NANOTEC SMCI33 Manuale utente
Technical Manual
Stepper driver
SMCI33
NANOTEC ELECTRONIC GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham near Munich, Germany
Tel. +49 (0)89-900 686-0
Fax +49 (0)89-900 686-50
Technical manual
SMCI33 V2.0
Editorial
2 Issue: V 2.0 - 2009-07-01
Editorial/About this manual
©2009
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.com
All rights reserved!
MS-Windows 2000/XP/Vista are registered trademarks of Microsoft Corporation.
Thank you for choosing a Nanotec stepper driver!
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 driver.
NanotecNanotec®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 has been written 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
Version/Change overview
Version Date Changes
1.0 2009-02-20 New issue C+P
2.0 2009-07-01 Revision C+P
Technical manual
SMCI33 V2.0
Contents
Issue: V 2.0 - 2009-07-01 3
Contents
1Overview ............................................................................................................................... 4
2Connection and commissioning ........................................................................................ 6
2.1 Connection diagram............................................................................................................... 6
2.2 Commissioning....................................................................................................................... 8
3Connections and circuits.................................................................................................. 10
3.1 Inputs and outputs (I/O): Connector X1 ............................................................................... 10
3.2 Encoder connection: Connector X2 ..................................................................................... 12
3.3 Stepper motor connection: Connector X3............................................................................ 13
3.4 Voltage supply connection: Connector X4........................................................................... 15
3.5 Interface RS485 network: Connector X5 ............................................................................. 16
4Operating modes................................................................................................................ 19
4.1 Overview .............................................................................................................................. 19
5Reference runs and limit switch behaviour .................................................................... 21
5.1 Functional description .......................................................................................................... 21
5.2 Positioning behavior............................................................................................................. 21
6Troubleshooting................................................................................................................. 24
7Technical data.................................................................................................................... 26
Index...................................................................................................................................................... 28
Technical manual
SMCI33 V2.0
Overview
1 Overview
Introduction
The stepper driver SMCI33 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.
The SMCI33
Variants
The SMCI33 is available in the following variants:
•SMCI33-1: with USB interface (drivers neccessary)
•SMCI33-2: with RS-485 interface
4 Issue: V 2.0 - 2009-07-01
Technical manual
SMCI33 V2.0
Overview
Issue: V 2.0 - 2009-07-01 5
SMCI33 functions
The stepper driver SMCI33 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
•Rotation monitoring for optional encoder
•RS485 or USB interface for parameterisation and control
•Network capability of up to 32 motors
•Easy programming with the Windows software NANOPRO
Operating modes
The following operating modes can be selected:
•Positioning
•Speed
•Flag positioning
•Clock direction
•Analogue or joystick operation (±10 V)
•Analogue positioning mode
•Torque mode
Function overview
The operating behaviour of the motor can be set and optimised according to individual
requirements by setting the motor-related parameters such as phase current
(selectable in 1% increments), step resolution (from 1.8° - 0.014°), as well as the
adaptive microstep (automatic adaption of step width). Machine-related parameters
can be set using the NANOPRO software and significantly reduce commissioning
time:
•Distance in steps, degrees or mm
•Speed in Hertz, rpm or mm/s
•Feed constant in mm/revolution
•Gear reduction with reverse clearance
Three adjustable reference modes (external and internal) enable automatic machine
settings, whereby external reference switches may be inapplicable if there is a shift <
360° possibly due to the index signal of the internal encoder.
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.
Technical manual
SMCI33 V2.0
Connection and commissioning
6 Issue: V 2.0 - 2009-07-01
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 driver 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 driver
are much lower compared to normal controlled operation.
2 Connection and commissioning
2.1 Connection diagram
Introduction
To operate a stepper motor with the SMCI33 stepper driver, the wiring must be
implemented according to the following connection diagram.
Inputs (Pin 1 to 6) on the connector X1 and the encoder input (connector X2) can be
used optionally.
Technical manual
SMCI33 V2.0
Connection and commissioning
Connection diagram SMCI33
Issue: V 2.0 - 2009-07-01 7
Technical manual
SMCI33 V2.0
Connection and commissioning
2.2 Commissioning
Provisions
The connection and commissioning of the SMCI33 stepper motor are described
below.
The main "First steps" are described here to work as fast as possible with the SMCI33
if you want to work with the NANOPRO software from a PC. You will find more
detailed information 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 "Command Reference".
Familiarise yourself with the SMCI33 stepper driver and the corresponding control
software NANOPRO before you configure the driver for your application.
Procedure
Proceed as follows to commission the driver:
Step Action Note
1 Install the driver software NANOPRO on your
PC.
See the separate manual on NANOPRO as well.
Download from
www.nanotec.com/
downloads.
2 Connect the driver to the stepper motor
according to the connection diagram.
Connection diagram, see
Section 2.1.
Detailled information on
connections can be found
in Chapter 3 „Connections
and circuits“.
3 Switch on the operating voltage
(24 V DC ... 48 V DC).
The green LED lights up.
4 Connect the driver 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 or standard USB cable type
MINI-B for connection to the USB interface
(for SMCI33-1)
Order number:
•ZK-RS485-RS232
•ZK-RS485-USB
Note: Download the
necessary driver from
www.nanotec.com under
the menu item
Accessories/Converter
5 Start the NANOPRO software. The NANOPRO main
menu appears.
6 Select the "Communication" tab.
8 Issue: V 2.0 - 2009-07-01
Technical manual
SMCI33 V2.0
Connection and commissioning
Issue: V 2.0 - 2009-07-01 9
Step Action Note
7 In the field "Port", select the COM port to which
the SMCI33 is connected.
The number of the COM
port to which the driver is
connected can be found in
the device manager of your
Windows' PC (System
Supervision/ System/
Hardware).
8 Select the entry "115200 bps" in the selection
field "Baudrate".
9 Select the "Movement Mode" tab.
10 Click on the button <Test Record> 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 as well.
Technical manual
SMCI33 V2.0
Connections and circuits
3 Connections and circuits
3.1 Inputs and outputs (I/O): Connector X1
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 X1..
The connectors and sockets used are from Phönix, Order number: FK-MC 2/4/5/12.
Connection diagram inputs and outputs (I/O) (X1)
Pin assignment connector X1: Inputs and outputs (I/O)
Operating mode
Pin-
No. Name Observations
Position Speed Flag
position Clock
direction Analogue Joystick
1 Input1 5-24 V Optocoupler Start
Reset
Enable Start Enable Enable Enable
2 Input2 5-24 V Optocoupler Travel
profile
Speed Travel
profile
Manual
mode
Speed Speed
3 Input3 5-24 V Optocoupler Travel
profile
Speed Travel
profile
Manual
mode
Speed Speed
4 Input4 5-24 V Optocoupler Travel
profile
Speed Travel
profile
Ext. limit
switch
Speed Speed
5 Input5 5-24 V Optocoupler Travel
profile
Speed Trigger Direction Speed Speed
6 Input6 5-24 V Optocoupler Ext. limit
switch
Direction Ext. limit
switch
Clock Direction
7 Com Signal GND
8 Output1 Open-Collector
9 Output2 Open-Collector
10 Output3 Open-Collector
11 Analogue
In
–10 V ... +10 V Analogue
In
Analogue
In
12 GND Power & Analogue
GND
10 Issue: V 2.0 - 2009-07-01
Altri manuali per SMCI33
1
Indice
Altri manuali NANOTEC Controllori
