one rotation Cancel Click on the lt Ok gt button An attempt is made to move the motor by one rotation using the specified parameters Click on the lt Cancel gt button to abort the motor test PLUG amp DRIVE Manatec died The following window appears after the motor test AT Closed Loop Wizard Ne the connected drive perfom one rotation f the drive has been able to perform only a half rotation or less the step angle is incorect f the drive didn t rotate at all the phase current is set too low Please corect the according parameters if necessary PLUG amp DRIVE Click Cancel to abort the Wizard _ dy MG Check whether the connected motor has made a full revolution Change the settings for the step angle or motor current if necessary Note Depending on the selected motor design the automatic encoder detection and calibration run step 8 can be omitted Click on the lt Next gt button The following window appears Ve Closed Loop Wizard The following rotation encoder settings have been found Rotation Encoder
68. ollows to configure the closed loop current control Select the lt CL Parameter gt tab 2 In the Load Defaultsettings field select the motor size e g ST41xx 3 Run the Closed Loop wizard in the CAUTION CL Wizard button Motor makes several revolutions See Section CL Wizard 4 Run the Autotuning Wizard in the The wizard empirically determines lt Autotuning W izard gt button Suitable CL parameters Alternatively you can also enter them manually as described in Step 5 Manater PLUG amp DRIVE Enter the desired parameters Detailed information on the parameters can be found the following sections 6 Click on the lt Save Data gt button The settings are saved 13 2 Velocity loop Description The speed controller controls the angle speed of the shaft The position in this mode Is not controlled and can therefore deviate greatly from the setpoint The speed controller is used in the following operation modes e Speed mode e Analog mode e Joystick mode e Rotor position measurement Internal calculation principles and parameters The controlled variables in the speed controller are always based on the actual speed in revolutions per minute rom The set parameters are used to convert the system deviation deviation of actual speed from setpoint speed into the control variable current level The control variable of the speed controller is determined with the following equation
69. on menu Unnecessary motors can be removed from the controller by clicking on the lt Remove Motor gt button Operating Mode Operation Mode Motor System Help Add Motor Remove Motor Copy Motor to Refresh all Motorvalues tiv Save all Motoryvalues Motor Address menu Please enter the address of the new drive t has to be between 1 and 254 pt cot J 3 Procedure Proceed as follows to add new motors 1 Select the Add Motor menu item in the Motor The Motor address menu menu opens Enter a motor address for the motor number Number 1 to 254 Click on the lt OK gt button The settings are saved Changing the motor address The motor address may only be changed if exactly one motor has been connected See Section 11 Communication tab Manater PLUG amp DRIVE 17 Troubleshooting 17 1 General information Error messages The motor monitors specific functions and outputs an error message if there is a malfunction Error messages are displayed in a pop up window e g X Communication Error Descriptions of possible error messages can be found in Section 17 2 Error messages Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the motor Danger of electrical surges An operating voltage of gt 50 V for SMCI12 a voltage of gt 26 V for SMCI36 a voltage of gt 72 V and incorrect connections
70. orque mode can only be used when Closed Loop mode is activated Nanotec PLUG amp DRIVE 5 lt Motor settings tab Display The general motor parameters are set in the Motor Settings gt tab Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay CL Parameter Scope Expert Motor Setting Hardware Step Mode Hat Step H Controller Type SMCP33RS485 M Pole pairs EE Motor Design BLDC motor with encoder Phase Current jox Current 0 28 A Motor Type ps2 sd Peak Current 0 28 A pia Rian Daar Phase Current During Idleness 10 H Curent 0 28 A Wiring ed Peak Current 0 28 A BLDC TN fo ms BLDC I max joz Curent DO A Peak Current 0 A Reverse clearance fo Steps Reverse Encoder Direction D Send State Byte Automatically Upon End of Record I Rotation Encoder Resolution 500 Quick Stop Ramp 4230 95 H2 ms Value range 21 84 to 4230 95 Ha ms Speedmode Control Velocity Loop d Save Data Encoder Wizard Parameter descriptions The following parameters can be set for the motor Controller Type Selection of controller type The user interface is modified to correspond to the selected controller type Motor Design Selection of the motor design When a BLDC motor is of the connector motor selected the input field for the pole pair number is displayed instead of the select
