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1. to 80h fon SMCI36 08h and save the values to EEProm Object Management A restart is recommended to enable the new settings Update Node Configuration Error View Error Status Error History Beneric Erm T Cunent Eror Code Desoibion 13 38 03 Connecting to Node 1 Voltage T Profile Specific EZ 13 35 04 Connected Communication Temperature Other Error Code 0000 Description NO ERROR OR RESET M Notify on Emergency Message Read Error Auto Refresh Clear Error Log Show CAN BUS Log 22 Pesk Device s found Device found TG E rivestste rreoperstons Statusword 0x6041 0 0 0 00 0 0 000 0 000 0 Issue V2 2 17 of 58 r Error View 4 2 W Nanotec PLUG amp OAIVE 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 controller The current error and the error history are also displayed View 10 x Configuration amp NMT Node Configuration Object Management Drive Modes 1 0 Firmware Update Info Node Settings amp Error Motor amp Drive Settings Closed Loop Node ID fi Note The possibility to change node D and the baudrate depends on the value assigned through the HEX Switches To use this function you have to set both Baudrate 1000
2. d n 7 70 7 7 2 Overview of the user interface aaa aaa 8 9 POO OUKEI ON r aaa 9 0 ua n 9 TENO LOT ay aa ad a na 9 Snow CAN BUS 0010 ada amaya obaz udaa halqal 9 Statusword display ON aaa 9 Ir s ee ee eee 10 3 Configuration amp NMT gt susayan daaa Rabba aa azadsan anaa 11 3 1 SOM MUS r 0 00 11 3 2 Selecting TS CONN ONS e a adal aa duda d l 11 Direct CONNECTION with a controler secsi RR 13 Aee E 21 697 011 201 E Gen EE su E 14 3 3 OTEL RU nn 16 3 4 Reading out the hardware and software version 16 4 Configuraton tab ssssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 17 4 1 ns anal 17 4 2 Settings amp Errors ACA ccccsecccccsseeeceeseseeesueeeeeaueueeeeueueeesuaeeeeesaueueetsaeeeersagseusetsneneets 18 4 3 lt Motor amp Drive SettingS gt arad ay ya an maa EErEE EEEn 20 4 4 lt C CGO 0 I O E 25 5 lt ODIJECE Management TAD sisisi a 28 5 1 E EE C ass 28 5 2 S DOC 29 aiin 7 30 Chan gine values OR al o DO aura xun aunts 30 5 lt P DO Ma DING gt al Ce nb Bala 32 2 1 Gener
3. to 80h on 5 136 08h and save the values to EEProm via Object Management A restart is recommended to enable the new settings Update Node Configuration PDO Quickview S00 Value he r Error Status Generic Error Current Voltage T Profile Specific Communication Temperature Other Error History M N NIN 13 36 03 Connecting to Node 1 13 36 04 Connected Error Code 0000 Description NO ERROR OR RESET M Notify on Emergency Message Read Error Auto Refresh Clear Error Log Statusword 0 6041 0 0 0 0 0000 0000 0000 Show CAN BUS Log 2 Peak Device s found IXXAT Device s found I EDR Drivestate Pre Operational Node ID and baud rate configuration Proceed as follows Step 1 2 3 4 5 Note Action Enter the new node ID in the Node ID field Select the desired baud rate in the Baudrate selection field Click on the lt Update Node Configuration gt button On the lt Object Management gt tab switch to the lt SDO List gt area see Section 5 2 xSDO List area Click on the lt Save to EEPROM gt button The HEX switches must be set correctly so that the controller applies the set configuration at the next restart For controllers with two switches the value is to be set to 80h and for controllers with one switch as well as for the 5 136 the value is to be set to 08h
4. QuickStop The following functions are available in the lt Profile Position Mode gt area Button Field Movement Mode selection field Target input field C hange Set Immediately gt checkbox C hange on Setpoint gt checkbox lt S tart button lt Halt gt button Min Speed input field Max Speed input field Ramp Type selection field Acceleration input field Deceleration input field Quick Stop Decel input field Function Selection of the positioning type absolute or relative to the current position Input of the move destination With a relative move the sign of the value determines the direction of rotation If the checkbox is activated an activated run command is executed immediately even if the current run command is not yet finished 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 Starts the move e Setthe motor stop with the ramp setting in each case Reset the motor stop if the motor has not yet come to a halt Input of the start speed of the move order Input of the maximum speed of the move order Selection of the acceleration and braking ramp type trapezoidal sinus or jerk free Input of the acceleration ramp slope Input of the braking ramp slope Input of the braking ramp for emergency st
5. As soon as input 6 becomes low switch reached the direction is reversed 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 Motor stops W Nanotec PLUG amp DR VE Mode 20 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 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 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 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
6. Start Bootloader k To write over AS485 only firmware CMfirmvare enc PO4 N CANopen 24 10 2071 rev4053 hes Eb CanUpen Configuratio Baudrate 1000 Vendor PCAN 1 1 51 Revision Gerialnumber Initialize RAN Select Can Adapter BERNE writing Firmware 4 The process is completed when Finished appears in green type in the status text 5 Start Bootloader To write over AS485 only firmware UoMlirmirare 4 CaN open 24 10 2011 4055 hes Finished User Manual V Nanotec NanoCAN PLUG amp DRIVE lt Info gt tab 9 cinfo tab Overview The NanoCAN version number and the library routines DLL used are displayed on the info page View a 0 3 Y 9 e A 56 of 58 Issue V2 2 PLUG amp OAIVE 10 Statusword display Overview The current statusword state 0x6041 0 can be read in the statusword display View Statusword 0 6041 0 0 0 0 0000 0000 0000 Mot Used Internal Limit Active Wi arming Fault Target Reached Switch On Disabled Operation Enabled Modespecific Remote Quick Stop Switched On Modespecitic PLL nc Complete 1 Voltage Enabled Ready To Switch On statusword 6041 0 0 0 0 0 DO 0 0 OD 0 0 izPeak Tevk f OAD on a es Pa Functions When NanoCAN reads the statusword for internal purposes the statusword display is updated
7. tialize CAN C ee m sul Lan Adapter The Search window is opened ni xi Search Parameters Start Search Stop Search 2 Select the desired baud rates that are to be used for the search in the Search Parameters area y Nanotec User Manual PLUG amp OAIVE Step Issue V2 2 NanoCAN lt Configuration amp NMT gt tab Action Enter the range of the node ID 1 127 to be searched Search Parameters Baudrate 1000 125 500 50 250 20 Start Search e 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 by closing the dialog box All devices found are listed in the tabular overview 4 1614 Search Parameters audrate Jv 1000 125 500 50 250 20 00 Start Search Node ID fi to 3 Stop Search 1 Nanotec 1000 PD4 N 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 Select the desired connection and click on the Connect button 15 of 58 W Nanotec PLUG amp DR VE 3 3 Network Managemen
