NANOTEC ELECTRONIC SMCI35 User manual

Technical Manual
Stepper controller
SMCI35
NANOTEC ELECTRONIC GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham near Munich, Germany
Tel. [phone]
Fax [phone]
[email protected]

Technical manual
SMCI35
Editorial
2 Issue: V 1.1 - 05.03.2010
Editorial
©2010
Nanotec®Electronic GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham / Pliening, Germany
Tel.: [phone]
Fax: [phone]
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 2010-01-25 New issue C+P
1.1 2010-03-05 New picture on front page

Technical manual
SMCI35
About this manual
About this manual
Target group
This technical manual is aimed at designers and developers who need to operate a
Nanotecâ stepper motor without much experience in stepper motor technology.
Important information
This technical manual must be carefully read before installation and commissioning of
the stepper motor control.
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.
This manual was created with due care. It is exclusively intended as a technical
description of the product and as commissioning instructions. 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: [e-mail]
Additional manuals
Please also note the following manuals from Nanotec:
NanoPro
User Manual
Configuration of controllers with the
NanoPro software
Programming manual
Controller programming
•Command reference
•NanoJ
•COM interface
The manuals are available for download on www.nanotec.com.
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Technical manual
SMCI35
Contents
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Contents
1Overview ............................................................................................................................... 5
2Connection and commissioning ........................................................................................ 7
2.1 Connection diagram............................................................................................................... 7
2.2 Commissioning....................................................................................................................... 9
3Connections and circuits.................................................................................................. 11
3.1 Overview .............................................................................................................................. 11
3.2 Inputs and outputs: connector X4 and X5............................................................................ 12
3.3 Encoder connection: Connector X2 ..................................................................................... 14
3.4 Stepping motor and power supply: connector X3 ................................................................ 15
3.4.1 Pin assignment..................................................................................................................... 15
3.4.2 Stepper motor connection.................................................................................................... 15
3.4.3 Power supply connection ..................................................................................................... 17
3.5 RS232 interface: connector X1 ............................................................................................ 18
4Operating modes................................................................................................................ 19
5Troubleshooting................................................................................................................. 21
6Technical data.................................................................................................................... 22
Index...................................................................................................................................................... 24

Technical manual
SMCI35
Overview
1 Overview
Introduction
The stepper motor control SMCI35 is an extremely compact and cost-effective
constant current power output stage with integrated Closed-Loop current control.
Due to the great capacity and functions available, it offers designers and developers a
rapid and simple method of resolving numerous drive requirements with less
programming effort.
It is used for controlling standard stepper motors (including with attached encoders) or
motors with integrated encoders or brakes.
SMCI35 functions
The stepper motor control SMCI35 contains the following functions:
•Microstep 1/1 – 1/64 Final output stage (0.014° step resolution)
•Closed-Loop current control (sinusoidal commutation via the encoder)
•Powerful DSP microprocessor for flexible I/O
•Sequence programs with NanoJ
•Rotation monitoring for optional encoder
•Easy programming with the NanoPro Windows software
Closed-Loop current control (sinusoidal commutation via the encoder):
In contrast to conventional stepper motor controls where only the motor is actuated or
the position adjusted via the encoder, sinusoidal commutation controls the stator
magnetic field as in a servomotor via the rotary encoder. The stepper motor acts in
this operating mode as nothing more than a high pole servomotor, i.e. the classic
stepper motor noises and resonances vanish. As the current is controlled, the motor
can no longer lose any steps up to its maximum torque.
If the controller recognizes that the rotor is falling behind the stator field due to
overload, adjustments are made with optimal field angle and increased current. In the
opposite case, i.e. if the rotor is running forward due to the torque, the current is
automatically reduced so that current consumption and heat development in the motor
and controller are much lower compared to normal controlled operation.
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®performs the entire control
with a resolution of 12 bit. The parameters of the PI current controller can be adjusted
to the motor and by the user as a function of the rpm.
This has the following application advantages:
•Very smooth, low-resonance operation with a sinusoidal current in the windings.
•Very good step angle accuracy and synchronization, even in open-loop operation.
•Three-phase stepper motors and BLDC motors can be controlled as well.
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Technical manual
SMCI35
Overview
With the integrated NanoJ programming language based on the Java standard,
complete sequencing programs can be implemented that can be run autonomously
without a superordinate controller.
The programs can be created, compiled directly and written to the controller with the
free NanoJEasy editor.
More detailed information can be found in the separate programming manual.
Settings
The operating behavior of the 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.
Rotation monitoring
Even if stepper motors do not lose steps during normal operation, the integrated
speed control provides additional security in all operating modes, e.g. against motor
stalling or other external sources of error. The monitoring function detects a stalled
motor or step loss after tenth of a step at the most (for 1.8° stepper motors with 500
pulses/rotation).
Automatic error correction is possible after the drive profile is ended or during the
drive.
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Technical manual
SMCI35
Connection and commissioning
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2 Connection and commissioning
2.1 Connection diagram
Introduction
To operate a stepper motor with the SMCI35 stepper motor control, the wiring must be
implemented according to the following connection diagram.

