NanoCAN User Manual V2.0.0.1
Contents
1. Overview The connected motor can be operated in various operation modes e lt Homing Mode gt reference run e lt Profile Position Mode gt positioning mode e lt Velocity Mode gt velocity mode e lt Interpolated Position Mode gt interpolated position mode e lt Torque Mode gt torque mode View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode er Rur l Closed Loop Power On On Switch On Blocking This has to be done only once for a drive As preparation you have to do a reference 19 20 2 3 tun 33 or 34 Bansion 21 22 The regular setup will run increasing speeds _2 On External I0 Node to determine the correct load angles Mintemal Run a 5 The short setup will do some steps back and forth to determine only the encoder 33 34 6 2 offset QuickStop If Firmware 24 10 2011 rew4053 or older is used Enable CL has to be selected 35 manually Stop CL Motor Setup Short CL Motor Setup Enable CL fi enable after run default DI Status enabled U Search For Zero Home Acceleration bm mm steps Search For Switch Home Offset Block Current Following Error Window Following Error Timeout jo fi 0000 500 ms Activating the operation mode Proceed as follows Step Action 1 Click on one of the lt Homing Mode gt lt Profile Position Mode gt lt Velocity Mode gt lt Interpolated Posi2. 0 0 0 0 0000 0000 0000 D 3 2 Selecting the control Introduction In the CanOpen Configuration area the Baudrate and Vendors are selected to select the CAN adapter card used for communication The lt Scan gt button can be used to start a search to find controls whose node ID and baud rate are not known In the Vendor selection field all driver cards found by the program are displayed In the status line the number of found cards is displayed Issue V2 0 0 1 11 56 WW Nanotec PLUG amp DRIVE Requirements There are two basic ways of setting the CANopen node ID and the baud rate e Hardware setting via rotary switches on the control e Software setting with NanoCAN see Section 4 2 lt Node Settings amp Error gt area This is the only way the Node ID can be set for controls without a HEX switch SMCI12 PD2 N To be able to make a software setting with NanoCAN a certain value must be set on the rotary switches of the control see the following tables Control with two rotary switches e g PD6 N Rotary switch value Node ID Baudrate dec hex 0 0x00 from EEPROM 1 MBaud 1 127 _ 0x01 0x7F rotary switch value 128 0x80 from EEPROM from EEPROM 129 255 rotary switch value 0x81 OxFF minus 128 Control with a rotary switch e g PD4 N Rotary switch value Node ID Baudrate dec hex 0 0x00 from EEPROM Io 1 MBaud 0x0
3. Nanotec PLUG amp DRIVE User Manual 1000 1 PCAN_PCIBUS1 13 36 03 Connecting to Node 1 13 36 04 Connected Statusword 0x6041 0 0 0 0 0000 0000 0000 D NanoCAN Application for stepper motor controls and Plug amp Drive motors version V2 0 0 1 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 de WY Nanotec PLUG amp DRIVE Editorial 2012 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 1 0 06 20 2009 New issue enders 1 1 12 14 2009 Revision C P 1 2 12 13 2010 Revision C P program version 1 35 2 0 11 03 2011 Revision enders C P program version 2 00 2 0 0 1 04 23 2012 Revision enders C P program version V2 0 0 1 WY Nanotec PLUG amp DRIVE About this manual Target group This user manual is aimed at designers and developers who need to configure a CANopen capable motor control from Nanotec with the aid of the NanoCAN software without much experience in stepper motor technology Importa
4. lt Profile Position Mode gt area uuunnuuunesnnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 42 Nanotec PLUG amp DRIVE 6 4 6 5 6 6 7 1 7 2 7 3 7 4 8 1 8 2 10 11 lt Velocity Mod6 gt Area u nina Ri aed A egies 43 lt Interpolated Position Mode gt area nennt tt nnne nnn nE nE nn nnmnnn nt 44 Starting the Interpolated Position Mode 45 Stopping the Interpolated Position Mode 44ssrnssnnnennnnnnnnennnnnnnnnnnnnnnennnnnnnnnn 45 lt Torgque Mode gt Area areca ETa ES E ET Eat EEEE EA 46 2 6 FE ET 47 General mtormatton ran 47 Digit l Input area sa aa a 48 Digital Output area nenne ea ehe 48 Analog Blue E EE 49 lt Firmware Update tab u0 u000 00 aAa A AENA aaa aE 51 Firmware update RGAnbioCAN nsan ntnn nenns eneee nE 52 Firmware update CAN to CAN une a a aa aada ei aaa 53 sinfo gt taD EE 54 Statusword display esia orisii a aaa ERRA ARARE 55 CAN Bus log windoW s sssssnssssnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnn ennnen nnn 56 Nanotec PLUG amp DRIVE System requirements Procedure 1 Installation The NanoCAN software only operates with adapters from IXXAT and PEAK The appropriate drivers must be installed e IXXAT The VCI driver version 3 is available for download under the Support section at www ixxat com e PEAK The driver is a
5. 1000 Acceleration Set Target Velocity Min Velocity Deceleration WE Max Velocity 25000 Quick Stop Current Speed 0 Refresh 7 Auto Refresh Functions 2 5 20 000 EE Power On 1 sec Power Off 0000 steps H sec 0000 steps H sec QuickStop Start Stop Halt The following functions are available in the lt Velocity Mode gt area Button Field Function Target Velocity input field Input of the target velocity to be reached A negative value changes the direction of rotation of the motor lt Set Target Velocity gt button Change the set target velocity while the motor is rotating Min Velocity input field Input of the minimum speed Max Velocity input field Input of the maximum speed Note If a higher rpm is entered than the target rpm the target rpm is set to the maximum rpm Acceleration input field Input of the acceleration ramp in X steps per Y seconds Deceleration input field Input of the braking ramp in X steps per Y seconds Quick Stop input field Input of the acceleration ramp for the emergency stop in X steps per Y seconds Current Speed display Display of the current speed This function can only be used in closed loop mode lt Refresh gt button Reads the current speed from the control and display the value read under Current Speed lt Auto Refresh gt checkbox Con
6. A The Bootloader has been succesfully started Now choose a firmware file and write the Firmware If the control was not found switch the control off and on again 8 Continue with Step 2 of Section 8 2 Firmware update CAN to CAN 52 56 Issue V2 0 0 1 Nanotec PLUG amp DRIVE erhandbuch NanoCAN lt Firmware Update gt tab 8 2 Firmware update CAN to CAN Procedure Proceed as follows Step Action 1 Ensure that the correct node ID and baud rate are set on the lt Configuration amp NMT gt tab r BER Configuration Object Management Drive Modes 170 Firmware Update Info M Can pen Configuration Node Information Baudrafe 1000 v kBd Node ID Vendor PCAN_PCIBUS1 EE Firmwareversion 24 10 2011 rev4053 Revision 4050 Serialnumber 4294967295 Initialize CAN Scan Refresh Node Info Select Can Adapter Select the firmware file by starting the firmware selection dialog 2 Click on the lt Write Firmware gt button 3 The firmware update process is started The current progress is indicated by the progress bar 4 and the status is displayed in the status text 5 Start Bootloader bh To write over RS485 only firmware E fimware_enc_PD 4 N_CANopen_24 10 2011 rev4053 hex writing Firmware The process is completed when Finished appears in green type in the status text 5 Start Boo
7. Like Mode 19 only instead of input 6 an external IO node is used as the limit switch see also SDO 0x2010 Mode 5 Reference run to external IO node Like Mode 20 only instead of input 6 an external IO node is used as the limit switch see also SDO 0x2010 Mode 6 Reference run to external IO node Like Mode 21 only instead of input 6 an external IO node is used as the limit switch see also SDO 0x2010 Mode 7 Reference run to external IO node Like Mode 22 only instead of input 6 an external IO node is used as the limit switch see also SDO 0x2010 WY Nanotec PLUG amp DRIVE 6 3 Overview View lt Profile Position Mode gt area The motor can be operated in position mode via the lt Profile Position Mode gt area Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Movement Mode absolute v Target Ge Change Set Immediately IT Change on Setpoint Min Speed fo Max Speed fio Ramp Type liner Acceleration mmm Deceleration Gomm Quick Stop Decel mmm Start Halt Functions Power On Power Off QuickStop The following functions are available in the lt Profile Position Mode gt area Button Field Function Movement Mode selection field Selection of the positioning type absolute or relative to the current position Target input field Input of the move destination With a relative move the
