Property Description / value Flash Error

N5-1-3, N5-2-3 Safety and warning notices

rate
Inputs • 4 inputs, 5 V/24 V (inputs 1 to 4) individually
Note 3 Temperature
switchable by means of software, factory setting:
5V 4 Overcurrent
• Damage to the controller.
• 2 inputs, wide range 5-24 V (inputs 5 and 6); 5 Controller
• Changing the wiring during operation may damage the controller.
• 2 analog inputs -10 to +10 V or 0–20 mA 6 Watchdog-Reset
• Only change the wiring in a de-energized state. After switching
(switchable by means of software)
off, wait until the capacitors have discharged.
Outputs 2 outputs, (open drain, 0 switching, max. 24 V and Note
Note 500 mA)
For each error that occurs, a more precise error code is stored in
• Fault of the controller due to excitation voltage of the motor. Encoder input 5 V or 24 V signal, differential or single-ended object 1003h.
Short instructions Version 1.0.0 (switchable by means of software), max. resolution
• Voltage peaks during operation may damage the controller.
Original: de 65536 increments per revolution (16-bit)
• Install suitable circuits (e.g., charging capacitor) that reduce Pin assignment
voltage peaks. Protection circuit Overvoltage and undervoltage protection
Nanotec Electronic GmbH & Co. KG Phone: +49 (0)89-900 686-0
Pin 1 is marked with an asterisk "*".
Kapellenstraße 6 Fax: +49 (0)89-900 686-50 Overtemperature protection (> 75° Celsius on the
Note power board) X7
85622 Feldkirchen, Germany info@nanotec.de
• There is no polarity reversal protection. Polarity reversal protection: In the event of a Mod Net

• Polarity reversal results in a short-circuit between supply voltage polarity reversal, a short-circuit will occur between
Introduction and GND (earth) via the power diode. supply voltage and GND over a power diode; a line L1
protection device (fuse) is therefore necessary in the
• Install a line protection device (fuse) in the supply line.
supply line. The values of the fuse are dependent on
The N5 is a controller for the open loop or closed loop operation of stepper
the application and must be dimensioned
motors and the closed loop operation of BLDC motors. Note X1 X2 X3 X4 X5 X6
• greater than the maximum current consumption
This document describes the installation and commissioning of the
• The device contains components that are sensitive to of the controller
controller.You can find the detailed documentation for the product on the Connector Function Pin assignment / description
Nanotec website us.nanotec.com. The short instructions do not replace the electrostatic discharge. • less than the maximum current of the voltage
technical manual oft he product. • Improper handling can damage the device. supply. X1 EtherNet/IP
• Observe the basic principles of ESD protection when handling If the fuse value is very close to the maximum current X2 Encoder and Hall 1. GND
Copyright, marking and contact the device. consumption of the controller, a medium / slow
sensor 2. Vcc: +5 V (factory setting) /24 V DC
tripping characteristics should be used.
Copyright © 2013 – 2018 Nanotec Electronic GmbH & Co. KG. All rights
®
output, switchable with object 2059h
5 V / 24 V DC signal
reserved. Technical details and pin assignment 3. A
Max. 1 MHz
Dimensioned drawings 4. B
Switching 5. A\
thresholds: 6. B\
Environmental conditions
5 V (factory 7. I
setting): On: >3.8 8. I\
Intended use V; Off: <0.26 V
9. Hall 1
Environmental condition Value 24 V: On: >14.42 V; 10. Hall 2
The N5 controller is used to control stepper and BLDC motors and is designed
Off: <4.16 V 11. Hall 3
for use under the approved Environmental conditions. Protection class IP20
12. Shielding
Any other use is considered unintended use. Ambient temperature (operation) -10 … +40°C
Air humidity (non-condensing) 0 … 95 % X3 Inputs and outputs 1. GND
Note
Altitude of site above sea level (without drop in 1500 m 2. Digital input 1; 5 V / 24 V Signal,
Changes or modification to the controller are not permitted. performance) switchable with object 3240h
Switching thresholds
Ambient temperature (storage) -25 … +85°C for digital inputs 1 3. Digital input 2; 5 V / 24 V Signal,
Warranty and disclaimer - 4: switchable with object 3240h
4. Digital input 3: 5 V / 24 V, switchable
Nanotec produces component parts that are used in a wide range of industrial 5 V (factory with object 3240h, max. 1 MHz;
applications. The selection and use of Nanotec products is the responsibility of setting): On: >3.8 direction input in clock/direction mode
the system engineer and end user. Nanotec accepts no responsibility for the V; Off: <0.26 V
5. Digital input 4: 5 V / 24 V, switchable
integration of the products in the end system. Electrical properties and technical data with object 3240h, max. 1 MHz; clock
24 V: On: >14.42 V;
