SMCI33 Technical Manual V2.2
Contents
1.2. 8 Connection diagram 7 Connection diagram inputs and outputs l O 10 Connection diagram stepper motor 13 Connection diagram voltage supply 14 CENT A ee ee 10 COMMCCION 2 een 12 COMMOCCION N na naar 13 Connector X4 14 Connector AD sirinin ia aS 15 E mile sie RE ee 6 12 Encoder connection diagram 12 Input CICUS sere 11 Inputs and outputs I O 10 N NOLL ne E EE 6 O Nanoterc PLUG amp DRIVE O Operating modes 17 Operating voltage 14 OUIPULCIFCUNS au eat 11 P Pin assignment connector X2 12 Pin assignment connector X3 13 Pin assignment connector X4 14 Pin assignment of X1 connector 10 Pin assignment of X5 connector 15 Protective CIFCUNG a nun 20 R Rotation monitoring 6 RS485 netwolk 15 S SMCI33 functions 5 Stepper motor 13 T Two wire operation 15 V VA D Voltage Supply rrrnnnrennnnvrnnnnvrnnnvnvnnnennnnennnnne 14
3. O Aanatec PLUG amp DRIVE 3 Connections and circuits 3 1 Inputs and outputs I O Connector X1 Introduction An overview of the assignments can be found in the wiring diagram in Section 2 1 This section looks in detail at the assignment functions and circuits of the connector X1 The connectors and sockets used are from Phoenix order number FK MC 2 4 5 12 Connection diagram X1 Sgn GND E bertemp ME Une 8 prp ze output Output 10 Power GND M Power END Pin assignment eee eee Input 1 5 24 V Optocoupler Input 2 5 24 V Optocoupler Input 3 5 24 V Optocoupler 5 24 V Optocoupler Input 5 5 24 V Optocoupler 6 fims 528 Vopr Joa fopenColledor o fou fopemColleder 0 ons 2 len Power amp TER GND Note Com and GND connection are not connected Com is the ground connection for the inputs and GND is the ground connection for outputs and the internal circuitry O Aanatec 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 e g as a limit position switch enable etc and can be used for sequential control with Nano All inputs can be configured for active high PNP or active low NPN with NanoPro Input circuits All inputs apart from the Analogue In input are electrically isolated by optocoupler
4. Vcc Operating voltage 24 V DC 48 V DC GND Earth 0 V Accessories for voltage supply Appropriate power packs and charging condensers are available as accessories Name Order identifier Power pack NTS xxV yA xx voltage 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 de Charging Z K4700 or Z K10000 condenser Note Further information about accessories can be found on the Nanotec website www nanotec com O Aanatec PLUG amp DRIVE 3 5 RS485 network connector X5 SMCI33 in a network Up to 254 stepper motor controls can be controlled in a network from a PC or PLC These network connections are set up via the RS485 interface D sub socket connector A 9 pin D Sub socket connector is located on the top of the SMCI33 connector X5 The connector X5 provides the optional connection to the RS485 network Pin assignment connector X5 RS485 interface Pinno name Jobsenatn NC NC Output GND 0 V Tx RS 485 Tx Two wire operation 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 RS 232 interface and returns to reception mode at the end of the stop bit enables two wire operation of the SMCI33 This solution does not require software suppor
5. Error correction tab in the Rotation Direction Mode selection menu See the NanoPro separate manual Using encoders with line drivers The encoders of the WEDL series with a line driver output an inverted signal in addition to the encoder signal this leads to better interference immunity and is especially recommended for long lines lengths We recommend shielding and twisting the encoder line to minimize interference with the encoder signal from the outside To be able to connect negative signals to the SMCI33 you require adapter ZK SMCI LD Encoder connection diagram X2 Stepper motor when encoder present Note Complete connection diagram see Section 2 1 Pin assignment connector X2 Encoder Pinno Name Observations 1 5 V 2 fak d j 8 track Ay L j 4 Index track I O Aanatec PLUG amp DRIVE 3 3 Stepper motor connection Connector X3 General information The motor is connected to the SMCI33 with a 4 wire cable Twisted wire pair cables with braided shields are recommended Danger of electrical surges Mixing up the connections can destroy the output stage See also the data sheet of the connected stepper motor Never disconnect the link when operating voltage is applied Never disconnect lines when live Connection diagram I Track B 2 Track A I s Track A I s X2 4 Stepper motor OND 5 Bl 4 Al Winaar Motor I 2 whe