8. 3 2 selecting the contol EE 11 Directiconnection with S Goptrol ceed NENNEN nah ea 13 Searching for a control 12 12 eu isn elated TANS 14 3 3 Network Management 16 3 4 Reading out the hardware and software version nn 16 4 lt Node Configuration gt tab ueneesnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnsnnnnnnnsnnnnnnnsnnnnn nennen 17 4 1 User interface anni nina 17 4 2 lt Node Settings amp Error area nnd 18 4 3 lt Motor amp Drive Settings gt area nennen nnnnnnnnnnnnnnnnnn ern 20 4 4 lt Closed LOOP gt Areas ET 24 5 lt Object Management tab unresnnssenennnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnsnnnnnnnsnnnnnnnsnnnnn ernennen 27 5 1 EE Wu le 27 5 2 lt SDO LiSt gt area uusrsnnesennnnennennnnnnnnnnnnnnnennnnnnennnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ran 28 Changing values of an SDO u a ala 29 5 3 lt PDO MappinG gt area geed SEENEN Garon eee 30 5 3 1 General Tute e ics usa ee emp 30 5 3 2 PDO mapping cece ee ee eee ee ence ee ee ects ca aaaeceeeee eee ceaaaeceeeeeeeseccneaeeeeeeeeeeseseccieeeeeeeeeene 31 Mapping Of PDOS TTT 32 5 4 lt PDO R celved gt area a tattered ae as 33 PDO QUICK EE 34 lt Drive Modes gt A CIE 36 6 1 General functions 244ssnnnenennnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 36 Activating the operation mode Haan ia 36 6 2 sHoming Mode gt area EE 38 Selecting and starting a reference run 39 6 3
9. by closing the dialog box All devices found are listed in the tabular overview 4 ER ch Parameters ZE 1000 T 125 T soo r 50 IT 250 M 20 OD x st earch Node ID 1 to In Stop Search Note Depending on how many baud rates and how wide a node ID range is to be searched the search can take some time Establish a connection to the found device e Double click on the connection or e Select the desired connection and click on the lt Connect gt button Issue V2 0 0 1 15 56 Nanotec PLUG amp DRIVE 3 3 Network Management Buttons The Network Management area contains the following buttons Button Function Effect lt Start Node gt Start the control Operational status PDOs can be written and read lt Stop Node gt Stop the control Stopped status SDOs and PDOs cannot be written and read Only NMT messages are possible lt Reset Node gt Restart the control reset All changes that were not stored in the EEPROM are reset lt Pre Operational gt Return the system to the state Pre operational status PDOs after application of the cannot be written and read operating voltage or a reset lt Quit Bootloader gt Quit bootloader and start the If the bootloader is active this state machine function is enabled and it is possible to start the state machine from NanoCAN Procedure Proceed as follows Step Action 1 Depending on
10. control Save All Writes all SDOs to the control Set Default Config Sets some SDOs back to their default values Save to EEPROM Writes the current values existing in the control to the EEPROM of the control Changes that are not saved are lost after a restart of the control Reset EEPROM Resets some SDOs to their default values and writes all values into the EEPROM of the control Save to File Saves the current configuration as a file Read from File Loads a configuration from a file Changing values of an SDO Proceed as follows Step Action 1 Double click on the object to be changed The Edit SDO window is opened oix Object ID 2004 Sub ID 2 Datatype us Description Current Reduction Percent Value Dec zo Hex 0x14 Bin GITT m m m WI TO SHU el f E e e E i E E e i it a fi He Ok i Cancel The object data are displayed in the upper area Enter the value as follows e Decimal in the Dec input field or e Hexadecimal in the Hex input field or e Bits of the value via the lt Bin gt checkboxes Attention As soon as the lt Ok gt button is clicked the values are immediately written to the control Click on lt Ok gt The values are written to the control Nanotec PLUG amp DRIVE 5 3 lt PDO Mapping gt area 5 3 1 General information Purpose of the PDOs Process data objects PDOs are used to transfer objects that freq
11. of the digital input The digital inputs cannot be set here lt Refresh gt button Reads the current status of the digital inputs from the control lt Auto Refresh gt checkbox Continuously updates the display of the digital inputs Debounce Time input field Input of the debounce time for the digital inputs in milliseconds lt Set Value gt button Digital Output area Writes the value for the debounce to the control Digital Output IT Digital Out 1 IT Digital Out 2 IT Digital Out 3 IT Firmware Used IT Firmware Used Firmware Used Set Values IT Auto Set Refresh Auto Refresh The following functions are available in the Digital Output area Button Field Function lt Digital Out 1 3 gt checkboxes Display and setting of the digital outputs lt Firmware Used gt checkboxes Masking of a digital output so that only the firmware of the motor control unit can use this output lt Refresh gt button Reads the current status of the digital outputs from the control lt Auto Refresh gt checkbox Continuously updates the display of the digital outputs lt Set Values gt button Writes changes related to the status of the digital outputs to the control and thus switches the digital outputs on or off as necessary lt Auto Set gt checkbox If this field is activated changes related to the status of the digital outputs are immed
12. of the motor model for the series Polepairs input field Input of the pole pairs 20 56 Issue V2 0 0 1 WY Nanotec PLUG amp DRIVE Button Field Function Wiring selection field Selection of the wiring of the motor windings The following values can be set e Serial e Parallel Note The type of wiring determines the maximum current for the motor Hall Mode input field Input of the Hall configuration Only activated when BLDC or BLDC with Encoder is selected as the motor type For more detailed information see lt Hall Sensor mode gt in Nanotec CANopen Reference Motor Max display Display of the maximum current of the motor This depends on the wiring of the motor windings Encoder Resolution selection field Selection of the resolution of the encoder number of encoder strokes Enc Index Offset input field Input of the mechanical offset of the encoder and rotor of the motor The values range from 32768 to 32767 The default value is 0 lt Revert Encoder Direction gt checkbox Determination of whether the encoder direction should be reversed by software Gear Ratio upper input field Gear Ratio lower input field Drive area Input of the translation ratio of a gear The ratio is entered as a fraction The following functions are available in the Drive area Button Field Function lt Invert Pol
13. 0 none D Save Contig Event Time jo ms 6 0x0000 0x00 0 none D COB ID 7 0x0000 0x00 0 none DI C Dec Ce Hex 8 10 0000 0x00 0 none 0x0 1201 Functions The following functions are available in the lt PDO Mapping gt area Button Field Function Selection of the PDO type lt TxPDO gt lt RxPDO gt option buttons TxPDO transmit PDO e RxPDO receive PDO Selection of the PDO object to be mapped Four PDOs can be PDO Number selection field mapped for each PDO type Setting of the transmission mode e asynchronous the data are sent immediately e synchronous the data are sent after a sync object Applies to e RxPDOs Transmission Type selection field 0 240 synchronous 2655 asynchronous e TxPDOs 0 synchronous after change 1 240 synchronous for each 1 240 sync object 2655 asynchronous Activation deactivation of the Remote Transmission Request lt RTR gt checkbox RTR When the checkbox is activated a configured PDO is sent on request lt Enable gt checkbox Activation deactivation of the PDO mapping of the selected PDO Number of Objects display Display of the number of selected objects in the Objects field WW Nanotec PLUG amp DRIVE Button Field Function Inhibit Time input field Input of the Inhibit Time in ms 0 1 When transmission type 255 is used this value indicates the minimum time between the transmission of two consecut
14. 00 00 00 00 SUPPORTED DRIVE MODES gt 1934791863 0x581 43 02 65 00 63 00 00 00 SUPPORTED DRIVE MODES lt 0x601 40 01 10 00 00 00 00 00 ERROR REGISTER gt 1934812996 0x581 4F 01 10 00 00 00 00 00 ERROR REGISTER sa 0x601 40 3F 60 00 00 00 00 00 ERROR CODE gt 1934824957 0x581 4B 3F 60 00 00 23 00 00 ERROR CODE lt Oxsol 40 03 10 00 00 00 00 00 NUMBER OF LOG ENTRIES gt 1934847186 0x581 4F 03 10 00 00 00 00 00 NUMBER OF LOG ENTRIES lt Ox601 40 41 60 00 00 00 00 00 STATUSWORD 5 gt 1935274038 0x581 4B 41 60 00 60 00 00 00 STATUSWORD RES 0 RES 0 MS1 0 MSZ 0 S IV enable Can Log IV AutoScroll Copy Log To Clipboard Clear Log CAN Log window The received messages are shown in the log area Outgoing messages are indicated by a left arrow and incoming messages by a right arrow The second column shows the COB ID of the message followed by the data of the message The received object is identified at the end The statusword the control word and the digital inputs are broken down in more detail Functions The following functions are available in the CAN Log window Button Field Function lt enable Can Log gt checkbox Activates deactivates the logging of CAN messages Activates deactivates the automatic scrolling of the CAN log lt AutoScroll gt checkbox area New messages are indeed added but the currently displayed area remains in place lt Copy Log To Clipboard gt button Copies all
