PD4-N Technical Manual V1.4
Contents
1. 1 64 Final output stage 0 014 step resolution e Closed Loop current control sinusoidal commutation via the encoder e Powerful DSP microprocessor for flexible I O e Sequence programs with NanoJ RS485 e Integrated encoder for rotation monitoring and Closed Loop current control e RS485 CANopen interface for parameterization and control USB connection possible via converter cable ZK RS485 USB e Network capability with up to 254 motors RS485 or 127 motors CANopen e Easy programming with Windows software NanoPro RS485 or NanoCAN CANopen V Nanotec PLUG amp DRIVE e gt Closed oop Closed Loop current control sinusoidal commutation via the encoder In contrast to conventional stepper motor positioning controls where only the motor is actuated or the position adjusted via the encoder sinusoidal commutation controls the stator magnetic field via the rotary encoder as in a servomotor The stepper motor acts in this operating mode as nothing more than a high pole servomotor i e the classic stepper motor noises and resonances vanish As the current is controlled the motor can no longer lose any steps up to its maximum torque If the controller recognizes that the rotor is falling behind the stator field due to overload adjustments are made with optimal field angle and increased current In the opposite case i e if the rotor is running forward due to the torque the current is automatically reduced so that current consum2. Commissioning with NanoPro RS485 firmware Proceed as follows to commission the Plug amp Drive motor with the RS485 firmware oon me Install the NanoPro control software on your PC Download of See the NanoPro separate manual Connect the Plug amp Drive motor according to the connection diagram Apply the operating voltage 12 V DC 48 V DC CAUTION An operating voltage gt 50 V will destroy the output stage e Follow the information in Section 3 2 If necessary install the driver for the converter cable ZK RS485 USB 5 Connect the Plug amp Drive motor with the USB port of your PC Use the converter cable ZK RS485 USB Connection via the RS232 interface is not possible Start the NanoPro software W nanoPro v 1 60 0 0 EPC11 E Fie Language Motor 1 v Motor System Help Motor 1 Operating Mode Operation Mode Motor Type SMCP33 Interface R5485 Version Date 23 09 2010 Save Configuration to Drive Read Configuration from Drive Movement Mode Motor Settings Brake Display Properties Erorcorrection Input Output Communication Statusdisplay CL Parameter Scope Expert Operation Type mi i 400 Hz Position Demand HT 12ms Direction E Half Step Minimal Speed Target Speed bi oo 000000000000000 0 fs FT IT IT IT 00000080 S 333333333333333 3333333f mommo m bi oo bi bi In the Port field select the COM port to which the PD4 N is connected F
3. simple and fast with plug adapter or I O Box i ke ew S i d H 4 S EE E Control mode i SL S a PC for parameterization or control c d i 3 8 21 2 i Se e 8 et D i b Industrial control panel je 8 we c PLC f e Logo or Easy x ig d Stand alone I O Analog i 8 3 over external switches i 8 oo i DIN Rail mounting 8 2 i d Art No D mn RS485 Connector NTS 48V 10 A d nm NC Eeen i nm H NTS 24V 10 A EE i i i LLN RX i 2 Hi g NM 3 3 186 264 VAC TX 14 i UB ext 5 eee i GND ext 6 3 RX 7 GND 8 Signal status TX i 9 Output 1 and 2 i Rotation monitoring CANopen 5 Error or Limit switch RA renee i o ola Hold position waiting GN D o i 3 on new com mand NC 14 Busy controller is NC i 5 esssssssssessseeeh handling last process GND ext 6 Reference or CANE 17 Homing achieved NC 8 Converter Art No ZK RS485 USB UBext t 9 HEE da ee NE eien ien or Converter CAN Adapter f e www IXXAT de Issue V 1 4 9 Nanotec PLUG amp DRIVE 2 3 Commissioning Introduction The connection and commissioning of the PD4 N Plug amp Drive motor are described below This section describes the main first steps you need to take to be able to quickly begin working with the PD4 N if you want to work with the NanoPro RS485 or NanoCAN CANopen software from a PC
4. 30 Issue V 1 4 Nanotec PLUG amp DRIVE Index A Accessories for voltage supply 16 C GANOPEN ssicesicisenidicnsanascntueavaednisanerecaaedes 7 13 17 Closed Loop current control 6 COMMISSIONING EE 10 D Dimensions naan oenen eenn eren eren eren vens 27 OD EE 6 E ECO RE ee een 7 F FVT Juss 5 10 FE eneen tte eene 5 H Holding tee 27 IRDUFCIFSUNS en 14 PUSS mean 14 J IST RADE er 14 IST PAD OH 17 N NL 6 O Operating modes CANopen aanne eneen eneennenennen 23 NE 21 Operating voltage naan 16 OUMU GEUS esse EEE 15 UDS ee 14 Overtemperature protection 28 P Fnoen CONNECTOR zussen 16 Pin assignment IST PAD ee iede bettens 14 JET PADS ne ee ee 17 Phoenix connector aaneen ennn 16 Plug connections aanner eener ennn 8 Protective circuits aaneen 28 R Rotation monitoring aaneen een 7 RS485 network Ak 17 T Two wire operation ane 18 V VA EEE E A aetsens 5 Voltage supply aaneen eneen 16 W