Under no circumstances may a Nanotec product be integrated as a safety Off: <4.16 V input in clock/direction mode
controller in a product or construction. All products containing a component part Property Description / value 6. Digital input 5; 5…24 V signal, not
Switching thresholds
manufactured by Nanotec must, upon delivery to the end user, be provided with switchable
for digital inputs 5
corresponding warning notices and instructions for safe use and safe operation. Operating voltage • 12 V-5% …72 V +4% DC for low-current version 7. Digital input 6; 5…24 V signal, not
- 6:
All warning notices provided by Nanotec must be passed on directly to the end with designation N5-1-3 switchable
user. On: >3.25 V; Off: <2
• 12 V - 48 V +/-5% DC for the high-current 8. Analog input 1: 10 Bit, 0-10 V oder
V
Our general terms and conditions apply: en.nanotec.com/service/general- version with designation N5-2-3 and up to 0-20 mA, switchable with object
terms-and-conditions/. hardware version w007 3221h
• 12 V -5% …57.4 V DC for the high-current 9. Analog input 1: 10 Bit, 0-10 V oder
Specialist staff version with designation N5-2-3 and from 0-20 mA, switchable with object
hardware version w007b 3221h
Only specialists may install, program and commission the device: Overtemperature protection 10. Digital output 1: Open drain, max 24
• Persons who have appropriate training and experience in work with motors Rated current N5-1-3 (low current): 10 Arms V/500 mA
Above a temperature of approx. 75°C on the power board (corresponds to 65–
and their control. 72°C outside on the cover), the power part of the controller switches off and the 11. Digital output 2: Open drain, max 24
N5-2-3 (high current): 18 Arms
• Persons who are familiar with and understand the content of this technical error bit is set . After cooling down and confirming the error , the controller again V/500 mA
manual. Peak current N5-1-3 (low current): 10 Arms functions normally. 12. Shielding
• Persons who know the applicable regulations.
N5-2-3 (high current): 40 Arms for 5 seconds X4 Brake 1. Brake+: internally connected to +UB
LED signaling
EU directives for product safety Commutation Stepper motor – open loop, stepper motor – closed 24V Brakes have 2. Brake -: PWM-controlled open-drain
loop with encoder, BLDC motor – closed loop with Power LED to be connected output, max 1.5 A
The following EU directives were observed:
Hall sensor, and BLDC motor – closed loop with using an appropriate
• RoHS directive (2011/65/EU, 2015/863/EU) encoder Normal operation circuit if +UB>24 V!
• EMC directive (2014/30/EU)
Operating modes Profile Position Mode, Profile Velocity Mode, Profile In normal operation, the green power LED L1 flashes briefly once per second. X5 Motor 1. Shielding
Torque Mode, Velocity Mode, Homing Mode, Clock-
Other applicable regulations Direction Mode Case of an error 2. A (Stepper)
In addition to this technical manual, the following regulations are to be observed: Set value setting / EtherNet/IP, Ethernet (REST with the NanoIP user If an error has occurred, the LED turns red and signals an error number. U (BLDC)
• Accident-prevention regulations programming interface), clock-direction, analog, NanoJ program 3. A\ (Stepper)
The following table shows the meaning of the error numbers.
• Local regulations on occupational safety Interfaces EtherNet/IP V (BLDC)
Flash Error 4. B (Stepper)
rate
W (BLDC)
1 General 5. B\ (Stepper)
2 Voltage 6. Shielding
 Note ‣ Object 2037h (Open Loop Current Reduction Value/factor): the
Connector Function Pin assignment / description
root mean square is specified to which the rated current is to be
Master/Software Motion Controller
Nanotec controllers are always based on CANopen standard CiA402. reduced if current reduction is activated in Open Loop.
X6 Voltage supply 1. Shielding
All attributes are therefore stored in a so-called object dictionary. - BLDC motor only: write 6040h:00h = 0006h
Permissible 2. +UB These can be addressed with an index and a subindex, e.g.,
‣ Object 2031h:00h Peak current in mA (see motor data sheet) read 6040h:00h (Bit 9, 5 und 0 = 1?)
operating voltage: 3. GND 1018h:01h. The index is a 16-bit value and the subindex is an 8-bit
value. ‣ Object 203Bh:01h Rated current in mA (see motor data sheet)
write 6060h:00h = FEh
See Electrical ‣ Object 203Bh:02h Maximum duration of the peak current in ms
properties and The controller offers EtherNet/IP, but this protocol uses a different (for initial commissioning, a value of 100 ms is recommended; this write 6040h:00h = 0007h
technical data procedure: all attributes are stored on the basis of objects. For this value is to be adapted later to the specific application).
reason, the N5 uses an assignment to create a bridge between read 6041h:00h (Bit 9, 5, 4, 1, 0 = 1?)