Technical manual
SMCI35
Connection and commissioning
Connection diagram SMCI35
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Technical manual
SMCI35
Connection and commissioning
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2.2 Commissioning
Provisions
The connection and commissioning of the SMCI35 stepper motor are described
below.
This section describes the main first steps you need to take to be able to quickly begin
working with the SMCI35 if you are using the NanoPro software from a PC. You will
find more detailed information in the separate NanoPro manual.
If you want to work with a PLC or your own program later, you will find the necessary
information in the separate programming manual.
Familiarize yourself with the SMCI35 stepper motor control and the corresponding
NanoPro control software before you configure the controller for your application.
Procedure
Proceed as follows to commission the controller:
Step Action Note
1 Install the NanoPro control software on your PC.
See the separate manual on NanoPro.
Download from
www.nanotec.com/
downloads.
2 Connect the controller to the stepper motor
according to the connection diagram.
Connection diagram, see
Section 2.1.
Detailed information on
connections can be found
in Chapter 3 „Connections
and circuits“.
3 Switch on the operating voltage
(24 V DC ... 48 V DC).
4 Connect the controller to the USB port of your
PC.
Use the converter cable
ZK-RS232-USB-3.3V
Order identifier:
•ZK-RS232-USB-3.3V
Note: Download the
necessary controller from
www.nanotec.com under
the Accessories/Converter
menu item

Technical manual
SMCI35
Connection and commissioning
10 Issue: V 1.1 - 05.03.2010
Step Action Note
5 Start the NanoPro software. The NanoPro main menu
appears.
6 Select the "Communication" tab.
7 In the "Port" field, select the COM port to which
the SMCI35 is connected.
The number of the COM
port to which the controller
is connected can be found
in the device manager of
your Windows PC. (System
control/system/hardware).
8 Select the "115200 bps" entry in the "Baudrate"
selection field.
9 Select the "Movement" tab.
10 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
installation).
11 You can now enter your required settings.
For instance, you can enter a new travel profile.
See the separate manual
on NanoPro.