8. Save aE Statusword 0x6041 0 0 0 0 Show CAN BUS Log 2 Peak Device s found 0 Device s found Bl E Crivestste Pre Operational 20 of 58 Issue V2 2 Functions PLUG amp OAIVE Hardware area Note The BLDC setting under Motor Type or Hall Mode should only be selected with caution as the motor controller and the stepper motor may become damaged if the BLDC setting is accidentally set The following functions are available in the Hardware area B utton Field Motor Type selection field Motor Series selection field Motor Model selection field P olepairs input field Wiring selection field Hall Mode input field Motor Max display Encoder Resolution selection field Enc Index Offset input field lt Revert Encoder Direction gt checkbox Gear Ratio upper input field Gear Ratio lower input field Drive area Function Selection of the motor type The following values can be set Stepmotor e BLDC e BLDC with encoder Selection of the motor series Selection of the motor model for the series Input of the pole pairs 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 Input of the Hall configuration Only activated when BLDC or BLDC with Encoder is selecte
9. 4 Nanotec PLUG amp OAIVE Error View area Error Error Staty Generic Error Current Voltage Profile Specific Communication Temperature Other Error Code 0000 Description H ERROR OR RESET Notify on Emergency K Read Error Auto Refresh Functions Error Status area The following functions are available in the Error Status area Field Function Error categories Depending on the error that occurred a checkmark is set next to the associated category Error Code display Display of the error code Description display Description of the error code Error History area 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 Activate or deactivate display of emergency messages When checkbox activated these messages are displayed in red in the respective log field of NanoCAN lt R ead Error gt button Read out the current status of the controller lt Auto Refresh gt checkbox Activate cyclical reading of the control status User Manual 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 follo
10. A W Nanotec PLUG amp DR VE Button Field Function Phase Stop input field Input of the current of rated current with which the motor is operated ata 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 S operated This field is only available when lt BLDC gt or lt BLDC with Encoder gt is selected as the motor type BLDC l max Current display Display of the set value A BLDC I max Peak display Display of the maximum configurable value A BLDC T I input field Input of the maximum duration ms for which the peak current may be present Load Angle area The following functions are available in the Load Angle area B utton 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 B utton Fie
11. Note The values are only transferred to the controller by clicking on the lt Save gt button The values can be read from the controller again by means of lt Refresh gt User Manual 4 Nanotec NanoCAN PLUG amp DRIVE lt Object Management gt tab 5 lt Object Management tab 5 1 User interface 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 controller and the possibility of changing the values of these objects PDO Mapping This is used for the configuration of PDOs for the controller PDO Received Settings in order to be able to display TxPDOs in the Quickview area View Wiranocanzz00 es Balqabaq lik Node Configuration Object Management Drive Modes 120 Firmware Update Info pate Value hex 5000 spo List PDO Mapping PDO Received uzun ob ore ee B z n Hess Read All 0 1000 i u32 1382548 Device Type REA Error Register READ OK Read Selected 0 1 001 jo 0 Ox1003 jo 0 Number of Entries READ OK Save All 0 error code log entry 1 READ OK 0 error code log entry 2 READ OK Poon Z 0 error code log entry 3 READ OK om to Node 1 130 onnecte 0 error code log entry 4 READ OK _SetDefaut Confia 0 error code log entry 5 READ OK Save to EEPROM 5 Manufacturer Hardwa
12. Position Erro Refresh Count Steps Count nn Steps Velocity R ave Time ms Time nn ms T CL Status disabled Enable CL O disabled disabled zl Clear Error Log Show CAN BUS Log Statusword 0x6041 0 0 0 000 0 0110 00 0 1 Device s found 0 IXXAT Device s found I GREENE ieste Pre Operational O Issue V2 2 25 of 58 W Nanotec PLUG amp DR VE 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 2 variable 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 B utton Field Function Count inp
13. synchronous the data are sent after a sync object Applies to RxPDOs Transmission Type selection field 0 240 synchronous 255 asynchronous 5 0 synchronous after change 1 240 synchronous for each 1 240 sync object 255 asynchronous Activation deactivation of the Remote Transmission Request 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 B utton Field Inhibit Time input field Event Time input field COB ID area lt Dec gt lt Hex gt option buttons Input field 0x0 Objects area lt R ead gt button lt Write gt button lt Load Config gt button lt Save Config gt button Mapping of PDOs W Nanotec PLUG amp DAIVE Function 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 consecutive objects in 100us steps For example this can prevent the current position which changes continuously during travel from blocking the CAN bus 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 ob
14. Out 3 Firmware Used Refresh Auto Refresh Get Value Set Values Auto Set Value JO Set Values Min Value fo Delta JO Fos Delta fo Neg Delta BB Global Interrupt Enable W Nanotec PLUG amp OAIVE 7 2 Digital Input area View Functions Digital npu Digitallnput1 Digital Input 4 Refresh Digitallnput2 Digital Input 5 I Auto Refresh Digtallnput3 f Digital Input 6 Debounce Time 20 m Set Value The following functions are available in the Digital Input area Button Field Function Display of the respective status of the digital input ga The digital inputs cannot be set here lt R efresh gt button Reads the current status of the digital inputs from the controller 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 Writes the value for the debouncing time to the controller 7 3 Digital Output area View Functions Digital Lulu Digital Out 1 Firmware Used Refresh Digital Out 2 Firmware Used I Auto Refresh Digital Out 3 Firmware Used Set Values Auto Set The following functions are available in the Digital Output area Button Field Function lt Digital Out 1 35 checkboxes Display and setting of the digital outputs Masking of a digita
15. Search for zero e Until input 6 becomes low again 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 reversed e Motor rotates in a clockwise direction e Motor shuts down as of the index mark e Motor stops PLUG amp OAIVE 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