X7 ‣ Object 3202h:00h (Motor Drive Submode Select): Defines motor
Supply for Encoder/ 1. +UB Logic / Encoder: +24 V EtherNet/IP and CANopen. As a consequence, the configuration of
type BLDC: 00000041h
Hall sensor, external 2. GND this controller is somewhat different that with normal EtherNet/IP write 6040h:00h = 000Fh
devices. • Motor with encoder: Object 20592059h:00h (Encoder Configuration):
logic supply read 6041h:00h (Bit 9, 5, 4, 2, 1, 0 = 1?)
Depending on the encoder version, one of the following values is to be
To be connected if The following commissioning procedure requires the use of a CompactLogix entered (see motor data sheet): read 6061h:00h (= FEh?)
24V encoder is used PLC and Studio 5000 software from Rockwell. - Supply voltage 5V, differential: 00000000h
or logic supply of the write 6040h:00h = 001Fh
controller desired. - Supply voltage 24V, differential: 00000001h
Connection
- Supply voltage 5V, single-ended: 00000002h
1. Connect the supply voltage to connector X6. Wait for auto-setup
- Supply voltage 24V, single-ended: 00000003h
to finish.
Note 2. Connect the Rockwell CompactLogix PLC to connection X1 of the • Motor with brake: Object 3202h:00h (Motor Drive Submode Select): The
controller. brake control is activated for the initial commissioning. Depending on the read 6041h:00h (Bit 12, 9, 5, 4, 2, 1, 0 =
• EMC: For a DC power supply line longer than 30 m or when using specific application, this configuration can be deactivated later if necessary. 1?)
the motor on a DC bus, additional interference-suppression and Software connection One of the following values is to be entered depending on the motor type:
protection measures are necessary. By default, the controller is in DHCP mode. A DHCP server is therefore needed write 6040h:00h = 0000h
- Stepper motor, brake control (and current reduction while at
• An EMI filter is to be inserted in the DC supply line as close as in the network. If no DHCP server is available or if the controller is to operate standstill) activated: 0000000Ch
possible to the controller/motor. with a fixed IP address, the BOOTP/DHCP tool from Rockwell can be used. With
- BLDC motor, brake control activated: 00000044h
• Long data or supply lines are to be routed through ferrites. this tool, is is possible to either assign an IP address to the controller by means
of DHCP or to assign a static address and deactivate DHCP. BOOTP is not
supported by the controller. Auto setup
CAUTION
Commissioning To determine a number of parameters related to the motor and the connected
If you have your own DHCP server and wish to ascertain the IP address, this
• After executing auto setup mode, the internal coordinate

!
can be accomplished most easily with the ping tool. To do this, the NetBIOS sensors (encoders/Hall sensors), an auto setup is performed. Closed Loop
The Plug & Drive Studio software offers you an option for performing the operation requires a successfully completed auto setup. system is no longer valid.
service must be activated on the PC and the MAC address of the controller must
configuration and adapting the controller to the connected motor. You can • Homing alone does not suffice! If the controller is not
be known.
find further information in document Plug & Drive Studio: Quick Start Guide at Note restarted, unexpected reactions may result.
us.nanotec.com. You must perform the next steps in the Rockwell Logix Designer:
• Restart the device after an auto setup!
1. Use the RSLinx Classic software to create an EtherNet/IP driver. Refer to • Note the following prerequisites for performing the auto setup:
Observe the following note:
the corresponding manual for help. • The motor must be load-free.
Note 2. Select the project path of the PLC. • The motor must not be touched.
• The motor must be able to turn freely in any direction.
• EMC: Current-carrying cables – particularly around supply and 3. Import the EDS file of the controller: Click on Tools\EDS Hardware
• No NanoJ programs may be running (object 2300h:00h bit 0 = "0",
motor cables – produce electromagnetic alternating fields. Installation Tool, select Register an EDS file(s). Then select the correct
see 2300h NanoJ Control).