Technical manual
SMCI35
Connections and circuits
3 Connections and circuits
3.1 Overview
Plug connections
The controller has the following connectors:
X1: RS232 interface
X2: Encoder interface
X3: Stepper motor and power supply connector
X4 and X5: Inputs and outputs
Configuration
The following figure shows the configuration of the connectors on the printed circuit
board.
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Technical manual
SMCI35
Connections and circuits
3.2 Inputs and outputs: connector X4 and X5
Introduction
An overview of the assignments can be found in the wiring diagram in Section 2.1).
This section looks in detail at the assignments, functions and circuits of connectors X4
and X5.
Pin assignment X4
Pin no. Name Observations
1 Output 1 Digital output
2 Input 6
3 Input 5
4 Input 4
Digital inputs
5 Analogue In 1 Analog input (–10 V ... +10 V)
6 GND
Pin assignment X5
Pin no. Name Observations
1 GND
2 Output 3
3 Output 2
Digital outputs
4 Input 3
5 Input 2
6 Input 1
Digital inputs
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, etc.) and can be used for sequential control with NanoJ.
All inputs can be configured for “active-high" or “active-low" with NanoPro.
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SMCI35
Connections and circuits
Signal states at the outputs
The following table shows the possible signal states at the outputs 1 to 3:
Signal states Meaning
Output 3 Output 2 Output 1
0 0 Rotation monitoring (error) or limit switch
0 1 Motor idle (waiting for 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.
Input circuits
Note:
The voltage should drop below 2 V for safe switching off and be at least 4.5 V for safe
switching on.
Output circuits
The outputs are a TTL output circuit (5 V / max. 20 mA). To be able to test the output,
an LED with a series resistance against earth can be integrated. The LED lights up
when the output is active.
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Technical manual
SMCI35
Connections and circuits
3.3 Encoder connection: Connector X2
Optional encoder
An optional encoder can be connected to the stepper motor control.
By default, the closed-loop control for a three-channel encoder is set up with 500
pulses/revolution in a 1.8° stepper motor. With an 0.9° stepper motor, you should use
an encoder with 1000 pulses/revolution to achieve the same control quality.
Depending on the application, it may make sense to use higher encoder resolutions
(up to max. 2000 pulses/revolution) to improve control quality or to use a lower
resolution (min. 200 pulses/revolution) for low-cost applications or for step monitoring
alone.
The following encoder resolutions can normally be processed by the controller: 192,
200, 256, 400, 500, 512, 1000, 1024, 2000, 2048.
Recommended:
Where possible, use Nanotec encoders with the order number
HEDS/HEDL-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 NanoPro separate
manual.
Using encoders with line drivers
The encoders of the HEDL series with a line driver output an inverted signal in
addition to the encoder signal; this leads to better interference immunity and is
especially recommended for long lines lengths. The differential signal can be
evaluated with a line driver/encoder adapter. The following figure shows the input
circuit of the encoder for channel A (Ch A) with an inverted signal (Ch A\).
The SMCP controllers themselves currently cannot evaluate the differential signal,
meaning that only the channels A, B and I need to be connected to perform position
monitoring. We recommend shielding and twisting the encoder line to minimize
interference with the encoder signal from the outside.
Pin assignment
Pin no. Name
1 GND
2 Track (B)
3 Index track (I)
4 Track (A)
5 +5 V
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Technical manual
SMCI35
Connections and circuits
3.4 Stepping motor and power supply: connector X3
3.4.1 Pin assignment
Pin no. Name Observations
1 A
2 A/
3 B
4 B/
See also data sheet of connected stepper motor
(color code of 4 wires).
5 Vcc Switch on the operating voltage
(+24 V DC ... +48 V DC)
6 GND Earth (0 V)
3.4.2 Stepper motor connection
General information
The motor is connected to the SMCI32 with a 4-wire cable. Twisted wire pair cables
with braided shields are recommended.
Danger of electrical surges
Mixing up the connections can destroy the output stage! See also data sheet of
connected stepper motor (color code of 4 wires).
Never disconnect the link when operating voltage is applied!
Never disconnect lines when live!
Setting the motor current
The motor current can be set either in the software (NanoPro) or in the hardware via
the DIP switch on the board.
The DIP switches form the first four digits of the binary system, where the digit with the
lowest value is set with switch "1" and the digit with the highest value is set with switch
"4". In this way, the decimal values of 0 to 15 can be set.
If all DIP switches are set to OFF (decimal value 0), the motor current can be specified
via NanoPro. For all other DIP switch settings, the motor current results from the