6. 3 4 Voltage supply connection Connector X4 14 3 9 RS485 network connector XS5 nnnnnnnnnnnnennnnnnnnnnnnn 15 4 Operating Modes vase pen 17 5 HOMES Nede 19 6 Technical data EE NE NE EE hani 20 O Aanatec Introduction PLUG amp DRIVE 1 Overview The stepper motor control SMCI33 is an extremely compact and cost effective constant current power output stage with integrated Closed Loop current control Due to the great capacity and functions available it offers designers and developers a rapid and simple method of resolving numerous drive requirements with less programming effort It is used for controlling standard stepper motors including with attached encoders or motors with integrated encoders or brakes Variants The SMCI33 is available in the following variants e SMCI33 1 with USB interface drivers necessary e SMCI33 2 with RS 485 interface SMCI33 functions The stepper motor control SMCI33 contains the following functions e Microstep 1 1 1 64 final output stage step resolution of up to 0 014 in motor with a step angle of 0 9 in 1 64 step mode e Closed Loop current control sinusoidal commutation via the encoder e Rotation monitoring for optional encoder e RS485 or USB interface for parameterisation and control e Sequence programs with NanoJ e Network capability up
7. Controller parameters Step resolution Full Step Half Step Quarter Step Fifth Step Eighth Step Tenth Step 16th Step 32nd Step 64th step Adaptive microstep 1 128 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 9 Inputs and outputs Inputs 6 optocouplers 5 24 V 10 e Safe switch 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 e 3 transistor outputs in Open Collector circuits 0 switching max 30 V 30 mA Protective circuits Overvoltage and undervoltage Protective circuit for voltages gt 50 V or lt 21 V Max heat sink temperature Approx 67 C Max ambient temperature 0 to 40 C O Nanotec Technisches Handbuch PLUG amp DRIVE SMCI33 Technical data SMCI33 dimensions r La a G 0 9 D D oo 66 6 aa 1 13 A complete set of datasheets is available for downloading at www nanotec de Connectors The following connectors are available on the SMCI33 e Connectors X1 X2 X3 and X4 Phoenix connector type MICRO COMBICON e Connector X5 SMCI33 1 Mini USB Type B SMCI33 2 Sub D 9 pin RS485 Issue V 2 2 21 Index A Accessories for voltage supply 14 C Closed Loop current control 5 Commissioning
8. WNanotec PLUG amp DRIVE Technical Manual Stepper motor control SMCI33 NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 Gewerbestra e 11 Fax 49 0 89 900 686 50 D 85652 Landsham near Munich Germany info nanotec de O Nanotec PLUG amp DRIVE Editorial 2010 Nanotec Electronic GmbH amp Co KG Gewerbestra e 11 D 85652 Landsham Pliening Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec de All rights reserved MS Windows 2000 XP Vista 7 are registered trademarks of the Microsoft Corporation Version Change overview O Aanatec 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 stepper motor control 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 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 subs
9. b Industrial control system c SPS e g Logo or Easy d Analog Joystick e Stand alone via external switch X 1 Inputs and outputs d Analog input e Inputs 5 24 V a HE 2 Start 2 K 2 2 Binary drive sets 2 Ref Outputs 5 30 V max 30 mA 4b Rs Rs Rs 1 3 O 90 XO Overtemp Signal states 3 2 Shielding 4700 pF 186 264 VAC 4 Fastened with Art No Z K4700 L a M3 screws N good heat dissipation or b DIN rail holder X1 X4 mating connector Type Ph nix FK 2 4 5 12 a b c X1 X5 3 AA A A o Signal states nu Output 1 and 2 Rotary monitoring 2 gt Error or limit switch NC Motor idle waiting a for new command gt gt Busy control processing last command 1 1 Reference point or zero point reached Converter Art No ZKRS485 RS232 Overtemperature A gt lt WOON OA Wis WIN e Issue V 2 2 7 O Aanatec PLUG amp DRIVE 2 2 Commissioning Introduction The connection and commissioning of the SMCI33 stepper motor are described below This section describes the main first steps you need to take to be able to quickly begin working with the SMCI33 if you are using the NanoPro software from a PC You will find more detailed information in the separate NanoPro manual 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 Re
