AXOR Industries MACK NANO User manual
Release Notes
ver.1 rev. 03/'16 First preliminary edition.
ver.1 rev. 07/'16
Notes about supply.
Note about ground connection.
Notes about DC motor settings.
Corrections.
ver.1 rev. 12/'16
Added steeper motor connections.
Chapter 1, 2, 4, 5 update.
Corrections.
ver.1 rev. 02/'17 Corrections.
ver.1 rev. 11/'19 All chapter update.
THIS MANUAL CONTAINS A DESCRIPTION OF NANO MACK®
AND A GUIDELINES FOR THE DRIVE'S INSTALLATION.
USING THE DRIVE INCORRECTLY CAN INJURE PEOPLE OR MANAGE THINGS.
FULLY RESPECT THE TECHNICAL DATA AND INDICATIONS ON CONNECTION
CONDITIONS.
All rights reserved. Reproduction in whole or in part is prohibited
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
4
Summary
1) Description
1.1 General Description ......................................................................................................... 8
1.2 Mechanical Dimensions .................................................................................................. 10
1.3 Technical Data .............................................................................................................. 12
1.4 Connectors Guide CASE A .............................................................................................. 13
1.5 Connectors Guide CASE B .............................................................................................. 14
1.6 Connectors description................................................................................................... 15
1.7 Product plate and Ordering Code..................................................................................... 18
2) Installation
2.1 General Advices ............................................................................................................ 22
2.2 Environmental conditions ............................................................................................... 24
2.3 Cables characteristics .................................................................................................... 25
2.4 Note about cable shielding ............................................................................................. 27
2.5 Basic installation ........................................................................................................... 28
............................................................................................ 31
..................................................................................... 32
2.8 Power supply connections............................................................................................... 33
2.9 Regen resistance connections ......................................................................................... 36
2.10 Motor Power connection ............................................................................................... 38
......................................................................................... 40
2.12 Digital inputs connection .............................................................................................. 43
2.13 Digital outputs connections........................................................................................... 44
2.14 Analog inputs connections ............................................................................................ 45
2.15 Limit Switch connections .............................................................................................. 47
......................................................................................... 48
2.17 RS485 connections ...................................................................................................... 49
2.18 CanBus connections..................................................................................................... 50
2.19 Led ........................................................................................................................... 52
3) Diagnostic
3.1 Alarms......................................................................................................................... 56
3.2 Problem solving ............................................................................................................ 58
4) Operative Modes
4.1 Operative Modes ........................................................................................................... 64
4.2 Analog Speed ............................................................................................................... 65
4.3 Digital Speed................................................................................................................ 67
4.4 Analog Torque .............................................................................................................. 68
4.5 Digital Torque ............................................................................................................... 70
4.6 Position Mode ............................................................................................................... 71
4.7 Gearing ....................................................................................................................... 72
4.8 Pulse/Dir Mode ............................................................................................................. 74
......................................................................................................... 77
....................................................................................................... 80
....................................................................................................... 82
4.12 CW/CCW .................................................................................................................... 83
4.13 Square Wave Period..................................................................................................... 86
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
5
Summary
4.14 Analog to Position Control............................................................................................. 87
4.15 Digital position............................................................................................................ 89
5) SpeederOne.2 Interface
...................................................................................................................... 92
5.2 System Overview .......................................................................................................... 94
5.3 General Settings ........................................................................................................... 95
.......................................................................................................... 96
5.5 Current Loop ...............................................................................................................100
5.6 Velocity Loop...............................................................................................................101
5.7 Position Loop...............................................................................................................103
5.8 Digital I/0 window........................................................................................................104
5.9 Analog I/O window.......................................................................................................107
5.10 Alarms window ..........................................................................................................109
.........................................................................................................110
.............................................................................................111
5.13 Oscilloscope ..............................................................................................................112
................................................................................................................119
5.15 Diagnostic .................................................................................................................122
5.16 Save/Load.................................................................................................................123
Conformity................................................................................................................125
Chapter 1
Description
1.1 General Description ...............................................................................................8
1.2 Mechanical Dimensions ........................................................................................10
1.3 Technical Data .................................................................................................... 12
1.4 Connectors Guide CASE A .................................................................................... 13
1.5 Connectors Guide CASE B .................................................................................... 14
1.6 Connectors description.........................................................................................15
1.7 Product plate and Ordering Code...........................................................................18
8
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
The Nano Mack
®
is a very compact digital drive with high power density
brushless motors, DC brushed motors and stepper motors, up to 2500W. It is supplied by a DC volt
age equal to 9÷182Vdc (see chapter 1.3 Technical Data). With the appropriate hardware setting,
OPERATIVE MODE:
1.1 General Description
OPERATIVE MODES
ANALOG SPEED
DIGITAL SPEED
ANALOG TORQUE
DIGITAL TORQUE
POSITION MODE
The positioner can be managed via hardware (using the digital
encoder.
