Setting the motor data Prior to commissioning, the motor controller requires a number of values from the motor data sheet. Note: The controller does not offer any overload or overtemperature protection for the motor. For critical applications perform an endurance test in the actual environment and provide adequate cooling for the motor if needed. Number of pole pairs: Object 2030h:00h (pole pair count) The number of motor pole pairs is to be entered here. With a stepper motor, the number of pole pairs is calculated using the step angle, e.g., 1.8° = 50 pole pairs, 0.9° = 100 pole pairs (see step angle in motor data sheet). Object 6075h:00h: rated current of the motor in mA (see motor data sheet) Object 6073h:00h: maximum current (for a stepper motor, generally corresponds to the rated current, bipolar) in tenths of a percent of the set rated current (see motor data sheet). Factory settings: "1000", which corresponds to 100% of the value in 6075h. Object 3219h:01h Maximum duration of the maximum current (6073h) in ms (for initial commissioning, Nanotec recommends a value of 100 ms; this value is to be adapted later to the specific application). Setting the motor type: Stepper motor: Object 3202h (Motor Drive Submode Select): Set bit 6 to "0" for stepper and choose via Bit 0 bewtween open and closed loop: value 0h or 1h.See also chapter Commissioning open-loop. Object 3219h:03h (Open loop idle state current): value in tenths of percent, to which the rated current is to be reduced if current reduction is activated in open-loop. BLDC motor: Object 3202h (Motor Drive Submode Select): Bit 6 for BLDC, bit 0 for recommended closed-loop: 00000041h Motor with encoder without index: You must set the encoder parameters after the Auto setup, see chapter Configuring the sensors. Stepper motor, brake control activated: 00000004h BLDC motor, brake control activated, closed-loop: 00000045h Note: Due to the sine commutation and the sinusoidal current flow, the current of a motor winding can achieve an alternating current value that is briefly greater (by max. √2 times) than the set current. At especially slow speeds or while at a standstill with full load, one of the windings can therefore be supplied with overcurrent for a longer period of time. Take this into account when dimensioning the motor and select a motor with larger torque reserve if necessary if required by the application.
Setting the motor data Prior to commissioning, the motor controller requires a number of values from the motor data sheet. Note: The controller does not offer any overload or overtemperature protection for the motor. For critical applications perform an endurance test in the actual environment and provide adequate cooling for the motor if needed. Number of pole pairs: Object 2030h:00h (pole pair count) The number of motor pole pairs is to be entered here. With a stepper motor, the number of pole pairs is calculated using the step angle, e.g., 1.8° = 50 pole pairs, 0.9° = 100 pole pairs (see step angle in motor data sheet). Object 6075h:00h: rated current of the motor in mA (see motor data sheet) Object 6073h:00h: maximum current (for a stepper motor, generally corresponds to the rated current, bipolar) in tenths of a percent of the set rated current (see motor data sheet). Factory settings: "1000", which corresponds to 100% of the value in 6075h. Object 3219h:01h Maximum duration of the maximum current (6073h) in ms (for initial commissioning, Nanotec recommends a value of 100 ms; this value is to be adapted later to the specific application). Setting the motor type: Stepper motor: Object 3202h (Motor Drive Submode Select): Set bit 6 to "0" for stepper and choose via Bit 0 bewtween open and closed loop: value 0h or 1h.See also chapter Commissioning open-loop. Object 3219h:03h (Open loop idle state current): value in tenths of percent, to which the rated current is to be reduced if current reduction is activated in open-loop. BLDC motor: Object 3202h (Motor Drive Submode Select): Bit 6 for BLDC, bit 0 for recommended closed-loop: 00000041h Motor with encoder without index: You must set the encoder parameters after the Auto setup, see chapter Configuring the sensors. Stepper motor, brake control activated: 00000004h BLDC motor, brake control activated, closed-loop: 00000045h Note: Due to the sine commutation and the sinusoidal current flow, the current of a motor winding can achieve an alternating current value that is briefly greater (by max. √2 times) than the set current. At especially slow speeds or while at a standstill with full load, one of the windings can therefore be supplied with overcurrent for a longer period of time. Take this into account when dimensioning the motor and select a motor with larger torque reserve if necessary if required by the application.
