Technical Manual N6 Fieldbus: EtherCAT For use with the following variants: N6-1-1... N6-2-1... Valid for firmware version FIR-v2508 and higher Manual version 1.1.0 and hardware version 1 and higher Introduction The N6 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. Product documentation All product information is available on the product page at us.nanotec.com. Document Content Technical Manual N6 Installation, commissioning, parameterization/programming, description of the functions of the motor controller Function description STO Description of the integrated STO safety function for the variants that include this function (N6-x-x-x-S) Version information Manual version Date Changes Firmware version 1.0.0 01/2025 Edition FIR-v2451 1.1.0 04/2025 CorrectionsUSB mass storage was replaced by an MTP device, PowerShell and Linux scripts provided in chapter Configuration via USB, FIR-v2508 Copyright, marking and contact © 2013 – 2025 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/7/10/11 and PowerShell® are registered trademarks of the Microsoft Corporation. TwinCAT™ is a registered trademark of Beckhoff Automation GmbH™. Intended use The N6 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. With the exception of the product variants with integrated STO safety function (N6-x-x-x-S), this Nanotec product may under no circumstances be integrated as a safety component in a product or system. For the STO variants, also observe the prerequisites for usage and the safety notices in the document Function description STO. 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 controller, are familiar with and understand the content of this technical manual, know the applicable regulations. Warranty and disclaimer Nanotec shall not be liable for damage and malfunctions attributable to installation errors, failure to observe this document or improper repair. The plant engineer, operating company and user shall be responsible for the selection, operation and use of our products. Nanotec shall not take responsibility for integration of the product in the end system. The general terms and conditions listed at www.nanotec.de shall apply. Note: Conversion/modification as well as opening of the product are prohibited. Other applicable regulations In addition to this technical manual, the following regulations are to be observed: Accident-prevention regulations Local regulations on occupational safety EU directives for product safety The following EU directives were observed: RoHS directive (2011/65/EU, 2015/863/EU) Used icons All notices are in the same format. The degree of the hazard is divided into the following classes. image/svg+xml CAUTION image/svg+xml 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. Notice image/svg+xml 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. STO-specific notices The following points apply only to the products with the STO (Safe Torque Off) safety function. CAUTION The CAUTION note with the STO icon indicates a possibly dangerous situation that can arise from the loss of the safety function. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note The note with the STO icon indicates a possible incorrect operation of the product with STO function. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation. 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 N6 Fieldbus: EtherCAT For use with the following variants: N6-1-1... N6-2-1... Valid for firmware version FIR-v2508 and higher Manual version 1.1.0 and hardware version 1 and higher
Introduction The N6 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. Product documentation All product information is available on the product page at us.nanotec.com. Document Content Technical Manual N6 Installation, commissioning, parameterization/programming, description of the functions of the motor controller Function description STO Description of the integrated STO safety function for the variants that include this function (N6-x-x-x-S) Version information Manual version Date Changes Firmware version 1.0.0 01/2025 Edition FIR-v2451 1.1.0 04/2025 CorrectionsUSB mass storage was replaced by an MTP device, PowerShell and Linux scripts provided in chapter Configuration via USB, FIR-v2508 Copyright, marking and contact © 2013 – 2025 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/7/10/11 and PowerShell® are registered trademarks of the Microsoft Corporation. TwinCAT™ is a registered trademark of Beckhoff Automation GmbH™. Intended use The N6 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. With the exception of the product variants with integrated STO safety function (N6-x-x-x-S), this Nanotec product may under no circumstances be integrated as a safety component in a product or system. For the STO variants, also observe the prerequisites for usage and the safety notices in the document Function description STO. 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 controller, are familiar with and understand the content of this technical manual, know the applicable regulations. Warranty and disclaimer Nanotec shall not be liable for damage and malfunctions attributable to installation errors, failure to observe this document or improper repair. The plant engineer, operating company and user shall be responsible for the selection, operation and use of our products. Nanotec shall not take responsibility for integration of the product in the end system. The general terms and conditions listed at www.nanotec.de shall apply. Note: Conversion/modification as well as opening of the product are prohibited. Other applicable regulations In addition to this technical manual, the following regulations are to be observed: Accident-prevention regulations Local regulations on occupational safety EU directives for product safety The following EU directives were observed: RoHS directive (2011/65/EU, 2015/863/EU) Used icons All notices are in the same format. The degree of the hazard is divided into the following classes. image/svg+xml CAUTION image/svg+xml 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. Notice image/svg+xml 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. STO-specific notices The following points apply only to the products with the STO (Safe Torque Off) safety function. CAUTION The CAUTION note with the STO icon indicates a possibly dangerous situation that can arise from the loss of the safety function. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note The note with the STO icon indicates a possible incorrect operation of the product with STO function. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation. 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.
Product documentation All product information is available on the product page at us.nanotec.com. Document Content Technical Manual N6 Installation, commissioning, parameterization/programming, description of the functions of the motor controller Function description STO Description of the integrated STO safety function for the variants that include this function (N6-x-x-x-S)
Version information Manual version Date Changes Firmware version 1.0.0 01/2025 Edition FIR-v2451 1.1.0 04/2025 CorrectionsUSB mass storage was replaced by an MTP device, PowerShell and Linux scripts provided in chapter Configuration via USB, FIR-v2508
Copyright, marking and contact © 2013 – 2025 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/7/10/11 and PowerShell® are registered trademarks of the Microsoft Corporation. TwinCAT™ is a registered trademark of Beckhoff Automation GmbH™.
Intended use The N6 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. With the exception of the product variants with integrated STO safety function (N6-x-x-x-S), this Nanotec product may under no circumstances be integrated as a safety component in a product or system. For the STO variants, also observe the prerequisites for usage and the safety notices in the document Function description STO. 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 controller, are familiar with and understand the content of this technical manual, know the applicable regulations.
Warranty and disclaimer Nanotec shall not be liable for damage and malfunctions attributable to installation errors, failure to observe this document or improper repair. The plant engineer, operating company and user shall be responsible for the selection, operation and use of our products. Nanotec shall not take responsibility for integration of the product in the end system. The general terms and conditions listed at www.nanotec.de shall apply. Note: Conversion/modification as well as opening of the product are prohibited.
Other applicable regulations In addition to this technical manual, the following regulations are to be observed: Accident-prevention regulations Local regulations on occupational safety
EU directives for product safety The following EU directives were observed: RoHS directive (2011/65/EU, 2015/863/EU)
Used icons All notices are in the same format. The degree of the hazard is divided into the following classes. image/svg+xml CAUTION image/svg+xml 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. Notice image/svg+xml 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. STO-specific notices The following points apply only to the products with the STO (Safe Torque Off) safety function. CAUTION The CAUTION note with the STO icon indicates a possibly dangerous situation that can arise from the loss of the safety function. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note The note with the STO icon indicates a possible incorrect operation of the product with STO function. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation.
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.