5. You will find more detailed information in the separate NanoPro and NanoCAN manuals If you want to work at a later time with a PLC or your own program you will find the necessary information in the separate Command Reference Familiarize yourself with the PD4 N Plug amp Drive motor and the relevant NanoPro or NanoCAN control software before configuring the Plug amp Drive motor for your application Selecting the firmware The Plug amp Drive motor is always delivered with a firmware that is optimized for RS485 For the operation and configuration of the Plug amp Drive motor with a CANopen interface and NanoCAN you first need to perform a firmware update Proceed as follows 1 Install the NanoPro control software on your PC Download of see the NanoPro separate manual www nanotec com Connect the PC to the RS485 interface of the Plug Connection diagram amp Drive motor according to the connection diagram see Section 2 2 3 ffnen Sie in NanoPro das Men lt System Firmware andern wahle Firmware gt The following window appears WwW open Firmware file Patel firmware enc PDE N 485 CANopen 30 04 2009 be firmware enc FDE M 485 10 10 2009 hex firmware enc PDE N 12485 11 01 2010 hex firmware enc PDE N CANopen 10 10 2003 hes firmware enc PDEG N CA Nopen 17 12 2009 hex Cancel Select the desired firmware and click on Open Nanotec PLUG amp DRIVE
6. can be actuated in a network from a PC or PLC The number of PD4 N controllers in an RS485 network is limited to 32 by the hardware These network connections are set up via the RS485 CANopen interface Pin assignment Pinno Name Wire color ZK PDAN GND Vb external WH PK 6 rss fr ele lm CANopen With the PD4 N it is also possible to control the motor via CANopen If you use the Plug amp Drive motor with CANopen you can use the additional safety function of the separate logic supply Even when the voltage supply of the PD4 N is interrupted the processor continues to be supplied with power via the communication line and the position data cannot be lost so that the machine does not need to be referenced after being switched on More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual CANopen connection A suitable CAN interface adapter e g USB adapter from IXXAT or PEAK is required for connecting with a PC CANopen standard connector assignment on the adapter CANopen connection assignments on the controller Circuitry according to the Pin assignment table see above on this page Nanotec PLUG amp DRIVE Notes on the baud rate It is important to note that both the controller and the CAN master use the same baud rate Only this way can communication be established The baud rate has a direct influence on the maximum possible bus length The follo
7. of the product and as commissioning instructions The warranty is exclusively for repair or replacement of defective equipment according to our general terms and conditions liability for subsequent damage or errors is excluded Applicable standards and regulations must be complied with during installation of the device 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 NanoPro Configuration of controllers with the wwanster User Manual NanoPro software er Manat NanoCAN User Manual Configuration of the CAN Aenatec communication for CANopen User Manual capable controllers with the FE NanoCAN software NanoCAN Nanotec CANopen Detailed documentation of the reference CANopen functions CANopen Reference Stepper Motor Positioning Controls and Programming manual Controller programming Siena e Command reference e Nano e COM interface Valid for firmware version 23 08 2010 The manuals are available for download at www nanotec com Nanotec PLUG amp DRIVE Contents 1 OV OT EE EE EEE euere 5 2 Connection and COMMISSIONING css ELLER ELLER LEE ELLE LEE ELLE ELLE ELLEN 8 2 1 NU 8 2 2 Connection Re Te EEE 9 2 3 Com miss TNC EE 10 3 Connections and RT 14 3 1 Inputs and outputs JST RHUD 22 ERE nennen nnnnnnnnnennnn nennen nn
