NANOTEC SMCI47-S User manual

Technical Manual
Stepper motor control
SMCI47-S
NANOTEC ELECTRONIC GmbH & Co. KG
Kapellenstraße 6
D-85622 Feldkirchen b. Munich, Germany
Tel. [phone]
Fax [phone]
[email protected]

Technical Manual
SMCI47-S V2.0
Editorial
2 Issue: V 2.2
Editorial
©2011
Nanotec®Electronic GmbH & Co. KG
Kapellenstraße 6
D-85622 Feldkirchen b. Munich, Germany
Tel.: [phone]
Fax: [phone]
Internet: www.nanotec.com
All rights reserved!
MS-Windows 2000/XP/Vista are registered trademarks of Microsoft Corporation.
Translation of the original operation manual
Version/Change overview
Version Date Changes
1.0 02/02/2009 New issue C+P
2.0 07/01/2009 Revision C+P
2.1 11/03/2010 Revision RS485/CANopen
2.2 11/03/2011 Revision C+P

Technical Manual
SMCI47-S V2.0
About this manual
Issue: V 2.2 3
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.
About this manual
This technical manual must be carefully read before installation and commissioning of
the controller.
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
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.

Technical Manual
SMCI47-S V2.0
Contents
4 Issue: V 2.2
Contents
1Overview ............................................................................................................................... 5
2Connection and commissioning ........................................................................................ 6
2.1 Connection diagram ............................................................................................................... 6
2.2 Commissioning....................................................................................................................... 8
3Connections and circuits .................................................................................................. 11
3.1 Inputs and outputs (I/O): Connector X1 ............................................................................... 11
3.2 Brake connection: Connector X2 ......................................................................................... 13
3.3 Encoder connection: Connector X3 ..................................................................................... 14
3.4 Stepper motor connection: Connector X4............................................................................ 15
3.5 Voltage supply connection: Connector X5........................................................................... 16
3.6 RS485 network/CANopen: Connector X6............................................................................ 17
4Operating modes................................................................................................................ 22
4.1 Serial operating modes (SMCI47-S-2)................................................................................. 22
4.2 CANopen operating modes (SMCI47-S-3) .......................................................................... 24
5Troubleshooting.................................................................................................................25
6Technical data .................................................................................................................... 27
Index ...................................................................................................................................................... 29

Technical Manual
SMCI47-S V2.0
Overview
Issue: V 2.2 5
1 Overview
Introduction
The stepper motor control SMCI47-S 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.
Variants
The SMCI47-S is available in the following variants:
•SMCI47-S-2: For control via RS485
•SMCI47-S-3: For control via CANopen
SMCI47-S functions
The stepper motor control SMCI47-S contains the following functions:
•Microstep -1/1 – 1/64 final output stage (step resolution of up to 0.014° in motor
with a step angle of 0.9° in 1/64 step mode)
•Closed-Loop current control (sinusoidal commutation via the encoder)
•Powerful DSP microprocessor for flexible I/O
•Rotation monitoring for optional encoder
•RS485/CANopen interface for parameterization and control (USB connection
possible via converter cable ZK-RS485-USB)
•Network capability with up to 254 motors (RS485) or 127 motors (CANopen)
•Easy programming with Windows software NanoPro (RS485) or NanoCAN
(CANopen)
Closed-Loop current control (sinusoidal commutation via the encoder):
In contrast to conventional stepper motor positioning controls where only the motor is
actuated or the position adjusted via the encoder, sinusoidal commutation controls the
stator magnetic field via the rotary encoder as in a servomotor. 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.

Technical Manual
SMCI47-S V2.0
Connection and commissioning
6 Issue: V 2.2
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.
Activation via CANopen
It is possible to include the stepper motor control in a CANopen environment with the
SCMI47-S-3.
More detailed information on this can be found in the CANopen reference and in the
NanoCAN user manual.
In addition, the stepper motor control via CANopen has another safety function: Even
when the voltage supply of the stepper motor control is interrupted, the processor
continues to be supplied with power via the communication line and the position data
cannot be lost so that the machine does not need to be referenced after being
switched on.
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 half a step at the most (for 1.8° stepper motors).
Automatic error correction is possible after the drive profile is ended or during the
drive.
2 Connection and commissioning
2.1 Connection diagram
Introduction
In order to operate a stepper motor using the stepper motor control SMCI47-S, you
must carry out the wiring in accordance with the connection diagram below.
Connectors X1 and X3 can be optionally used.