15. 1 0x07 rotary switch value 608 from EEPROM from EEPROM 9 15 rotary switch value 0x09 OxOF minus 8 Setting the rotary switches controls with two rotary switches Note The rotary switches must be set to the desired value before the control is switched on since this value is only read in when the control is restarted The rotary switches can be used to set a two digit hexadecimal number 0x00 to OxFF Step Action 1 Set the 16th digit with the right rotary switch e g OxFO 2 Set the 1st digit with the right rotary switch e g OxOF IV Na notec Benutzerhandbuch PLUG amp DRIVE Na no lt Configuration amp NMT gt tab Example 1 If the right rotary switch is set to 2 and the left rotary switch is set to 1 0x21 this results in a number equivalent to the decimal number 33 2 16 1 1 In this case the node ID is set to 33 on the hardware The baud rate is set to 1 MBaud Example 2 If the right rotary switch is set to 8 and the left rotary switch is set to 0 0x80 this results in a number equivalent to the decimal number 128 8 16 0 1 In this case the node ID and baud rate are read out of the EEPROM Direct connection with a control When NanoCAN is launched the following attempt is made e Connection setup to the first found CAN adapter e Connection setup to the CAN device on Node ID 1 If the attempt fails the user must configure the correct se
16. BUS Log 2 Peak Device s found OIXXAT Device s found BEE ENEE Drivestste Pre Operational Node ID and baud rate configuration Proceed as follows Step Action 1 Enter the new node ID in the Node ID field 2 Select the desired baud rate in the Baudrate selection field 3 Click on the lt Update Node Configuration gt button 4 Switch to the lt Object Management gt tab in the lt SDO List gt area see Section 5 2 lt SDO List gt area 5 Click on the lt Save to EEPROM button Note The HEX switches must be set correctly so that the control applies the set configuration at the next restart For controls with two switches the value is to be set to 80h and for controls with one switch as well as for the SMCI36 the value is to be set to 08h WY Nanotec PLUG amp DRIVE Benutzerhandbuch NanoCAN lt Node Configuration gt tab Error View area Error View Error Status Error History Caen zen kee IT Voltage IT Profile Specific EH IT Communication I Temperature I Other Error Code 0000 Description NO ERROR OR RESET IV Notify on Emergency K Read Error T Auto Refresh Functions Error Status area The following functions are available in the Error Status area Field Function Error categories the associated category Depending on the error that occurred a checkmark is set next to Err
17. Button Field Function COB ID Sync Object input field Input of the ID of the sync object By default this object is set to COB ID 0x80 and should not be changed Sync time ms input field Input of the time in ms with which the sync object is sent This time should be between 100 and 1000 ms Position input field Input of the current target position to which the control is to move Increment input field Left field Position change per sync speed Right field and lt buttons Specifically changes the increment speed change e lt adopts the value from the right field in the left field e increases decreases the increment by the value shown in the right field COB ID Position Object input field Input of the COB ID of the mapped Rx PDO see above lt Enable Sync gt checkbox Activation Deactivation of the transmission of sync messages lt Start gt lt Stop gt buttons Starting Stopping of the motor Nanotec PLUG amp DRIVE Starting the Interpolated Position Mode Proceed as follows Step Action 1 Map object 0x60C1 Sub Index 1 1st set point as synchronous Rx PDO Enter the desired value in the Sync time ms field Put the controller into the Operational status see Section 3 3 Network Management Switch on the power section with lt Power On gt Input the mapped PDO in the COB ID Posit
18. Velocity not used not used Interpolated Position not used IP Mode active Torque not used not used Tip The statusword request can be tracked with the CAN Bus log Button Symbol Function Display the statusword display additional information Ka Hide the statusword display additional information QQ Update the statusword display Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE CAN Bus log window 11 CAN Bus log window Overview The CAN bus log window from NanoCAN provides you with the possibility of tracking the messages on the CAN bus View 101 x lt 0x601 40 25 64 01 00 00 00 00 ANALOGUE INPUT 01H a h 1934680342 0x581 43 25 64 01 00 00 00 00 ANALOGUE INPUT 01H lt 0x601 40 26 64 00 00 00 00 00 NUMBER OF ENTRIES gt 1934696440 0x581 4F 26 64 00 01 00 00 00 NUMBER OF ENTRIES lt 0x601 40 26 64 01 00 00 00 00 ANALOGUE INPUT OlH gt 1934717580 0x581 43 26 64 01 00 00 00 00 ANALOGUE INPUT 01H lt 0x601 40 27 64 00 00 00 00 00 NUMBER OF ENTRIES gt 1934728613 0x581 4F 27 64 00 01 00 00 00 NUMBER OF ENTRIES lt 0x601 40 27 64 01 00 00 00 00 ANALOGUE INPUT 01H gt 1934747752 0x581 43 27 64 01 00 00 00 00 ANALOGUE INPUT OlH lt 0x601 40 28 64 00 00 00 00 00 NUMBER OF ENTRIES gt 1934759701 0x581 4F 28 64 00 01 00 00 00 NUMBER OF ENTRIES lt 0x601 40 28 64 01 00 00 00 00 ANALOGUE INPUT 01H 1934780830 0x581 43 28 64 01 00 00 00 00 ANALOGUE INPUT OlH lt 0x601 40 02 65 00
19. arity gt option buttons Invert the direction of rotation for velocity mode and activate profile position mode Feed Constant upper input field Feed Constant lower input field Input of the feed constant as a fraction This specifies the number of steps per revolution of the motor shaft Dimension Factor upper input field Dimension Factor lower input field Conversion factor as a fraction for the target specifications in the VL Mode for rpm For further details see CANopen Reference Phase Current input field Input of the current of rated current with which the motor is operated during the drive Phase Current Current display Display of the set value A Phase Current Peak display Display of the maximum configurable value A Phase Stop input field Input of the current of rated current with which the motor is operated at a standstill Phase Stop Current display Display of the set value A Phase Stop Peak display Display of the maximum configurable value A BLDC I max input field Input of the peak current of rated current with which the motor is operated This field is only available when lt BLDC gt or lt BLDC with Encoder gt is selected as the motor type BLDC I max Current display Display of the set value A BLDC I max Peak display Display of the maximum confi
20. control lt Firmware Update gt tab firmware lt Info gt Information on NanoCAN lt Info gt tab and the DLL versions used Note When switching to the lt Drive Modes gt tab the corresponding SDO Service Data Object is sent in order to switch to the selected drive mode default Homing Mode When offline mode is selected the lt Drive Modes gt lt I O gt and lt Firmware Update gt tabs are hidden PDO Quickview 2 Here TxPDOs which the control sends can be displayed in order to always keep their values in view The values are automatically updated at the same time Message output 3 In the message output various messages including error messages are displayed that occur during the writing of the SDOs to the control or reading of the SDOs from the control Clear Error Log 4 This button resets the content of the message window Show CAN BUS Log 5 This button can be used to open the Bus Log window The messages sent over the CAN bus are displayed in this window Further information in Section 11 CAN Bus log window Statusword display 6 The current state of the statusword is read and the statusword is updated here Further information in Section 10 Statusword display Nanotec PLUG amp DRIVE Status bar 7 The status bar displays the found CAN adapters the connected CAN devices and the current operating status of the control CAN adapter describes an expansion card int
21. controller start frequency Hz Stop input field Input of the cascade controller stop frequency Hz The cascade controller comprises two control loops e Inner control loop which controls the speed e Outer control loop which controls the position The outer control loop does not directly control the motor current but the setpoint set speed of the inner control loop Buttons There are two buttons available for the following functions Button Function lt Load from Controller gt button Reading of parameters from the control lt Save gt button Transmits the settings to the control Note The values are only transferred to the control by clicking on the lt Save gt button The values can be read from the control again by means of lt Load from Controller gt Benutzerhandbuch V Nanotec NanoCAN lt Node Configuration gt tab PLUG amp DRIVE 4 4 lt Closed Loop gt area Overview In the lt Closed Loop gt area the control parameters of the Closed Loop mode of the control can be configured Each control loop has its own setting field The parameters for Position Error and Following Error can also be specified The lt Closed Loop gt area is divided into the following sub areas e Closed Loop control parameters Velocity Loop area Position Loop area Cascade Velocity Loop area Cascade Position Loop area e Position Error area e Following Error area e Load Default Paramete
