Technical Manual CL3-E Fieldbus: CANopen, USB, Modbus RTU For use with the following variants: CL3-E-1-OF CL3-E-2-OF Valid for firmware version FIR-v2213 and higher Manual version 3.4.1 and hardware version W004c and higher to the archive Introduction The CL3-E is a controller for the open loop or closed loop operation of stepper motors and the closed loop operation of BLDC motors. 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 10.09.2014 Edition FIR-v1434 1.0.15 18.11.2014 Error corrections The "Mode of modulo operation" object in 2070h was replaced with the "Positioning option code" object in 60F2h FIR-v1446 1.1.0 11.03.2015 New chapter: Clock-direction mode FIR-v1504 1.1.1 24.04.2015 Error corrections New chapter Input Routing FIR-v1512 1.2.0 02.10.2015 Error corrections New chapter Overtemperature protection New chapter Output Routing New section Possible combinations of travel commands Addition to the connection data for the connectors Addition to the switching thresholds for digital inputs FIR-v1540 1.3.0 08.04.2016 Error corrections New chapter Interpolated Position Mode FIR-v1614 1.3.1 22.07.2016 Additions and error corrections FIR-v1626 2.0.0 01/2018 New chapter Environmental conditions New chapter Control modes New chapter Limitation of the range of motion New chapter Cycle times New chapter CANopen services Revision of chapter Commissioning Additions and error corrections FIR-v1650 2.0.1 06/2018 Additions and error corrections FIR-v1650 2.0.2 09/2018 Pin assignment of X5 corrected FIR-v1650 3.0.0 10/2019 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v1939. Addition to the connection data for the connectors FIR-v1939 3.1.0 05/2020 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v2013. New chapter Analog inputs FIR-v2013 3.2.0 09/2020 New object 3250h:09h for switching the LEDs on/off New object 320Eh:0Dh for setting a voltage feed forward (see Feed forward) New objects 320Eh:0Fh and 320Fh:05h for setting the maximum PWM voltage New object 4021h for configuring the ballast circuit FIR-v2039-B783405 3.2.1 11/2020 Worst-case calculations for the switching thresholds of the inputs FIR-v2039-B807052 3.3.0 09/2021 Additions and error corrections FIR-v2139 3.4.0 07/2022 Changes in chapter Controller structure: New objects 321Ah, 321Bh, 321Ch, 321Dh and 321Eh for the control parameters replace 320Eh. The current controller in open-loop is now only parameterized in 3210h, object 320Fh has been removed. New object 6007h Abort Connection Option Code New object 230Eh Timer FIR-v2213 3.4.1 03/2024 Accessories list for X6 updated. FIR-v2213 Copyright, marking and contact © 2013 – 2024 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 us.nanotec.com Microsoft® Windows® 98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation. Intended use The CL3-E serves to control stepper motors and BLDC 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) 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. CAUTION: The CAUTION notice indicates a possibly dangerous situation. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note: Indicates a possible incorrect operation of the product. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation. Tip: Shows a tip for the application or task. 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.
Technical Manual CL3-E Fieldbus: CANopen, USB, Modbus RTU For use with the following variants: CL3-E-1-OF CL3-E-2-OF Valid for firmware version FIR-v2213 and higher Manual version 3.4.1 and hardware version W004c and higher to the archive
Introduction The CL3-E is a controller for the open loop or closed loop operation of stepper motors and the closed loop operation of BLDC motors. 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 10.09.2014 Edition FIR-v1434 1.0.15 18.11.2014 Error corrections The "Mode of modulo operation" object in 2070h was replaced with the "Positioning option code" object in 60F2h FIR-v1446 1.1.0 11.03.2015 New chapter: Clock-direction mode FIR-v1504 1.1.1 24.04.2015 Error corrections New chapter Input Routing FIR-v1512 1.2.0 02.10.2015 Error corrections New chapter Overtemperature protection New chapter Output Routing New section Possible combinations of travel commands Addition to the connection data for the connectors Addition to the switching thresholds for digital inputs FIR-v1540 1.3.0 08.04.2016 Error corrections New chapter Interpolated Position Mode FIR-v1614 1.3.1 22.07.2016 Additions and error corrections FIR-v1626 2.0.0 01/2018 New chapter Environmental conditions New chapter Control modes New chapter Limitation of the range of motion New chapter Cycle times New chapter CANopen services Revision of chapter Commissioning Additions and error corrections FIR-v1650 2.0.1 06/2018 Additions and error corrections FIR-v1650 