10. e More detailed information can be found in the separate programming manual 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 software and significantly reduce commissioning time More detailed information on this can be found in the separate NanoPro user manual Rotation monitoring 2 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 half a step at the most for 1 8 stepper motors Automatic error correction is possible after the drive profile is ended or during the drive Connection and commissioning 2 1 Connection diagram Introduction To operate a stepper motor with the SMCI33 stepper motor control the wiring must be implemented according to the following connection diagram Inputs Pin 1 to 6 on the connector X1 and the encoder input connector X2 can be used optionally V Nanotec Technisches Handbuch PLUG amp DRIVE SMCI33 Connection and commissioning Connection diagram SMCI33 Nanotec Connection diagram SMCI 33 1 USB SMCI 33 2 RS 485 Speed and positioning control Closed Loop via a PC for control and parameterization of c d ande
11. e Relative 400 Position Demand Positionmode Absolute 03 Positionmode Relative 400 etn Reference Aun Internal 04 Positionmode Relative 400 Direction Reference Aun External 05 Positionmode Relative 400 6 Speed OG Positionmode Relative 400 Minimal Speed Flag Position OF Positionmode Relative 400 Clock Direction Left 08 Positionmode Relative 400 Target Speed Clock Direction Right 09 Positlornmode Relative 400 O Aanatec PLUG amp DRIVE 5 Troubleshooting Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the controller Danger of electrical surges An operating voltage gt 50 V and incorrect connections can destroy the end stage Never disconnect the link when operating voltage is applied Never disconnect lines when live Possible error Controller is Data transmission to SMCI33 In the Communication tab select not ready not possible communication the PC port to which you have error connected the SMCI33 e g COM Incorrect COM port selected 1 The port used can be found in the device manager of your PC The communication cable is not Use only the recommended connected or Is interrupted converter from Nanotec e ZK RS485 RS232 e ZK RS485 USB A non existent motor number Set the correct module address module number is set See the separate manual on NanoPro The power supply ofthe SMCI33 Check volta
12. equent 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 OH Nanoter User Manual NanoPro software User Manual NANOPRO I software for lt pee ra saamme Programming manual Controller programming e Command reference V Nanotec Programming manua for stepper motor positioning controls e Nano e COM interface Samt wes The manuals are available for download at www nanotec com O Aanatec PLUG amp DRIVE Contents 1 ODVETVIE EEE EE m uum ME 5 2 Connection and COMMISSIONING uu u u 6 2 1 Connection diagram a nen nee en 6 2 2 Gaga Opius dep ak capt azas eats crt atte lama askush 8 3 Connections and Cireuis seen 10 3 1 Inputs and outputs I O Connector X1 a nennen 10 3 2 Encoder connection Connector X2 a 12 3 3 Stepper motor connection Connector X3 13
13. ference Familiarize yourself with the SMCI33 stepper motor control and the corresponding NanoPro control software before you configure the controller for your application Procedure Proceed as follows to commission the controller sm a _ je Install the NanoPro control software on your PC Download of See the NanoPro separate manual www nanotec com Connect the controller to the stepper motor Connection diagram see according to the connection diagram Section 2 1 Detailed information on connections can be found in Chapter 3 Switch on the operating voltage The green LED lights up 24 V DC 48 V DC If necessary install the USB driver and the Download driver for the converter cable ZK RS485 USB www nanotec com in the Support Download Driver menu item CAUTION Danger of overvoltage at the USB interface When using notebooks connected to the line supply detach the power cable before connecting the USB cable Connect the controller with your PC Order number Use one of the following converter cables for this e ZK RS485 RS232 purpose e ZK RS485 RS232 for connection to the serial interface ZK RS485 USB or conventional USB cable type MINI B for connecting to the USB interface for SMCI33 1 e ZK RS485 USB O Aanatec PLUG amp DRIVE Start the NanoPro software File Language Motor 1 Motor System Help Motor 1 Operating Mode Operation Mode E Motor Type SMCP33 Interface RS485 Ver