22. e input field For detailed information See Nanotec CANopen Reference SDO 0x6071 lt Start gt button Starts the move in torque mode lt Stop gt button Stops the move in torque mode V Nanotec Benutzerhandbuch PLUG amp DRIVE NanoCAN lt I O gt tab 7 lt I O gt tab 7 1 General information Overview The inputs and outputs of the control can be monitored and set on the lt I O gt tab An Auto Refresh function is used to constantly refresh the data There are three areas available Area Function e Monitoring of the digital inputs of the control Digital Input e Setting the debounce time of the inputs e Monitoring and setting of the digital outputs Digital Output e Masking of outputs to make them available to the firmware e Read out of the values of the analog inputs Analog Input e Configuration of the conditions for sending the analog value as PDO View Issue V2 0 0 1 47 56 WY Nanotec PLUG amp DRIVE 7 2 View Functions 7 3 View Functions Digital Input area J Digital Input 3 Debounce Time r Digital Input IT Digitallnput1 J Digital Input 4 Refresh IT Digitallnput2 J Digital Input 5 I Auto Refresh T Digital Input 6 20 ms Set Yalue The following functions are available in the Digital Input area Button Field Function lt Digital Input 1 6 gt checkboxes Display of the respective status
23. e desired node ID 1 to 127 in the Node ID field 2 Select the baud rate set for the control in the Baudrate selection field 3 Searching for a control In the Vendor selection field select the desired card with the desired channel Possible designations of PEAK cards e PCAN _NONEBUS e PCAN_ISABUS1 PCAN_ISABUS8 e PCAN_DNGBUS1 e PCAN_PCIBUS1 PCAN _PCIBUS8 e PCAN_USBBUS1 PCAN_USBBUS8 e PCAN_PCCBUS1 PCAN_PCCBUS2 Proceed as follows Step Action 1 Open the search dialog by clicking on the lt Scan gt button St tialize CAN Cm 2 al zct Ban Adapter The Search window is opened EE Search Parameters 7 v 1000 F 125 7 500 T so 250 T 20 Sen Start Search Node ID ft tof zr Stop Search Select the desired baud rates that are to be used for the search in the Search Parameters area IV Nanotec Benutzerhandbuch PLUG amp DRIVE NanoCAN lt Configuration amp NMT gt tab Step Action Enter the range of the node ID 1 127 to be searched Hax p Search Parameters rate M 1000 B IT soo M 50 T 250 r 20 Start Search Ndde ID 1 to j127 Stop Search Click on the lt Start Search gt button 1 to begin the search The progress of the search is displayed by the progress bar 2 above the table The search can be ended at any time by clicking on the lt Stop Search gt button 3 or
24. e operational status see Section 3 3 Network Management Change the PDOs or remap them Click on the lt Write gt button The settings are written to the control The PDO is mapped automatically all necessary transitions of the state machine according to the CANopen reference are executed On the lt SDO List gt tab click on the lt Save to EEPROM gt button The PDO is retained even after a reset Put the control into the Operational status see Section 3 3 Network Management in order to be able to receive PDOs Nanotec PLUG amp DRIVE Benutzerhandbuch NanoCAN lt Object Management gt tab 5 4 lt PDO Received gt area Overview The lt PDO Received gt area is used for the configuration of the PDO Quickview The PDO Quickview can display TxPDOs which the control sends and automatically update their values This is used to keep special values always in view View spo List PDO Mapping Il PDO Received KH S 20 6041 0 Statusword 96 0 alse A 60FD 0 Digital inputs 0 0 false gt PDO Quickview S00 M e hex Functions The following list elements are available in the lt PDO Received gt area Button Field Function PDO PDO number and object index within the PDOs separated by 7 Object ID Object address and sub index of the mapped object separated by Description Description of the mapped object Value Current value of the mapped object Times
25. egrated in the computer or a device connected by USB over which the computer can understand the CAN protocol A CAN device on the other hand is a CAN compliant end device such as a CAN control Possible CAN adapter device operating states State Description connected A CAN adapter or control is connected and NanoCAN can communicate with it disconnected No communication is possible as no CAN adapter or control is connected Possible operating states Drive state State Description Display Unknown NanoCAN was not previously connected and does not recognize the gray state of the control Stopped SDOs and PDOs cannot be written and read Only NMT messages red are possible Pre Operational PDOs cannot be written and read Configuration of PDOs is possible yellow Operational PDOs can be written and read green BOOTLOADER The control bootloader is active the state machine is not running blue This means that SDOs and PDOs cannot be written and read V Nanotec Benutzerhandbuch PLUG amp DRIVE NanoCAN lt Configuration amp NMT gt tab 3 lt Configuration amp NMT gt tab 3 1 User interface Overview The lt Configuration amp NMT gt tab contains the following areas e CanOpen Configuration e Node Information e Network Management View 1000 1 PCAN_PCIBUS1 13 36 03 Connecting to Node 1 13 36 04 Connected mo a Statusword 0x6041
26. ement Drive Modes 1 0 Firmware Update Info PDO Quickview eng Take ther r CanOpen Configuration Node Information r Network Management Baudrate 1000 zl kBd Node ID 1 Start Node Vendor PCAN_PCIBUS1 z Ren Gi Stop Node Firmwareversion 24 10 201 1 rev4053 Revision 4050 Reset Node Serialnumber 4294967295 Pre Operational Initialize CAN Scan Refresh Node Info Guit Bootloader rer 13 36 03 Connecting to Node 1 gt Select Can Adapter 13 36 04 Connected pz Clear Error Log Statusword 0x6041 0 0 0 D 0000 0000 0000 Show CAN BUS Log 2 Peak Device s found 7 oui Device s found I E Orivestate Pre Operational 8 56 Issue V2 0 0 1 Nanotec PLUG amp DRIVE Tabs 1 The user interface consists of the following tabs Tab Function See section lt Configuration amp NMT gt CANopen settings and lt Configuration amp NMT gt tab commands lt Node Configuration gt Error log motor and closed lt Node Configuration gt tab loop settings lt Object Management gt SDO list PDO process lt Object Management gt tab data objects configuration PDO Quickview settings lt Drive Modes gt Settings for the various lt Drive Modes gt tab drive modes lt I O gt Settings and status query of lt I O gt tab the inputs and outputs of the control lt Firmware Update gt Update of the motor
27. erface Overview The lt Object Management gt tab contains three sub areas which are displayed above the corresponding selection buttons The following areas are available Area Function SDO List Overview of all CAN objects of the control and the possibility of changing the values of these objects PDO Mapping This is used for the configuration of PDOs for the control PDO Received Settings in order to be able to display TxPDOs in the Quickview area 13 36 03 Connecting to Node 1 13 36 04 Connected Issue V2 0 0 1 27 56 Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE lt Object Management gt tab 5 2 lt SDO List gt area Overview The buttons in the lt SDO List gt area can be used to read and write the service data objects SDOs of the control More detailed information on Service Data Objects can be found in the Nanotec CANopen reference View lolx Configuration amp NMT Node Configuration Object Management Dive Modes 170 Firmware Update Info POO Quickview va pg ae bet 0 SDO List PDO Mapping PDO Received a p efeja po E Read All 0x0002 s8 0 s8 READ OK s16 READ OK _Pead Selected Sib 0 s32 0 32 READ OK Gao us 0 us READ OK vip 0 ul6 READ OK u32 0 u32 READ OK 13 36 03 Connecting to Node 1 u32 262546 Device Type READ OK SetDefautConig _ 93604 Connected 0 u8 0 Er
28. ersed e Motor rotates in a clockwise direction e Motor shuts down as of the index mark e Motor stops Nanotec PLUG amp DRIVE Mode 34 Internal reference run Search for the index mark of the internal encoder Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until the index mark is reached When the index mark is reached the direction is reversed Motor rotates in a clockwise direction Motor shuts down as of the index mark Motor stops Mode 35 Position Reset Sets the current position to home offset without the shaft moving Mode 2 Reference run set to blocking Mode only functions with an encoder OL and CL First run Motor rotates in a clockwise direction with speed from object 0x6099_1 Search for switch until the shaft is blocked The Following Error Window and Following Error Timeout objects are evaluated here Motor moves backwards by one electrical revolution Second run Motor rotates in a clockwise direction with speed from object 0x6099_2 Search for zero until the shaft is blocked The Following Error Window and Following Error Timeout objects are evaluated here Motor moves backwards by one electrical revolution Motor moves to precisely the blocked position of the second run and sets the position to Home Offset Mode 3 Reference run set to blocking Like Mode 2 only counter clockwise Mode 4 Reference run to external IO node
