CL4-E CANopen/USB/ModbusRTU Online Manual

Setting the motor data

Prior to commissioning, the motor controller requires a number of values from the motor data sheet.

  • 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). With BLDC motors, the number of pole pairs is specified directly in the motor data sheet.
  • Object 2031h:00h: maximum permissible motor current (motor protection) in mA (see 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 setting: "1000", which corresponds to 100%.
  • Object 203Bh:02h 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:00h (Motor Drive Submode Select): Defines motor type stepper motor, activates current reduction on motor standstill: 0000008h.See also chapter Commissioning open loop.
    • BLDC motor:
      • Object 3202h:00h (Motor Drive Submode Select): Defines motor type BLDC: 00000041h
▶   next

Contents