NANOTEC SMCP33 User manual

Technical Manual
Stepper motor control
SMCP33
NANOTEC ELECTRONIC GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham near Munich, Germany
Tel. [phone]
Fax [phone]
[email protected]

Technical manual
SMCP33
Editorial
2 Issue: V 1.1 - 01.02.2010
Editorial
©2010
Nanotec® Electronic GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham / Pliening, Germany
Tel.: [phone]
Fax: [phone]
Internet: www.nanotec.com
All rights reserved!
MS-Windows 2000/XP/Vista are registered trademarks of Microsoft Corporation.
Version/Change overview
Version Date Changes
1.0 2009-11-23 New issue C+P
1.1 2010-02-01 Technical data / Inputs

Technical manual
SMCP33
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 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.
The manual was created with due diligence. 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: [email protected]
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
SMCP33
Contents
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Contents
1Overview ............................................................................................................................... 5
2Commissioning.................................................................................................................... 7
3Connections and circuits.................................................................................................... 9
3.1 Pin assignment SMCP33....................................................................................................... 9
3.2 SMCP33-EVA evaluation board........................................................................................... 11
3.3 Inputs and outputs (I/O)....................................................................................................... 13
3.4 Brake connection ................................................................................................................. 15
3.5 Ballast connection................................................................................................................ 15
3.6 Encoder connection ............................................................................................................. 16
3.7 Stepper motor connection.................................................................................................... 17
3.8 Power supply connection..................................................................................................... 19
3.9 RS485 communication......................................................................................................... 20
4Operating modes................................................................................................................ 21
5Troubleshooting................................................................................................................. 23
6Technical data.................................................................................................................... 24
Index...................................................................................................................................................... 26

Technical manual
SMCP33
Overview
1 Overview
Introduction
The SMCP33 stepper motor control is an extremely compact and cost-effective
constant current final 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.
The plug-in module can be integrated in complex device control systems with a
minimum of additional development effort, especially for the direct and virtually noise-
free and resonance-free control of the output stages via the microcontroller by means
of the dspDrive® method – both in open-loop and closed-loop operation.
In conjunction with the integrated NanoJ programming language based on the Java
standard, complete sequencing programs can be implemented on the plug-in module
that can be run autonomously without a superordinate controller.
Variants
The SMCP33 is available in the following variants:
•SMCP33: 2 A phase current
•SMCP33-K: with a heat sink for 4 A phase current
Functions of the SMCP33
The SMCP33 stepper motor control 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
•RS485 port for parameterisation and control
•Network capability with up to 255 controllers
•The function of the 16 digital inputs and outputs and the two analogue inputs is
freely configurable
•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 recognises 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.
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Technical manual
SMCP33
Overview
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 synchronisation, even in open-loop operation.
•Three-phase stepper motors and BLDC motors can be controlled as well.
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 optimised 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
rotation monitoring 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.
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Technical manual
SMCP33
Commissioning
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2 Commissioning
Provisions
Commissioning of the SMCP33 stepper motor is described below.
You will find the main "First Steps" here to start working rapidly with the SMCP33 if
you are using the NanoPro software from a PC.
More detailed information can be found in the separate NanoPro manual.
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 "Programming manual".
Familiarise yourself with the SMCP33 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 of
www.nanotec.com
2 Plug the SMCP33 into the motherboard
(SMCP33-EVA evaluation board). Detailed information on the SMCP33-EVA can be
found in Section 3.2
SMCP33-EVA evaluation
board and under the
Accessories/Electronics
menu item on
www.nanotec.com
3 Connect the controller to the stepper motor. Detailed information on
connections can be found
in Chapter 3 „Connections
and circuits“.
4 Switch on the operating voltage
(12 V DC ... 48 V DC).
5 Connect the controller with your PC via the
serial D-Sub 9 or the USB port of the SMCP33-
EVA motherboard.
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
Note: Download the
necessary driver from
www.nanotec.com under
the Accessories/Converter
menu item

Technical manual
SMCP33
Commissioning
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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 SMCP33 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 "Baud rate"
selection field.
10 Select the <Mode> tab.
11 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).
12 You can now enter your required settings.
For instance, you can enter a new travel profile. See the separate manual
on NanoPro.

Technical manual
SMCP33
Connections and circuits
3 Connections and circuits
3.1 Pin assignment SMCP33
Pin assignment
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SMCP33
Connections and circuits
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Description
Pin-No. Name Observations
1/2 GND Earth (0 V)
3/4 +VB Switch on the operating voltage
(+12 V DC ... +48 V DC)
5/6 GND Earth (0 V)
7/8 B/
9/10 B
11/12 A/
13/14 A
Motor phases
15/16 GND Earth (0 V)
17 Index track (I)
18 Track (A)
19 Track (B)
20 +5 V
Encoders
21 Temp motor
22 Brake Brake output
23/24 Ballast Ballast output
25 RS-485 Rx–
26 RS-485 Rx+
27 RS-485 Tx–
28 RS-485 Tx+
RS-485 connection
29/30 GND Earth (0 V)
31 Analogue In 1 Analogue input 1 (–10 V ... +10 V)
32 Analogue In 2 Analogue input 2 (–10 V ... +10 V)
33 Input 1
34 Input 2
35 Input 3
36 Input 4
37 Input 5
38 Input 6
39 Input 7
40 Input 8
Digital inputs
41 Output 1
42 Output 2
43 Output 3
44 Output 4
45 Output 5
46 Output 6
47 Output 7
48 Output 8
Output
49/50 GND Earth (0 V)