29. essary for an encoder to be connected and correctly configured Method of activating the closed loop mode Enable CL selection field When the value is set to 1 2 or 3 the firmware is instructed to activate the control loop However this is only activated when certain prerequisites are fulfilled Value Activation of the closed loop 0 Immediate deactivation of the control loop 1 As soon as the encoder index has been recognized and the controller is again in the ready status after the move during which the index was recognized 2 As soon as the encoder index has been recognized after the move during which the index was recognized 3 As soon as a short CL calibration run has been carried out Short CL Motor Setup SDO 0x6060 2 Selecting and starting a reference run The following reference runs are selected and started using the buttons in the Reference Run area Mode 19 External reference travel switch as normally closed e Search of the switch e Motor rotates in a clockwise direction e Speed from object 0x6099 1 Search for switch e As long as input 6 is high e As soon as input 6 becomes low switch reached the direction is reversed e Motor rotates in a clockwise direction e Speed from object 0x6099 2 Search for zero e Until input 6 is high again switch free again e Motor stops Mode 20 External reference travel switch as normally open e Search of the switch e Motor rota
30. fter which a Following Error is triggered when the maximum position error is exceeded Load Default Parameters area The following functions are available in the Load Default Parameters area Button Field Function lt Load Default Parameters gt selection Selection of the corresponding motor series for which the PID field control parameters of the closed loop controller should be set to default values lt Load gt button Loading of the default values of the closed loop controller of the selected motor series Velocity Control area The following functions are available in the Velocity Control area Button Field Function lt Velocity Control gt selection field Selection of the controller type in velocity mode e Velocity e Position Note In some cases better results can be achieved with Position at lower speeds WW Nanotec PLUG amp DRIVE Buttons There are two buttons available for the following functions Button Function lt Refresh gt button Reading of the PID control parameters from the control lt Save gt button Transmits the settings to the control Note The values are only transferred to the control by clicking on the lt Save gt button The values can be read from the control again by means of lt Refresh gt V Nanotec Benutzerhandbuch PLUG amp DRIVE NanoCAN lt Object Management gt tab 5 lt Object Management gt tab 5 1 User int
31. gurable value A BLDC T I input field Input of the maximum duration ms for which the peak current may be present Nanotec PLUG amp DRIVE Load Angle area The following functions are available in the Load Angle area Button Field Function 1 7 input fields Input of the motor load angle values The lead values for the magnetic field are entered The value range for the load angle goes from 32768 to 32767 corresponds to 180 to 180 Default values differ according to the motor type The value 65536 2 for the load angle value corresponds to 360 Node Distance input field Input of the distances of the individual load angle where the value 8192 corresponds to 1000 revolutions per minute Brake area The following functions are available in the Brake area Button Field Function Time ta input field Input of the time ms between switching on the motor current and releasing the brake Time tb input field Input of the time ms between releasing the brake and accepting of drive commands by the control Time tc input field Input of the time ms between activating the brake and switching off the motor current lt Info gt button Calling up of a dialog box in which the three times for setting the brake are described in detail Brake Configuration dialog box The following dialog box can be opened with the lt Info gt button B
32. iately written to the control by the user and thus digital outputs are switched on or off as necessary Nanotec PLUG amp DRIVE 7 4 Analog Input area View r nalog Input Analog Input Nr 1 e Current Value 415 Refresh IT Auto Refresh Max Value D Set Values Min Value po Delta op Pos Delta fo Neg Delta fo T Global Interrupt Enable Functions The following functions are available in the Analog Input area Button Field Analog Input Nr selection field Function Selection of the analog input to be read out Current Value display Displays of the value of the analog input lt Refresh gt button Reads the value from the control and update Current Value lt Auto Refresh gt checkbox Cyclically reads the new value from the control and update Current Value Max Value input field Input of the upper threshold value for sending the analog value as PDO Min Value input field Input of the lower threshold value for sending the analog value as PDO Delta input field Input of the minimum change of the value from which only a PDO should be sent again Pos Delta input field Input of the condition for negative change of the analog input Neg Delta input field Input of the condition for positive change of the analog input lt Global Interrupt Enable gt checkbox If this checkbox i
33. ion Object field Activate the lt Enable Sync gt checkbox Sync messages are transmitted Click on the lt Start gt button The control adopts the predefined position Enter the desired value in the Increment field The motor travels at a constant speed Stopping the Interpolated Position Mode Proceed as follows Step Action 1 Set the value in the Increment field to 0 2 Click on the lt Stop gt button 3 Deactivate the lt Enable Sync gt checkbox Nanotec PLUG amp DRIVE 6 6 lt Torque Mode gt area Overview The lt Torque Mode gt area is used for testing the torque drive mode where the motor is operated with a constant torque Requirements To operate the control in torque mode it has to be in closed loop mode If this is not the case a warning is automatically output This mode is not possible for controls that are not closed loop capable SMCI12 View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Max Speed 25000 rpm Power On Target Torque jo Eier Start Stop QuickStop Functions The following functions are available in the lt Torque Mode gt area Button Field Function Specifies the maximum speed in rpm Range of values from 0 to 25000 If the value is 0 the speed is not limited Presets of the torque Max Speed input field Target Torqu
34. ive objects in 100us steps For example this can prevent the current position which changes continuously during travel from blocking the CAN bus Event Time input field Input of the Event Time in ms When transmission type 255 is used this value indicates the maximum time between two transmitted objects of the same type in ms steps This setting can be used to cyclically send objects that rarely change A value of 0 deactivates this behaviour default COB ID area lt Dec gt lt Hex gt option buttons Selection of the input type for the 0x0 input field e Dec decimal e Hex hexadecimal Input field 0x0 Input of the CAN object identifier COB ID as a decimal or hexadecimal number Notes e The COB ID is assigned for the actual mapping e Each COB ID may only be assigned once The smaller the COB ID the higher the priority on the CAN bus Objects area Selection of the objects to be mapped A maximum of 64 bits can be transferred e g 2x 32 bits e g pos demand pos actual value or 4x 16 bits etc lt Read gt button Read the settings from the control lt Write gt button Write the settings into the control lt Load Config gt button Load the settings from a file or preset lt Save Config gt button Save the settings to a file Mapping of PDOs Proceed as follows to map the RPDOs and TPDOs Step Action 1 Put the control into the Pr
35. log window entries to the clipboard lt Clear Log gt button Deletes all entries in the log window lt Save Log gt button Saves the messages displayed in the log window 56 56 Issue V2 0 0 1