GEARING
It is possible to pilot the drive with the quadrature signals
PULSE/DIR MODE
It is possible to connect the drive to a motor piloting it with the CLOCK
CANOPEN
CanBus.
CW/CCW
It is possible to connect the drive to a motor piloting it with the CLOCK
SQUARE WAVE PERIOD The motor is piloted with a “square wave” signal.
ANALOG TO POSITION The motor moves between two programmable positions corresponding
DIGITAL POSITION The motor moves between two digital positions.
RS485 MODBUS-RTU It allows to communicate and control the drive by using the RS485
9
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.1 General Description
SAFETY
SAFETY
22
SAFE TORQUE OFF
FUNCTION
STANDARD FEATURES
SPEEDERONE.2
SOFTWARE
INTERFACE
cable.
FEEDBACK
INCREMENTAL
ENCODER
and Stepper (ONLY CASE A
motors
COMMUTATION
ENCODER
SENSORLESS
Stepper (ONLY CASE A
motors
ARMATURE
HALL
DC Brushed motors
TACHOGENERATOR
DIGITAL INPUTS/ OUTPUTS
4 DIGITAL INPUTS
(D.IN1÷D.IN4)
PROGRAMMABLE
The digital inputs are programmable with the option present see chapter
5.8 Digital I/0 window.
2 DIGITAL or
ANALOG OUTPUTS
PROGRAMMABLE
The digital outputs are programmable with the option present in see chapter
5.8 Digital I/0 window and see chapter 5.9 Analog I/O window.
1 ANALOG
DIFFERENTIAL
INPUT
(An.IN 1 + /
-
)
1 ANALOG COMMON
MODE INPUT
(An.Ref.Torque)
10
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.2 Mechanical Dimensions
CASE B
CASE A
MECHANICAL SPECIFICATIONS
Case Type CASE A CASE B
Drive assembly Panel mount Panel mount
External dimensions mm
Weight g 60 110
22
42.5
21.5
USB
Ø 4
123 4 5 6 2 8
1 17
1 7
2 18
6574
BRUSHLESS &D.C. MOTORS
NANO
FEEDBACK
2 4 6 8
1357
+
-
3 4 5 6
MOTORPWR
J2
M1
CONTROL 1
2
17
18
J1
USB
1 2
MKN48/8-B-X-CB-Sxxx
X000/X000
00000000 00000000
MKN60/25-B-X-CB-Sxxx
X000/X000
00000000 00000000
+AT -AT U V W
+AT
-
AT U V W
+
RR
-
RR
45
39
Ø 4Ø 3.3
80
USB
74 16
77
PE PE
1 7
2 8
1 17
2 18
1
2 14
13
11
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.3 Technical Data
MKN 110 TECHNICAL DATA
Size 15 35
Rated Current A 15** 35**
Peak current x 3'' A 30 70
Power Supply V 12 ÷ 110 ( 9 min - 130 max )
FOR CASE B EXTERNAL CAPACITOR IS MANDATORY
Backup Logic Supply V 12 ÷ 24 ( 9
Ext. Breaking Resistor Ohm
CASE Type B (
MKN 140 TECHNICAL DATA
Size 8 25
Rated Current A 8** 25**
Peak current x 3'' A 16 50
Power Supply V 20 ÷ 140 ( 9 min - 182 max )
FOR CASE B EXTERNAL CAPACITOR IS MANDATORY
Backup Logic Supply V 12 ÷ 24 ( 9
Ext. Breaking Resistor Ohm
CASE Type B (
MKN 60 TECHNICAL DATA
Size 1 5 8 10 25 50
Rated Current A 1 5 8* 10* 25** 50**
Peak current x 3'' A 2 10 16 20 50 100
Power Supply V 12 ÷ 60 ( 9 min - 82 max )
FOR CASE B EXTERNAL CAPACITOR IS MANDATORY
Backup Logic Supply V 12 ÷ 24 V ( 9
Ext. Breaking Resistor Ohm
CASE Type A (
B (
NOTE
12
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.3 Technical Data
EXTERNAL FUSE PROTECTION
MKN 60 MKN 110 MKN 140
Power Line F1 RMS * 135%
(next commercial standard - T-type)
Backup F2 1A / 250V
Dumping resistor F3 5A / 250V
AMBIENT CONDITION
During
operation
Temperature
From +5°C to +40°C
From +40°C to +55°C
Humidity From 5% to 85%
Vibration
During
transport
Temperature From -25°C to +70°C
Humidity 85%
Vibration
During
storage
Temperature From -20°C to +55°C
Humidity 5% to 85%
Vibration
CONTROL SIGNALS
Digital inputs
Digital/Analog outputs
Clock/Dir digital inputs differential mode
common mode
(An.IN 1 + /
-
)
Common analog inputs
(An.IN Ref.Torque)