71. osition communication with the optional encoder Query State Reset Counter Read counter from Motor Deliver Status e lt Query State gt Pressing the lt Query State gt button queries the actual state of the motor and displays the state on the screen e lt Reset counter gt Pressing the lt Reset counter gt button resets the current counter value to zero W Nanotec PLUG amp DRIVE e Read Counter gt Pressing the Read Counter gt button queries the actual counter value and displays iton the screen e lt Delivery Status gt Pressing the lt Delivery Status gt button resets all parameter settings of the motor to the delivered state Procedure The following describes an example of how to enter profile parameters for a travel profile in the Relative operation type Other parameters must be defined in other Operating modes Proceed as follows Select the required travel profile in the The parameter values of the selected Movement Mode gt tab e g 01 travel profile are displayed Relative 400 The travel profile is defined by the positioning mode Operation Type selection menu and the distances in the Position Demand field 2 In the Operation Type selection The relevant parameter fields are menu select the Relative mode displayed 3 Enter the desired parameters See Section 4 3 3 Profile parameters If you want to test the entered travel The motor then travels according to p
72. p DRIVE NanoPro Click on the lt Next gt button The following window appears Ve Closed Loop Wizard ER Do you have a drive configuration file m Yes there is a configuration file i No there is no configuration file PLUG amp DRIVE T vaal MG ea Click Next to continue If a configuration file already exists Select the upper option field and then click on the lt Next gt button The Open window appears in which you can select the configuration file If configuration file still does not exist Click on the lt Next gt button A search is made for connected hardware The following window appears if hardware has been found Ve Closed Loop Wizard l xX Following hardware has been found SMCPS3 12 08 2010 102 Phase Curent Current 0 264 Please choose a motor design Stepper motor Please choose a motor type Please choose a motor ETa 1811404 Please choose the wiring Serial Please choose a stepangle pole pairs js sten Click Nest to continue lt Back Cancel Check whether the hardware has been detected correctly and change the motor design motor type connection type and step angle pole pair number if necessary Nanotec PLUG amp DRIVE Click on the lt Next gt button The following window appears Ve Closed Loop Wizard Following hardware has been found SMCPS3 12 06 2010 Please enter the Phase Current in 2 i IEA Current O28 A Peak Cure
73. programmed as reference run are Started Profil No 3 Profil No 5 Profil No 16 Motor Speed Reference Run Motor Speed Input Start Reset Input Record bit 0 Input Record bit 1 Input Record bit 2 Input Record bit 3 Input 6 External Output Ready Output Running 24 of 90 Issue V2 3 Manater PLUG amp DRIVE 4 4 Speed Mode 4 4 1 Description Function In the speed mode the motor accelerates with a specified ramp from the starting Speed minimal speed start frequency to the specified maximum speed target Speed maximum frequency The speed mode is generally used when a specific travel speed is required e g fora conveyor belt or a pump Parameter fields for Speed operation type Ramp Type Trapezoid Ramp Speed changes Speed changes can be implemented at any time via the inputs or the interface Unlike the other operation modes the state of the inputs is read in during travel and the associated speed parameters are output When the speed changes the motor accelerates or brakes with the set ramp to the new setpoint speed If you start the motor for test purposes via the NanoPro control software click on lt Test Record gt button the following buttons change Stop Record Quick Stopp increase frequency decrease frequency e The lt Save to Drive gt button changes to the lt increase frequency gt but