8. off max 2 V e Safe switch on min 4 5 V Signal delay time e Inputs 1 to 5 120 us e Input 6 10 us Outputs 3 MosFET outputs e Open Drain 0 switching max 24 V 2 A e Signal delay time output 1 2 12 us with 10 KQ Pull Up at 24 V Protective circuits Overvoltage and Protective circuit for voltages gt 50 Vor lt 11 V undervoltage Max heatsink temperature Approx 67 C Ambient temperature 10 C to 40 C Holding torque weight and dimensions PD4 N5918 Variants Holding torque Weight Length L 38 1 0 025 A complete set of datasheets is available for downloading at www nanotec com Nanotec PLUG amp DRIVE PD4 N6018 Variants Holding torque Length L Nm mm wu N Q e H T co N Q Overtemperature protection At a temperature of approx 80 C on the board corresponds to 72 75 C outside on the rear motor cover the power drive of the controller is switched off and output 3 is switch on After the controller is cooled and restarted it operates normally again The following temperature test results illustrate the temperature behavior of different Plug amp Drive motors However the specific temperature behavior depends not only on the motor but also largely on the flanging and the heat transition at the flange as well as on the convection in the machine Therefore we recommend always performing a long term test in a realistic environment for applications w
9. or in a customer specific version also via an M12 connector 5 pole More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual In addition the Plug amp Drive motor via CANopen has another safety function Even when the voltage supply of the PD4 N is interrupted the processor continues to be supplied with power via the communication line and the position data cannot be lost so that the machine does not need to be referenced after being switched on The operating behavior of the motor can be set and optimized according to individual requirements by setting the motor related parameters The parameters can be set using the NanoPro or NanoCAN software and significantly reduce commissioning time More detailed information on this can be found in the separate NanoPro or NanoCAN user manual Rotation monitoring Even if stepper motors do not lose steps during normal operation the integrated speed control provides additional security in all operating modes e g against motor stalling or other external sources of error The monitoring function detects a stalled motor or step loss after tenth of a step at the most for 1 8 stepper motors with 500 pulses rotation Automatic error correction is possible after the drive profile is ended or during the drive Nanotec PLUG amp DRIVE 2 Connection and commissioning 2 1 Overview Plug connections The PD4 N Plug amp Drive motor is equ
10. 4 4311044U0 JeJ4U3 19 Issue V 1 4 Nanotec PLUG amp DRIVE Setting the RS485 CANopen module address Max 127 addresses can be set which can however only be used to the full extent via CANopen as the maximum number of PD4 N controllers in an RS485 network is limited to 32 by the hardware A rotary switch on the board can be used to adjust the module addresses 1 to 7 in the hardware With RS485 the baud rate is read out from the EEPROM Depending on the position of the rotary switch it is either set for 1 MBaud CANopen or is read out from the EEPROM see table Rotary switch value Node ID Baud rate dec SH EEPROM from EEPROM RS485 or 1 MBaud CANopen 0x0 i em rotary switch value From EEPROM we roum From EEPROM 9 15 rotary switch value 0x09 OxOF minus 8 If the rotary switch is in position 0 or 8 the module address can be set in the software and read out from the EEPROM When the power supply is applied the controller checks which address is set with the rotary switch on the hardware This hardware address is then adopted After the address is changed the power supply must be briefly switched off and on again Nanotec PLUG amp DRIVE 4 Operating modes 4 1 Serial operating modes Introduction Depending on the travel profile the motor can be operated using different operating modes Due to the great capacity and functions available it offers designers and developers a rapid
11. H Nanotec PLUG amp DRIVE Technical Manual Plug amp Drive Motors PD4 N NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 Kapellenstra e 6 Fax 49 0 89 900 686 50 D 85622 Feldkirchen b Munich Germany info nanotec com Nanotec PLUG amp DRIVE Editorial 2011 Nanotec Electronic GmbH amp Co KG Kapellenstra e 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 are registered trademarks of Microsoft Corporation Translation of the original operation manual Version Change overview Version Date changes 04 12 2010 Operating voltage CANopen firmware 04 23 2010 Wire colors ZK PD4N 11 02 2010 Revision RS485 CANopen Nanotec PLUG amp DRIVE About this manual Target group This technical manual is aimed at designers and developers who need to operate a Nanotec stepper motor without much experience in stepper motor technology Important information This technical manual must be carefully read before installation and commissioning of the Plug amp Drive motor 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 This manual was created with due care It is exclusively intended as a technical description