16. 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 O bject Management gt tab data objects configuration PDO Quickview settings lt Drive Modes gt Settings for the various lt Drive Modes gt tab drive modes 4 0 Settings and status query of 4 tab the inputs and outputs of the control lt F irmware Update gt Update of the motor lt F irmware Update gt tab controller firmware lt Info gt Information on NanoCAN lt Info gt tab and the DLL versions used Note When switching to the 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 0 gt and lt Firmware Update gt tabs are hidden PDO Quickview 2 Here TxPDOs which the controller 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 controller or reading of the SDOs from the controller Clear Error Log 4 This button resets the content of the message window Show CAN BUS Log 5 This button
17. 4 Nanotec PLUG amp DRIVE User Manual iol xi Wi NanoCan 2 0 0 1 Configuration amp NMT Node Configuration Object Management Drive Modes 1 0 Firmware Update nfo PDO Quickview CanOpen Configuration Node Information Network Management Baudrate 1000 kBd Node ID fi Start Node PCAN_PCIBUS1 5 Stop Node Firmwareversion 24 10 2011 4053 Revision 4050 Reset Node Serialnumber 4294967295 Pre Operational Initialize CAN Scan Refresh Node Info Guit Bootloader Select Can Adapter 13 36 03 Connecting to Node 1 13 36 04 Connected Clear Error Log Show CAN BUS Log Statusword 0x6041 0 0 0 000 0 000 0 000 0 2 Peak Device s found lo IXXAT Device s Found NanoCAN Application for stepper motor controllers and Plug amp Drive motors version V2 3 x x NANOTEC ELECTRONIC GmbH 6 Co KG Tel 449 0 89 900 686 0 KapellenstraBe 6 Fax 49 0 89 900 686 50 D 85622 Feldkirchen b Munich Germany info nanotec com 4 Nanotec PLUG amp DR VE E ditorial 2013 Nanotec Electronic GmbH amp Co KG Kapellenstrafse 6 D 85622 Feldkirchen b Munich Germany Tel 4409 0 89 900 686 0 Fax 449 0 89 900 686 50 Internet www nanotec com All rights reserved MS Windows 2000 XP Vista are registered trademarks of Microsoft Corporation Tr
18. 51 eFirmare Update gt tab ssa b aa 53 Firmware update RS485 to CAN ccccsccssscsssssccsssscsessvensssserseeensseeeesseenausueuseenacceeuesesauevenerss 54 Fimware update 000 Da alan s 55 SANTO gt TAD z uda Dala pad aa barabana aad adas na 56 ITU WORK CIS DIANV va aaa al aaa ni 57 CAN Bus lO WiINGOW iscsi a 58 4 Nanotec PLUG amp OAIVE 1 Installation System requirements The NanoCAN software only operates with adapters from IXXAT and PEAK The appropriate drivers must be installed IXXAT The VCI driver version 3 is available for download under the Support section at vvvvvv ixxat de e PEAK The driver is available for download under the Support section download packages at www peak system com Procedure 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 htto www nanotec de 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 NanoC AN exe file Nanotec PLUG amp DR VE 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 controllers and the Plug amp Drive motors on a PC with a CAN interface Transparent inter
19. 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 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 10 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 10 node is used as the limit Switch see also SDO 0x2010 6 3 Overview View W Nanotec PLUG 2 DR VE 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 Made absolute Target Change Set Immediately Change on Setpoint Min Speed B Max Speed foo Ramp Type linear Acceleration 0000 1200 Quick Stop Decel fiooooa o Start Halt Functions Power On Power
20. NALOCUE INPUT lH gt 1334747752 0 581 43 27 64 l 00 00 00 AHAL UTE INPUT O1H 0 601 d 25 64 00 00 00 00 00 OF ENTRIES gt 1934759701 0 581 4F 25 64 00 l 00 n 00 WUMBER OF ENTRIES 601 d 25 64 l 00 00 00 00 ANALOCUE INPUT lH gt 1334720240 0 581 43 256 64 l 00 00 00 ANALOCUE INPUT lH xs l 40 z 65 00 00 00 00 SUPPORTED DRIVE MODES gt 1334731883 0 581 43 02 65 00 63 00 00 00 SUPPORTED DRIVE MODES 601 40 l 10 00 00 00 n 00 ERROR RECISTER gt 1334512336 0 581 iF l 10 00 00 00 n ERROR BRECISTER 0 601 d 3F c n 00 00 00 00 ERROR CODE gt 1334524957 0 581 dE SF c n 00 23 00 00 ERROR CODE 601 40 s 10 00 00 00 00 00 NUMBER OF LOG ENTRIES gt 19348471836 0 581 4F s 10 00 00 00 00 00 OF LOG ENTRIES xs l 40 41 60 00 00 00 00 STATUSWORD gt 1335274042 0 581 4E 41 60 00 60 00 n STATUSWORD BES RES 0 1 0 52 0 enable Log 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 Funct
21. Positions 28957 Increment jo g COB ID Position Object 0 401 QuickStop Start Stop Functions The following functions are available in the lt Interpolated Position Mode gt area Button Field Function COB ID Sync Object input Input of the ID of the sync object By default this object is set to COB field ID 0x80 and should not be changed Input of the time in ms with which the sync object is sent This time Should be between 100 and 1000 ms P osition input field Input of the current target position to which the controller is to move Left field Position change per sync speed Sync time ms input field Right field and lt buttons Increment input field Specifically changes the increment speed change lt adopts the value from the right field in the left field increases decreases the increment by the value shown in the right field COB ID Position Object input Input of the COB ID of the mapped Rx PDO see above field lt Enable S ync gt checkbox Activation Deactivation of the transmission of sync messages lt Start gt lt Stop gt buttons Starting S topping of the motor Nanotec PLUG amp OAIVE Starting the Interpolated Position Mode Proceed as follows Step Action 1 Map object 0x60C1 Sub Index 1 1st set point as synchronous Rx PDO Note This mapped PDO must be the first object in the list in NanoCAN No other object must b
22. View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Closed Loop Power On This haz to be done only once for a drive preparation you have to do a reference run 33 or 34 in The regular setup will run increasing speeds to determine the correct load angles On External 10 Mode 561 The short setup will do some steps back and forth to determine only the encoder offset QuickStop IF Firmware 2410 2011 4053 or older iz used Enable CL has to be selected manually CL Motor Setup Short CL Motor Setup Enable CL fi enable after nuni default status enabled Search For ero Home Acceleration fo poo steps search For Switch Home Offset Block Current Following Error Window Following Error Timeout jo 2 0000 500 ms Functions The following functions are available in the lt Homing Modes area Button Field Function Selection of the reference run and starting at the same time Buttons in the Reference Run See Section reference run area Note The motor must be switched on first lt S top gt button Interruption of the reference run Carrying outa 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 lt CL Motor Setup gt button Note Communication with the controller is not possible during the closed loop cal
23. al STINT LR na aaa y daas 32 5 3 2 FB OT 9192 33 M UNS Oe DO 34 5 4 PDO xo lt gt eginari erent 35 POO UG NC 0 m b ba 36 6 SUVS IOC GS Gb 38 6 1 ii 0 0 0 0 0077757777 v v7v77 P7 7 7 P7 7 7 P 7777 77 Ennan 38 Activating the operation Mode la an EnEn 38 6 2 9181 Mode 50 m nan n 40 Selecting and Starting a reference s 41 6 3 6 4 6 5 6 6 7 1 1 2 1 3 7 4 8 1 8 2 10 11 W Nanotec PLUG 2 DR VE so Poston Mode cx a EEEE aR 44 S 1001171101 gt GC oldular ba 45 lt Interpolated Position Modes area ssss s ss s s s sa 46 Starting the Interpolated POSITION 47 Stopping the Interpolated Position MOC ccccccecsssseeeeeeeeseueeeeeeeseeeseeensseeeeeeeeneaeneseeeteaggessy 47 lt 1 OFGUG OGG abadi 48 Ll0 gt ta Desin a a Eaa 49 General inonma Ea R EEEE 49 Digital Input area s s s s 50 al Ci AS muma basa s na bar n 50 Analog INPUT Area 0 0 0 7 0 0
