NANOTEC ELECTRONIC N5 User manual

Technical Manual N5
Fieldbus: CANopen
For use with the following devices:
N5-1-2, N5-2-2
Valid with firmware version FIR-v1650 Technical Manual Version: 2.0.1
and since hardware version W007

Technical Manual N5 (CANopen)
Contents
Contents
1 Introduction.................................................................................................8
1.1 Version information................................................................................................................................8
1.2 Copyright, marking and contact............................................................................................................ 9
1.3 Intended use..........................................................................................................................................9
1.4 Warranty and disclaimer......................................................................................................................10
1.5 Specialist staff..................................................................................................................................... 10
1.6 EU directives for product safety..........................................................................................................10
1.7 Other applicable regulations................................................................................................................10
1.8 Used icons...........................................................................................................................................10
1.9 Emphasis in the text............................................................................................................................11
1.10 Numerical values...............................................................................................................................11
1.11 Bits.....................................................................................................................................................11
1.12 Counting direction (arrows)...............................................................................................................11
2 Safety and warning notices.....................................................................13
3 Technical details and pin assignment................................................... 14
3.1 Environmental conditions.....................................................................................................................14
3.2 Dimensioned drawings........................................................................................................................ 15
3.3 Electrical properties and technical data..............................................................................................15
3.4 Overtemperature protection.................................................................................................................16
3.5 LED signaling...................................................................................................................................... 18
3.6 Pin assignment....................................................................................................................................19
4 Commissioning.........................................................................................29
4.1 Configuration via Ethernet...................................................................................................................29
4.2 Configuration via CANopen.................................................................................................................34
4.3 Setting the motor data.........................................................................................................................36
4.4 Connecting the motor..........................................................................................................................36
4.5 Auto setup........................................................................................................................................... 37
4.6 Test run............................................................................................................................................... 39
5 General concepts..................................................................................... 41
5.1 Control modes.....................................................................................................................................41
5.2 CiA 402 Power State Machine............................................................................................................45
5.3 User-defined units............................................................................................................................... 50
5.4 Limitation of the range of motion........................................................................................................53
5.5 Cycle times..........................................................................................................................................53
6 Operating modes......................................................................................55
6.1 Profile Position.....................................................................................................................................55
6.2 Velocity................................................................................................................................................ 62
6.3 Profile Velocity.....................................................................................................................................64
6.4 Profile Torque......................................................................................................................................67
6.5 Homing.................................................................................................................................................69
6.6 Interpolated Position Mode..................................................................................................................76
6.7 Cyclic Synchronous Position...............................................................................................................77

Technical Manual N5 (CANopen)
Contents
6.8 Cyclic Synchronous Velocity...............................................................................................................79
6.9 Cyclic Synchronous Torque................................................................................................................ 80
6.10 Clock-direction mode.........................................................................................................................81
6.11 Auto setup......................................................................................................................................... 83
7 Special functions......................................................................................85
7.1 Digital inputs and outputs....................................................................................................................85
7.2 Automatic brake control.......................................................................................................................93
7.3 I2t Motor overload protection...............................................................................................................96
7.4 Saving objects.....................................................................................................................................97
8 CANopen..................................................................................................103
8.1 General..............................................................................................................................................103
8.2 CANopen services.............................................................................................................................103
9 Programming with NanoJ......................................................................122
9.1 NanoJ program..................................................................................................................................122
9.2 Mapping in the NanoJ program........................................................................................................ 125
9.3 System calls in a NanoJ program.....................................................................................................127
10 Description of the object dictionary...................................................129
10.1 Overview..........................................................................................................................................129
10.2 Structure of the object description.................................................................................................. 129
10.3 Object description............................................................................................................................129
10.4 Value description.............................................................................................................................130
10.5 Description.......................................................................................................................................131
1000h Device Type..................................................................................................................................132
1001h Error Register............................................................................................................................... 133
1003h Pre-defined Error Field.................................................................................................................134
1005h COB-ID Sync................................................................................................................................137
1007h Synchronous Window Length.......................................................................................................138
1008h Manufacturer Device Name..........................................................................................................138
1009h Manufacturer Hardware Version...................................................................................................139
100Ah Manufacturer Software Version....................................................................................................139
100Ch Guard Time..................................................................................................................................140
100Dh Live Time Factor..........................................................................................................................140
1010h Store Parameters..........................................................................................................................141
1011h Restore Default Parameters.........................................................................................................143
1014h COB-ID EMCY..............................................................................................................................145
1017h Producer Heartbeat Time.............................................................................................................145
1018h Identity Object...............................................................................................................................146
1020h Verify Configuration......................................................................................................................147
1029h Error Behavior.............................................................................................................................. 149
1400h Receive PDO 1 Communication Parameter.................................................................................150
1401h Receive PDO 2 Communication Parameter.................................................................................151
1402h Receive PDO 3 Communication Parameter.................................................................................152
1403h Receive PDO 4 Communication Parameter.................................................................................153
1404h Receive PDO 5 Communication Parameter.................................................................................154
1405h Receive PDO 6 Communication Parameter.................................................................................155
1406h Receive PDO 7 Communication Parameter.................................................................................157
1407h Receive PDO 8 Communication Parameter.................................................................................158
1600h Receive PDO 1 Mapping Parameter............................................................................................159
1601h Receive PDO 2 Mapping Parameter............................................................................................162
1602h Receive PDO 3 Mapping Parameter............................................................................................164
1603h Receive PDO 4 Mapping Parameter............................................................................................166

