WEIGL Nanotec User manual

Step By Step
Nanotec®Setup
Instruction Manual

Weigl GmbH & Co KG
[phone]
www.WeiglControl.com
[email protected]
Weigl Control (except Americas)
Weigl Works, LLC
[phone]
www.WeiglControls.com
[email protected]
Weigl Control Americas
Version 1.00
© 2019 – Weigl GmbH & Co KG

1
Step By Step - Motor Setup
1 Step By Step - Nanotec®Setup
ATTENTION!
Follow these instructions step by step, before
connecting the servo motor with the ProCommander®
AX.
1.1 Motor configuration
Power on the motor. A control LED should flash every
second.
Connect the CAN-Interface with the motor. For example, you
can use PCAN-USB (IPEH-002021) from PEAK System.
Download and install the software for the PCAN-
USB tool. For further information please refer to the
PCAN-USB instruction manual.
Download and install the Nanotec® software, which you
need for configuration your motor.
Connect the PCAN-USB tool with your motor and computer.
Open the configuration software of your motor and adjust all
settings of you motor as needed (load, gear, etc.).
ATTENTION!
Configure your motor as required.
Ensure to use baud rate: 1 Mbd.
Set the correct min and max position range.

2
Step By Step - Motor Setup
After all settings had been set correctly, connect the motor
with the ProCommander®AX.
ATTENTION!
Try your motor configuration first, before connecting
the motor to any other devices.
1.2 Motor programming
Open up the Weigl Configurator, and insert in the command
line the following commands:
1.2.1 Set motor type
!asp8# - Set CAN protocol to Nanotec®.
1.2.2 Set motor number
!acnX# - Whereby X stands for the amount of motors, which
should be controlled by a ProCommander®AX.
1.2.3 Start homing sequence
!ahoX:Y# - Start homing sequence of your motor, whereby
X stands for the motor number and Y stands for the homing
mode.
ATTENTION!
Please refer to the manual of your motor, which
value has to be used as your homing mode (Y).
Now, you can start programming your motor and creating
your show.

3
Step By Step - Motor Setup
1.2.4 Motor disable and restart
!amhX:1# - (CAN protocol) Set Controlword value to 0x06:
Shutdown motor number X. Motor stops, no holding force at
the motor. Restart with state machine (!amhX:7#) or homing
sequence (!ahoX:Y#).
!amhX:2# - (CAN protocol) Set Controlword value to 0x07:
Switch ON motor number X. Motor stops, no holding force at
the motor. Restart via Controlword 0x1F (!amhX:4#) or homing
sequence (!ahoX:Y#).
!amhX:3# - (CAN protocol) Set Controlword value to
0x0F: Switch ON and Enable Operation motor number X,
no movement. Motor stops, holding force stays on motor.
Restart via Controlword 0x1F (!amhX:4#) or homing sequence
(!ahoX:Y#).
!amhX:4# - (CAN protocol) Set Controlword value to 0x1F:
Enable Operation on motor number X, start movement.
!ahmX:5# - (CAN protocol) Set Controlword value to 0x100:
Enabling Halt function on motor number X. Note that in this
state the interpolation mode is not longer active. Restart needs
do be done via full homing sequence (!ahoX:Y#).
!amhX:6# - (CAN protocol) Set Controlword value to 0x80:
Fault Reset on motor number X. No influence on motor.
!amhX:7# - Run state machine with (CAN protocol)
Controlword values 0x06, 0x07, 0x0F and 0x1F: Enables motor
and start movement on motor number X. Basic initialization
need to be done before by running homing sequence (!ahoX:Y#)

4
Step By Step - Motor Setup
after power on.
!amhX:255# - Disable motor number X: Disable motor
movement, no holding force on motor, no further CAN
commands are sent to motor number X. Restart only by running
the homing sequence (!ahoX:Y#).
ATTENTION!
Ensure at any time, that nobody can be hurt or
anything can be destroyed by the motor rotation.
More information about the ProCommander®AX can be
found in the ProCommander® AX instruction manual.