Nanotec Plug & Drive Studio 3 (PNDS3) User Manual

1 Document Aim and Conventions

This manual explains the product's use and function. It outlines font styles and conventions used throughout the document. Underlined text indicates cross-references or hyperlinks. Gray bold italics denote menu paths, buttons, tabs, and file names. Plain italics are used for freehand entries and foreign-language expressions, or to emphasize critical words. Courier font is used for code blocks or programming commands.

Numerical Values: Numbers are in decimal. Hexadecimal notation ends in subscript 'h'. Objects in the object dictionary are notated as <Index>:<Subindex>. Non-notated subindices are assumed to be 00h.

Bits: Each object bit counts up from LSB (bit number 0). For example, for an UNSIGNED8 data type, bits are numbered 0 to 7 (LSB to MSB).

Count Direction (Arrows): Illustrations always count arrow-wards, indicating positive values for objects like 60C5h and 60C6h.

2 For Your Safety

Before using the product, all users must read, understand, and follow the instructions in this document. The manual defines different risk levels using hazard warnings, alert symbols, and signal words:

• CAUTION! warns of possible physical danger, with potential for minor/moderate injury. It instructs against unhealthy user errors.
• NOTICE warns of wrong operation, with potential for material or ecological damage. It instructs against destructive user errors.
• Note: Explains or simplifies a process with additional information.

3 Before You Start

Before using the product, prepare your PC and verify product intent and limits. Online help is available for installation and project setup. Observe safety notes at www.nanotec.com.

3.1 System and Hardware Requirements

PNDS3 requires 64-bit operating systems, preferably controller firmware FIR-v2213 or newer. Key requirements include:

• Operating System: Windows 10
• .NET Framework: 4.8
• Display Resolution: 1920x1080
• Fieldbus Adapters/Cables: CANopen (IXXAT USB-to-CAN V2, Nanotec ZK-USB-CAN-1), Modbus RTU (Nanotec ZK-USB-RS485-1 or equivalent USB-RS485 adapter), Ethernet (REST, EtherCAT, Profinet) with suitable ethernet cable and WinPcap 4.1.3 or Npcap.

3.2 Intended Use and Audience

NOTICE: Damage from unskilled staff! Use the product only for its described purpose and restrict use to expert staff. Follow valid OEM and system prescriptions.

PNDS3 is free software for Nanotec drive commissioning. The underlying operating system/hardware is not real-time capable; therefore, PNDS3 should not be used for time-critical or synchronous multi-axis motion, nor integrated as a safety component. Proper warnings and instructions for safe use must be added to end-user products containing Nanotec components.

Expert Definition: Training/experience in motor/controller handling, understanding this document and Nanotec drive manuals, and knowledge of valid regulations.

3.3 Delivery Scope and Warranty

PNDS3 is provided as a *.zip folder from the Nanotec download website. The package contains the software as an executable file and the current firmware release. For warranty scope, refer to Nanotec's terms and conditions. Nanotec is not liable for issues arising from incorrect quality, handling, installation, operation, use, or maintenance of third-party equipment.

4 Your Product

PNDS3 allows you to parameterize and commission Nanotec drives using templates. The software features a modular user interface with a default folder structure (Project, System, Module Group, Module, etc.).

• Project: Manages all settings and device parameters. Projects can be saved, imported, and exported as templates. A project can contain multiple systems (e.g., axes of a machine).
• System: Represents a motor with controller, typically one per motor in a multi-axis application. Systems are created or imported as templates.
• Module (Group): Contains parameters or controls (groups) for specific functions like encoder, gearbox, brake, settings, etc. Modules are exportable as templates.
• Controls Group: Pools single device parameters or special controls. These groups can be exported with set values as templates.

Property Editing: Elements can be co-clicked to access their properties, where you can insert a name, version number, and description to create a custom user interface.

5 Installation and Adapter

To install PNDS3, download the software as a zip file from the Nanotec website, extract it, and run the PNDS3.exe executable. Prepare your fieldbus adapter as follows:

• CANopen: Decide between Ixxat USB-to-CAN or Nanotec ZK-USB-CAN-1. Download drivers if necessary and connect the adapter to the computer and controller via the correct cable.
• USB: Nanotec Virtual COM-Port (VCP): Connect the controller, switch it on, and connect the PC via USB cable. Edit the cfg.txt file to enable the COM port. Restart the controller.
• Modbus RTU: Install the Nanotec ZK-USB-RS485-1 adapter or an equivalent USB-RS485 adapter, following OEM instructions.
• EtherCAT/Profinet: Install WinPcap 4.1.3 or Npcap. Ensure the driver is activated for the ethernet adapter. Configure IP addresses as described in the drive manual.
• Ethernet (REST): Configure IP addresses as described in the drive manual.