12. 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 More detailed information can be found in the separate NanoPro manual Overview of operating modes and their areas of application Operation mode Application Relative positioning Use this mode when you wish to travel to a specific Absolute positioning position The motor travels according to a specified drive profile from a Position A to a Position B Internal reference run During the internal reference run the motor travels to an internal reference point at the set minimum speed index mark of encoder only in combination with an encoder External reference run During an external reference run the motor travels to a switch connected to the reference input Speed mode 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 Flag positioning 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 positio
13. art com M 1 O00 m i pod ME 19200 bp Wrte Timeout Read Timeout Baudrate www nanotec com Connection diagram see Section 2 2 Detailed information on connections can be found in Section 3 Download www nanotec com in the Accessories Converter menu item Order number e ZK RS485 USB The NanoPro main menu appears The number of the COM port to which the Plug amp Drive motor is connected can be found in the device manager of your Windows PC System Supervision System Hard ware Select the 115200 bps entry in the Baudrate selection field Nanotec PLUG amp DRIVE Si Acton fe Check the current setting using the motor data Under no circumstances sheet on the lt Motor Settings gt tab may the current be set to a value higher than the rated current of the motor Click on the lt Test Record gt button to carry out The connected motor the pre set travel profile operates with the pre set travel profile default travel est Record profile after new Stop Record installation Save to Motor Head from Motor 13 You can now enter your required settings See the NanoPro separate For instance you can enter a new travel profile Manual Nanotec PLUG amp DRIVE Commissioning with NanoCAN CANopen firmware Proceed as follows to commission the Plug amp Drive motor with the CANopen firmware More detailed information can be found in the separa
14. en 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 Selecting the operating mode in NanoPro Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication d Drive Profile Operation Type Positionmode Relative Positionmode Relative 400 Positionmode Relative 02 Positionmode Relative 400 Position Demand Prozitionmode bsolyte 03 Positionmode Relative 400 GER Reference Run Internal 04 Positionmode Relative 400 Direction Reference Run External 05 Positionmode Relative 400 En Speed 06 Positionmode Relative 400 Minimal Speed Flag Position 07 Positionmode Relative 400 Clock Direction Lett 08 Positionmode Relative 400 Target Speed Clock Direction Right 09 Positonmode Relative 400 Nanotec PLUG amp DRIVE 4 2 CANopen operating modes Introduction The motor can be operated using a total of 5 different operating modes in CANopen mode More detailed information can be found in the separate NanoCAN manual Overview of operating modes and their areas of application Operation mode Application Positioning mode Use this mode if you want to use the motor for PP Mode positioning The motor moves from A to B with the set parameters ramp speed etc Speed mode Use this mode when you wi
15. ennnnenn 14 3 2 Power supply Phoenix connector neen eenen venaneereenneervennsenvenneereenneen vennen 16 3 3 RS485 network CANopen JST PHI 17 4 Operating TNO GOS Laumann denn 21 4 1 Serial operaling MOdES svarar na een antennen dee sanneke nenten 21 4 2 CANopen operating modes 0222000204000000000nnnonnnnnennnnn nennen nenne nnenne nenne nnnnnennnne nase 23 5 Deele En e d o Gustad 24 6 ET eo herz CACO EE EE EE EE ERE 26 Nanotec PLUG amp DRIVE 1 Overview Introduction The PD4 N Plug amp Drive motor includes in addition to the integrated power end stage a complete network capable closed loop speed and positioning control The PD4 N not only significantly reduces development and installation outlay but also Space and component requirements It also increases flexibility system properties and the availability of a complete drive unit Replacement of existing drive solutions is easy with the mechanical and electrical compatibility with standard motors Variants The PD4 N is available in the following variants that differ in holding torque weight and length see Section 6 Technical data e PD4 N5918X4204 e PD4 N5918M4204 e PD4 N5918L4204 e PD4 N6018L4204 Firmware variants The Plug amp Drive motor can be operated with the following firmware variants e RS485 firmware e CANopen firmware Functions of the PD4 N The PD4 N Plug amp Drive motor has the following functions e Microstep 1 1
