NANOTEC SMCI12 User manual
Technisches Handbuch
SMCI12
Editorial
2 Issue: V 1.0
Editorial
©2010
Nanotec®Electronic GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham / Pliening, Germany
Tel.: +49 (0)89-900 686-0
Fax: +49 (0)89-900 686-50
Internet: www.nanotec.de
All rights reserved!
MS-Windows 2000/XP/Vista are registered trademarks of Microsoft Corporation.
Version/Change overview
Version Date Changes
1.0 11/02/2010 New issue C+P
Technisches Handbuch
SMCI12
About this manual
About this manual
Target group
This technical manual is aimed at designers and developers who need to operate a
Nanotec 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. 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.com
Additional manuals
Please also note the following manuals from Nanotec:
NanoPro
User Manual
Configuration of controllers with the
NanoPro software
NanoCAN User Manual Configuration of the CAN
communication for CANopen-
capable controllers with the
NanoCAN software
Nanotec CANopen
reference
Detailed documentation of the
CANopen functions
Programming manual
Controller programming
•Command reference
•NanoJ
•COM interface
The manuals are available for download at www.nanotec.com.
Issue: V 1.0 3
Technisches Handbuch
SMCI12
Contents
4 Issue: V 1.0
Contents
1Overview ............................................................................................................................... 5
2Connection and commissioning ........................................................................................ 7
2.1 Overview ................................................................................................................................7
2.2 Connection diagram............................................................................................................... 8
2.3 Commissioning....................................................................................................................... 9
3Connections and circuits .................................................................................................. 12
3.1 Inputs and outputs: connector X11 ...................................................................................... 12
3.2 Stepper motor connection: Connector X10.......................................................................... 14
3.3 Power supply and RS485/CANopen interface: Connector X12........................................... 15
3.3.1 Pin assignment..................................................................................................................... 15
3.3.2 Power supply connection ..................................................................................................... 15
3.3.3 RS485 network/CANopen interface..................................................................................... 16
4Operating modes................................................................................................................ 18
4.1 Serial operating modes ........................................................................................................ 18
4.2 CANopen operating modes.................................................................................................. 20
5Troubleshooting................................................................................................................. 21
6Technical data .................................................................................................................... 23
Index...................................................................................................................................................... 25
Technisches Handbuch
SMCI12
Overview
1 Overview
Introduction
The stepper motor control SMCI12 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. BLDC motors are not supported.
Variants
The stepper motor control is available in the following variants:
•SMCI12: For control via RS485
•SMCI12-3: For control via CANopen
Unless otherwise specified, the term "SMCI12" is used for both variants in this
manual.
SMCI12 functions
The stepper motor control SMCI12 contains the following functions:
•Microstep -1/1 – 1/64 final output stage (step resolution of up to 0.014° in motors
with a step angle of 0.9° in 1/64 step mode)
•Powerful DSP microprocessor for flexible I/O
•RS485/CANopen interface for parameterization and control
•Application program with NanoJ (SMCI12 with RS485)
•Network capability with up to 254 motors (SMCI12) or 127 motors (SMCI12-3)
•Easy programming with Windows software NanoPro (SMCI12) or NanoCAN
(SMCI12-3)
With dspDrive®, the motor current is controlled directly by a digital signal processor.
Unlike conventional ICs, which resolve the winding current measurement and the
target current value with only 6 or 8 bit, the new dspDrive®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,
even at low speeds.
•Very good step angle accuracy and synchronization, even in open-loop operation.
The integrated programming language NanoJ, based on the Java standard, means
complete application programs can be realized on the drivers that can be executed
independently without a higher-order controller.
The programs can be created, compiled directly and written to the controller with the
free NanoJEasy editor.
NanoJ is only supported by the RS485 firmware.
More detailed information can be found in the separate programming manual.
Issue: V 1.0 5
Technisches Handbuch
SMCI12
Overview
6 Issue: V 1.0
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.
Technisches Handbuch
SMCI12
Connection and commissioning
2 Connection and commissioning
2.1 Overview
Plug connections
The controller has the following connectors:
X10 (JST-XH): stepper motor connection
X11 (JST-PHD): inputs and outputs
X12 (JST-PHD): power supply and interface RS485 or CANopen
Configuration
The following figure shows the configuration of the connectors on the printed circuit
board.
Issue: V 1.0 7
Technisches Handbuch
SMCI12
Connection and commissioning
2.2 Connection diagram
To operate a stepper motor with the SMCI12 stepper motor control, the wiring must be
implemented according to the following connection diagram.
8 Issue: V 1.0
Technisches Handbuch
SMCI12
Connection and commissioning
2.3 Commissioning
Introduction
The connection and commissioning of the SMCI12 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 SMCI12 if you are using the NanoPro (SMCI12) or NanoCAN
(SMCI12-3) software from a PC. You will find more detailed information in the
separate NanoPro and NanoCAN manuals.
