Operating modes

Positioning mode

Function
In the positioning mode the motor moves from position A to position B according to a specified travel profile. The positioning mode can be defined as absolute or relative values. The positioning mode is generally used when travel to a specific position is required.

Travel profiles
In this mode, up to 32 travel profiles (including reference runs) can be programmed and saved. The last 16 records (records 17 to 32) cannot be called up via the inputs, but only via the programming interface.

Operating modes
“Relative” for relative positioning: The travel profile is started from the actual position.
"Absolute" for absolute positioning: The travel profile starts from a specified setpoint position, irrespective of the actual position.
“Internal reference run" when the travel profile is used to move to the internal reference point.
“External reference run" when the travel profile is used to move to the external reference point.
Further instructions for setting up reference runs can be found here.

Speed mode

Function
In the speed mode, the motor accelerates with a specified ramp from the starting speed (start speed/start frequency) to the specified maximum speed (setpoint speed/maximum frequency).
The speed mode is generally used when a specific travel speed is required (e.g. for a conveyor belt or a pump).

Travel profiles
In this mode, up to 32 travel profiles (speed profiles) can be programmed and saved. The last 16 records (records 17 to 32) cannot be called up via the inputs, but only via the programming interface. The direction is not saved in a travel profile, but specified via the inputs.

Speed changes can be implemented at any time (on-the-fly) via the inputs and the NanoPro software. Via the inputs you can select a newly stored travel profile; the motor then immediately adopts the new speed and brakes or accelerates with the stored ramp.

Flag positioning mode

Function:
The flag positioning mode offers a combination of the speed and positioning modes. The motor is first operated in speed mode to travel an undefined distance with a specific speed, for example. When a trigger (trigger point) is reached, e.g. a limit switch, operation is switched to the positioning mode to travel to a defined setpoint position (relative to the trigger position).
Also previously stored travel profiles can be called up via the inputs and changed on-the-fly in the flag positioning mode. As one input is used for the trigger, only eight selectable inputs are available to users.

Analog and Joystick mode

Function
In analog or joystick mode, the stepper motor is operated in a simple application

• with a specific speed, e.g. via an external potentiometer,
• or synchronously with a superordinate controller with analog output (-10 V to +10 V).

The motor is simply actuated either by a potentiometer or an external power supply and a joystick (maximum -10 V to +10 V). The voltage wave must be stored once before operation with the aid of NanoPro.
In analog mode the direction of rotation can be changed via an input; in joystick mode the sign of the voltage determines the direction of rotation.

Travel profiles
Up to 16 previously stored speed profiles can be called up by the users on-the-fly.
Reference runs are not possible in this mode.

Analog positioning mode

Clock directional mode

Function
In the clock direction mode, the SMCI32 is operated via two inputs with a clock and a direction signal from a superordinate positioning controller (indexer).
With every clock signal, the motor moves one step in the direction set by the direction signal. The controller then behaves like a standard stepper motor driver.
Parameters such as the current level, current reduction and microstep resolution must be set via NanoPro. The advantage compared to a conventional step motor drive is the possibility of monitoring the motor position with the aid of the encoder input (or of the integrated encoder in Plug&Drive motors). Also, it is possible to convert the incoming clock pulses of the indexer in the processor of our controller and to pass them on in microsteps to the motor (electronic gears). The advantage is that the smooth operation of the stepper motor is improved as is its tendency to resonate.
Limit switches can also be approached in the clock directional mode.

Torque mode