Technical Manual N5 (CANopen)
Contents
1604h Receive PDO 5 Mapping Parameter............................................................................................168
1605h Receive PDO 6 Mapping Parameter............................................................................................171
1606h Receive PDO 7 Mapping Parameter............................................................................................173
1607h Receive PDO 8 Mapping Parameter............................................................................................175
1800h Transmit PDO 1 Communication Parameter................................................................................177
1801h Transmit PDO 2 Communication Parameter................................................................................179
1802h Transmit PDO 3 Communication Parameter................................................................................181
1803h Transmit PDO 4 Communication Parameter................................................................................182
1804h Transmit PDO 5 Communication Parameter................................................................................184
1805h Transmit PDO 6 Communication Parameter................................................................................186
1806h Transmit PDO 7 Communication Parameter................................................................................188
1807h Transmit PDO 8 Communication Parameter................................................................................190
1A00h Transmit PDO 1 Mapping Parameter.......................................................................................... 192
1A01h Transmit PDO 2 Mapping Parameter.......................................................................................... 194
1A02h Transmit PDO 3 Mapping Parameter.......................................................................................... 197
1A03h Transmit PDO 4 Mapping Parameter.......................................................................................... 199
1A04h Transmit PDO 5 Mapping Parameter.......................................................................................... 202
1A05h Transmit PDO 6 Mapping Parameter.......................................................................................... 204
1A06h Transmit PDO 7 Mapping Parameter.......................................................................................... 207
1A07h Transmit PDO 8 Mapping Parameter.......................................................................................... 209
1F50h Program Data...............................................................................................................................212
1F51h Program Control...........................................................................................................................213
1F57h Program Status............................................................................................................................ 214
2005h CANopen Baudrate.......................................................................................................................216
2007h CANopen Config...........................................................................................................................216
2009h CANopen NodeID.........................................................................................................................217
2010h IP-Configuration............................................................................................................................218
2011h Static-IPv4-Address...................................................................................................................... 219
2012h Static-IPv4-Subnet-Mask.............................................................................................................. 220
2014h Current-IPv4-Address................................................................................................................... 221
2015h Current-IPv4-Subnet-Mask........................................................................................................... 222
2030h Pole Pair Count............................................................................................................................223
2031h Maximum Current.........................................................................................................................223
2032h Maximum Speed...........................................................................................................................224
2033h Plunger Block............................................................................................................................... 224
2034h Upper Voltage Warning Level......................................................................................................225
2035h Lower Voltage Warning Level......................................................................................................225
2036h Open Loop Current Reduction Idle Time.....................................................................................226
2037h Open Loop Current Reduction Value/factor.................................................................................226
2038h Brake Controller Timing................................................................................................................227
2039h Motor Currents..............................................................................................................................229
203Ah Homing On Block Configuration.................................................................................................. 231
203Bh I2t Parameters..............................................................................................................................232
203Dh Torque Window............................................................................................................................234
203Eh Torque Window Time...................................................................................................................235
2050h Encoder Alignment....................................................................................................................... 235
2051h Encoder Optimization................................................................................................................... 236
2052h Encoder Resolution...................................................................................................................... 237
2056h Limit Switch Tolerance Band........................................................................................................238
2057h Clock Direction Multiplier..............................................................................................................238
2058h Clock Direction Divider.................................................................................................................239
2059h Encoder Configuration..................................................................................................................239
205Ah Encoder Boot Value.....................................................................................................................240
205Bh Clock Direction Or Clockwise/Counter Clockwise Mode..............................................................241
2060h Compensate Polepair Count........................................................................................................ 241
2061h Velocity Numerator.......................................................................................................................242
2062h Velocity Denominator....................................................................................................................242
2063h Acceleration Numerator................................................................................................................242
2064h Acceleration Denominator............................................................................................................ 243

