Technical Manual C5
Fieldbus: USB
Valid for firmware version FIR-v2213 and higher | Manual version 3.3.0 |
and hardware version W004 and higher | to the archive |
Introduction
The C5 is a controller for the open loop operation of stepper motors. The C5 is delivered preconfigured in clock-direction mode. Via DIP switches, you can also use the analog velocity mode without any additional programming.
This manual describes the functions of the controller and the available operating modes. It also shows how you can address and program the controller via the communication interface
You can find further information on the product on us.nanotec.com.
Version information
Manual version | Date | Changes | Firmware version | |
---|---|---|---|---|
1.0.0 | 03.03.2014 | Edition | FIR-v1419 | |
1.0.3 | 12.05.2014 | Minor improvements and corrections, "Preset value" field now occupied | FIR-v1419 | |
1.1.0 | 23.07.2014 |
|
FIR-v1426 | |
1.1.7 | 10.09.2014 | Error corrections | FIR-v1436 | |
1.1.15 | 18.11.2014 |
|
FIR-v1446 | |
1.2.0 | 11.03.2015 | New chapter: | FIR-v1504 | |
1.2.1 | 24.04.2015 |
|
FIR-v1512 | |
1.3.0 | 02.10.2015 |
|
FIR-v1540 | |
1.4.0 | 08.04.2016 | Error corrections | FIR-v1614 | |
1.4.1 | 22.07.2016 | Additions and error corrections | FIR-v1626 | |
2.0.0 | 01/2018 |
|
FIR-v1650 | |
2.0.1 | 04/2019 | Additions and error corrections | FIR-v1650 | |
3.0.0 | 10/2019 |
|
FIR-v1939 | |
3.1.0 | 11/2020 |
|
FIR-v2039 | |
3.2.0 | 09/2021 | Additions and error corrections | FIR-v2139 | |
3.3.0 | 07/2022 |
The current controller in open-loop is now only parameterized in 3210h, object 320Fh has been removed. New object 230Eh Timer |
FIR-v2213 |
Copyright, marking and contact
© 2013 – 2022 Nanotec Electronic GmbH & Co. KG. All rights reserved.
Nanotec Electronic GmbH & Co. KG
Kapellenstraße 6
85622 Feldkirchen
Germany
Phone: +49 89 900 686-0
Fax: +49 (89) 900 686-50
Microsoft® Windows® 98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation.
Intended use
The C5 serves to control stepper motors and is used as a component in drive systems in a wide range of industrial applications.
Use the product as intended within the limits defined in the technical data (in particular, see Permissible operating voltage) and the approved Environmental conditions.
Under no circumstances may this Nanotec product be integrated as a safety component in a product or system. All products containing a component manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices including instructions for safe use and safe operation. All warning notices provided by Nanotec must be passed on directly to the end user.
Target group and qualification
The product and this documentation are directed towards technically trained specialists staff such as:
- Development engineers
- Plant engineers
- Installers/service personnel
- Application engineers
Only specialists may install, program and commission the product. Specialist staff are persons who
- have appropriate training and experience in working with motors and their control,
- are familiar with and understand the content of this technical manual,
- know the applicable regulations.
Warranty and disclaimer
Nanotec is not liable for damage and malfunction from installation errors, failure to observe this document, or improper repair. Responsible for the selection, operation, use of our products is the plant engineer, operator and user. Nanotec accepts no liability for product integration in the end system. The general terms and conditions at www.nanotec.com apply (customers of Nanotec Electronic USA please see us.nanotec.com). Note: Product modification / alteration is illicit.
EU directives for product safety
The following EU directives were observed:
- RoHS directive (2011/65/EU, 2015/863/EU)
- EMC directive (2014/30/EU)
Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
- Accident-prevention regulations
- Local regulations on occupational safety
Used icons
All notices are in the same format. The degree of the hazard is divided into the following classes.
Emphasis in the text
The following conventions are used in the document:
Underlined text indicates cross references and hyperlinks:
- The following bits in object 6041h (statusword) have a special function:
- A list of available system calls can be found in chapter NanoJ functions in the NanoJ program.
Text set in italics marks named objects:
- Read the installation manual.
- Use the Plug & Drive Studio software to perform the auto setup.
- For software: You can find the corresponding information in the Operation tab.
- For hardware: Use the ON/OFF switch to switch the device on.
A text set in Courier
marks a code section or programming command:
- The line with the
od_write(0x6040, 0x00, 5 );
command has no effect. - The NMT message is structured as follows:
000 | 81 2A
A text in "quotation marks" marks user input:
- Start the NanoJ program by writing object 2300h, bit 0 = "1".
- If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h.
Numerical values
Numerical values are generally specified in decimal notation. The use of hexadecimal notation is indicated by a subscript h at the end of the number.
The objects in the object dictionary are written with index and subindex as follows: <Index>:<Subindex>
Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed, the subindex is 00h.
Example: Subindex 5 of object 1003h is addressed with 1003h:05h
, subindex 00 of object 6040h with 6040h
.
Bits
The numbering of individual bits in an object always begins with the LSB (bit number 0). See the following figure, which uses data type UNSIGNED8 as an example.
Counting direction (arrows)
In figures, the counting direction is always in the direction of an arrow. Objects 60C5h
and 60C6h
depicted as examples in the following figure are both specified as positive.