36. losed Loop Yalue hex Hardware Drive Motor Type Stepmotor I Velocity Mode Phase Curent 20 H Curent 0 96 A Invert Polarity Bs Peak 7 20 A Motor Series Defaut zl T Profile Position Mode Current 0 96 A 2000 Phase Stop 20 Pen Motor Model Default S Peak 7 20 A Feed Constant BEE Polepairs IER 1 BLDC Wat Re x Current 0 00 A a e fo Peak 7 20 A Wiring Serial Dimension Factor M Mode PB BLOC TI E ms HallMode 0 Ss 2000 Motor Max 55 A Load Angle 1 16384 3 17500 5 18000 7 18000 Encoder Resolution 500 zt 4 i7750 6 18002 Enc Index Offset 21334 Nadia Distencer fos tts I Revert Encoder Direction 12 57 11 Connecting to Node 1 12 57 11 Connected Gear Ratio jp Brak Cascade Loop Frequence Time ta fo ms fi Start 327680 He EE E TE Time tb fo ms Inf fi Jl Stop 512 Hz a Time te fo ms Statusword 0x6041 0 0 0 0 0000 0110 0000 2 Peak Device s Found EE EE Drivestate Pre Operational 0 IXXAT Device s found Functions Hardware area The following functions are available in the Hardware area Button Field Function Motor Type selection field Selection of the motor type The following values can be set e Stepmotor e BLDC e BLDC with encoder Motor Series selection field Selection of the motor series Motor Model selection field Selection
37. ndbuch PLUG amp DRIVE NanoCAN lt Firmware Update gt tab 8 lt Firmware Update gt tab Functions The following functions are available on the lt Firmware Update gt tab Button Field Function lt Start Bootloader gt button 1 Starts the bootloader of a control with RS485 firmware Firmware selection dialog 2 Selection of the firmware version to be flashed Is only switched to active when a valid firmware file is selected lt Write Firmware gt button 3 Starts the firmware update process Progress bar 4 Indicates the current progress of the firmware update process Status text 5 Indicates the status of the update process Issue V2 0 0 1 51 56 Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE lt Firmware Update gt tab 8 1 Firmware update RS485 to CAN Procedure Proceed as follows Step Action 1 Ensure that the correct node ID and baud rate are set on the lt Configuration amp NMT gt tab 2 Click on the lt Start Bootloader gt button 1 The following message appears Start Bootloader x A Please power off the controller and click OK 3 Switch off the control 4 Click on lt OK gt The following message appears Start Bootloader E A Please click OK and power on the controller afterwards 5 Click on lt OK gt 6 Start the control If the control was found the following message appears Start Bootloader x
38. nly the encoder offset If Firmware 24 10 2011 rev4053 or older is QuickStop used Enable CL has to be selected manually CL Motor Setup Short CL Motor Setup Enable CL fi enable after run default D Status enabled g 35 Stop Search For Zero Home Acceleration fi 00 20000 steps Search For Switch Home Offset 1000 Block Current fo Kn Following Error Window fi 0000 Following Error Timeout 500 ms Functions The following functions are available in the lt Homing Mode gt area Button Field Function Selection of the reference run and starting at the same time See Section Selecting and starting a reference run Note The motor must be switched on first Buttons in the Reference Run area lt Stop gt button Interruption of the reference run Carrying out a closed loop calibration run This requires the controller to have been referenced Homing attained and the Enable CL object is set not equal to 0 Note Communication with the control is not possible during the closed loop calibration run This means that the move cannot be deactivated by lt QuickStop gt or lt Power Off gt lt CL Motor Setup gt button Carrying out a short closed loop calibration run load angle values SEELEN are not determined here only the encoder offset Enable CL selection field Method of activating the closed loop mode Displays the m
39. nt information This user manual must be carefully read before installation of the software 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 Nanotec CANopen Comprehensive documentation SS reference of the CANopen functions feterenchandbuch CANopen Technical manuals Connection and commissioning of stepper motor controls or Plug amp Drive motors The manuals are available for download at www nanotec com Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE 4 56 Issue V2 0 0 1 WY Nanotec PLUG amp DRIVE Contents 1 Installation HEPPPERPPRSPPEPEPPEFEERRERFEEFEDREPEEEEFEPEFGEERFEBFEEEFERFEEEERFERSEEEFERPEEEPEFEEPFEFEFEEFSEPEFEPPEBEFEFEFSEEFEPFRFEFERFEN 7 System UE 7 tee UE 7 2 Overview of the user interface unnsnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 8 TABS EE 9 PDO QUICKVIOW E 9 Message OULpUL Ss re ee EE 9 Clear Error Log A 9 Show CAN BUS Log i e 9 Ee Ree E A a aan uni 9 Status bali T d sen ste een 10 3 lt Configuration amp NMT gt tab u 2 eek Rs 11 3 1 User En Le 11
40. omentary closed loop status Can be updated by the Status display double arrow symbol next to the display Nanotec PLUG amp DRIVE Button Field Function Search For Zero input field Input of the speed for the search for the reference position Home Acceleration input field Input of the acceleration ramp for the reference drive Input of the speed for the search for the switch Search For Switch input field Note The value must be greater than the speed for the reference position Home Offset input field Input of the reference position offset Input of the current in which should be used for the reference run Block Currentinput telg if O is specified the normal current of the run is used Following Error Window input Input of the maximum position error symmetrical to the set position field The maximum deviation within the configurable time must lie above the set error limit before a following error is triggered Following Error Timeout input field Notes The ramp is used when starting off and also when braking When the switch is reached braking is carried out using the set ramp and movement is carried out freely or to the end position with the lower speed When the ramp is flat it is possible that the switch is firstly overrun and the actual destination point is only moved to afterwards For the lt CL Motor Setup gt and lt Short CL Motor Setup gt functions it is nec
41. or Code display Display of the error code Description display Error History area Description of the error code The right sub area contains a history of the last five errors that occurred The error code and a description of the error code are displayed in this list view Lower area The following functions are available in the lower area Button Field Function lt Notify on Emergency Message gt checkbox log field of NanoCAN Activate or deactivate display of emergency messages When activated these messages are displayed in red in the respective lt Read Error gt button Read out the current status of the control lt Auto Refresh gt checkbox Activate cyclical reading of the control status Issue V2 0 0 1 19 56 Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE lt Node Configuration gt tab 4 3 lt Motor amp Drive Settings gt area Overview The lt Motor amp Drive Settings gt area is divided into the following sub areas e Hardware area Drive area Load Angle area Brake area Cascade Loop Frequency area Note Changes to these parameters are only accepted when the control power section is switched off lt Power Off gt at Drive Modes View i x Configuration amp NMT Node Configuration Object Management Drive Modes 170 Firmware Update Info POO Quickview Node Settings amp Error Motor amp Drive Settings C
42. rake Configuration x Start Motor Brake Time The external brake can be configured by three parameters ta tb tc The parameters define times ms Possible values are 0 65535 Power up sequence When the Controller is turned on the brake is active and the drive is not under current Then the drive is set under current and the controller will wait for ta ms Then the brake is disabled and the controller waits for tb ms After tb the controller is accepting drive commands tc is the time between activating the brake and disabling the drive current The external brake can be configured by means of the three ta tb and tc parameters These three parameters define times in milliseconds where the range of values lies between 0 and 65535 22 56 Issue V2 0 0 1 Nanotec PLUG amp DRIVE When the control is switched on the brake is active and the motor is de energised In the next step the motor current is switched on and the control waits ta milliseconds before the brake is released tb milliseconds after releasing the brake the control accepts move commands The time between activating the brake and switching off the motor current is described by tc Note The brake is not activated during the current reduction Cascade Loop Frequency area The following functions are available in the Cascade Loop Frequency area Button Field Function Start input field Input of the cascade