Technical Manual N5 (CANopen)
Contents
2065h Jerk Numerator.............................................................................................................................243
2066h Jerk Denominator......................................................................................................................... 244
2084h Bootup Delay................................................................................................................................244
2101h Fieldbus Module Availability.........................................................................................................245
2102h Fieldbus Module Control.............................................................................................................. 246
2103h Fieldbus Module Status................................................................................................................247
2300h NanoJ Control...............................................................................................................................249
2301h NanoJ Status................................................................................................................................250
2302h NanoJ Error Code........................................................................................................................ 250
2303h Number Of Active User Program.................................................................................................252
2304h Table Of Available User Programs.............................................................................................. 252
230Fh Uptime Seconds...........................................................................................................................255
2310h NanoJ Input Data Selection......................................................................................................... 255
2320h NanoJ Output Data Selection.......................................................................................................257
2330h NanoJ In/output Data Selection................................................................................................... 258
2400h NanoJ Inputs................................................................................................................................ 259
2410h NanoJ Init Parameters..................................................................................................................260
2500h NanoJ Outputs..............................................................................................................................261
2600h NanoJ Debug Output....................................................................................................................262
2701h Customer Storage Area................................................................................................................263
2800h Bootloader And Reboot Settings..................................................................................................264
3202h Motor Drive Submode Select.......................................................................................................265
320Ah Motor Drive Sensor Display Open Loop......................................................................................266
320Bh Motor Drive Sensor Display Closed Loop....................................................................................268
3210h Motor Drive Parameter Set.......................................................................................................... 269
3212h Motor Drive Flags.........................................................................................................................273
3220h Analog Inputs................................................................................................................................275
3221h Analogue Inputs Control...............................................................................................................276
3225h Analogue Inputs Switches............................................................................................................276
3240h Digital Inputs Control....................................................................................................................277
3242h Digital Input Routing.....................................................................................................................280
3250h Digital Outputs Control.................................................................................................................283
3252h Digital Output Routing..................................................................................................................285
3320h Read Analogue Input....................................................................................................................287
3321h Analogue Input Offset...................................................................................................................288
3322h Analogue Input Pre-scaling.......................................................................................................... 289
3700h Following Error Option Code........................................................................................................290
4012h HW Information.............................................................................................................................291
4013h HW Configuration......................................................................................................................... 292
4014h Operating Conditions....................................................................................................................293
4040h Drive Serial Number.....................................................................................................................294
4041h Device Id.......................................................................................................................................294
603Fh Error Code....................................................................................................................................295
6040h Controlword...................................................................................................................................295
6041h Statusword....................................................................................................................................297
6042h Vl Target Velocity.........................................................................................................................298
6043h Vl Velocity Demand......................................................................................................................299
6044h Vl Velocity Actual Value...............................................................................................................299
6046h Vl Velocity Min Max Amount........................................................................................................300
6048h Vl Velocity Acceleration................................................................................................................301
6049h Vl Velocity Deceleration............................................................................................................... 302
604Ah Vl Velocity Quick Stop.................................................................................................................303
604Ch Vl Dimension Factor.................................................................................................................... 304
605Ah Quick Stop Option Code..............................................................................................................305
605Bh Shutdown Option Code................................................................................................................306
605Ch Disable Option Code....................................................................................................................306
605Dh Halt Option Code.........................................................................................................................307
605Eh Fault Option Code........................................................................................................................308
6060h Modes Of Operation.....................................................................................................................308

