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NANOTEC SMCI36, Technical Manual

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Technical Manual

 

SMCI36

 

Contents

 

4 

 

Issue: V 1.0

 

Contents 

1

 

Overview ............................................................................................................................... 5

 

2

 

Connecting and commissioning ........................................................................................ 7

 

2.1

 

Overview ................................................................................................................................ 7

 

2.2

 

Stepper motor ........................................................................................................................ 8

 

2.3

 

BLDC motor ........................................................................................................................... 9

 

2.4

 

Commissioning..................................................................................................................... 10

 

3

 

Connections and wiring .................................................................................................... 13

 

3.1

 

Hall sensor: Connector X1 ................................................................................................... 13

 

3.2

 

Inputs and outputs: Connectors X4 and X5 ......................................................................... 13

 

3.3

 

Encoder connection: Connector X2 ..................................................................................... 15

 

3.4

 

Motor and power supply connection:  Connector X3 ........................................................... 16

 

3.4.1

 

Pin assignment..................................................................................................................... 16

 

3.4.2

 

Stepper motor connection.................................................................................................... 16

 

3.4.3

 

BLDC motor connection....................................................................................................... 16

 

3.4.4

 

Power supply connection ..................................................................................................... 17

 

3.5

 

RS485 network/CANopen: Connector X14.......................................................................... 18

 

4

 

Operating modes................................................................................................................ 21

 

4.1

 

Serial operating modes ........................................................................................................ 21

 

4.2

 

CANopen operating modes.................................................................................................. 23

 

5

 

Troubleshooting................................................................................................................. 24

 

6

 

Technical data .................................................................................................................... 26

 

Index ...................................................................................................................................................... 28

 

Summary of Contents for SMCI36

Page 1: ...chnical Manual Controller for stepper and BLDC motors SMCI36 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: ...G Gewerbestraße 11 D 85652 Landsham Pliening 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 Version Date Changes 1 0 11 02 2011 New document C P ...

Page 3: ...tions The warranty is exclusively for repair or replacement of defective equipment according to our general terms and conditions liability for subsequent damage or errors is excluded Applicable standards and regulations must be complied with during installation of the device For criticisms proposals and suggestions for improvement please contact the above address or send an email to info nanotec d...

Page 4: ...3 2 Inputs and outputs Connectors X4 and X5 13 3 3 Encoder connection Connector X2 15 3 4 Motor and power supply connection Connector X3 16 3 4 1 Pin assignment 16 3 4 2 Stepper motor connection 16 3 4 3 BLDC motor connection 16 3 4 4 Power supply connection 17 3 5 RS485 network CANopen Connector X14 18 4 Operating modes 21 4 1 Serial operating modes 21 4 2 CANopen operating modes 23 5 Troubleshoo...

Page 5: ...on for BLDC motors with hall sensors for better running smoothness and higher speed ranges RS485 CANopen port for parameterization and control Network capability with up to 254 motors RS485 or 127 motors CANopen Microstep emulation in full step operation for smoother running Powerful DSP microprocessor for flexible I O Sequence programs with NanoJ Easy configuration with the NanoPro or NanoCAN Win...

Page 6: ...y and written to the controller with the free NanoJEasy editor More detailed information can be found in the separate programming manual Activation via CANopen It is possible to include the stepper motor controller in a CANopen environment with the SMCI36 More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual Presettings When the SMCI36 is delivered ...

Page 7: ...rs X1 Hall sensor X2 Encoder X3 Motor and power supply X4 and X5 Inputs and outputs X14 Communication RS485 CAN Jumper RS485 CAN The controller has a jumper field X11 X12 for selecting the communication port RS485 or CAN Arrangement The following figure shows the arrangement of the connectors and the jumper on the printed circuit board Issue V 1 0 7 ...

Page 8: ... Connection diagram To operate a stepper motor using the SMCI36 the wiring must be implemented according to the following connection diagram 8 Issue V 1 0 The pin configuration for the motor can be found on the motor data sheet which can be downloaded from www nanotec de ...

Page 9: ... Connection diagram To operate a BLDC motor using the SMCI36 the wiring must be implemented according to the following connection diagram Issue V 1 0 9 The pin configuration for the motor can be found on the motor data sheet which can be downloaded from www nanotec de ...

Page 10: ...lf step with microstep emulation Inputs on connectors X4 X5 all 5 V Input 6 external reference switch Input 5 record selection bit 3 Input 4 record selection bit 2 Input 3 record selection bit 1 Input 2 record selection bit 0 Input 1 start reset Phase current 50 Phase current during idle 25 Commissioning with NanoPro Proceed as follows when commissioning the controller with NanoPro Step Action Not...

Page 11: ...can be found in the device manager of your Windows PC System Control System Hardware 9 Select the 115200 bps 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 perform the preset travel p...

Page 12: ...und in Section 3 3 Switch on the operating voltage 12 V DC 72 V DC CAUTION An operating voltage 75 V will destroy the output stage Follow the instructions in Section 3 4 4 4 Install and configure your CANopen adapter from IXXAT or Peak Details can be obtained from the manufacturer of the CANopen adapter 5 Start the NanoCAN software 6 Select the desired node ID and if necessary the CAN card in the ...