13
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.4 Connectors Guide CASE A
USB
1 17
2 18
123 4 5 6 2 8
1 7
BRUSHLESS
&
D.C. MOTORS
NANO
FEEDBACK
2 4 6 8
1357
+
-
3 4 5 6
MOTORPWR
J2
M1
CONTROL 1
2
17
18
J1
USB
1 2
MKN60/8-B-X-CB00-Sxxx
X000/X000
00000000 00000000
POWER + MOTOR
M
1 POWER
2
3
MOTOR4 V
5 W
6 N.C.
M
1 POWER
2
3 N.C.
4 MOTOR
5
M
6 N.C.
M STEPPER
1 POWER
2
3 A
MOTOR
4 B
5
6
J2 FEEDBACK
1
Ch.
A
2
3
Ch.
Z / Zs
4
5
6
7 AGND
8
J1
CONTROL
1
2 AGND
3 D.IN 1
4 D.IN 2
5 D.IN 3
6 D.IN 4
7
8
9
10
11
12
13
14 Dir. IN
15 RS485 B
16 RS485 B
17 Can L RS485 A
18 Can L RS485 A
Mini USB
LED status
14
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
J1
CONTROL
1
2 AGND
3 D.IN 1
4 D.IN 2
5 D.IN 3
6 D.IN 4
7
8
9
10
11
12
13
14 Dir. IN
15 RS485 B
16 RS485 B
17 Can L RS485 A
18 Can L RS485 A
1.5 Connectors Guide CASE B
MKN60/25-B-X-CB-Sxxx
X000/X000
00000000 00000000
+AT -AT U V W
+
R
R
-
R
R
USB
1 7
2 8
1 17
2 18
1
2 14
13
PE PE
POWER SUPPLY / MOTOR
Micro USB
Regen
Resistor
J3
1
2
3
4
5
6
7 AGND
8
9 STO.IN 1
10 STO.IN 2
11
/
12 AGND
13
14
J2
FEEDBACK
X
R
1
2
3
4
5
6
7 AGND AGND
8 N.C.
POWER
AT
PE
MOTOR
V
W
PE
POWER
AT
PE
N.C.
MOTOR
V
W
M
PE
EMULATED ENCODER
+
SAFE TORQUE OFF
LED status
15
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.6 Connectors description
J2 FEEDBACK DESCRIPTION
1
Ch.
A
2
Ch.
B
3
Ch.
Z/Zs
4
5
6
7 AGND
8
1
2
3
4
5
6
7 AGND AGND
8 N.C.
J1 CONTROL DESCRIPTION
1
2 AGND
3 D.IN 1 Digital Input 1
4 D.IN 2 Digital Input 2
5 D.IN 3 Digital Input 3
6 D.IN 4 Digital Input 4
7 Analog / Digital Output 1
8 Analog / Digital Output 2
9
10 AN.IN 1
11 Analog Input Toque (±Tachogenerator
12 AGND /
Tacho
13
14 Dir. IN Direction Input
15/16
17/18 Can L Can Channel Low
15/16 RS485 B RS485 Channel B
17/18 RS485 A RS485 Channel A
16
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
J3 DESCRIPTION
1
2 Channel A
3
4 Channel B
5
6 Channel Z
7 AGND AGND
8
9 STO.IN 1
10 STO.IN 2
11/12 AGND 0V
13
14
1.6 Connectors description
Motor and power supply connectors connection:
M DESCRIPTION
1
2
AT
Power Supply
3
MOTOR
4 V Motor phase V
5 W Motor phase W
6 N.C. Not connected
M DESCRIPTION
1
2
AT
Power Supply
3 N.C. Not connected
4 MOTOR
5
M
DC motor
6 N.C. Not connected
M STEPPER DESCRIPTION
1
2
AT
Power Supply
3 A
MOTOR
Motor phase
4 B Motor phase
5 Motor phase
6 Motor phase
CASE A
17
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.6 Connectors description
CASE B
DESCRIPTION
POWER
AT
PE PE
MOTOR
V Motor phase V
W Motor phase W
PE PE
DESCRIPTION
POWER
AT
Power Supply
PE PE
N.C. Not connected
V
MOTOR
W
M
DC motor
PE PE
DESCRIPTION
+ R
R
-
R
R
18
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
1.7 Product plate and Ordering Code
On the CASE A there is a product plate
And on the CASE B there is a product plate
The product plate
-HARDWARE CODE:
-SOFTWARE CODE:
-PART NUMBER:
-SERIAL NUMBER:
SOFTWARE CODE