Technical Manual N5 (CANopen)
Contents
6061h Modes Of Operation Display........................................................................................................309
6062h Position Demand Value................................................................................................................310
6063h Position Actual Internal Value......................................................................................................310
6064h Position Actual Value................................................................................................................... 311
6065h Following Error Window............................................................................................................... 311
6066h Following Error Time Out.............................................................................................................312
6067h Position Window...........................................................................................................................312
6068h Position Window Time..................................................................................................................313
606Bh Velocity Demand Value................................................................................................................313
606Ch Velocity Actual Value...................................................................................................................314
606Dh Velocity Window...........................................................................................................................314
606Eh Velocity Window Time..................................................................................................................315
6071h Target Torque...............................................................................................................................316
6072h Max Torque.................................................................................................................................. 316
6074h Torque Demand............................................................................................................................317
6077h Torque Actual Value.....................................................................................................................317
607Ah Target Position.............................................................................................................................318
607Bh Position Range Limit....................................................................................................................318
607Ch Home Offset.................................................................................................................................319
607Dh Software Position Limit................................................................................................................320
607Eh Polarity..........................................................................................................................................321
6081h Profile Velocity..............................................................................................................................322
6082h End Velocity..................................................................................................................................322
6083h Profile Acceleration.......................................................................................................................322
6084h Profile Deceleration...................................................................................................................... 323
6085h Quick Stop Deceleration...............................................................................................................323
6086h Motion Profile Type...................................................................................................................... 324
6087h Torque Slope................................................................................................................................324
608Fh Position Encoder Resolution........................................................................................................325
6091h Gear Ratio....................................................................................................................................326
6092h Feed Constant..............................................................................................................................327
6098h Homing Method............................................................................................................................ 328
6099h Homing Speed..............................................................................................................................328
609Ah Homing Acceleration....................................................................................................................329
60A4h Profile Jerk...................................................................................................................................330
60C1h Interpolation Data Record............................................................................................................332
60C2h Interpolation Time Period.............................................................................................................333
60C4h Interpolation Data Configuration..................................................................................................334
60C5h Max Acceleration..........................................................................................................................336
60C6h Max Deceleration.........................................................................................................................336
60F2h Positioning Option Code.............................................................................................................. 337
60F4h Following Error Actual Value........................................................................................................339
60FDh Digital Inputs................................................................................................................................339
60FEh Digital Outputs............................................................................................................................. 340
60FFh Target Velocity............................................................................................................................. 341
6502h Supported Drive Modes................................................................................................................341
6503h IEEE 802 MAC Address...............................................................................................................342
6505h Http Drive Catalogue Address......................................................................................................343
11 Copyrights.............................................................................................344
11.1 Introduction......................................................................................................................................344
11.2 AES..................................................................................................................................................344
11.3 MD5................................................................................................................................................. 344
11.4 uIP....................................................................................................................................................345
11.5 DHCP...............................................................................................................................................345
11.6 CMSIS DSP Software Library.........................................................................................................345
11.7 FatFs................................................................................................................................................346
11.8 Protothreads.................................................................................................................................... 346

Technical Manual N5 (CANopen)
Contents
11.9 lwIP..................................................................................................................................................346