14. ge supply switch on if is interrupted necessary Another open program is Close down other programs on your blocking the COM port to which PC the SMCI33 is connected Inadmissible data was sent to Click on the lt Yes gt button to stop the the controller during the output travel profile of a travel profile The SMCI33 switches back to the Ready state The data can then be resent to the controller Transmission Data transmission to the Check that the motor connection is error SMCI33 is disturbed sender or correctly wired receiver are disturbed We recommend using the following Nanotec converters e ZK RS485 RS232 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 Red LED on Overtemperature of power Switch off controller and allow to the SMCI33 electronics gt 75 C cool lit up The error is reset when the SMCI33 is disconnected from the power supply unit Undervoltage Check voltage supply O Aanatec PLUG amp DRIVE 6 Technical data Electrical connections Operating voltage Vb DC 24 V to 48 V 4 Max phase current Adjustable up to max 3 A phase Continuous current 2 A phase Current drop Adjustable 0 to 80 of phase current Interfaces e SMCI33 1 USB standard e SMCI33 2 RS 485 4 wire 115200 baud adjustable 1 start bit 8 data bits 1 stop bit no parity
15. n encoder present B X3 Note Complete connection diagram see Section 2 1 Pin assignment connector X3 Stepper motor Pinno name fomservoms See the data sheet of the connected stepper motor Motor with 6 or 8 connections If you are using a motor with 6 or 8 connections you need to connect the windings The pin configuration for the motor can be found on the motor data sheet which can be downloaded from www nanotec de O Nanotec PLUG amp DRIVE 3 4 Voltage supply connection Connector X4 Permissible operating voltage The permissible operating voltage for the SMCI33 stepper motor control lies between 24 and 48 V DC it must not exceed 50 V or fall below 21 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 Connect a condenser with 10000uF for motors with flange size 86x86 series 518918 or greater An operating voltage gt 50 V will destroy the output stage Mixing up the connections can destroy the output stage Never disconnect the link when operating voltage is applied Never disconnect lines when live Connection diagram voltage supply X4 Power Supply 230 V NTS xx 10000 uF Note Complete connection diagram see Section 2 1 Pin assignment Pinno name Oe 1
16. o_ IIVIYILNI 984758 WOI JBJOUEU MMM Japun PEOJUMOP pneg 057 li xew Di ost ome sel a ve eder NE in og 4Jod W0 1enjs a e spejsu Jaap ay Idud Keld pue HAN St U0H29403d 053 nid 244 04 Guipsorre jerrewojne si 000Z SMOPUIM lt SMOPUIM aunjsadwa juaiquy Japun uolje ejsu GS y wos sawo sgy ayy JO Ajddns 341 pue pneq 0 i OSZ 04 dn YLIM UONEUNWWOJ x ldnp Jin smoje Oo 5s ee OO UOIJISUUOD G YSH IYL SMOPUIM Japun sIejJejUul sngG 8yS0u YU 0 LOINIBUUOI ISN e s l qeu 3198 J3jj3AU0 SEYSY ISN Sul uoljyerji2ads JENUYIA 3198 Jo 4010 zg TS un m me z mo ESN 987SY XZ J91J339AU0 3 UFITIOULNOD MYOMLAN G8r7S4 NNVHDVIG NOILO3NNOO Jd 3 4 43 0J4U0J JeJ4U3 Issue V 2 2 16 O Aanatec PLUG amp DRIVE 4 Operating modes Introduction Depending on the travel profile the motor can be operated using different operation modes Due to the great capacity and functions available it offers designers and developers a rapid and simple method of resolving numerous drive requirements with less programming effort Select the required operating mode for each drive profile and configure the controller according to your requirements 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 po
17. s from the voltage supply of the SMCI33 and designed for 5 24 V input signals at an input current of 10 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 5 24 V Output circuits The outputs are transistor outputs in Open Collector circuits 0 switching max 30 V 30 mA An LED can be integrated to test the output The LED lights up when the output is active max 30 V 30 mA LED Out GND O Aanatec PLUG amp DRIVE 3 2 Encoder connection Connector X2 Optional encoder An optional encoder can be connected to the stepper motor control By default the closed loop control for a three channel encoder is set up with 500 pulses revolution in an 1 8 stepping motor With an 0 9 stepper motor you should use an encoder with 1000 pulses revolution to achieve the same control quality Depending on the application it may make sense to use higher encoder resolutions up to max 2000 pulses revolution to improve control quality or to use a lower resolution min 200 pulses revolution for low cost applications or for step monitoring alone The following encoder resolutions can normally be processed by the controller 192 200 256 400 500 512 1000 1024 2000 2048 Recommended Where possible use Nanotec encoders with the order number WEDS WEDL 5541 Xxx If an encoder is not used the Disable mode must be set in the