following equation (in % of effective current 4 A):
Motor current = dip switch decimal value * 10%
Example: switch 4 = ON, switch 3 = OFF, switch 2 = OFF, switch 1 = ON
Decimal value = 9
Motor current = 90% of effective current = 3.6 A
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SMCI35
Connections and circuits
Motor with 6 or 8 connections
If you are using a motor with 6 or 8 connections, you need to connect the windings.
The following figure shows four wiring diagrams for motors with 6 or 8 connections
(page from the Nanotec product catalogue).
Details can be found on the Nanotec website, www.nanotec.com.
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Technical manual
SMCI35
Connections and circuits
3.4.3 Power supply connection
Permissible operating voltage
The permissible operating voltage for the SMCI35 stepper motor control lies between
+24 and +48 V DC; it must not exceed 50 V or fall below 21 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 condenser with minimum 4700 µF!
Connect a condenser with 10000µF for motors with flange size 86x86 (series
ST8918) or greater!
An operating voltage > 50 V will destroy the output stage!
Mixing up the connections can destroy the output stage! See also data sheet of
connected stepper motor (color code of 4 wires).
Never disconnect the link when operating voltage is applied!
Never disconnect lines when live!
Connection diagram
Note:
Complete connection diagram - see Section 2.1.
Accessories
Appropriate power packs and charging condensers are available as accessories:
Name Order number
Power pack NTS-xxV-xA
Charging condenser Z-K4700 or Z-K10000
Note:
Further information about accessories can be found on the Nanotec website:
www.nanotec.com
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Technical manual
SMCI35
Connections and circuits
3.5 RS232 interface: connector X1
Introduction
The controller has a serial TTL RS232 interface (3.3 V) for connecting to a PC.
Converter cable
Use the converter cable
ZK-RS232-USB-3.3V for connection to the USB port of the PC.
Pin assignment
Pin no. Name Observations
1 GND
2 Tx
3 Rx
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Technical manual
SMCI35
Operating modes
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4 Operating modes
Introduction
Depending on the drive profile, the motor can be operated using a total of 14 different
operation modes. Due to the good performance and variety of functions available, they
offer designers and developers a rapid and simple method of resolving numerous
drive requirements with less programming effort.
Select the required operating mode for each drive profile and configure the controller
according to your requirements.
More detailed information can be found in the separate NanoPro manual.
Overview of operating modes and their areas of application
Operation mode Application
Relative
Absolute
Use this mode when you wish to travel to a specific
position.
The motor travels according to a specified drive profile
from a Position A to a Position B.
Internal reference run During the internal reference run, the motor travels to
an internal reference point 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 ramp from the starting speed (start frequency
"V Start") to the specified maximum speed (maximum
frequency "V Normal").
Several inputs enable the speed to be changed on-
the-fly to different speeds.
Flag positioning mode The flag positioning mode offers a combination of the
speed and positioning modes. The motor is initially
operated in speed mode; when a trigger point is
reached, it changes to the positioning mode and the
specified setpoint position (relative to the trigger
position) is approached.
This operating mode is used for labeling, for example:
the motor first travels with the set ramp to the
synchronous speed of the conveyed goods. When the
labels are detected, the preset distance (position) is
traveled to apply the labels.

Technical manual
SMCI35
Operating modes
Operation mode Application
Clock direction mode, left
Clock direction mode, right
Clock direction mode,
Int. Ref.
Clock direction mode,
Ext. Ref.
Use this mode when you wish to operate the motor
with a superordinate controller (e.g. CNC controller).
In the clock direction mode, the motor is operated via
two inputs with a clock and a direction signal from a
superordinate positioning control (indexer).
Depending on the mode selected (Int. Ref. / Ext. Ref.),
the internal and external reference runs are supported.
Analog and Joystick mode The motor is controlled 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).
Analog positioning mode Use this mode when you wish to travel to a specific
position.
The voltage level on the analog input is proportional to
the required position, thus enabling servo behavior.
Torque mode Use this mode when you require a specific output
torque independent of the speed as is the case in
typical winding and unwinding applications. The
maximum torque is specified via the analog input.
Selecting the operating mode in NanoPro
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