2.0.2 09/2018 Pin assignment of X5 corrected FIR-v1650 3.0.0 10/2019 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v1939. Addition to the connection data for the connectors FIR-v1939 3.1.0 05/2020 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v2013. New chapter Analog inputs FIR-v2013 3.2.0 09/2020 New object 3250h:09h for switching the LEDs on/off New object 320Eh:0Dh for setting a voltage feed forward (see Feed forward) New objects 320Eh:0Fh and 320Fh:05h for setting the maximum PWM voltage New object 4021h for configuring the ballast circuit FIR-v2039-B783405 3.2.1 11/2020 Worst-case calculations for the switching thresholds of the inputs FIR-v2039-B807052 3.3.0 09/2021 Additions and error corrections FIR-v2139 3.4.0 07/2022 Changes in chapter Controller structure: New objects 321Ah, 321Bh, 321Ch, 321Dh and 321Eh for the control parameters replace 320Eh. The current controller in open-loop is now only parameterized in 3210h, object 320Fh has been removed. New object 6007h Abort Connection Option Code New object 230Eh Timer FIR-v2213 3.4.1 03/2024 Accessories list for X6 updated. FIR-v2213 Copyright, marking and contact © 2013 – 2024 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 us.nanotec.com Microsoft® Windows® 98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation. Intended use The CL3-E serves to control stepper motors and BLDC 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) 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. CAUTION: The CAUTION notice indicates a possibly dangerous situation. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note: Indicates a possible incorrect operation of the product. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation. Tip: Shows a tip for the application or task. 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.
Version information Manual version Date Changes Firmware version 1.0.0 10.09.2014 Edition FIR-v1434 1.0.15 18.11.2014 Error corrections The "Mode of modulo operation" object in 2070h was replaced with the "Positioning option code" object in 60F2h FIR-v1446 1.1.0 11.03.2015 New chapter: Clock-direction mode FIR-v1504 1.1.1 24.04.2015 Error corrections New chapter Input Routing FIR-v1512 1.2.0 02.10.2015 Error corrections New chapter Overtemperature protection New chapter Output Routing New section Possible combinations of travel commands Addition to the connection data for the connectors Addition to the switching thresholds for digital inputs FIR-v1540 1.3.0 08.04.2016 Error corrections New chapter Interpolated Position Mode FIR-v1614 1.3.1 22.07.2016 Additions and error corrections FIR-v1626 2.0.0 01/2018 New chapter Environmental conditions New chapter Control modes New chapter Limitation of the range of motion New chapter Cycle times New chapter CANopen services Revision of chapter Commissioning Additions and error corrections FIR-v1650 2.0.1 06/2018 Additions and error corrections FIR-v1650 2.0.2 09/2018 Pin assignment of X5 corrected FIR-v1650 3.0.0 10/2019 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v1939. Addition to the connection data for the connectors FIR-v1939 3.1.0 05/2020 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v2013. New chapter Analog inputs FIR-v2013 3.2.0 09/2020 New object 3250h:09h for switching the LEDs on/off New object 320Eh:0Dh for setting a voltage feed forward (see Feed forward) New objects 320Eh:0Fh and 320Fh:05h for setting the maximum PWM voltage New object 4021h for configuring the ballast circuit FIR-v2039-B783405 3.2.1 11/2020 Worst-case calculations for the switching thresholds of the inputs FIR-v2039-B807052 3.3.0 09/2021 Additions and error corrections FIR-v2139 3.4.0 07/2022 Changes in chapter Controller structure: New objects 321Ah, 321Bh, 321Ch, 321Dh and 321Eh for the control parameters replace 320Eh. The current controller in open-loop is now only parameterized in 3210h, object 320Fh has been removed. New object 6007h Abort Connection Option Code New object 230Eh Timer FIR-v2213 3.4.1 03/2024 Accessories list for X6 updated. FIR-v2213
Copyright, marking and contact © 2013 – 2024 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 us.nanotec.com Microsoft® Windows® 98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation.
Intended use The CL3-E serves to control stepper motors and BLDC 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)
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. CAUTION: The CAUTION notice indicates a possibly dangerous situation. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note: Indicates a possible incorrect operation of the product. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation. Tip: Shows a tip for the application or task.
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.