16. g voltage The permissible operating voltage of the Plug amp Drive motor PD4 N lies within the range 12 to 48 V DC and must not exceed 50 V or undershoot 11 V A charging condenser with minimum 4700 uF 10000 UF must be provided for the operating voltage to prevent exceeding the permissible operating voltage e g during braking Danger of electrical surges Connect charging condensor with minimum 4700 UF An operating voltage gt 50 V will destroy the output stage Mixing up the connections can destroy the output stage Never disconnect the motor when operating voltage is applied Never disconnect lines when live Voltage supply connection diagram t Vl narre ea EEE EEE an t NISMS SET d 186 264VAC T N N Note Complete connection diagram see Section 2 2 Pin assignment Accessories for voltage supply Appropriate power packs and charging condensers are available as accessories Name Order identifier Power pack NTS xxV yA xx voltage 12 24 or 48 V y current 2 5 5 or 10 A Information on the selection of the required power supply unit can be found in our FAQ on www nanotec com Charging Z K4700 or Z K10000 condenser Note Further information about accessories can be found on the Nanotec website www nanotec com Nanotec PLUG amp DRIVE 3 3 RS485 network CANopen JST PHD 8 PD4 N in a network Generally up to 254 RS485 or 127 CANopen Plug amp Drive motors
17. ipped with the following plug connections e JST PHD 12 inputs and outputs e JST PHD 8 RS485 CANopen e Phoenix connector power supply Configuration The following figure shows the configuration of the connectors PHONIX JST PHD 8 JST PHD 12 Connection cable For making the connection you need the PD4 N cable set order number ZK PD4 N V Nanotec Technical Manual PLUG amp DRIVE PD4 N591 8 Connection and commissioning 2 2 Connection diagram To operate the Plug amp Drive motor you must implement the wiring according to the following connection diagram Nanotec Connecting Diagram PD4 N Plug amp Drive Motor with integrated power and close loop controler incl encoder d Input optocoupler Output open drain signal status 3 5 24V max 24V 1 5 A a i optional for f e 7 la gt 2 3 6 security feature I 2 Dn e og gt 9 PINCAN Connector ignal L i Gi amp i Signa 0 7090 4 9 7 2 r i 8 6 19 PINRS4BS Connector 8 Pla le Nu E N m x x amp Et H e 9 3 5 3 Haga G sg sa a8 ds 25 8 8 8 B ti 2 alot a 2 axla eslasezsjeser i555 Sz I 3 Futen ier GS 22 2 2 Ek E e E ao Ee ES ES E SOS OS OF CV EI ce gt ao US US AE Va VE 50 ee E E TE as KG DIN Rail i H mounting Art No SG 1 O Box 3 i NTS 24V 2 A id i NE TIGGE GC i oes EIDE bringing into service
18. ith problematic levels of current and ambient temperature Temperature tests were performed under the following conditions e Operating voltage 24 V 48 V DC e Motor current 100 3 2 A 150 4 A e Operation mode full step speed mode 25 rom and 0 rpm e Operating environment Binder FED 53 temperature cabinet circulated air at 100 fan speed e Ambient temperature 45 C 50 C 55 C 60 C for the comparative measurement e Test motors PD4 N5918X4204 and PD4 N5918L4204 e Measurement point rear of motors for power transistors on the outside of the housing The following graphics show the temperature test results V Nanotec Technical Manual PLUG amp DRIVE PD4 N591 8 Technical data Operating voltage 24 V PD4 N5918X4204 Ey Zu 5 40 5 a 2 Lal ra Zeit sec emm 100 25U min 24v emm 250 min 24v 150 CU min 24V 100 OUlmin 24v Operating voltage 24 V PD4 N5918L4204 Temperatur C Zeit sec 150 25U min 24av ms OU Min 24V ome 00 25U min 24V 100 Org 24v Issue V 1 4 29 Technical Manual V Nanotec PD4 N591 8 PLUG amp DRIVE Technical data Operating voltage 48 V PD4 N5918X4204 Ey Zei ku E 3 Zeit sec 0 25U min 48v 150 25U min 48v 1 50 OU min 48v 9100 OU min AV Operating voltage 48 V PD4 N5918L4204 Temperatur C Zeit sec 150 2SU min 48v 150 OU min 48v me 100 25U min 48v 100 _OU min_48V
19. m the voltage supply of the PD4 N and designed for 5 24 V input signals at an input current of 8 mA Note The voltage must not exceed 24 V It should drop below 2 V for safe switching off and be at least 4 5 V for safe switching on Nanotec PLUG amp DRIVE Function of the inputs All digital inputs with the exception of the Clock input in the clock directional mode can be freely programmed using the NanoPro software RS485 e g as a limit position switch enable etc and can be used for sequential control with NanoJ All inputs can be configured for active high PNP or active low NPN with NanoPro Output circuits The outputs are MosFET outputs in an Open Drain circuit 0 switching max 24 V 2 A An LED can be integrated to test the output The LED lights up when the output is active 5 24 V 2A LED Out GND Signal states at the outputs RS485 Note In the CANopen firmware the status of the controller is not displayed at the outputs The following table shows the possible signal states at the outputs 1 to 3 Rotation monitoring error or limit switch Motor idle waiting for new en SS point or zero point reached Overtemperature The outputs can be freely programmed using the NanoPro software Note Output 3 is also used to display errors and when switching on the controller Nanotec PLUG amp DRIVE 3 2 Power supply Phoenix connector Permissible operatin