74. ral information The inputs and outputs are freely configurable see Section 9 lt Inputs gt tab and Section 10 lt Outputs gt tab Possible input configuration W Nanotec PLUG amp DRIVE The inputs digital can be configured with the following functions for example e Start reset e Record bit 0 to record bit 4 e Direction 4 7 3 Profile parameters Parameter descriptions The following parameters can be set in the analog or joystick mode Parameters Direction only in Analogue mode Minimal S peed Target Speed Direction of rotation of travel profile e Left e Right The direction setting is only significant if no input is configured for direction since this input would in this case have higher priority Note In J oystick mode the voltage sign determines the direction of rotation means rotate left means rotate right Starting speed The minimum speed in Hz is the startup speed start stop frequency of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a minimum speed can also lead to step losses Normal speed The maximum speed in Hz Is the setpoint speed of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a maximum speed can cause step losses and motor stalling Input of ramp gradient in Hz ms In the analog and joystick modes the ramp dete
75. rmines the maximum acceleration If the voltage changes too fast e g by turning the potentiometer too rapidly this ramp is used to accelerate to the maximum rotational speed Input of ramp gradient in Hz ms In the analog and joystick modes the brake ramp determines the maximum deceleration If the voltage changes too fast e g by turning the potentiometer too rapidly this ramp is used to decelerate to a standstill The value 0 means that the value set for the acceleration ramp can also be used for the brake ramp Manater PLUG amp DRIVE 4 8 Analogue Positioning Mode 4 8 1 Description Function A specific position can be approached in this mode The analog input can be actuated with max 10 V to 10 V The voltage at the analog input directly controls the position To define the voltage range see Section 9 lt Inputs gt tab Parameter fields Operationsmodus Analog Position Stellgrahe 400 Schritte Startqeschwindigkelt EE Hz Sollgeschwindigkeit OD Hz Hampe 2683 000 Harris Bremsramnpe 83 Harms Fampentyp Trapez Rampe sl 4 8 2 Assignment of the inputs and outputs General information The inputs and outputs are freely configurable see Section 9 lt Inputs gt tab and Section 10 lt Outputs gt tab Possible input configuration The inputs digital can be configured with the following functions for example e Start reset e Record bit 0 to record bit 4 W Nanotec PLUG amp DRIVE 4 8 3
76. rofile the selected operating mode and Click on the Test Record button travel profile 5 Repeat steps 1 to 4 if you want to enter further travel profiles If you want to permanently save the The data are then saved in the entered settings controller Click on the lt Save Data gt button Manater PLUG amp DRIVE 4 3 Relative and absolute positioning internal and external reference run 4 3 1 Description Function Relative and absolute positioning In the Relative and Absolute operation types the motor moves from a position A to a position B according to a specified travel profile They are preferentially used when travel to a specific position is required The positions can be defined as absolute or relative values depending on the mode selected With relative positioning the travel profile is started from the actual position With absolute positioning the travel profile starts from a specified zero position irrespective of the actual position Internal and external reference run In the Internal reference run operation type the motor travels to an internal reference point at the set minimum speed index mark of encoder In the External reference run operation type the motor travels to a switch connected to the reference input After the start of the external reference run the motor accelerates with the set ramp from the minimum to the maximum speed Once the reference switch is reached mo
77. rt Stop Starts stops the scope mode travel profile 32 Saves recorded parameters Opens recorded and saved parameters Creates a screenshot of the current display User Manual V Nanatec NanoPro PLUG amp DRIV lt E xpert tab 15 lt Expert gt tab Display 80 of 90 Issue V2 3 Manater PLUG amp DRIVE Parameter descriptions The following parameters can be set Parameters Function Clearlog an ato AE aeons console programming manual Analog Input Correction Input Correction Offset Offset of analog input Value range 32768 to 32767 Default value 0 Effective value range between 100 and 100 The parameter IS not Stored in the XML configuration file and is only transferred to the controller by clicking on the lt Save Correction values gt values button but not when the lt Save Data gt or lt Save Configuration to Drive gt button Amplitude Gain of analog input Value range 0 to 65535 Default value 32768 Effective value range between 32000 and 34000 The parameter is not Stored in the XML configuration file and is only transferred to the controller by clicking on the lt Save Correction values gt values button but not when the lt Save Data gt or lt Save Configuration to Drive gt button Miscellaneous GEE Specifies the maximum time in Value range 0 to 16383 Interpolation milliseconds after which an Default value 320 Gradient interpolated support thre