Page 13: ...ks in detail at the assignments functions and wiring of connectors X4 and X5 Pin assignment X4 Pin No Name Remark 1 GND 2 Output 1 Digital output 5 V 20 mA 3 Input 6 4 Input 5 5 Input 4 Digital inputs max 5 V 6 Analog In Analog input 10 V 10 V 7 GND Pin assignment X5 The X5 connector is a JST ZHR6 connector Suitable connection cable ZK ZHR6 500 length 500 mm single conductor Pin no Name Remark 1 G...

Page 14: ...ut 2 Output 1 0 0 Rotation monitoring error or limit switch 0 1 Motor idle waiting for new command 1 0 Busy controller processing last command 1 1 Reference point or zero point reached 1 Excess temperature or undervoltage 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 wiring Note The voltage mu...

Page 15: ...00 2048 Recommendation If possible use Nanotec encoders with the order identifier WEDS WEDL 5541 Xxx If an encoder is not used the Disable mode must be set in the Error correction tab in the Rotation Direction Mode selection menu See the separate NanoPro manual Using encoders with line drivers WEDL series encoders with a line driver output an inverted signal in addition to the encoder signal this ...

Page 16: ...2 V DC 7 GND Earth 0 V 3 4 2 Stepper motor connection General information The motor is connected to the SMCI36 with a 4 wire cable Twisted wire pair cables with braided shields are recommended Danger of electrical overvoltage Accidentally swapping the connections will destroy the output stage See the data sheet of the connected stepper motor Never disconnect the motor while operating voltage is ap...

Page 17: ...lange size 86x86 series ST8918 or greater An operating voltage 75 V will destroy the output stage Accidentally swapping the connections will destroy the output stage See the data sheet of the connected stepper motor Never disconnect the motor while operating voltage is applied Never hot unplug lines Connection diagram Note Overall connection diagram see Section 2 Connecting and commissioning Acces...

Page 18: ...up via the RS485 CANopen port Pin assignment Pin no Name Remark 1 NC Not assigned 2 Rx CAN RS485 Rx CAN low 3 CAN GND Output GND 0 V 4 Tx RS485 Tx 5 NC Not assigned 6 GND Output GND 0 V 7 Rx CAN RS485 Rx CAN high 8 GND Output GND 0 V 9 Tx RS485 Tx Jumper RS485 CAN The controller has a jumper field X11 X12 for selecting the communication port RS485 or CAN When setting note the copper label on the p...

Page 19: ...ware setting 0 0 1 1 0 2 2 0 15 F 0 16 0 1 17 1 1 32 0 2 64 0 3 80 0 5 96 0 6 112 0 7 255 F F When the power supply is applied the controller checks which address is set with the 2 hardware switches This hardware address is then adopted After the address is changed the power supply must be briefly switched off and on again Software setting Both switches are set to 0 at delivery With this setting t...

Page 20: ...otary switch value minus 128 From EEPROM Note The rotary switches must be set to the desired value before the control is switched on since this value is only read in when the control is restarted The rotary switches can be used to set a two digit hexadecimal number 0x00 to 0xFF Right rotary switch 1 s place e g 0x0F Left rotary switch 16 s place e g 0xF0 Example 1 If the left rotary switch is set ...

Page 21: ...an internal reference point the index mark of the encoder only in combination with an encoder at the set minimum speed 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 ...

Page 22: ...and joystick mode The motor is simply controlled in this operating mode 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 higher order controller with analog output 10 V to 10 V Analog positioning mode Use this mode to travel to a specific posit...

Page 23: ...tioning 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 internal external on block Interpolated position mode Use this mode with a higher order path control Selecting the operating mode in NanoCAN When on...

Page 24: ...nication cable is not connected or is interrupted Only use the recommended ZK RS485 USB converter from Nanotec A non existent motor number module number is set Set the correct module address See separate NanoPro manual The power supply of the SMCI36 is interrupted Check power supply switch on if necessary Another open program is blocking the COM port to which the SMCI36 is connected Close the othe...

Page 25: ...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 1000 kbps No communication with the controller The communication cable is not connected or is interrupted Check all connections especially the terminal resistances Transmission fault Data transmission is disturbed sporadically Switch the power supply off and ...

Page 26: ... with a full step corresponding multiples with a microstep e g 1 MHz with 1 64 Max input frequency clock direction mode 200 kHz Position monitoring depending on encoder resolution Protective circuits Overvoltage and undervoltage Protective circuit for voltages 75 V or 10 V Max heat sink temperature Approx 75 C Max ambient temperature 0 to 40 C Inputs and outputs Inputs 6 digital inputs TTL max 5 V...

Page 27: ...Technical Manual SMCI36 Technical data Dimensions SMCI36 A complete set of data sheets is available for downloading at www nanotec de Issue V 1 0 27 ...

Page 28: ...oder 15 F Functions 5 I Input wiring 14 Inputs 13 J Jumper RS485 CANopen 18 M Motor connection BLDC motor 16 Stepper motor 16 N NanoJ 6 O Operating modes CANopen 23 Serial 21 Operating voltage 17 Output wiring 14 Outputs 13 P Pin assignment Connector X1 13 Connector X14 18 Connector X2 15 Connector X3 16 Connector X4 13 Connector X5 13 Protective circuits 26 R RS485 network 18 V Voltage supply 17 ...

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