Technical manual
SMCP33
Connections and circuits
3.2 SMCP33-EVA evaluation board
General information
The SMCP33-EVA evaluation board of Nanotec is a motherboard for the SMCP33
plug-in device card. It can be used for the rapid commissioning of four stepper motors
via a pre-wired RS485 network and a PC connection. All inputs and outputs available
in the SMCP33 are led to the outside via Phoenix Combicon connectors. In addition,
an encoder or a brake can be connected.
Board
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SMCP33
Connections and circuits
Connection diagram
Note:
The connection diagram is available for download on www.nanotec.de.
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Technical manual
SMCP33
Connections and circuits
3.3 Inputs and outputs (I/O)
Input circuits
All digital inputs are designed for 5 V input signals.
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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Connections and circuits
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Function of the inputs
The inputs have different functions depending on the operating modes; see the
following table
Operation Type
Pin-
No. Name
Position Speed Flag
position Clock direction Analogue Joystick
31 Analogue In
1 Analogue
In Analogue In
32 Analogue In
2
33 Input 1 Start
Reset Enable Start Enable Enable Enable
34 Input 2 Drive
profile Speed Travel profile Manual mode Speed Speed
35 Input 3 Drive
profile Speed Travel profile Manual mode Speed Speed
36 Input 4 Drive
profile Speed Travel profile Ext. limit switch Speed Speed
37 Input 5 Travel
profile
Speed Trigger Direction Speed Speed
38 Input 6 Ext. limit
switch Direction Ext. limit
switch Clock Direction
39 Input 7
40 Input 8
All digital inputs – with the exception of the "Clock" and "Direction" inputs 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.
The "Analogue In 2" analogue input currently can only be used by the programming
language.
All inputs can be configured for “active-high" or “active-low" with NanoPro.
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.

Technical manual
SMCP33
Connections and circuits
3.4 Brake connection
Function
The brake output is used to control an external safety brake for the motor. This allows
the holding torque and therefore the system stiffness to be increased further when
necessary.
Because the output is a TTL output, an additional driver component is needed.
Parameters
In NanoPro, the brake parameters can be configured in the <Brake> tab; see the
separate manual on NanoPro.
Example: Connection to SMCP33-EVA
On the SMCP33-EVA motherboard shown in Section 3.2 SMCP33-EVA evaluation
board, the brake connections are located on the interfaces X8/ X14/ X21/ X28.
3.5 Ballast connection
Function
The ballast output is used by the controller to indicate overvoltage at the supply.
Circuit on the motherboard
The motherboard should have a circuit that protects the controller against brief voltage
peaks as can occur through the reverse feeding of the motors in the generator mode.
The connection diagram of the evaluation board shows a version of the ballast circuit
that conducts the excess voltage/energy to a resistor with the aid of a transistor,
where it is converted to heat. This resistor is also referred to as the "Brake resistor"
because the energy usually arises from braking of the motor.
This protects the SMCP33 against destruction from brief overvoltage. The rating and
cooling of the resistor determines how long it can convert the overvoltage before it
becomes too hot and is destroyed.
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Connections and circuits
3.6 Encoder connection
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 an 1.8° stepping motor. With an 0.9° stepping 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 separate manual on
NanoPro.
Using encoders with line drivers
The encoders of the HEDL series with line drivers 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.
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SMCP33
Connections and circuits
3.7 Stepper motor connection
Connection cable
The motor is connected to the SMCP33 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 (colour code of 4 wires).
Never disconnect the link when operating voltage is applied!
Never disconnect lines when live!
Motor with 6 or 8 connections
If you are using a motor with 6 or 8 connections, you need to connect the windings.
The diagram on the next page shows four wiring plans 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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Connections and circuits
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SMCP33
Connections and circuits
3.8 Power supply connection
Permissible operating voltage
The permissible operating voltage of the SMCP33 stepper motor control lies within the
range +12 to +48 V DC and must not exceed 50 V or undershoot 10 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 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! See also data sheet of
connected stepper motor (colour code of 4 wires).
Never disconnect the link when operating voltage is applied!
Never disconnect lines when live!
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
Further information about accessories can be found on the Nanotec website:
www.nanotec.com
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SMCP33
Connections and circuits
3.9 RS485 communication
SMCP33 in a network
Up to 255 stepper drives can be controlled in a network from a PC or PLC.
This network connection is set up via the RS485 port.
Example: Connection to SMCP33-EVA
On the SMCP33-EVA motherboard shown in section 3.2SMCP33-EVA evaluation
board, four stepper motors can be rapidly commissioned via a pre-wired RS485
network and a PC connection.
For the PC connection, either a serial D-Sub 9 port (X29) or the USB port (X30) of the
SMCP33-EVA motherboard can be used.
Use the following converter cable:
•ZK-RS485-RS232 for connection to the serial port
•ZK-RS485-USB for connection to the USB port
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