78. s the internal or external reference runs are supported see Section 9 lt Inputs gt tab and the separate manual for the respective stepper motor controller or for the Plug amp Drive motor Parameter fields in the Clock Direction Left Right operation type Operationsmodus Startgeschwindigkei 5 olgeschuwirdigkeit Rampe Bremsrampe Rampentup Takt Richtung links OO He oop 283 00 Hz mis 283 0 Harms Parameter fields in the Clock Direction Run Int Ref Ext Ref operation type Operationsmodus Richtung Startgeschuindiakelt Sollgeschwindigkeit Rampe Bremsrampe Fampentyp Takt Richtung Int Ref OO He 00 2083 H2 mis 283 H2 ms 4 6 2 Assignment of the inputs and outputs General information The inputs and outputs are freely configurable see Section 9 lt Inputs gt tab and Section 10 lt Outputs gt tab Possible input configuration The inputs can be configured with the following functions Start reset Clock direction mode mode selection 1 Clock direction mode mode selection 2 External reference switch Manater PLUG amp DRIVE e Direction direction of rotation of the motor A signal change at this input must be completed at least 150 us before a clock Signal e Clock 4 6 3 Profile parameters Parameter descriptions The following parameters can be set in the clock direction mode Parameters Direction Direction of rotation of travel profile e Left
79. sSS 84 V Manater PLUG amp DRIVE Read out values esse ees ee ee ee ee ee 9 Ri EE 9 SAVE WANES ED Ie EE EE Ee Ee 10 Search Drive Address eese 60 oa EE EE 9 MEE dels AA ER Ee ad Need ii Ee AE 22 Online help eie ee RR ee ek Ee ee RR ee ee 10 Operating modeS ee ee Ee ee 13 Absolute positioning Mode ee 19 Analog Mode EE EE NE Be Eer 35 Analogue positioning mode esseere 37 Clock Direction mode ese 32 Flag POSITIONING mode ees 28 J oystick IMO OE N 35 Relative positioning mode ees 19 Speed Mode ee ee ee 25 Torgue mode ees ee RR EE ee ee 39 lied EE OR EE ON 58 Prase EDEN Es ER Ee 41 ata standstill ene eee eee eee 42 Play dead range sssseecsseeecessseeseeseeeeesenees 52 oe ke ER ER N EE 63 este AE eter ee ee ere een reer ree 47 PO SIMON DEERE RE ER Ee ED 21 Position error mMONILOFING creeren 67 Position OOD sei sins n eg ge EG 66 ad EE S 18 Prone grapi AE N EI 17 24 Programming language sseeeeeeeeeeeeeeeeeees 63 aile do oo EE 17 RE ei see ed SE EG meena 21 RAMD DES oe ED dave ee EE sa 23 Reference FUN ees 13 19 32 53 Relative positioning Mode ees ee 19 REpEUNON S oa EN ee 22 30 Reset POSI ONS n ee EDS Ds EE 19 Reverse Clearance 42 Reverse direcCtON esse 22 Rotation Encoder Monitoring 48 49 Rotation Encoder Resolution esen 42 samping Rate ae SG ee ee 79 Save Configuration to Drive Read Configuration from Drive sasssa 11 Save to DIE
80. shold value is reached if a further clock Signal does not take place before then CL Node Distance Value range 1 to 65535 Distances of the individual load angles where the value 8192 Default value corresponds to 1000 rotations per e Stepper motors 4096 minute e BLDC motors differ by motor type Cascade Loop Frequency above which the Value range 0 to S tart Frequency cascade loop Is active 2147483647 Default value 327680 W Nanotec PLUG amp DRIVE Parameters Cascade Loop Frequency up to which the Value range 0 to Stop Frequency cascade loop is active 2147483647 Default value 512 load angle values Value 1 to 7 Lead values for the magnetic field Value range 32768 to 32767 Default values differ according to the motor type The value 65536 2 for the load angle value corresponds to 360 These parameters are only transferred to the controller by clicking on the lt Save load angle values and offset gt button but not when the lt Save Data or lt Save Configuration to Drive gt button is clicked Encoder Index Specifies the mechanical offset of Value range 32768 to Offset the encoder to the rotor 32767 Default value 0 This parameter is only transferred to the controller by clicking on the lt Save load angle values and offset gt button but not when the lt Save Data gt or lt Save Configuration to Drive gt button is clicked PI Parameter DSP Dr