43. ror Register READ OK us 0 Number of Log Entries READ OK EEN u32 0 error code log entry 1 READ OK Reset EEPROM u32 0 error code log entry 2 READ OK u32 0 error code log entry 3 READ OK u32 0 error code log entry 4 READ OK E ER 0 error code log entry 5 READ OK Read from File PD4 N Manufacturer Hardware Version 24 10 2011 rev405Manufacturer Software Version SKIPPED SKIPPED Number of Entries a EI Clear Error Log Number of Entries READ OK Statusword 0x6041 0 0 0 0 0000 0110 0000 Show CAN BUS Log 2 Peak Device s found OIXXAT Device s found BEE E Drivestste Pre Operational List window The list window contains one row for each existing SDO and if there are multiple sub indices one row per sub index The list window consists of the following columns Column Contents ID Address of the service data object Sub Sub Index Type Data type Value Current value of the SDO Description Brief description of the SDO Message Messages The different colours in the list window indicate whether an object can only be read grey or also written green 28 56 Issue V2 0 0 1 WY Nanotec PLUG amp DRIVE Buttons The following buttons are located to the right of the list window Button Function Read All Reads all SDOs from the control Read Selected Reads the SDO selected in the list field from the
44. rs area e Velocity Control area View Closed Loop 0 200 D 1000 0 0 0 oo 0 Velocity 13 36 03 Connecting to Node 1 13 36 04 Connected Statusword 0x6041 0 0 0 0 oo00 0110 0000 D 24 56 Issue V2 0 0 1 Nanotec PLUG amp DRIVE Description Closed Loop control parameters The PID control parameters can be specified for each of the four available control loops Each of the three control parameters are calculated according to the following formula W numerator 24variable where W is the value which is displayed next to the input fields The numerator can accept values from 0 to 65535 The denominator is saved as a power of two and therefore only values from 0 to 15 are allowed as a variable Position Error area The following functions are available in the Position Error area Button Field Function Count input field Input of a symmetrical range relative to the target position within which the target is considered as reached Time input field Input of the time ms during which the position must be within the above specified tolerance range to be considered as reached Following Error area The following functions are available in the Following Error area Button Field Function Count input field Input of the maximum position error symmetrical to the set position Time input field Input of the time ms a
45. s set PDOs are sent Note The corresponding SDO 6401 1 must be mapped as a PDO for this lt Set Values gt button Writes the Global Interrupt configuration to the control Nanotec PLUG amp DRIVE Configuration of the Global Interrupt Procedure Introduction The Global Interrupt is used to send the analog value as a PDO if this is within a specific range A delta value can also be specified which presets the min change of the value so that a new PDO is sent Configuration Note For the Global Interrupt function the SDO 0x6401 Sub Index 1 must be mapped as a PDO Proceed in this regard as described in the Section 5 3 lt PDO Mapping gt area Proceed as follows Step Action 1 Enter Max Value and Min Value This defines a range in which a PDO is not sent This also makes it possible to specify an inverse area by simply defining the Max Value smaller than the Min Value 2 e Enter Delta value to specify the delta size or e Enter Pos Delta and Neg Delta if an asymmetric delta condition is necessary 3 Activate lt Global Interrupt Enable gt 4 Click on lt Set Values gt to transfer the inputs to the control Note If you want to configure the lt Global Interrupt Enable gt function it is advisable to deactivate Auto Refresh as otherwise its inputs are always overwritten again with the values from the control V Nanotec Benutzerha
46. sign of the value determines the direction of rotation lt Change Set Immediately gt checkbox If the checkbox is activated an activated run command is executed immediately even if the current run command is not yet finished lt Change on Setpoint gt checkbox If the checkbox is activated the speed is only changed upon reaching the first destination position Before the first destination is reached braking is not performed since the motor should not stop at this position lt Start gt button Starts the move lt Halt gt button e Set the motor stop with the ramp setting in each case e Reset the motor stop if the motor has not yet come to a halt Min Speed input field Input of the start speed of the move order Max Speed input field Input of the maximum speed of the move order Ramp Type selection field Selection of the acceleration and braking ramp type linear or sinus Acceleration input field Input of the acceleration ramp slope Deceleration input field Input of the braking ramp slope Quick Stop Decel input field Input of the braking ramp for emergency stop WY Nanotec PLUG amp DRIVE 6 4 lt Velocity Mode gt area Overview The motor can be operated in the velocity mode via the lt Velocity Mode gt area View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Target Velocity
47. tamp Timestamp when a PDO was last received Show e true is displayed in the PDO Quickview e false is not displayed in the PDO Quickview Issue V2 0 0 1 33 56 Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE lt Object Management gt tab PDO Quickview Overview The number system can be configured to meet own requirements by using a context menu or shortcut key The focus must be on the PDO Quickview window to make settings using a shortcut key The following options are available Type Context menu Shortcut key Hexadecimal hex h Decimal decimal d Binary binary b View Hexadecimal PDO Quickview S00 M e thes LU Statusword Ox637 Decimal PDO Quickview Value decimal Statusword d 1591 Binary PDO Quickview SDO Value binary Statusword 34 56 Issue V2 0 0 1 WY Nanotec PLUG amp DRIVE Configuration Proceed as follows Step Action 1 Double click on an object in the lt PDO Received gt list area e If false was displayed beforehand in the Show column displayed the object is now displayed in the PDO Quickview true is then displayed in the Show column e If true was displayed in the Show column true beforehand the object is now deleted from the PDO Quickview false is then displayed in the Show column WY Nanotec PLUG amp DRIVE 6 lt Drive Modes gt tab 6 1 General functions
48. ters Closed Loop 3 Settings of the closed loop control parameters 13 36 03 Connecting to Node 1 13 36 04 Connected Issue V2 0 0 1 17 56 Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE lt Node Configuration gt tab 4 2 lt Node Settings amp Error gt area Overview The lt Node Settings amp Error gt area provides the possibility of changing the node ID and baud rate of the control The current error and the error history are also displayed View pls Configuration amp NMT Node Configuration Object Management Drive Modes 0 Firmware Update Info POO Quickview Sn Node Settings amp Error Motor amp Drive Settings Closed Loop Node ID fi Note The possibility to change node ID and the baudrate depends on the value assigned through the HEX Switches To use this function you have to set both Baudrate 1000 el HEX Switches to 80h on SMCI36 08h and save the values to EEProm via Object Management A restart is recommended to enable the new settings Update Node Configuration r Error View rEror Status r Error History I GeneieEm C Curent E EES I Voltage IT Profile Specific E 13 36 04 Connected IT Communication J Temperature I Other Error Code 0000 Description NO ERROR OR RESET IV Notify on Emergency Message Read Error TI Auto Refresh f Clear Error Log 7 Statusword 0x6041 0 0 0 0 o000 0000 0000 Show CAN
49. tes in a clockwise direction e Speed from object 0x6099 1 Search for switch Nanotec PLUG amp DRIVE e As long as input 6 is low e When the switch is reached input 6 high the direction is reversed e Motor rotates in a clockwise direction e Speed from object 0x6099 2 Search for zero e Until input 6 becomes low again e Motor stops Mode 21 External reference travel switch as normally closed e Search of the switch e Motor rotates in a clockwise direction e Speed from object 0x6099 1 Search for switch e As long as input 6 is high e When the switch is reached input 6 low the direction is reversed e Motor rotates in a clockwise direction e Speed from object 0x6099 2 Search for zero e Until input 6 becomes high again e Motor stops Mode 22 External reference travel switch as normally open e Search of the switch e Motor rotates in a clockwise direction e Speed from object 0x6099 1 Search for switch e As long as input 6 is low e When the switch is reached input 6 high the direction is reversed e Motor rotates in a clockwise direction e Speed from object 0x6099 2 Search for zero e Until input 6 becomes low again e Motor stops Mode 33 Internal reference run e Search for the index mark of the internal encoder e Motor rotates in a clockwise direction e Speed from object 0x6099 2 Search for zero e Until index mark is reached e When the index mark is reached the direction is rev