Technical Manual N5 (CANopen)
1 Introduction
1 Introduction
The N5 is a controller for the open loop or closed loop operation of stepper motors and the closed loop
operation of BLDC motors.
This manual describes the functions of the controller and the available operating modes. It also shows
how you can address and program the controller via the communication interface.
You can find further information on the device on the Nanotec website us.nanotec.com.
1.1 Version information
Manual
version Date Changes Firmware version
1.0.0 30.04.2014 Edition FIR-v1417
1.0.3 12.05.2014 Minor corrections, assignment of the OD entries now correct FIR-v1419
1.1.0 16.05.2014 Following chapters added:
•Cyclic Synchronous Position
•Cyclic Synchronous Velocity
•Cyclic Synchronous Torque
FIR-v1426
1.2.0 23.07.2014 • Chapter "Saving objects" added, savable added to the list of
objects
• The following objects were shifted:
• "Read Analog Input": from 6402 hto 3320 h
• "Analogue Input Offset": from 6431 hto 3321 h
• "Analogue Input Pre-scaling": from 6432 hto 3322 h
FIR-v1426
1.2.7 10.09.2014 Error corrections FIR-v1436
1.2.15 18.11.2014 • Error corrections
• The "Mode of modulo operation" object in 2070hwas
replaced with the "Positioning option code" object in 60F2h
FIR-v1446
1.2.16 26.01.2015 The following objects were shifted:
• "Current-IPv4-Address": from 2018hto 2014h
• "Current-IPv4-Subnet-Mask": from 2019hto 2015h
• "Drive Serial Number": from 2022hto 4040h
The following objects were removed:
• "AppInfo-Static-IP-Address" 2020h
• "AppInfo-Static-Subnet-Mask" 2021h
FIR-v1450
1.3.0 11.03.2015 New chapter:
•Clock-direction mode
FIR-v1504
1.3.1 24.04.2015 • Error corrections
• New chapter Input Routing
FIR-v1512
1.4.0 02.10.2015 • Error corrections
• New chapter Overtemperature protection
• New chapter Output Routing
• New section Possible combinations of travel commands
• Addition to the connection data for the connectors
FIR-v1540
Version: 2.0.1 / FIR-v1650 8

Technical Manual N5 (CANopen)
1 Introduction
Manual
version Date Changes Firmware version
• Addition to the switching thresholds for digital inputs
1.5.0 08.04.2016 • Error corrections
• New chapter Interpolated Position Mode
FIR-v1614
1.5.1 22.07.2016 Additions and error corrections FIR-v1626
2.0.0 01/2018 • New chapter Environmental conditions
• New chapter Control modes
• New chapter Limitation of the range of motion
• New chapter Cycle times
• New chapter CANopen services
• Revision of chapter Commissioning
• Additions and error corrections
FIR-v1650
2.0.1 08/2018 Additions and error corrections FIR-v1650
1.2 Copyright, marking and contact
Copyright ©2013 – 2018 Nanotec®Electronic GmbH & Co. KG. All rights reserved.
Nanotec®Electronic GmbH & Co. KG
Kapellenstraße 6
D-85622 Feldkirchen/Munich
Phone: [phone]
Fax: [phone]
Internet: us.nanotec.com
Microsoft®Windows®98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation.
1.3 Intended use
The N5 controller is used to control stepper and BLDC motors and is designed for use under the
approved Environmental conditions.
Any other use is considered unintended use.
Note
Changes or modification to the controller are not permitted.
Version: 2.0.1 / FIR-v1650 9

Technical Manual N5 (CANopen)
1 Introduction
1.4 Warranty and disclaimer
Nanotec produces component parts that are used in a wide range of industrial applications. The
selection and use of Nanotec products is the responsibility of the system engineer and end user.
Nanotec accepts no responsibility for the integration of the products in the end system.
Under no circumstances may a Nanotec product be integrated as a safety controller in a product or
construction. All products containing a component part manufactured by Nanotec must, upon delivery
to the end user, be provided with corresponding warning notices and instructions for safe use and safe
operation. All warning notices provided by Nanotec must be passed on directly to the end user.
Our general terms and conditions apply: en.nanotec.com/service/general-terms-and-conditions/.
1.5 Specialist staff
Only specialists may install, program and commission the device:
• Persons who have appropriate training and experience in work with motors and their control.
• Persons who are familiar with and understand the content of this technical manual.
• Persons who know the applicable regulations.
1.6 EU directives for product safety
The following EU directives were observed:
• RoHS directive (2011/65/EU, 2015/863/EU)
• EMC directive (2014/30/EU)
1.7 Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
• Accident-prevention regulations
• Local regulations on occupational safety
1.8 Used icons
All notices are in the same format. The degree of the hazard is divided into the following classes.
CAUTION
!• The CAUTION notice indicates a possibly dangerous situation.
• Failure to observe the notice may result in moderately severe injuries.
• Describes how you can avoid the danger.
Note
• Indicates an error source or likelihood of confusion.
• Failure to observe the notice may result in damage to this or other devices.
• Describes how device damage can be avoided.
Tip
Shows a tip for the application or task.
Version: 2.0.1 / FIR-v1650 10