81. ted travel profile A negative edge at Start R eset input can be used to reset an error speed monitoring Record bit 0 to record bit 4 The profile numbers are called up using a binary code with the inputs record bit 0 to record bit 3 When the Start R eset input is activated the value is read in and the corresponding profile is loaded and started reve a ar bit 0 bit 1 bit 2 bit 3 bit 4 0 0 o ofo 1 o o 0 0 0 1 of of oO EE EE EEN EE EE EE EE N EE GN EE GN EE GE E xternal reference switch See End switch behavior internal external and the separate manual for the respective stepper motor controller or for the Plug amp Drive motor Direction The Direction input determines the direction of rotation of the motor In the J oystick mode the direction of the motor depends on the defined voltage range The direction is changed in the middle of the voltage range e g at 5 V in a voltage range of 0 V to 10 V Enable Clock input 6 only With every positive edge at the clock input in the Clock direction mode the motor Carries out a step in the direction set by the direction input The external clock is also active for the reference runs Clock direction mode mode selection 1 2 The mode is defined with the clock direction mode mode selection 1 2 inputs The setting is accepted when the Start Reset input is activated The direction of the reference runs Is specified by the saved parameters In the
82. the motor is automatically changed when the same record is called up repeatedly in sequence Next Record A travel profile can be defined in this selection menu to be Started when the current record is ended V Manater PLUG amp DRIVE Parameters Ramp Type The following ramp types can be selected e Trapezoid ramp e Sinus ramp e jerk Free Ramp The following additional parameter fields appear if the J erk Free Ramp has been selected Jerk rel Brake Ramp fel Brake Jerk rel Possible values 1 to 65 536 The Max Acceleration J erk and Max Brake J erk parameters indicate the maximum change of acceleration over time The greater the jerk the faster the acceleration can change A very Small jerk leads to a sinusoidal acceleration ramp while a large jerk leads to a trapezoidal ramp see following figure Speed Max acceleration reached Max acceleration reached User Manual Nanotec NanoP ro PLUG amp DRIVE lt Mode gt tab Profile graph display The displayed profile graph shows the ramp times acceleration time and the overall actuating time for the applicable travel profile The graphic is recalculated after every relevant input This allows you to continually check and where necessary correct the settings made 000 Hz 294 Steps 400 Steps 4 3 4 Signal curves Example of a signal curve In this example travel profile 5 then travel profile 3 followed by travel profile 16
83. tion Target Speed Hz Ramp He ms Brake Ramp Hz Break me Repetitions Nest Record Number Type eh Ramp Type Sinus Ramp i 4 3 2 Assignment of the inputs and outputs General information The inputs and outputs are freely configurable see Section 9 lt Inputs gt tab and Section 10 lt Outputs gt tab Possible input configuration The inputs can be configured with the following functions e Start reset e Record bit 0 to record bit 4 e External reference switch Ssue Manater PLUG amp DRIVE 4 3 3 Profile parameters Parameter descriptions The following parameters can be set Position Demand Direction not with absolute positioning Minimal Speed Target Speed Ramp Brake Ramp Break only with relative positioning Absolute or relative position for the selected travel profile distance The control variable can be input in steps degrees or mm The units of measurement can be changed in the lt Display Properties gt tab Direction of rotation of travel profile e Left e Right Start speed V Start Start speed start stop frequency of the motor in Hz To avoid step losses it should be selected to be above the natural resonance of the motor Too high a minimum speed can also lead to step losses The units of measurement can be changed in the lt Display Properties gt tab Normal speed V Normal Normal travel speed of the motor in Hz To avoid step losses it
84. ton Clicking on the button increases the frequency speed of the motor by 100 Hz The current frequency value is shown in the window at the top right Drive S peed e The lt Read from Drive gt button changes to the lt decrease frequency gt button Clicking on the button decreases the frequency speed of the motor by 100 Hz The current frequency value is shown in the window at the top right Drive Speed W Nanotec PLUG amp DRIVE 4 4 2 Assignment of the inputs and outputs General information The inputs and outputs are freely configurable see Section 9 lt Inputs gt tab and Section 10 lt Outputs gt tab Possible input configuration The inputs can be configured with the following functions e Start reset e Record bit 0 to record bit 4 e Direction direction of rotation of motor 4 4 3 Profile parameters Parameter descriptions The following parameters can be set in the speed mode Direction Direction of rotation of travel profile e Left e Right The direction of rotation of the motor is only relevant when the motor is operated via the programming interface Otherwise the direction of rotation is selected via an input Minimal Speed Starting speed The minimum speed in Hz is the startup speed start stop frequency of the motor To avoid step losses it should be selected to be above the natural resonance of the motor Too high a minimum speed can also lead to step losses Target Speed Normal speed Th