50. the desired function click on the associated button 3 4 Reading out the hardware and software version Introduction The lt Refresh Node Info gt button on the lt Configuration amp NMT gt tab can be used to read out the hardware and software version the CAN revision and the serial number of the controller This button is also used to check that communication of the PC with the control unit is functioning properly Procedure Proceed as follows Step Action 1 Click on the lt Refresh Node Info gt button 2 To check the messages of the user interface e When communication is functioning properly the hardware and software versions are displayed and the status of the control is displayed on the status bar appears bus dead protocol no answer within timeout e When communication is faulty one of the following error messages V Nanotec Benutzerhandbuch PLUG amp DRIVE NanoCAN lt Node Configuration gt tab 4 lt Node Configuration gt tab 4 1 User interface Overview The lt Node Configuration gt tab contains three sub areas that are displayed above the corresponding selection buttons 1 to 3 The following areas are available Area Function e Changes the node ID and the baud rate setting of the control Node Settings amp Error 1 e Displays the current error and the error history Motor amp Drive Settings 2 Settings of all motor brake and current parame
51. tinuously updates the speed display lt Start gt button Starts the motor lt Stop gt button Stops the motor lt Halt gt button e Get be motor stop with the ramp setting in each case e Reset the motor stop if the motor has not yet come to a halt Note on closed loop mode If the motor does not respond to the start command the set final speed is not reached or if a drive continues to rotate after a stop this indicates that the CL parameters are Nanotec PLUG amp DRIVE not set correctly In such a case check the PID parameters and the load angle values 6 5 lt Interpolated Position Mode gt area Overview The lt Interpolated Position Mode gt area is used to test the interpolated position mode the control moves to predefined PDO positions within the synchronisation period Requirements In order to use the tab an RxPDO in the control must be mapped to object Ox60C1 Sub Index 0x01 lt Interpolation Data Record 1 gt This COB ID must be entered in the COB ID Position Object field View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode COB ID Sync Object EC Position 38957 Power On Increment fo jo COB ID Position Object 0401 Sync time ms 1000 IT Enable Syne Power Off QuickStop Start Stop Functions The following functions are available in the lt Interpolated Position Mode gt area
52. tion Mode gt or lt Torque Mode gt areas The corresponding SDO is immediately written to the control in order to activate the selected mode ax PEE BEER 36 56 Issue V2 0 0 1 WY Nanotec PLUG amp DRIVE Functions for all operation modes The following functions are available in all operation modes Power On Power Off QuickStop Button Display Function lt Power On gt Switch on the power section of the control lt Power Off gt Switch off the power section of the control lt QuickStop gt Carries out emergency braking with the Quickstop ramp selected in the active mode dbuch Nanotec PLUG amp DRIVE 6 2 lt Homing Mode gt area Overview The various reference runs can be performed via the lt Homing Mode gt area More detailed information on reference runs can be found in the Nanotec CANopen reference View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Reference Run On Switch Closed Loop Power On Power Off On Blocking This has to be done only once for a drive As preparation you have to do a reference 19 20 21 22 Internal Run 33 34 EES EC r On External 10 Mode BER EC IeE tun 33 or 34 The regular setup will run increasing speeds to determine the correct load angles The short setup will do some steps back and forth to determine o
53. tloader To write over RS485 only firmware E fmware_enc_PD4 N_CANopen_24 1 0 2011 rev4053 hex Finished K Issue VZ U U CH Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE lt Info gt tab 9 lt Info gt tab Overview The NanoCAN version number and the library routines DLL used are displayed on the info page View d S 3 t Y A 54 56 Issue V2 0 0 1 WY Nanotec PLUG amp DRIVE NanoCAN 10 Statusword display Overview The current statusword state 0x6041 0 can be read in the statusword display View a Statusword 0x6041 0 0 0 0 0000 0000 0000 Q z Not Used Internal Limit Active Warming Fault Q Target Reached Switch On Disabled Operation Enabled Modespecific Remote Quick Stop Switched On Modespecific PLL Syne Complete Voltage Enabled Ready To Switch On Statusword 0x6041 0 0 0 0 0000 0000 0000 2 Peak Device s found O IXXAT Device s found ASSESSES E DEET Functions When NanoCAN reads the statusword for internal purposes the statusword display is updated at the same time The statusword is updated by the double arrow symbol The two blue Modespecific displays bit 12 and 13 of the statusword are dependent on the set drive mode and adapt themselves accordingly Driving mode Denominator bit 13 Denominator bit 12 Profile Position Acknowledge set point Following error Homing 1 when error Homing attained
54. ttings and start the connection manually The procedure differs depending on which driver card vendor is selected IXXAT or PEAK Procedure with IXXAT cards Step Action 1 Enter the desired node ID 1 to 127 in the Node ID field 2 Select the baud rate set for the control in the Baudrate selection field 3 Select the IXXAT entry in the Vendor selection field 4 If a CAN adapter with only one channel is connected e Click on the lt Initialize CAN gt button This completes the procedure e In all other cases continue with step 5 5 Activate the lt Select Can Adapter gt checkbox and then click on the lt Initialize CAN gt button The Select BUS Controller window is opened E Select BUS Controller x vi Devices 0000000000000002 tinCAN 16 m Device Info Description finCANT6T SS Manufacturer XXAT Autoen Driver Version LCE Hardware Version fico Device Class 23E89775 1F7A 4CCE 3089 71829520835 Hardware ID 3038231 3132 0000 0000 000000000000 VCI Object ID 0000000000000002 BUS Line can A Di Cancel 6 Select the desired adapter in the VCI Devices area 7 Select the desired channel in the BUS Line selection field Nanotec PLUG amp DRIVE Step Action a Click on the lt OK gt button The inputs are saved and the window is closed Procedure with PEAK cards Step Action 1 Enter th
55. uently need to be updated while the control is running For example this is useful for the Position Actual Value object Advantages of PDOs PDOs have the following advantages compared to SDOs e Higher and adjustable priority e Low overhead e Additional functions such as Automatic sending upon change or Cyclical sending The higher priority and the low overhead of the PDOs result because the corresponding objects from the object directory are allocated to a CAN object with a certain COB ID without use of the SDO protocol These allocations are set during the PDO mapping Receive and transmit PDOs PDOs can be differentiated into receive PDOs RPDO and transmit PDOs TPDO e RPDOs are received by the control and the received data are used in the set objects e TPDOs are transmitted by the control in certain adjustable situations WY Nanotec PLUG amp DRIVE 5 3 2 PDO mapping Overview Process data objects can be mapped via the lt PDO Mapping gt area More detailed information on this can be found in the Nanotec CANopen reference View SDO List PDO Mapping PDO Received C T PDO Ce AxPDO Objects PDO Number fi 0x5040 0x00 u16 Controlword DI Read Transmission Type 255 e 2 0x0000 0x00 0 none DI Write V RTRA JV Enable 3 0x0000 0x00 0 none x Number of Objects 1 4 0x0000 0x00 0 none DI Load Config Inhibit Time 100 ms 10 5 0x0000 0x00
56. vailable for download under the Support section download packages at www peak system com To install NanoCAN on your PC you must download the software from the Nanotec website To do this proceed as follows Step Action 1 Open the Nanotec website in your browser http www nanotec com 2 Go to the Support gt Software gt NanoCAN area 3 Download NanoCAN 4 Unpack the zip file on your PC in the required directory 5 Start the program by double clicking on the NanoCAN exe file Benutzerhandbuch V Nanotec NanoCAN PLUG amp DRIVE Overview of the user interface 2 Overview of the user interface Function and design The NanoCAN software can be used to easily configure the CAN communication of the stepper motor controls and the Plug amp Drive motors on a PC with a CAN interface Transparent interfaces and simple test functions enable rapid entry into operation and facilitate commissioning Familiarize yourself with the user interface of the NanoCAN software before starting to configure the stepper motor controls or Plug amp Drive motors Scopes The user interface consists of the following areas e Tabs 1 e PDO Quickview 2 e Message output 3 e Button for resetting the message output 4 e Button for calling up the CAN BUS log 5 e Statusword display 6 e Status bar 7 View W Nanocan 2 0 0 1 Configuration amp NMT Node Configuration Object Manag
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