24. an Adapter gt checkbox and then click on the lt Initialize CAN gt button The Select BUS Controller window is opened IM Select BUS Controller vol Devices inCAN 161 a a ar Ma al a a Description Manufacturer IAT Automation 0 Driver Versions n Hardware Version Device Class 23 897751 7 4 3083 71829520835 Hardware ID 130383231 3132 0000 0000 000000000000 VCI Object ID 0000000000000002 805 Line LAN A 4 Cancel CAN A CAN B 6 Select the desired adapter in the VCI Devices area 7 Select the desired channel in the BUS Line selection field W Nanotec PLUG amp DR VE Step Action 8 Click on the lt OK gt button The inputs are saved and the window Is closed Procedure with PEAK 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 controller in the Baudrate selection field 3 7 7 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 PCAN PCIBUS1 PCAN PCIBUS8 PCAN _USBBUS1 PCAN USBBUS8 e PCAN PCCBUS1 PCAN PCCBUS2 Searching for a controller Proceed as follows Step Action 1 Open the search dialog by clicking on the lt Scan gt button
25. anslation of original handbook Version C hange overview pe C 00 03 11 2011 R evision program version 2 00 05 04 2012 R evision program version V2 0 0 1 25 06 2013 R evision program version V2 3 x x W Nanotec PLUG amp OAIVE About this manual Target group This user manual is aimed at designers and developers who need to configure a CANopen capable motor controller from Nanotec with the aid of the NanoCAN software without much experience in stepper motor technology Important 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 reference of the CANopen functions il tvanoter Referenzharelbuehi CANopen i i FE Technical manuals Connection and commissioning of stepper motor controllers or Plug amp Drive motors The manuals are available for download at www nanotec com User Manual 4 Nanotec NanoCAN PLUG amp DR VE 4 of 58 Issue V2 2 4 Nanotec PLUG amp DAIVE Contents 1 installaton uusuuuunuud aa
26. 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 Following error Acknowledge set point Homing 1 when error Homing attained 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 Hide the statusword display additional information r Update the statusword display W Nanotec PLUG amp DR VE 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 iol xi xc l 40 25 64 01 00 00 00 AHAL UTE INPUT lH gt 1334620342 0 581 43 25 64 l 00 00 00 AWNALOCUE INPUT lH 601 d 26 64 00 00 00 n 00 OF ENTRIES gt 1934696440 0 581 4F 26 64 00 l 00 00 00 HUHEERB OF ENTRIES xc l 40 6 64 01 00 00 00 AHAL UTE INPUT lH gt 1934717530 0 581 43 26 64 l 00 00 00 00 AHAL UTE INPUT lH xc l 40 27 64 00 00 00 00 HUHEER OF ENTRIES gt 1334725613 0 581 4F 27 64 00 l 00 00 00 OF ENTRIES 601 d 27 64 l 00 00 00 A
27. available motor controllers that contain the selection list default values for the respective motor controller If a motor controller is selected here the default values of this XML file are displayed in the SDO list as a preview but are not yet transferred to the motor controller The values are transferred to the motor controller by pressing the lt Set Default Config gt button Set Default Config Sets some SDOs back to their controller specific default values The motor controller is defined by the selection list Save to EEPROM Writes the current values existing in the controller to the EEPROM of the controller Changes that are not saved are lost after a restart of the controller ResetEEPROM Resets some 5005 to their default values and writes all values into the EEPROM of the controller Save to File Saves the current configuration as a file Read from File Loads a configuration from a file Selection field The selection field is used to select the SDO configuration objects and default values of a certain controller type The configuration is automatically set by NanoCAN on the basis of the existing controller type while the entire controller configuration is being read out By selecting a certain controller type and clicking on the lt Save All gt button the selected default configuration is written to the current motor controller Changing values of an SDO Proceed as follows Step Action 1 Double click on the
28. b 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 controller sends and automatically update their values This is used to keep special values always in view View SDO List PDO Mapping PDO Received 96 0 false 6041 0 POO Quickview Value hex Statusword Digital inputs 0 0 false Functions The following list elements are available in the lt P DO Receiveds area Button Field PDO Object ID Description Value Timestamp Show Issue V2 2 Function PDO number and object index within the PDOs separated by Object address and sub index of the mapped object separated by Description of the mapped object Current value of the mapped object Timestamp when a PDO was last received e true is displayed in the PDO Quickview e false is not displayed in the PDO Quickview 35 0f 58 User Manual 4 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 View Hexadecimal POO Quickview Value hexl BENZ B 5 binar
29. braking ramp in X steps per Y seconds Input of the acceleration ramp for the emergency stop in X steps per Y seconds Display of the current speed This function can only be used in closed loop mode Reads the current speed from the controller and display the value read under Current S peed Continuously updates the speed display Starts the motor Stops the motor Setthe motor stop with the ramp setting in each case Reset the motor stop if the motor has not yet come to a halt W Nanotec PLUG 2 DR VE 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 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 controller moves to predefined PDO positions within the synchronization period Requirements In order to use the tab an RxPDO in the motor controller must be mapped to object 0x60C 1 Sub Index 0x01 415 set point 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 Syne Object nsan Power On Synce time re fiona T Enable Syng Power
30. 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 A Nanotec PLUG amp DR VE Status bar 7 The status bar displays the found CAN adapters the connected CAN devices and the Current operating status of the controller CAN adapter describes an expansion card integrated 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 controller Possible CAN adapter device operating states State Description connected A CAN adapter or controller is connected and NanoCAN can communicate with it disconnected No communication is possible as no CAN adapter or controller 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 controller Stopped SDOs and PDOs cannot be written and read Only NMT messages red are possible P re O perational PDOs cannot be written and read Configuration of PDOs is possible yellow Operational PDOs can be written and read green BOOTLOADER The controller bootloader is active the state ma