18. sion Date 23 09 2010 Save Configuration to Drive Read Configuration from Drive Movement Mode Motor Settings Brake Display Properties Emorcomection Input Output Communication Statusdisplay CL Parameter Scope Expert Drive Profile wa Operation Type Position Demand Direction Minimal Speed Target Speed Ramp Brake Ramp Repetitions In the field Port select the COM port to which the SMCI33 is connected COM n Write Timeout 1 O00 ME Read Timeout 1 pod ME seuas 115200 bps Select the 115200 bps entry in the Baudrate selection field Check the current setting using the motor data sheet Select the lt Mode gt tab Motor Settings Brake Display Properties Errorcorrer Click on the lt Test Record gt button to carry out the pre set travel profile Test Record Stop Record Save to Motor Read fram Motor You can now enter your required settings For instance you can enter a new travel profile The NanoPro main menu appears The number of the COM port to which the controller is connected can be found in the device manager of your Windows PG System control system hardware Under no circumstances may the current be set to a value higher than the rated current of the motor The connected motor operates with the pre set travel profile default travel profile after new installation See the NanoPro separate manual
19. sitioning 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 positioning mode and the specified setpoint position relative to the trigger position is approached This operating mode is used for labeling for example the motor first travels with the set ramp to the synchronous speed of the conveyed goods When the labels are detected the preset distance position is traveled to apply the labels O Aanatec PLUG amp DRIVE Operation mode Application Clock direction mode left Use this mode when
20. t 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 O Aanatec Technisches Handbuch SMCI33 PLUG amp DRIVE ircuits Connections and c t diagram RS485 network ircui C 481 044U0 d J81 044U0 j l wweJboud osdouey ela J qunu a npow umo s y 485 ysnw yiun J A yJoMjau IYJ 04 JIUN uj Bulf33uuo BJOJaq e SISS3JOJd au Ul sJ0JJ P3JaPISU0I ayy ISIJE aq Aew sny4 pue Sau UONEJIUNWWO y4 pue SJNdUI u 0JUI paljdde aq ued jIJE NDaJJI asnedaq JEIUOJIUNS JOU 3Q P NOI J joJ1uo3 3YJ SJUIOd sAoge ayy Jo puebausiq WG SI 3 Ged 4JOMJ3U ayy JO y4bua 31qe gt xew ayy e 7ZOMV WWZ 0X9 ed paysim4 papjalys aq JSNW ajqed ayy VOL YIM Payeulwsay aq 4ySNW au Y4 JO Pua Yea UI JUN se Y Jun YES 0 p 3 uuo2 Bq o SEY GND QUId SJIUN OM ueys 3JOW ave IJ3YL J pakoJjsap 3q p no J3 0J4U09 ayy Sjulod aAoge su JO pyebausip U pua u3Je ul p 13 uuo32 aq 4snw Buipyaiys ayy pue GND e JUN YES 0 p 13 uuo2 aq o seu GND 8U d SJIUN OMJ UeU 3J0W JJe J U J SHUN 4YGZ Z RS ER RS 2 LE s PRS gva lt xx SP SF ote PR RR SG RR LS RR RER RR RR RR er xx ER SR Ke QT3IHS 778 737 x w XL xy 13101410 pun uondiuiSs p BSu 2 uuo23 34 ped zSz uonne
21. to 254 motors e Easy programming with the NanoPro Windows software ee Closedloop 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 consumption and heat development in the motor and controller are much lower compared to normal controlled operation Settings O Aanatec PLUG amp DRIVE Nano The integrated programming language Nano 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 firmwar
22. you wish to operate the motor Clock direction mode right with a superordinate controller e g CNC controller es In the clock direction mode the motor is operated via two inputs with a clock and a direction signal from a Int Ref superordinate positioning control indexer Clock direction mode Depending on the mode selected Int Ref Ext Ref Ext Ref the internal and external reference runs are supported 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 when you require a specific output torque independent of the speed as is the case in typical winding and unwinding applications The maximum torque is specified via the analog input Selecting the operating mode in NanoPro Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Dutput Communication Drive Profile Operation Type Pasitionmode Relative Positionmode Relative Fositionmode Relative 400 02 Positionmod
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