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Technical Manual

Stepper controller

SMCI12

NANOTEC ELECTRONIC GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham near Munich, Germany

Tel. +49 (0)89-900 686-0
Fax +49 (0)89-900 686-50
[email protected]

Summary of Contents for SMCI12

Page 1: ...Technical Manual Stepper controller SMCI12 NANOTEC ELECTRONIC GmbH Co KG Gewerbestraße 11 D 85652 Landsham near Munich Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 info nanotec de ...

Page 2: ...o KG Gewerbestraße 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 are registered trademarks of Microsoft Corporation Version Change overview Version Date Changes 1 0 11 02 2010 New issue C P ...

Page 3: ...ording to our general terms and conditions liability for subsequent damage or errors is excluded The warranty is exclusively for repair or replacement of defective equipment according to our general terms and conditions liability for subsequent damage or errors is excluded Applicable standards and regulations must be complied with during installation of the device For criticisms proposals and sugg...

Page 4: ...rcuits 12 3 1 Inputs and outputs connector X11 12 3 2 Stepper motor connection Connector X10 14 3 3 Power supply and RS485 CANopen interface Connector X12 15 3 3 1 Pin assignment 15 3 3 2 Power supply connection 15 3 3 3 RS485 network CANopen interface 16 4 Operating modes 18 4 1 Serial operating modes 18 4 2 CANopen operating modes 20 5 Troubleshooting 21 6 Technical data 23 Index 25 ...

Page 5: ...th NanoJ SMCI12 with RS485 Network capability with up to 254 motors SMCI12 or 127 motors SMCI12 3 Easy programming with Windows software NanoPro SMCI12 or NanoCAN SMCI12 3 With dspDrive the motor current is controlled directly by a digital signal processor Unlike conventional ICs which resolve the winding current measurement and the target current value with only 6 or 8 bit the new dspDrive perfor...

Page 6: ...e 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 ...

Page 7: ...Plug connections The controller has the following connectors X10 JST XH stepper motor connection X11 JST PHD inputs and outputs X12 JST PHD power supply and interface RS485 or CANopen Configuration The following figure shows the configuration of the connectors on the printed circuit board Issue V 1 0 7 ...

Page 8: ...uch SMCI12 Connection and commissioning 2 2 Connection diagram To operate a stepper motor with the SMCI12 stepper motor control the wiring must be implemented according to the following connection diagram 8 Issue V 1 0 ...

Page 9: ...ure the controller for your application Commissioning with NanoPro SMCI12 with RS485 firmware Proceed as follows to commission the controller with the RS485 firmware Step Action Note 1 Install the NanoPro control software on your PC See the NanoPro separate manual Download of www nanotec com 2 Connect the controller to the stepper motor according to the connection diagram Connection diagram see Se...

Page 10: ...ps entry in the Baudrate selection field 10 Check the current setting using the motor data sheet Under no circumstances may the current be set to a value higher than the rated current of the motor 11 Select the Movement Mode tab 12 Click on the Test Record button to carry out the pre set travel profile The connected motor operates with the pre set travel profile default travel profile after new in...

Page 11: ...ng to the connection diagram Connection diagram see Section 2 2 Detailed information on connections can be found in Chapter 3 3 Switch on the operating voltage 12 24 V DC 4 Install and configure your CANopen adapter Details can be obtained from the manufacturer of the CANopen adapter 5 Start the NanoCAN software 6 Select the desired node ID the baud rate 115200 bps and if necessary the CAN card in...

Page 12: ...1 GND Mass 0 V 2 Input 1 3 Input 2 4 Input 3 5 Input 4 6 Input 5 7 Input 6 Digital inputs max 5 V 8 Analog In Analog input 10 V 10 V 9 Output 1 10 Output 2 11 Output 3 Digital outputs 12 GND Mass 0 V 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 ...

Page 13: ... new command 1 0 Busy control processing last command 1 1 Reference point or zero point reached 1 Overtemperature The outputs can be freely programmed using the NanoPro software Note Output 3 is also used to display errors and when switching on the controller Input circuits Note The voltage must not exceed 5 V It should drop below 2 V for safe switching off and be at least 4 5 V for safe switching...

Page 14: ...r disconnect the motor when operating voltage is applied Never disconnect lines when live Pin assignment Pin no Name Observations 1 A 2 A 3 B 4 B 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 downlo...

Page 15: ...4 V DC and must not exceed 26 V or undershoot 11 V A charging condenser with minimum 4700 µF 10000 µF 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 µF Connect a condenser with 10000 µF for motors with flange size 86x86 series ST8918 or greater An operating...

Page 16: ...twork CANopen interface SMCI12 in a network Up to 254 SMCI12 or 127 SMCI12 3 stepper motor controls can be controlled in a network from a PC or PLC These network connections are set up via the RS485 CANopen interface Two wire operation RS485 To enable RS485 two wire transmission capability all bus stations must have a direction control An intelligent converter which automatically switches to trans...

Page 17: ...Technisches Handbuch SMCI12 Connections and circuits Circuit diagram RS485 network Issue V 1 0 17 ...

Page 18: ...e from a Position A to a Position B 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...

Page 19: ...e run is supported Analog and joystick mode The speed setting of the motor is performed 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 Setting a specific speed e g via an external potentiometer Traveling synchronously with a superordinate controller with analog output 10 V to 10 V Analogue positioning...

Page 20: ...r positioning The motor moves from A to B with the set parameters ramp speed etc Speed mode Velocity Mode Use this mode when you wish to travel with a specific speed e g a conveyor belt Reference run Ref Mode Homing Mode Use this mode to reference the motor external on block Interpolated Position Mode Use this mode with a superordinate path control Selecting the operating mode in NanoCAN When one ...

Page 21: ...rupted incorrect RS232 RS485 converter used Use the recommended RS485 USB converter from Nanotec Order identifier ZK RS485 USB A non existent motor number module number is set Set the correct module address See the separate manual on NanoPro The power supply of the SMCI12 is interrupted Check voltage supply switch on if necessary Another open program is blocking the COM port to which the SMCI12 is...

Page 22: ...de ID that is set on the rotary switches of the controller Wrong baud rate setting On the Configuration NMT tab in NanoCAN select the baud rate 115200 bps No communication with the controller The communication cable is not connected or is interrupted Check all connections especially the terminal resistances Transmission error Data transmission is disturbed sporadically Switch the power supply off ...

Page 23: ... Full step half step quarter step fifth step eighth step tenth step 16th steps 32nd step 64th step adaptive microstep feed rate Step frequency 16 kHz with a full step corresponding multiples with a microstep e g 1 MHz with 1 64 Max input frequency clock direction mode serial mode 200 kHz Protective circuits Overvoltage and undervoltage Protection circuit for voltage 26 V or 11 V Max heat sink temp...

Page 24: ...Technisches Handbuch SMCI12 Technical data SMCI12 dimensions A complete set of datasheets is available for downloading at www nanotec de 24 Issue V 1 0 ...

Page 25: ...ector X11 12 Connector X12 15 D dspDrive 5 F Firmware 5 Functions 5 I Input circuits 13 N NanoJ 5 O Operating modes CANopen 20 serial 18 Operating voltage 15 Output circuits 13 P Pin assignment connector X10 14 connector X11 12 connector X12 15 Plug connections 7 Protective circuits 23 R RS485 network 16 T Two wire operation 16 V Voltage supply 15 ...

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