31. chine is notrunning blue This means that SDOs and PDOs cannot be written and read 4 Nanotec PLUG amp OAIVE 3 lt Configuration amp NMT gt tab 3 1 User interface Overview The lt Configuration amp NMT tab contains the following areas Configuration Node Information e Network Management View aio x Configuration amp NMT Node Configuration Object Management Drive Modes 1 0 Firmware Update nfo Hu UT SD0 hex 0000000 CanOpen Configuration Node Information Network Management Baudrate 1000 kBd Node ID fi Start Node Vendor PCAN_PCIBUST or Stop Node Firmwareversion 24 10 2011 rev4053 Revision 4050 Reset Node Serialnumber 4234867235 Pre Operational Initialize CAN Scan Refresh Node Info Guit Bootloader F y 13 36 03 Connecting to Node 1 P Select Can Adapter 13 36 04 Connected El Elear Error Loq 3 Statusword 0x6041 0 0 0 000 0 00 0 00 0 0 Show CAN BUS Log Drivestate Pre Operational 2 Peak Device s Found 0 IXXAT Device s Found 3 2 Selecting the controller 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 controllers whose node ID and baud rate are not known In the Vendor selection fi
32. d as the motor type For more detailed information see lt Hall Sensor mode gt in Nanotec CANopen Reference Display of the maximum current of the motor This depends on the wiring of the motor windings Selection of the resolution of the encoder number of encoder Strokes 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 Determination of whether the encoder direction should be reversed by software Input of the translation ratio of a gear The ratio is entered as a fraction The following functions are available in the Drive area B utton Field lt Invert Polarity gt option buttons Feed Constant upper input field Feed Constant lower input field Dimension Factor upper input field Dimension F actor lower input field Phase Current input field Phase Current Current display Phase Current Peak display Function Invert the direction of rotation for velocity mode and activate profile position mode Input of the feed constant as a fraction This specifies the number of steps per revolution of the motor Shaft Conversion factor as a fraction for the target specifications in the VL Mode for rpm For further details see CANopen Reference Input of the current of rated current with which the motor is operated during the drive Display of the set value A Display of the maximum configurable value
33. e mapped in front of it Enter the desired value in the Sync time ms field 2 Put the controller into the Operational status see Section 3 3 Network Management 3 Switch on the power section with lt Power On gt 4 Input the mapped PDO in the COB ID Position Object field 5 Activate the lt Enable Sync gt checkbox Sync messages are transmitted 6 Click on the lt Start gt button The controller adopts the predefined position Enter the desired value in the Increment field 8 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 2 Click on the lt Stop gt button 3 Deactivate the lt Enable Sync gt checkbox W Nanotec PLUG amp DR VE 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 controller 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 controllers that are not closed loop capable 5MC112 View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Speed 25000 ror Power On Target Torque jo Power Start Stop QuickStop Functions The following functions are available in the lt Torq
34. e range of values lies between 0 and 65535 When the controller is switched on the brake is active and the motor is de energized In the next step the motor current is switched on and the controller waits ta milliseconds before the brake is released tb milliseconds after releasing the brake the controller 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 S tart input field Stop input field Input of the cascade controller stop frequency Hz Input of the cascade controller start 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 W Nanotec PLUG amp DAIVE Buttons There are two buttons available for the following functions Button Function lt Load from Controller gt button Reading of parameters from the controller lt S ave gt button Transmits the settings to the controller Note The values are only transferred to the controller by clicking on the lt Save gt button The values can be read from the controller again b
35. eld all driver cards found by the program are displayed In the status line the number of found cards is displayed W Nanotec PLUG amp DR VE Requirements There are two basic ways of setting the CANopen node ID and the baud rate e Hardware setting via rotary switches on the controller 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 controllers without a HEX switch SMC112 PD2 N To be able to make a software setting with NanoCAN a certain value must be set on the rotary switches of the controller see the following tables Control with two rotary switches e g PD6 N Rotary switch value Node ID Baudrate dec hex 0 f 0x00 rom EEPROM 1 2 1 MBaud 0x01 0x7F rotary switch value hein from EEPROM from EEPROM 129 255 rotary switch value 0x81 xFF minus 128 Control with a rotary switch e g PD4 N Rotary switch value Node ID Baudrate dec hex f 1 MBaud from EEPROM 9 15 rotary switch value 0x09 X F minus 8 Setting the rotary switches controllers with two rotary switches Note The rotary switches must be set to the desired value before the controller is switched on since this value is only read in when the controller is restarted The rotary switches can be used to seta two digit hexadecimal number 0x00 to XFF Step Action 1 Set the 16th digit with the right rotary switch e
36. faces 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 controllers 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 R x Mi NanoCan 2 0 0 1 Configuration amp NMT Node Configuration Object Management Drive Modes 1 0 Firmware Update Info PDO Quickview 5000 Value hes Configuration Node Information Network Management Baudrate 1000 kBd Node ID fi Start Node Vendor PCAN_PCIBUSI 577 Stop Node Firmwareversion 24 10 2011 rev4053 Revision 4050 Reset Node Serialnumber 4234367235 Pre Operational Initialize CAN Scan Refresh Node Info Guit Bootloader 13 36 03 Connecting to Node 1 Select Can Adapter 13 36 04 Connected El Clear Error Log 4 Statusword 0x6041 0 0 0 0 00 0 0 00 0 0 0 0 0 6 Show CAN BUS Log 6 2 Peak Devices found 7 ODOAT Device found TY CTT Operational 4 Nanotec PLUG amp OAIVE Tabs 1 The user interface consists of the following tabs Tab Function See Section