85. under current and the controller will wait For ta mz Then the brake is disabled and the controller waits for th ms After tb the controller is accepting drive commands te is the time between activating the brake and disabling the drive current Save Data Parameters for external brake The following parameters can be set e Time ta Waiting time between switching on the motor current and switching off triggering the brake in milliseconds e Time tb Waiting time between switching off triggering the brake and activation of readiness in milliseconds Travel commands will only be executed after this waiting time e Time tc Waiting time between switching on the brake and switching off the motor current in milliseconds The parameters indicate times between 0 and 65 536 milliseconds Default values of the controller after a reset 0 ms otart Motor Brake W Nanotec PLUG amp DRIVE Braking response When switching on the controller the brake becomes active first and the motor is not provided with power Note During current reduction the brake is not actively connected Manater PLUG amp DRIVE 7 lt Display Settings gt tab Display Display properties are made using the Display Properties tab Movement Mode Motor Settings Brake Display Properties Errorconection Input Output Communication Statusdisplay CL Parameter Scope Expert Distance Steps speed Hertz
86. vement is stopped for a break of 100 ms and then according to the Limit switch behavior internal external setting see Section 9 lt Inputs gt tab Behavior for Internal External Homing travel is recommenced away from the switch at the minimum Speed start stop speed The reference switch can be an opener or a closer This must be set with the software during programming See also Section 9 lt Inputs gt tab and the separate manual for the respective stepper motor controller or for the Plug amp Drive motor Parameter fields for the Relative operation type Operation Type Positionmode Relative Position Demand 400 Steps Direction fee Minimal Speed Ee Hz Target Speed fi 000 Hz Ramp ea Hame Brake Ramp 283 Harms Break NN rms FRepetitions i Reverse Direction Next Record Number Type sl Ramp Type Sinus Ramp m PLUG amp DRIVE Parameter fields with the Absolute operation type Operation Type Positionmode Absolute Position Demand 400 Steps Target Speed hoo Hz Ramp 2e83 Hz Brake Ramp 2e83 He ms Nest Record Number Type T Ramp Type Sinus Ramp i Parameter fields with the Reference Run Internal operation type Operation Type Direction Target Speed Ramp Brake Ramp Break Repetitions Nest Record Number Type bi Ramp Type Sinus Ramp T Parameter fields with the Reference Run External operation type Operation Type Reference Run External Direc
87. wser Go to the Downloads area and select the following software Windows Software NanoPro for Plug amp Drive amp SMCI NEW gt gt Download the NanoPro V xxx zip file onto your PC Unpack the zip file on your PC in the required directory 5 Open the NanoPro V xxx folder and start the setup program by double clicking on the Setup_xxx exe file El Follow the installation instructions of the setup program 2 Nanotec PLUG amp DRIVE Overview of the user interface 2 1 General information Introduction The SMC112 SMC133 SMCI35 SMCI36 SMC147 S 2 SMCP 33 stepper motor controllers and Plug amp Drive motors of the PDx N series can be configured and programmed with the NanoPro control software using any standard Windows PC Transparent interfaces and simple test functions enable rapid entry into operation and programming and facilitate commissioning Due to the straightforward operating interface not all functions are described in this manual Much of it is self explanatory Therefore only a few essential operational procedures are explained Familiarize yourself with the operating interface of the NanoPro control software before starting to commission and program the stepper motor controllers or Plug amp Drive motors 2 2 Subdivision of the user interface Menu bar and menu window The operating interface is basically set up with a menu bar 1 and a separate menu a File

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