Technical Manual
SMCI47-S V2.0
Connection and commissioning
Issue: V 2.2 7

Technical Manual
SMCI47-S V2.0
Connection and commissioning
8 Issue: V 2.2
2.2 Commissioning
Introduction
The connection and commissioning of the SMCI47-S stepper motor control are
described below.
If you want to work at a later time with a PLC or your own program, you will find the
necessary information in the separate "Command Reference".
Familiarize yourself with the SMCI47-S stepper motor control and the corresponding
control software before you configure the controller for your application.
This section describes the main first steps you need to take to be able to begin
working with the SMCI47-S and the NanoPro software (RS485) or NanoCAN software
(CANopen) from a PC. You will find more detailed information in the separate
NanoPro and NanoCAN manuals.
Commissioning with NanoPro (SMCI47-S-2)
Proceed as follows to commission the SMCI47-S-2 controller:
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 2.1.
Detailed information on
connections can be found
in Chapter 3.
3 Switch on the operating voltage
(24 V DC ... 48 V DC).
CAUTION!
An operating voltage > 50 V will destroy the
output stage!
•Follow the information in Section 3.5.
The green LED lights up.
4 If necessary, install the converter driver for the
converter cable ZK-RS485-USB.
Download
www.nanotec.com
in the
Accessories/Converter
menu item
5 Connect the controller with your PC.
Use one of the following converter cables for this
purpose:
•ZK-RS485-RS232 for connection to the serial
interface
•ZK-RS485-USB for connection to the USB
interface
Order number:
•ZK-RS485-RS232
•ZK-RS485-USB

Technical Manual
SMCI47-S V2.0
Connection and commissioning
Issue: V 2.2 9
Step Action Note
6 Start the NanoPro software.
The NanoPro main menu
appears.
7 Select the <Communication> tab.
8 In the "Port" field, select the COM port to which
the SMCI47-S 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.

Technical Manual
SMCI47-S V2.0
Connection and commissioning
10 Issue: V 2.2
Commissioning with NanoCAN (SMCI47-S-3)
Proceed as follows to commission the SMCI47-S-3 controller. 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 2.1.
Detailed information on
connections can be found
in Chapter 3.
3 Switch on the operating voltage
(24 V DC ... 48 V DC).
CAUTION!
An operating voltage > 50 V will destroy the
output stage!
•Follow the information in Section 3.5.
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 and, if
necessary, the CAN card in the <Configuration &
NMT> tab.
7 Select the desired operating mode (e.g. PP
mode) in the <Drive Modes> tab.
8 Click on the <Power on> button.
9 Enter the desired target position in the "target"
field.
10 Click on the <Start> button.

Technical Manual
SMCI47-S V2.0
Connections and circuits
Issue: V 2.2 11
3 Connections and circuits
3.1 Inputs and outputs (I/O): Connector X1
Introduction
An overview of the assignments can be found in the wiring diagram in Section 2.1.
This section looks in detail at the assignment, functions and circuits of connector X1.
The connectors and sockets used are from Phoenix, order number: FK-MC 2/4/5/12.
Pin assignment
Pin no. Name Observations
1 Input1 5-24 V Optocoupler
2 Input2 5-24 V Optocoupler
3 Input3 5-24 V Optocoupler
4 Input4 5-24 V Optocoupler
5 Input5 5-24 V Optocoupler
6 Input6 5-24 V Optocoupler
7 Com Signal GND
8 Output1 Open-Collector
9 Output2 Open-Collector
10 Output3 Open-Collector
11 Analog In –10 V ... +10 V
12 GND Power & Analogue GND
Connection diagram inputs and outputs (I/O) (X1)
Note:
Com and GND connection are not connected. Com is the ground connection for the
inputs and GND is the ground connection for outputs and the internal circuitry.

Technical Manual
SMCI47-S V2.0
Connections and circuits
12 Issue: V 2.2
Function of the inputs
All digital inputs – with the exception of the "Clock" input in the clock directional mode
– can be freely programmed (e.g. as a limit switch, enable, etc.) using the NanoPro
software (SMCI47-S-2) and can be used for sequential control with NanoJ.
All inputs can be configured for “active-high" (PNP) or “active-low" (NPN) with
NanoPro.
Input circuits
All inputs (apart from the "Analogue In" input) are electrically isolated by optocouplers
from the voltage supply of the SMCI47-S and designed for 5-24 V input signals at an
input current of 10 mA.
Note:
The voltage must not exceed 24 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 MosFET outputs in an Open-Drain circuit (0 switching, max.
30 V/ 2 A). An LED can be integrated to test the output. The LED lights up when the
output is active.

Technical Manual
SMCI47-S V2.0
Connections and circuits
Issue: V 2.2 13
3.2 Brake connection: Connector X2
Function
The connector X2 is used to connect an external safety brake for the motor. This
allows the holding torque and therefore the system stiffness to be increased further
when necessary.
Parameter
The brake parameters can be configured on the "Motor Settings" tab; see the separate
manual on NanoPro.
Pin assignment connector X2
Pin no. Name Observations
1 +24 V
2 GND

Technical Manual
SMCI47-S V2.0
Connections and circuits
14 Issue: V 2.2
3.3 Encoder connection: Connector X3
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
WEDS/WEDL-5541 Xxx.
If an encoder is not used, the "Disable" mode must be set in the <Error correction>
tab in the "Rotation Direction Mode" selection menu. See the NanoPro separate
manual.
Using encoders with line drivers
The encoders of the WEDL 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.
We recommend shielding and twisting the encoder line to minimize interference with
the encoder signal from the outside. To be able to connect negative signals to the
SMCI47-S, you require adapter ZK-SMCI-LD.
Encoder connection diagram (X3)
Note:
Complete connection diagram, see Section 2.1.
Pin assignment connector X3: Encoder
Pin no. Name Observations
1 +5 V
2 Track (B)
3 Track (A)
4 Index track (I)
5 GND

Technical Manual
SMCI47-S V2.0
Connections and circuits
Issue: V 2.2 15
3.4 Stepper motor connection: Connector X4
General information
The motor is connected to the SMCI47-S 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!
Connection diagram
Note:
Complete connection diagram, see Section 2.1.
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.com.