37. g 0xF 0 2 Set the 1st digit with the right rotary switch e g 4 Nanotec PLUG amp OAIVE 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 16 171 In this case the node ID is set to 33 on the hardware The baud rate is setto 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 controller When NanoCAN Is launched the following attempt is made e Connection setup to the first found CAN adapter Connection setup to the CAN device on Node ID 1 If the attempt fails the user must configure the correct settings 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 D 1 to 127 in the Node ID field 2 Select the baud rate set for the controller 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 n all other cases continue with step 5 5 Activate the lt Select C
38. he 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 controller is displayed on the status bar e When communication is faulty one of the following error messages appears protocol no answer within timeout bus dead V Nanotec User Manual PLUG amp DRIVE NanoCAN lt Node Configuration gt tab 4 lt Node Configuration gt tab 4 1 User interface Overvievv 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 Changes the node ID and the baud rate setting of Node Settings amp Error 1 the controller e Displays the current error and the error history Motor amp Drive Settings 2 Settings of all motor brake and current parameters Closed Loop 3 Settings of the closed loop control parameters View Mi NanoCan 2 0 0 1 E lol Configuration amp NMT Node Configuration Object Management Drive Modes 1 0 Firmware Update Info POO Quickview soo 0 vValee fhe l Node Settings amp Eror Motor amp Drive Settings Closed Loop Node ID 1 Note The possibility to change node D and the baudrate depends on the value assigned through the HEX Switches To use this function you have to set both Baudrate 1000
39. hed 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 necessary 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 Motor rotates in a clockwise direction e Speed from object 0x6099 1 Search for switch As long as input 6 is high
40. ibration run This means that the move cannot be deactivated by lt QuickStop gt or lt Power Off gt Carrying outa short closed loop calibration run load angle values Short CL Motor S button are not determined here only the encoder offset Enable CL selection field Method of activating the closed loop mode Displays the momentary closed loop status Can be updated by the Status display double arrow symbol next to the display PLUG amp OAIVE B utton Field Search For Zero input field Home Acceleration input field Search For Switch input field Home Offset input field Block Current input field Following Error Window input field Following Error Timeout input field Notes Function Input of the speed for the search for the reference position Input of the acceleration ramp for the reference drive Input of the speed for the search for the switch Note The value must be greater than the speed for the reference position Input of the reference position offset Input of the current in which should be used for the reference run if 0 is specified the normal current of the run is used Input of the maximum position error symmetrical to the set position The maximum deviation within the configurable time must lie above the set error limit before a following error is triggered The ramp is used when starting off and also when braking When the switch is reac
41. ions 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 AutoS croll 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 log window entries to the clipboard lt Clear Log gt button Deletes all entries in the log window lt S ave Log gt button Saves the messages displayed in the log window
42. jects that rarely change A value of 0 deactivates this behaviour default Selection of the input type for the 0x0 input field e Dec decimal Hex hexadecimal 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 Each COB ID may only be assigned once The smaller the COB ID the higher the priority on the CAN bus 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 Read the settings from the controller Write the settings into the controller Load the settings from a file or preset Save the settings to a file Proceed as follows to map the RPDOs and TPDOs Step Action 1 Put the controller into the P re 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 controller The PDO is mapped automatically all necessary transitions of the state machine according to the CANopen reference are executed 4 On the lt SDO List tab click on the lt Save to EEPROM gt button The PDO is retained even after a reset 5 Put the controller into the Operational status see Section 3 3 Network Management in order to be able to receive PDOs Nanotec PLUG amp OAIVE User Manual NanoCAN lt Object Management gt ta
43. l output so that only the firmvvare of the motor lt Firmware Used gt checkboxes controller can use this output lt R efresh gt button Reads the current status of the digital outputs from the controller lt Auto Refresh gt checkbox Continuously updates the display of the digital outputs Writes changes related to the status of the digital outputs to the Set Values gt button controller and thus switches the digital outputs on or off as necessary If this field is activated changes related to the status of the digital lt Auto Set gt checkbox outputs are immediately written to the controller by the user and thus digital outputs are switched on or off as necessary 4 Nanotec 7 4 Analog Input area View Analog npu PLUG amp OAIVE Analog Input Mr 2 Current Value 415 Refresh Auto Refresh Functions Mas Value jo Set Values Min Value Delta Delta Neg Delta Global Interrupt Enable The following functions are available in the Analog Input area Button Field Analog Input Nr selection field Current Value display lt R efresh gt button lt Auto Refresh gt checkbox Max Value input field Min Value input field Delta input field Pos Delta input field Neg Delta input field lt Global Interrupt Enable gt checkbox lt Set Values gt button Function Selection of the analog input to be read out Displays of the
44. ld 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 controller 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 Nanotec PLUG amp OAIVE Brake Configuration dialog box The following dialog box can be opened with the lt Info gt button xi Start I 1 l 1 l i Motor 1 Brake closed x 1 opened Time lb 1 l The external brake can be configured by three parameters ta tb te The parameters define times ms Possible values are 0 655435 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 ba ms Then the brake is disabled and the controller waits For th 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 th
45. log entry 3 READ OK 11 25 32 Connecting to Node 1 0 error code log entry 4 READ OK _SetDefaut Conti 0 error code log entry 5 READ OK 121 COB ID SYNC READ OK Save to EEPROM 6 Manufacturer Hardware Version READ OK Reset EEPROM Manufacturer Software Version READ OK mu Read from File 1 Number of Entries READ OK u 1 Number of Entries READ OK COB ID Emergency Object 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 e READ OK Objects could be read out successfully e WRITE OK Objects could be written successfully e SKIPPED Object was skipped during the last operation e Other messages exact error message drag the column wider The different colours in the list window indicate whether an object can only be read grey or also written green Issue V2 2 29 of 58 A Nanotec PLUG DR VE Buttons The following buttons are located to the right of the list window Button Function Read All Reads all SDOs from the controller Read Selected Save All Motor controller Reads the SDO selected in the list field from the controller Writes all SDOs to the controller Contains a list with the XML files of