20. ning 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 Nanotec PLUG amp DRIVE Operation mode Application Clock direction mode left Use this mode when you wish to operate the motor with a superordinate controller e g CNC controller In the clock direction mode the motor is operated via two inputs with a clock and a direction signal from a superordinate positioning control indexer Clock direction mode right Clock direction mode Int Ref Clock direction mode Depending on the mode selected Int Ref Ext Ref Ext Ref the internal and external reference runs are supported 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 Analogue positioning mode Use this mode when you wish to travel to a specific position The voltage level on the analog input is proportional to the required position Torque mode Use this mode wh
21. ption and heat development in the motor and controller are much lower compared to normal controlled operation dspDrive With dspDrive the motor current is controlled directly by a digital signal processor Unlike conventional ICs which resolve the winding current measurement and the target current value with only 6 or 8 bit the new dspDrive performs the entire control with a resolution of 12 bit The parameters of the PI current controller can be adjusted to the motor and by the user as a function of the rpm This has the following application advantages e Very smooth low resonance operation with a sinusoidal current in the windings even at low speeds e Very good step angle accuracy and synchronization even in open loop operation Nano The integrated programming language NanoJ based on the Java standard means complete application programs can be realized on the drivers that can be executed independently without a higher order controller The programs can be created compiled directly and written to the controller with the free NanoJEasy editor Nano is only supported by the RS485 firmware More detailed information can be found in the separate programming manual Nanotec PLUG amp DRIVE Activation via CANopen Settings CANopen It is possible to include the stepper motor control in a CANopen environment with the PD4 N The connection can be established either via 2 wires of the I O connection cable
22. sh to travel with a specific Velocity Mode speed e g a conveyor belt Reference run Use this mode to reference the motor Ref Mode Homing Mode _ internal external on block Interpolated Position Mode Use this mode with a superordinate path control Torque Mode Use this mode to specify a defined torque Selecting the operating mode in NanoCAN In the lt Drive Mode gt tab the operating mode can be selected When the tab is activated the corresponding SDO is immediately written to the controller to activate the possibly previously selected operating mode Configuration amp NMT Node Configuration Object Management Drive Modes LA Firmware Update Nanotec PLUG amp DRIVE 5 Troubleshooting Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the Plug amp Drive Motor Danger of electrical surges An operating voltage gt 50 V and incorrect connections can destroy the end stage Never disconnect the motor when operating voltage is applied Never disconnect lines when live Possible errors in serial mode Plug amp Drive Data transfer to PD4 N is not On the lt Communication gt tab select Motor is not possible communication the PC port on the PC to which you ready error have connected the PD4 N Incorrect COM port selected e g COM 1 The port used can be found in the device manager of your PC Communication cable not Use
23. te NanoCAN manual DESEN 1 Install the NanoCAN control software on your Download of PC www nanotec com 2 Connect the Plug amp Drive motor to the stepper Connection diagram see motor according to the connection diagram Section 2 2 Detailed information on connections can be found in Section 3 3 Apply the operating voltage 12 V DC 48 V DC CAUTION An operating voltage gt 50 V will destroy the output stage e Follow the information in Section 3 2 Install and configure your CANopen adapter Details can be obtained from the manufacturer of the CANopen adapter 5 Start the NanoCAN software Select the desired node ID the baud rate and if necessary the CAN card in the lt Configuration amp NMT gt tab 7 Select the desired operating mode e g PP mode in the lt Drive Modes gt tab Click on the lt Power on gt button Ka Enter the desired target position in the target field Click on the lt Start gt button Nanotec PLUG amp DRIVE 3 Connections and circuits 3 1 Inputs and outputs JST PHD 12 Introduction An overview of the assignments can be found in the connection diagram in Section 2 2 This section looks in detail at the assignment functions and circuits of the connections Pin assignment Pinno Name Weem Input circuits e m mme Ce mute me gt a Lem 7 All inputs apart from the Analog In input are electrically isolated by optocouplers fro