• These can interfere with the motor and other devices. Nanotec EDS file and import it.
recommends the following measures:
4. Right-click on Ethernet in the Controller Organizer and select New Tip
• Use shielded cables and earth the cable shielding on both ends Module….
over a short distance. As long as the motor connected to the controller or the sensors for
• Use cables with cores in twisted pairs. Select the Catalog tab, find entry N5 and select the device with which you
feedback (encoders/Hall sensors) are not changed, auto setup is only
would like to work.
• Keep power supply and motor cables as short as possible. to be performed once during initial commissioning.
• Earth motor housing with large contact area over a short The New Module input mask then opens. Select the General tab and enter
distance. a name and the IP address for the device. Use of the Host Name is not Execution
• Lay supply, motor and control cables physically separate from supported.
1. To preselect the auto setup operating mode, enter the value "-2" (="FEh") in
one another. Select the Connection tab and enter an RPI value for the I/O Common data object 6060h:00h.
as shown in the following figure. The input type can also be changed to The power state machine must now switch to the Operation enabled state.
unicast or multicast.
Configuration via Ethernet 2. Start auto setup by setting bit 4 OMS in object 6040h:00h (controlword).
Lastly, close the mask by clicking on OK. While the auto setup is running, the following tests and measurements are
Establishing connection with the controller performed in succession:
5. Right-click on Add-On Instruction in the Controller Organizer and then on
Setting the IP address Import Add-On Instruction… to import the add-ons that have been made To determine the values, the direction of the measurement method is
available, which will simplify work with the controller (see chapter Add-on reversed and edge detection re-evaluated.
Each of the connected devices (controller and communication partners) in an instructions in the technical manual of the controller).
Ethernet network or with a point-to-point Ethernet connection requires a unique Value 1 in bit 12 OMS in object 6041h:00h (statusword) indicates that the
IP address. This can either be obtained automatically (DHCP) or assigned 6. Right-click on Data Types\User-Defined in the Controller Organizer and auto setup was completely executed and ended. In addition, bit 10 TARG
statically. In the following, "communication partner" refers to a PC or laptop. then on Import Data Type… to import the user-defined data that have been in object 6041h:00h can be used to query whether (= "1") or not (= "0") an
made available. After importing, the message objects in the various AOIs encoder index was found.
You can integrate the controller in an existing Ethernet network. To do this, you
should be checked to determine whether the correct communication path is
only need to establish the physical connection with a standard Ethernet cable.
still set.
Provided DHCP is activated on the controller (factory setting), the controller is
also automatically detected on the network and can immediately be operated via 7. Select the Communications menu item followed by the Go Online submenu
a PC located on the network. item to go online. To do this, you must download the program to the PLC.

8. Once you are online, go to Run Mode via the Communications menu
Setting DHCP and the Run Mode submenu item. If the fields are green for Run Mode,
IP addresses can be obtained dynamically in a network from a DHCP server. Controller OK and I/O OK, configuration was successful and you can begin
DHCP are preset in the controller at the factory for automatically obtaining an work with the controller.
IP address from a DHPC server. To establish the connection to the controller,
it may only be necessary to make a few settings on the communication partner Setting the motor data
(e.g., PC or laptop). Settings using the Windows 7 operating system as an
example: Prior to commissioning, the motor controller requires a number of values from
the motor data sheet.
1. Press the Windows Start button and select Control Panel.
• Number of pole pairs: Object 2030h:00h (pole pair count) The number of
2. Select Network and Sharing Center.
motor pole pairs is to be entered here. With a stepper motor, the number of
3. Select Change adapter settings. pole pairs is calculated using the step angle, e.g., 1.8° = 50 pole pairs, 0.9°
4. A list of the available network adapters is displayed. Open the properties = 100 pole pairs (see step angle in motor data sheet). With BLDC motors,
on the adapter to which the controller is connected (e.g., click with the right the number of pole pairs is specified directly in the motor data sheet.
mouse button). • Setting the motor current / motor type:
5. Select Internet Protocol version 4 (TCP/IPv4) and press the Properties
button. - Stepper motor only: Object 2031h:00h: Rated current (bipolar) in mA
(see motor data sheet)
6. Select the Obtain an IP address automatically option.
7. Confirm acceptance of the entries with the OK button. ‣ Object 2031h:00h: Rated current (bipolar) in mA (see motor data
sheet)
Commissioning EtherNet/IP ‣ Object 3202h:00h (Motor Drive Submode Select): Defines motor
type stepper motor, activates current reduction on motor standstill:
This controller is equipped with an EtherNet/IP interface. Read chapter 0000008h.
EtherNet/IP in the technical manual of the controller for further details.