6 User Interface (UI)

The PNDS3 user interface is designed with flexible areas and windows for efficient task management. Upon first launch, you can create a new project or base it on a template.

• Header: Contains main menu functions for projects, devices, and UI view.
• Display Wall: Used for monitoring, object directory, help, and console.
• Work Desk: For editing project properties, contents, and controls. Tabs include Attributes, Bus Settings, Connection Settings, and Configuration.
• Project Bar: Displays the loaded project as a tree list, allowing interface creation.

User Levels: Control user rights for roles like Expert, Intermediate, and Basic, governing access to projects and parameters.

Monitoring: Combine monitors to track system behavior in real-time. The system monitor displays device and connection status.

OD Monitor: Lists all controller dictionary objects with their current values. Values can be read or dumped to a text file.

Help: Displays descriptions of chosen elements (OD objects).

Console: Allows quick reading/writing to the device's object dictionary using commands like <od index>:<od subindex> for read and <od index>:<od subindex>=<value> for write.

Error List: Displays actual errors.

7 Project Setup

Projects manage devices, settings, and connections. Nanotec recommends using the provided templates for external and integrated controllers.

• Load/Create Project: Use the File menu (Project > Open or Project > New) to load or create projects.
• Name Project: Co-click the current project in the Project bar and select Properties to name it, versionize, and describe it. User rights can also be set here.
• Load/Create System: Import an existing system or create a new one via the Project bar. Name, versionize, and describe the system as needed.
• Connect to Device: In the Bus settings tab, select the Bus type, scan for adapters, and select the appropriate adapter. Then, scan for devices and link the device to a system.
• Select OD File: Ensure the correct OD file matching the controller firmware is loaded. If not, the Common OD file loads, providing access to all Nanotec product objects. Wrong OD files will report an error.

8 Special Controls

Special controls allow adding Complex controls and Device communication settings to the user interface for advanced controller functions.

• Complex Controls: Used to create custom controller functions, including Autosetup, Firmware update, Jog Console, Motion Test, NanoJ Control, and Memo Text.
• Autosetup: Detects motor type and sensors. Caution is advised due to potential parameter loss or motor malfunction from user error. Run Autosetup only once on initial commissioning.
• Firmware Update: Nanotec recommends controller firmware FIR-v2213 or newer. Select a firmware file, and PNDS3 checks compatibility before updating the device.
• Jog Console: Tests the motor in velocity mode, allowing selection of two target speeds.
• Motion Test: Tests the motor in position, velocity, or torque mode, with options for target values, ramps, and repetition cycles.
• NanoJ Control: Create or import NanoJ projects. The Build button compiles the project.
• Memo Text: Adds a freely editable text box.
• Device Communication: Parameterize device communication. Coding switches may override software settings on some devices. Follow OEM instructions for details.

9 Oscilloscope

The Oscilloscope feature monitors and controls real-time device parameters from the object dictionary for recording purposes.

• Access: Go to Main Menu > Windows > Oscilloscope.
• Settings: Configure Realtime (continuous recording until buffer is full) or manual start/stop conditions. Start can be Immediate, Condition-based, or triggered by Motion Test. Stop can be duration-based or manual.
• Channels: Add or remove channels by selecting from the object dictionary in the bottom right corner.
• Recording: Open a new or import an existing oscilloscope and click Start.

10 Imprint, Versions

© 2023 Nanotec Electronic GmbH & Co. KG. All rights reserved. Specifications are subject to change without notice.

Nanotec Electronic GmbH & Co. KG
Kapellenstraße 6
85622 Feldkirchen
Germany

Tel: +49 (0)89 900 686-0 | Fax: +49 (0)89 900 686-50 | info@nanotec.de | www.nanotec.com

Document Versions:

• 1.0.0 (06/2022): Edition
• 1.0.1 (11/2022): New software version V1.4.0, new firmware FIR-v2213
• 1.1.0 (11/2023): New software version V1.5.2
• 1.1.1 (12/2023): Minor corrections

PNDS3 Versions: V1.3.0, V1.4.0, V1.5.2, V1.5.3