24. the recommended RS485 connected or interrupted converter from Nanotec incorrect RS485 converter e Order identifier used ZK RS485 USB A non existent motor number Setthe correct module address module number is set See the separate manual on NanoPro The voltage supply to the Check voltage supply switch on if PD4 N is interrupted necessary Another open program is Close down other programs on your blocking the COM port to PC which the PD4 N is connected Inadmissible data was sent to Click on the lt Yes gt button to stop the the Plug amp Drive motor during travel profile the output of a travel profile The PD4 N switches to the Ready status The data can then be resent to the Plug amp Drive motor Transmission The data transfer to the PD4 N Check that the motor connection is error is disturbed transmitter or correctly wired receiver is disturbed We recommend using the following Nanotec converters cables e ZK PD4 N e ZK RS485 USB Position error The motor cannot reach the Click the lt Yes gt button in the error position or the limit switch was message the error is reset overrun Nanotec PLUG amp DRIVE Possible errors in CANopen mode No The wrong node ID has been On the lt Configuration amp NMT gt tab communication set in NanoCAN select the node ID that with the is set on the rotary switches of the controller controller The power supply Is Check voltage suppl
25. wing list shows the possible baud rates as well as their maximum permissible bus lengths 900 kBaud 130 m 50 kBaud 1300 m 20 kBaud 3300 m Notes on the bus termination With CAN the bus termination is handled by two 120 ohm resistors on both ends of the bus CAN HIGH 120 120 Ohm Ohm CAN LOW Two wire operation RS485 To enable RS485 two wire transmission capability all bus stations must have a direction control An intelligent converter which automatically switches to transmission mode when a start bit is received at the RS232 interface and returns to reception mode at the end of the stop bit enables two wire operation of the PD4 N This solution requires no software support We can recommend the ICP 7520 converter for example that is available from Schuricht Talk to our Technical Hotline if you require support for this Technical Manual V Nanotec PD4 N5918 PLUG amp DRIVE ts Ircul Connections and c t diagram RS485 network ircui C r FL e F un ON 2 L io 22 ENNE XX ENNE SS m e m oO CH 4 AL X XL XY XL xy 7 431 0J4U0 7 Ali t 12104005 D wweJboud osdouey BIA Jaqwnu 3 npow UMO si 486 ysnw yiun J3A3 YJOMJIU ay 04 HUN 344 Gu14Jauuo 3J0589 e SISS320Jd ay Ul SJOJJB paJaplsuor IYJ ISIJE aq RW SNYJ pue saul UOINEJIUNWWO 3YJ pue SJNdu ay Oju pandde aq ued Ay yeynbaus asneraq JEIUOJIUNJ JOU aq P NOJ J3 J0JJUO a
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27. y switch on if interrupted necessary The communication cable is Check all connections especially the not connected or is terminal resistances interrupted CAN bus incorrectly Ideally terminate the bus on both terminated with 120 ohm ends with 120 ohm Transmission Data transmission is disturbed Switch the power supply off and on error sporadically again Nanotec PLUG amp DRIVE 6 Technical data Electrical connections Operating voltage V DC 12 V to 48 V 4 Lower voltage limit 11 V undervoltage switch off Upper voltage limit 50 V overvoltage switch off Max phase current Adjustable up to max 4 A phase Continuous current 3 2 A phase Current drop Adjustable 0 to 150 of rated current Interfaces RS485 4 wire e 115200 bps adjustable e 1 start bit 8 data bits 1 stop bit e No parity CAN bus CANopen e 1 MBaud adjustable Motor parameters Step resolution Full Step Half Step Quarter Step Fifth Step Eighth Step Tenth Step 16th step 32nd step 64th step Adaptive microstep feed rate Operating modes Position Speed Flag position Clock direction Analog Analogue positioning mode Joystick Torque Step frequency 0 to 50 kHz in clock direction mode 0 to 25 kHz in all other modes Position monitoring Automatic error correction up to 0 18 depending on encoder resolution VV Nanotec PLUG amp DRIVE Inputs and outputs Inputs 6 optocouplers 5 24 V e Safe switch
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