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 SMCI12 stepper motor control and the corresponding
NanoPro or NanoCAN control software before you configure the controller for your
application.
Commissioning with NanoPro (SMCI12 with RS485 firmware)
Proceed as follows to commission the controller with the RS485 firmware:
Step Action Note
1 Install the NanoPro control software on your PC.
See the NanoPro separate manual.
Download of
www.nanotec.com
2 Connect the controller to the stepper motor
according to the connection diagram.
Connection diagram, see
Section 2.2.
Detailed information on
connections can be found
in Chapter 3.
3 Switch on the operating voltage
(12-24 V DC).
4 If necessary, install the driver for the converter
cable ZK-RS485-USB.
Download
www.nanotec.com
in the
Accessories/Converter
menu item
5 Connect the controller to the USB port of your
PC.
Use the converter cable
ZK-RS485 and the cable set ZK-SMCI12.
Order identifier:
•ZK-RS485-USB
•ZK-SMCI12
6 Start the NanoPro software.
The NanoPro main menu
appears.
7 Select the <Communication> tab.
Issue: V 1.0 9
Technisches Handbuch
SMCI12
Connection and commissioning
10 Issue: V 1.0
Step Action Note
8 In the "Port" field, select the COM port to which
the SMCI12 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).
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 carry out
the pre-set travel profile.
The connected motor
operates with the pre-set
travel profile (default travel
profile after new
installation).
13 You can now enter your required settings.
For instance, you can enter a new travel profile.
See the NanoPro separate
manual.
Technisches Handbuch
SMCI12
Connection and commissioning
Issue: V 1.0 11
Commissioning with NanoCAN (SMCI12-3 with CANopen firmware)
Proceed as follows to commission the controller with the CANopen firmware. More
detailed information can be found in the separate NanoCAN manual.
Step Action Note
1 Install the NanoCAN control software on your
PC.
Download of
www.nanotec.com
2 Connect the controller to the stepper motor
according to the connection diagram.
Connection diagram, see
Section 2.2.
Detailed information on
connections can be found
in Chapter 3.
3 Switch on the operating voltage
(12-24 V DC).
4 Install and configure your CANopen adapter. Details can be obtained
from the manufacturer of
the CANopen adapter.
5 Start the NanoCAN software.
6 Select the desired node ID, the baud rate
115200 bps and, if necessary, the CAN card in
the <Configuration & NMT> tab.
7 Select the desired operating mode (e.g. PP
mode) by selecting the appropriate tab.
8 Click on the <Power on> button.
9 Enter the desired target position in the <target>
field.
10 Click on the <Start> button.
Technisches Handbuch
SMCI12
Connections and circuits
3 Connections and circuits
3.1 Inputs and outputs: connector X11
Introduction
An overview of the assignments can be found in the connection diagram in Section
2.1. This section looks in detail at the assignment, functions and circuits of the
connector X11.
Pin assignment
Pin no. Name Observations
1 GND Mass (0 V)
2 Input 1
3 Input 2
4 Input 3
5 Input 4
6 Input 5
7 Input 6
Digital inputs (max. 5 V)
8 Analog In Analog input (–10 V ... +10 V)
9 Output 1
10 Output 2
11 Output 3
Digital outputs
12 GND Mass (0 V)
Function of the inputs
All digital inputs – with the exception of the "Clock" input in the clock directional mode
– can be freely programmed using the NanoPro software (e.g. as a limit position
switch, enable, etc.) and can be used for sequential control with NanoJ.
All inputs can be configured for “active-high" (PNP) or “active-low" (NPN) with
NanoPro.
12 Issue: V 1.0
Technisches Handbuch
SMCI12
Connections and circuits
Signal states at the outputs (SMCI12 with RS485 firmware)
Note:
In the SMCI12-3 with CANopen firmware, the status of the controller is not displayed
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.
Note:
Output 3 is also used to display errors and when switching on the controller.
Input circuits
Note:
The voltage must not exceed 5 V. It should drop below 2 V for safe switching off and
be at least 4.5 V for safe switching on.
Output circuits
The outputs are transistor outputs in Open-Collector circuits (0 switching, max. 24
V/0.5 A). An LED can be integrated to test the output. The LED lights up when the
output is active.
Issue: V 1.0 13
Technisches Handbuch
SMCI12
Connections and circuits
3.2 Stepper motor connection: Connector X10
General information
The motor is connected to the SMCI12 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 the data sheet of the
connected stepper motor.
Never disconnect the motor when operating voltage is applied!
Never disconnect lines when live!
Pin assignment
Pin no. Name Observations
1 A
2 A/
3 B
4 B/
See the data sheet of the connected
stepper motor.
Motor with 6 or 8 connections
If you are using a motor with 6 or 8 connections, you need to connect the windings.
The pin configuration for the motor can be found on the motor data sheet, which can
be downloaded from www.nanotec.de.