46. nter Delta value to specify the delta size or 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 controller 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 controller A Nanotec PLUG amp OAIVE 8 c Firmvvare Update gt tab Overview The firmware of the motor controller can be updated in the lt Firmware Update gt tab View Configuration amp HMT Hade Configuration Object Management Drive Modes Firmware Update Info TA ibe Firmware Functions The following functions are available on the lt Firmware Update gt tab Button Field Function lt S tart Bootloader gt button 1 Starts the bootloader of a controller with RS 485 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 procedure Progress bar 4 Indicates the current progress of the firmware update process Status text 5 Indicates the status of the update process ser i ua 4 Nanotec l PLUG amp OAIVE 8 1 Firmware update RS485 to CAN Procedure Proceed as follows Ste
47. object to be changed The Edit SDO window is opened Vessco mixi Object 10 2004 Sub ID 2 Datatype u Description Current Reduction Percent alue Dec o Hex Jax 14 7 ununun iH d 2 31 lil zi hs l ki he e li li hs hu zi a ff The object data are displayed in the upper area PLUG amp OAIVE Step Action Enter the value as follows e Decimal in the Dec input field or e Hexadecimal in the Hex input field or Bits of the value via the Bin checkboxes Attention As soon as the lt Ok gt button is clicked the values are immediately written to the controller Click on lt Ok gt The values are written to the controller W Nanotec PLUG amp DR VE 5 3 Mapping gt area 5 3 1 General information Purpose of the PDOs Process data objects PDOs are used to transfer objects that frequently need to be updated while the controller 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 pro
48. op PLUG amp OAIVE 6 4 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 1600 Acceleration Set Target Velocity Min Velocity Deceleration Velocity ROU Quick Stop Curent Speed Refresh Auto Refresh Functions 20000 steps Power On fi sec Power 20000 steps fi sec 50000 steps fi ZEC QuickStop Start Shop Halt The following functions are available in the lt Velocity Mode gt area Button Field Target Velocity input field lt S et Target Velocity gt button Min Velocity input field Max Velocity input field Acceleration input field Deceleration input field Quick Stop input field Current Speed display lt R efresh gt button lt Auto Refresh gt checkbox lt S tart button lt S top gt button lt Halt gt button Function Input of the target velocity to be reached A negative value changes the direction of rotation of the motor Change the set target velocity while the motor is rotating Input of the minimum speed Input of the maximum speed Note If a higher rom is entered than the target rom the target rom is set to the maximum rpm Input of the acceleration ramp in X steps per Y seconds Input of the
49. p Action 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 AN Please power off the controller and click OK 3 S witch off the controller Click on lt OK gt The following message appears Start Bootloader O xX Please click OK and power on the controller afterwards 5 Click on lt OK gt Start the controller If the controller was found the following message appears Start Bootloader x A The Bootloader has been succesfully started Now choose a Firmware File and write the Firmware 7 If the controller was not found switch the controller off and on again 8 Continue with Step 2 of Section 8 2 Firmware update CAN to CAN PLUG amp OAIVE 6 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 Node Information Controller 4 Firrniwareversion 24 10 2011 40553 4050 4294967295 Refresh Mode Info 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
50. re Version READ OK Reset EEPROM 18 Manufacturer Software Version READ OK uz Save to File 1 Number of Entries READ OK Read from File 1 Number of Entries READ OK 129 COB ID Emergency Object READ OK 4 Number of Entries READ OK 0 1018 u32 620 Vendor ID READ OK xi 0 1018 j u32 65536 Product Code READ OK gt Clear Error Log 8 Statusword 0x6041 0 0 0 0 000 1 1 0000 Q Show CAN BUS Log Peak driver not Found IXXAT Device s found M EENUNINIRNRNNNR 28 of 58 Issue V2 2 0 Nanotec 5 2 User Manual NanoCAN lt Object Management tab PLUG amp DAIVE 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 controller More detailed information on Service Data Objects can be found in the Nanotec CANopen reference View oer E 1003 1003 1003 1003 1003 ES Number of Entries READ OK u32 620 Vendor ID READ OK 2 u32 65538 Product Code READ OK Clear Error Log Statusword 0 6041 0 0 0 0 0010 0110 0000 Show CAN BUS Log 1 Peak Device s found 0 IXXAT Device s found NN EDIB Drivestate Pre Operational R x Read All 32 262546 READ u 0 Error Register READ OK Read Selected u 0 Number of Entries READ OK Save All 0 error code log entry 1 READ OK 0 error code log entry 2 READ OK mas Z 0 error code
51. rmine only the encoder olfset QuickStop If Firmware 24 10 2011 rev4053 or older iz used Enable CL has to be selected manually CL Motor Setup Short CL Motor Setup Enable CL fi enable after run default Status enabled Search For Zerg Home Acceleration foo faooon steps Search For Switch Home Offset Block Current Following Error Window Following Error Timeout 0 2 10000 500 rms 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 Position Mode gt or lt Torque Mode gt areas The corresponding SDO is immediately written to the controller in order to activate the selected mode PLUG amp OAIVE Functions for all operation modes The following functions are available in all operation modes Power Power Quick Stop Button Dis play Function lt Power On gt Switch on the power section of the controller lt P ower Off gt S witch off the power section of the controller lt QuickS top gt Carries out emergency braking with the quick stop ramp selected in the active mode W Nanotec PLUG amp OAIVE 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
52. t Buttons The Network Management area contains the following buttons Button Function Effect 5 tart Node gt Start the controller Operational status PDOs can be written and read lt S top Node gt Stop the controller S topped status SDOs and PDOs cannot be written and read Only NMT messages are possible lt R eset Node gt Restart the controller 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 itis possible to start the state machine from NanoCAN Procedure Proceed as follows Step Action 1 Depending on 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 Every time a new hardware version is discovered the controller specific SDOs are automatically displayed in the SDO list This button is also used to check that communication of the PC with the controller is functioning properly Procedure Proceed as follows Step Action Click on t