Technical Manual
SMCI47-S V2.0
Connections and circuits
16 Issue: V 2.2
3.5 Voltage supply connection: Connector X5
Permissible operating voltage
The permissible operating voltage for the SMCI47-S 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 condensor with minimum 4700 µF!
Connect a condenser with 10000 µF 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!
Never disconnect the motor when operating voltage is applied!
Never disconnect lines when live!
Connection diagram
Note:
Complete connection diagram, see Section 2.1.
Pin assignment
Pin no. Name Observations
1 Vcc Operating voltage +24 V DC ... +48 V DC
2 GND Earth (0 V)
Accessories for voltage supply
Appropriate power packs and charging condensers are available as accessories:
Name Order identifier
Power pack NTS-xxV-yA
(xx=voltage: 24 or 48 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.com.
Charging
condenser
Z-K4700 or Z-K10000
Note:
Further information about accessories can be found on the Nanotec website
www.nanotec.com.

Technical Manual
SMCI47-S V2.0
Connections and circuits
Issue: V 2.2 17
3.6 RS485 network/CANopen: Connector X6
SMCI47-S in a network
Up to 254 (RS485) or 127 (CANopen) 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.
Pin assignment connector X6: RS485 interface
Pin no. Name Observations
1 NC Not assigned
2 Rx+ RS485 Rx+
3 +5 V Output +5 V
4 Tx+ RS485 Tx+
5 NC
6 NC
7 Rx– RS485 Rx–
8 GND Output GND (0 V)
9 Tx– RS485 Tx–
Pin assignment connector X6: CANopen interface
Pin no. Name Observations
1 NC
2 CAN– CAN low
3 CAN Ground Internally connected with pin 6
4 NC
5 Shield
6 CAN Ground Internally connected with pin 3
7 CAN+ CAN high
8 NC
9 Vcc Supply up to 30 V. Used for safety
feature.
CANopen (SMCI47-S-3)
With the SMCI47-S, it is also possible to control the motor via CANopen.
If you use the control with CANopen you can use the additional safety function of the
separate logic supply: Even when the voltage supply of the SMCI47-S is interrupted,
the processor continues to be supplied with power via the communication line and the
position data cannot be lost so that the machine does not need to be referenced after
being switched on.
More detailed information on this can be found in the CANopen reference and in the
NanoCAN user manual.

Technical Manual
SMCI47-S V2.0
Connections and circuits
18 Issue: V 2.2
CANopen connection
A suitable CAN interface adapter (e.g. USB adapter from IXXAT or PEAK) is required
for connecting with a PC.
CANopen standard connector assignment (on the adapter)
Pin no. Name
2 CAN low
3 CAN GND
7 CAN high
CANopen connection assignments on the controller
Circuits according to the CANopen standard connector assignment, see preceding
table.
Notes on the baud rate
It is important to note that both the controller and the CAN master use the same baud
rate. Only this way can communication be established.
The baud rate has a direct influence on the maximum possible bus length. The
following list shows the possible baud rates as well as their maximum permissible bus
lengths:
Baud rate Bus length
1 MBaud 40 m
500 kBaud 130 m
250 kBaud 270 m
125 kBaud 530 m
50 kBaud 1300 m
20 kBaud 3300 m
Notes on the bus termination
With CAN, the bus termination is handled by two 120 Ohm resistors on both ends of
the bus.

Technical Manual
SMCI47-S V2.0
Connections and circuits
Issue: V 2.2 19
Circuit diagram RS485 network

Technical Manual
SMCI47-S V2.0
Connections and circuits
20 Issue: V 2.2
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 RS232 interface and returns to reception mode at the end of
the stop bit, enables two-wire operation of the SMCI47-S. This solution requires no
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.
Setting the RS485 module address
Hardware setting
The RS485 module address can be set by hardware via two HEX coded switches on
the printed circuit board.
The 1st digit is set with switch 1 (left), the 16th digit of the address is set with switch 2
(right).
Module address Switch 1 (left) Switch 2 (right)
Software setting 0 0
1 1 0
2 2 0
... ... ...
15 F 0
16 0 1
17 1 1
... ... ...
32 0 2
... ... ...
64 0 3
... ... ...
80 0 5
... ... ...
96 0 6
... ... ...
112 0 7
... ... ...
255 F F