For a simplified connection, you can also use connection cable
ZK-XHP4-300.
Details can be found on the Nanotec website www.nanotec.com.
14 Issue: V 1.0
Technisches Handbuch
SMCI12
Connections and circuits
3.3 Power supply and RS485/CANopen interface:
Connector X12
3.3.1 Pin assignment
Pin
no.
RS485 CANopen Observations
1 GND GND
2 GND GND
Earth (0 V)
3 Rx– n.c.
4 Rx+ n.c.
5 Tx– CAN low (CAN –)
6 Tx+ CAN high (CAN +)
Network interface
7 GND GND Earth (0 V)
8 Vcc Vcc Operating voltage
12-24 V DC
3.3.2 Power supply connection
Permissible operating voltage
The permissible operating voltage of the stepper motor control SMCI12 lies within the
range 12-24 V DC and must not exceed 26 V or undershoot 11 V.
A charging condenser with minimum 4700 µF (10000 µF) must be provided for the
operating voltage to prevent exceeding the permissible operating voltage (e.g. during
braking).
Danger of electrical surges
Connect charging condensor with minimum 4700 µF!
Connect a condenser with 10000 µF for motors with flange size 86x86 (series
ST8918) or greater!
An operating voltage > 26 V can destroy the output stage! The ballast resistance
overheats after approx. 500 ms depending on the voltage.
Mixing up the connections can destroy the output stage!
Never disconnect the motor when operating voltage is applied!
Never disconnect lines when live!
Issue: V 1.0 15
Technisches Handbuch
SMCI12
Connections and circuits
Connection diagram
Note:
Complete connection diagram, see Section 2.1.
Accessories for voltage supply
Appropriate power packs and charging condensers are available as accessories:
Name Order identifier
Power pack NTS-xxV-yA
(xx=voltage: 12 or 24 V,
y=current: 2.5, 5 or 10 A)
Information on the selection of the required
power supply unit can be found in our FAQ on
www.nanotec.de.
Charging condenser Z-K4700 or Z-K10000
Note:
Further information about accessories can be found on the Nanotec website:
www.nanotec.com
3.3.3 RS485 network/CANopen interface
SMCI12 in a network
Up to 254 (SMCI12) or 127 (SMCI12-3) stepper motor controls can be controlled in a
network from a PC or PLC.
These network connections are set up via the RS485/CANopen interface.
Two-wire operation RS485
To enable RS485 two-wire transmission capability, all bus stations must have a
direction control.
An intelligent converter, which automatically switches to transmission mode when a
start bit is received at the RS-232 interface and returns to reception mode at the end
of the stop bit, enables two-wire operation of the SMCI12. This solution does not
require software support.
We can recommend the ICP-7520 converter, for example, that is available from
Schuricht.
Talk to our Technical Hotline if you require support for this.
16 Issue: V 1.0
Technisches Handbuch
SMCI12
Connections and circuits
Circuit diagram RS485 network
Issue: V 1.0 17
Technisches Handbuch
SMCI12
Operating modes
18 Issue: V 1.0
4 Operating modes
4.1 Serial operating modes
Introduction
Depending on the travel profile, the motor can be operated in serial mode using
different operating modes. 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.
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 positioning
Absolute positioning
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.
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.
Technisches Handbuch
SMCI12
Operating modes
Operation mode Application
Clock direction mode,
left/right
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).
External reference run is supported.
Analog and joystick mode The speed setting of the motor is performed in this
operating mode simply with a potentiometer or a
joystick (–10 V to +10 V).
Use this mode if you want to use the motor in a simple
application:
•Setting a specific speed, e.g. via an external
potentiometer,
•Traveling synchronously with a superordinate
controller with analog output (–10 V to +10 V).
Analogue positioning 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.
Selecting the operating mode in NanoPro
Issue: V 1.0 19
Technisches Handbuch
SMCI12
Operating modes
4.2 CANopen operating modes
Introduction
The motor can be operated using a total of 4 different operating modes in CANopen
mode.
More detailed information can be found in the separate NanoCAN manual.
Overview of operating modes and their areas of application
Operation mode Application
Positioning mode
(PP mode)
Use this mode if you want to use the motor for
positioning.
The motor moves from A to B with the set parameters
(ramp, speed, etc.).
Speed mode
(Velocity Mode)
Use this mode when you wish to travel with a specific
speed (e.g. a conveyor belt).
Reference run
(Ref Mode/Homing Mode)
Use this mode to reference the motor (external/on
block).
Interpolated Position Mode Use this mode with a superordinate path control.
Selecting the operating mode in NanoCAN
When one of the following tabs – <Ref Mode>, <PP Mode>, <Velocity Mode> or
<Interpolated Position Mode> – is activated, the corresponding SDO is immediately
written to the control to activate the selected mode.
20 Issue: V 1.0
Table of contents
Other NANOTEC Controllers manuals