DRIVE LINE
FEEDBACK:
X
Rfor case B only
SPECIFIC NUMBER (opt):
001÷999
MOTOR TYPE:
BStandard:
BL Brushless
DC Brushed
SOptional: (for case A only)
SM Stepper
BL Brushless
DC Brushed
MODEL & SIZE:
see chapter 1.3 Technical Data
CONTROL MODE:
CB
MB
EMULATED ENCODER / STO:
0
1
2
3
DUMPING CIRCUIT:
0
1for case B only
DC
STEPPER
BRUSHLESS
+
M
-
M
/
/
_
_
B
A
A
B
V
W
U
/
M1 MOTOR
3
4
5
6
BRUSHLESS
&
D.C. MOTORS
B
ACKUP
:
P
OWER
:12÷48VDC
12÷24V
DC
NANO
F
EEDBACK
2468
1 3 5 7
+
-
3 4 5 6
MOTORPWR
J2
M1
CONTROL 1
2
17
18
J1
USB
1 2
MKN60/8-B-X-CB-Sxxx
X000/X000
00000000 00000000
MKN110/15-B-X-CB-Sxx x
X000/X000
00000000 00000000
MKN110/15-B-X-CB-Sxx x
X000/X000
00000000 00000000
for case B
only
19
AXOR Industries Service Manual Nano Mack®ver.1 rev.11/'19
MOTOR-DRIVE COUPLING
FIG.1
Cliente /
N. Ordine/
Totale pezzi /
N. Lotto com-reg /
Matricola /
Codice prod. /
di /
22
2/19
93960040
File di taratura /
Adjustment file:
Versione CPLD /
CPLD version:
Versione firmware /
Firmware version:
Etichetta prodotto /
Product label
Caratteristiche motore /
Motor features :
COLLAUDO / TEST
Questo documento certifica che l'apparecchiatura soddisfa i requisiti specificati nel contratto di acquisto, in quanto tutte le prove previste
nelle procedure di collaudo sono state superate con esito positivo.
This document certifies that the device meets the requirements that are displayed on the purchase contreact, because all of the
programmed tests on the test procedures were positive.
AXOR sas - Viale Stazione 5, Montebello Vic.no (VI) Italia - Tel. +39 0444440441 - Fax +39 0444440418 - [email protected]
Operatore C.Q. /
Quality test op :
Firma /
Signature :
N. ID strumenti /
Instrument IDs:
N. ID attrezzature di prod. /
N. ID prod equipment :
Misure relative alla qualità del prodotto /
Product quality tests :
Misure relative a dati feedback per la progettazione /
Project feedback data tests :
35 155
195
MKN60_8_MKBM60_M_J32_0_EIS1_3
firmware_MKN_B_03E.mot
MKN60/5-B-X-CB00-Sxxx
Tipo /
Type :
MKBM60_M_J32_0_EIS1_3
Encoder :
1024
P. Motor :
8
P. Resolver :
I o :
5
I pk :
20
Nn :
3000
L :
0,7
R :
0,35
U n :
48
Imp/Rev
A rms
A rms
Rpm
mH
ohm
V rms
Ke :
7
M o :
0,65
M pk :
2,6
K t :
0,12
Brake :
no
V/1000 rpm
Nm
Nm
Nm/A
Tester
Banco
Lem
Oscilloscopio
Client :
Order N.:
Tot. pieces :
of :
Data / Date :
HW:
N. Block com-reg:
ID Number :
Order code:
Phasing angle :
330 deg
Tarature /
Settings :
Note:
I rms /
Rated I :
5
I peak /
Peak I :
16
Speed limit:
3000
Arms
Arms
Rpm
SW:
B03E / X000/D007
Versione software /
Software version:
-
Certificato di collaudo /
Test certificate
MO00094 Rev.0
FIG.2
Note
Motor to
couple with drive
Description
drive has been setup
Code
has been setup
HW: MKN60/5-B-X-CB00-Sxxx
SW: B03E / X000 / D007
0444/440441 Data: Ord: Cod: 93960040
1.7 Product plate and Ordering Code
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