53. tocol 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 controller and the received data are used in the set objects e TPDOs are transmitted by the controller in certain adjustable situations PLUG amp OAIVE 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 500 List POO Mapping POO Received T PDR te F PD Object POO Number xi 1 JOx6040 0x00 16 Controlword vl Read Transmission Type 255 2 1040000 0200 Onone 19 Enable 0000 0400 o vl Number of Objects 1 00000 0x00 0 nene UC vl Load Contig Inhibit Time fioo ms 10 5 0 0000 0x00 0 none em Cie Event Time jo rs i 10 0000 0x00 o xl 1020000 0200 none 020 1201 Functions The following functions are available in the lt PDO Mapping gt area Button Field Function Selection of the PDO type eTxP DO gt lt RxPDO gt option buttons transmit PDO RxPDO receive PDO Selection of the PDO object to be mapped Four PDOs can be PDO Number selection field mapped for each PDO type S etting of the transmission mode asynchronous the data are sent immediately
54. ue Mode gt area Button Field Function Specifies the maximum speed in rom 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 Torque input field For detailed information See Nanotec CANopen Reference SDO 0x6071 lt S tart button Starts the move in torque mode lt S top gt button Stops the move in torque mode PLUG amp OAIVE 7 lt O gt tab 7 1 General information Overview The inputs and outputs of the controller can be monitored and set on the 4 tab An Auto R efresh function is used to constantly refresh the data There are three areas available Area Digital Input Digital Output Analog Input Digitallnput1 f Digital Input 4 Digitallnput2 FT Digital Input 5 Digitallnput3 Digital Input 6 Debounce Time 20 mz Analog Inpu Analog Input Mr zi Curent Value 415 Refresh Auto Refresh Function Monitoring of the digital inputs of the controller e Setting the debounce time of the inputs e Monitoring and setting of the digital outputs e Masking of outputs to make them available to the firmware e Read out of the values of the analog inputs e Configuration of the conditions for sending the analog value as PDO Digital Qutpu Digital Out 1 Firmware Used Refresh Digital Out 2 Firmware Used I Auto Refresh Digital
55. ut field Input of the maximum position error symmetrical to the set position Time input field Input of the time ms after 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 B utton 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 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 Nanotec PLUG amp OAIVE Selection list Enable CL The selection list can be used to define the closed loop status After the closed loop Status changes it is immediately written to the motor controller but not into the EEPROM Buttons There are two buttons available for the following functions Button Function lt R efresh gt button Reading of the PID control parameters from the controller lt S ave gt button Transmits the settings to the controller
56. value of the analog input Reads the value from the controller and updates Current Value Cyclically reads the new value from the controller and updates Current Value Input of the upper threshold value for sending the analog value as PDO Input of the lower threshold value for sending the analog value as PDO Input of the minimum change of the value from which only a PDO Should be sent again Input of the condition for negative change of the analog input Input of the condition for positive change of the analog input If this checkbox is set PDOs are sent Note The corresponding SDO 6401 1 must be mapped as a PDO for this Writes the Global Interrupt configuration to the controller A Nanotec PLUG amp DR VE 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 Section 5 3 xPDO 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 E
57. wing 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 controller power section is Switched off lt Power Off gt under Drive Modes View ioj xi Configuration amp NMT Node Configuration Object Management Drive Modes 1 0 Firmware Update Info POO Quickview SD0 value hex Node Settings amp Error Motor amp Drive Settings Closed Loop Hardwar de Curent 0 96 A Velocity Mode Phase Current 20 Motor Type Stepmotor Invert Polarity Profile Position Mod Peak 7 20 A i 4 tofile Position Mode Motor Series Default ul Curent 0 96 A Phase Stop 20 Motor Model Defaut 2 2000 s fo H pee 720 A Polepairs 50 fi BLDC I max um A x Current 0 00 4 Peak 7 20 A Wiring Serial x i e0 z r b BLDC T N eoo ode ms Hall Made fo M l 2000 Motor 55 A Load ngl 1 16384 3 17500 5 18000 i 18000 Encoder Resolution 500 000 4 17750 6 2 Enc Index Offset n 334 Node Distance 4096 Revert Encoder Direction Brake Gear Ratio Time ta jo ms Time tb jo ms nfo Time tc fo ms Driv 12 57 11 Connecting to Node 1 12 57 11 Connected Cascade Loop Frequenc Start 327680 Hz Stop 51 2 Hz Load from Controller
58. y Decimal POO Quickview Value decimal Binary POO Quickview Value binary hex decimal 36 of 58 Issue V2 2 PLUG amp OAIVE Configuration Proceed as follows Step Action 1 Double click on an object in the lt P DO Received gt list area 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 f 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 W Nanotec PLUG amp DR VE 6 lt Drive Modes gt tab 6 1 General functions 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 lt Interpolated Position Mode gt interpolated position mode lt Torque Mode gt torque mode View Homing Mode Profile Position Mode Velocity Mode Interpolated Position Mode Torque Mode Closed Loop Power Un This has to be done only once for a drive 4s preparation you have to do a reference run 33 or 341 5 The regular setup will run increasing speeds to determine the corect load angles On External l0 Mode Es Pes TERA The short setup will do some steps back and forth to dete
59. y means of lt Load from Controller gt Nanotec PLUG amp BRiVE 4 4 lt Closed Loop gt area User Manual NanoCAN lt Node Configuration gt tab In the lt Closed Loop gt area the control parameters of the Closed Loop mode of the controller 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 Overview View _ 2 3 1 1 Closed loop control parameters Velocity Loop area Position Loop area Cascade Velocity Loop area Cascade Position Loop area Position Error area Following Error area Load Default Parameters area Velocity Control area Node Settings amp Error Motor amp Drive Settings i Closed Loop R x PDO Quickview S00 Value fhexl Velocity Loop Position Loop Cascade Velocity Loo Cascade Position Loop Proportional Patt Proportional Par Proportional Part Proportional Par fi fi 00 0125 100 0125 100 3 0 D 2 2 Integral Part 1 0 0625 4 2 Integral Part Integral Part 1 0 0 0625 4 th 2 Differential Par 11 25 32 Connecting to Node 1 11 25 33 Connected Differential Par 200 1000 Iii i m Differential Par Following Ero i n Contro

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