N6 Series Motor Controller
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Specifications:
- Product Name: N6 Controller
- Operation: Open-loop or closed-loop operation
of stepper motors, closed-loop operation of BLDC motors - Intended Use: Control of stepper motors and
BLDC motors in industrial applications - Protection Class: IP20
- Degree of Contamination: 2
- Ambient Temperature (Operation): 0°C to
85°C - Ambient Temperature (Storage and Transport):
– - Relative Humidity (Operation): 0% to 85%,
non-condensing - Relative Humidity (Storage and Transport):
0% - Absolute Humidity (Storage and Transport):
30g/m3, non-condensing - Max. Altitude of Site Above Sea Level: 2000m
(performance drop above 1000m) - Max. Altitude of Site Above Sea Level (Storage and
Transport): 3000m
Product Usage Instructions:
1. Installation
Ensure the controller is installed in a de-energized state.
Follow the provided technical manual for correct wiring and
installation procedures.
2. Programming
Only technically trained specialists should program the
controller. Connect the controller to the communication interface
as per the manual and follow the programming instructions
provided.
3. Operation
Operate the controller within the specified environmental
conditions mentioned in the manual. Avoid changing wiring during
operation to prevent damage.
4. Maintenance
Regularly check for any signs of wear or damage. Follow the
maintenance schedule recommended in the manual to ensure optimal
performance.
Frequently Asked Questions (FAQ):
Q: Can the N6 controller be used as a safety component in a
system?
A: No, the N6 controller should not be integrated as a safety
component in any product or system as per the manufacturer’s
guidelines.
Q: What should be done to prevent damage to the controller due
to excitation voltage of the motor?
A: Install suitable circuits such as charging capacitors that
can help reduce voltage peaks and prevent damage to the
controller.
Q: Who is qualified to install, program, and commission the N6
controller?
A: Only technically trained specialists like development
engineers, plant engineers, installers, service personnel, and
application engineers should handle the installation, programming,
and commissioning of the N6 controller.
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N6-1-2… , N6-2-2…
Short instructions Translation of the
Nanotec Electronic GmbH & Co. KG Kapellenstraße 6 85622 Feldkirchen, Germany
Version 1.0.1 original: de
Phone: +49 (89) 900 686-0 Fax: +49 (89) 900 686-50 info@nanotec.de
Introduction
The N6 is a controller for the open-loop or closed loop operation of stepper motors and the closed loop operation of BLDC motors. This manual describes the functions of the controller and the available operating modes. It also shows how you can address and program the controller via the communication interface. You can find further information on the product on us.nanotec.com.
Copyright © 2013 2025 Nanotec Electronic GmbH & Co. KG. All rights reserved.
Intended use
The N6 serves to control stepper motors and BLDC motors and is used as a component in drive systems in a wide range of industrial applications.
Use the product as intended within the limits defined in the technical data (in particular, see Permissible operating voltage) and the approved Environmental conditions. This Nanotec product may under no circumstances be integrated as a safety component in a product or system.
All products containing a component manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices including instructions for safe use and safe operation. All warning notices provided by Nanotec must be passed on directly to the end user.
Target group and qualification
The product and this documentation are directed towards technically trained specialists staff such as: development engineers, plant engineers, installers/ service personnel, and application engineers.
Only specialists may install, program and commission the product. Specialist staff are persons who
· have appropriate training and experience in working with motors and their controller,
· are familiar with and understand the content of this technical manual, · know the applicable regulations.
Warranty and disclaimer
Nanotec shall not be liable for damage and malfunctions attributable to installation errors, failure to observe this document or improper repair. The plant engineer, operating company and user shall be responsible for the selection, operation and use of our products. Nanotec shall not take responsibility for integration of the product in the end system. The general terms and conditions listed at www.nanotec.de shall apply. Note: Conversion/modification as well as opening of the product are prohibited.
Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
· Accident-prevention regulations · Local regulations on occupational safety
EU directives for product safety
The following EU directives were observed:
· RoHS directive (2011/65/EU, 2015/863/EU) · EMC directive (2014/30/EU)
Safety and warning notices
NOTICE
Damage to the controller! Changing the wiring during operation may damage the controller. Only change the wiring in a de-energized state. After switching off, wait until the capacitors have discharged.
NOTICE
Damage to the controller due to excitation voltage of the motor! Voltage peaks during operation may damage the controller. Install suitable circuits (e.g., charging capacitor) that reduce voltage peaks.
NOTICE
Damage to the electronics through improper handling of ESD-sensitive components! The device contains components that are sensitive to electrostatic discharge. Improper handling can damage the device. Observe the basic principles of ESD protection when handling the device.
Technical details and pin assignment
Environmental conditions
Environmental condition
Value
Protection class
IP20
Degree of contamination
2
Ambient temperature (operation)
-10 … +40°C
Ambient temperature (storage and transport)
-25 … +85°C
Relative humidity (operation), non-condensing
0 … 85%
Relative humidity (storage and transport), non-condensing 0 … %
Absolute humidity (storage and transport), noncondensing
30g/m3
Max. altitude of site above sea level
2000m (drop in performance above 1000m: -1%/100m)
Max. altitude of site above sea level (storage and transport)
3000m
Electrical properties and technical data
Property Operating voltage Rated current Peak current
Commutation
Operating modes
Set value setting / programming Interfaces Inputs
Outputs Brake connection Sensor inputs
Description / value
12 V -5%…57.6 V DC 6Arms
N6-1-… (low current): 6Arms N6-2-… (high current): 18Arms for 5 seconds
Stepper motor open loop, stepper motor closed loop with encoder, BLDC motor closed loop with Hall sensor, and BLDC motor closed loop with encoder Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Interpolated Position Mode, Cyclic Sync Position Mode, Cyclic Sync Velocity Mode, Cyclic Synchronous Torque Mode, Clock-Direction Mode CANopen, Clock-direction, analog, NanoJ program
CANopen, USB
· 6 inputs, 5 V/24 V (=UB_Logic), switchable by means of software, factory setting: 5 V
· 2 analog inputs 0 to +24 V, 12-bit resolution
3 outputs, 5 V/24 V (=UB_Logic), switchable by means of software, 100 mA 1 PWM output, max. 1.5 A, 20 kHz 1 incremental encoder (5 V), 3 Hall sensors (5 V), 1 SSI encoder (10 V)
Property Protection circuit
Description / value
Overvoltage and undervoltage protection Overtemperature protection (> 75° Celsius on the power board) Polarity reversal protection
Dimensioned drawings and installation options
You can secure the controller by its side tabs to a flat mounting surface using screws or mount it on a TH35 DIN rail in your switch cabinet using the supplied DIN rail clip.
Overtemperature protection
Above a temperature of approx. 75°C on the power board the power part of the controller switches off and the fault bit is set. After cooling down and resetting the fault , the controller again functions normally.
LED signaling
Power LED The power LED indicates the current status.
Normal operation In normal operation, the green power LED L1 flashes briefly once per second.
Case of an error If an error has occurred, the LED turns red and signals an error number. The following table shows the meaning of the error numbers.
Flash rate
1 2 3 4 5 6
Error
General Voltage Temperature Overcurrent Controller Watchdog-Reset
NOTICE For each error that occurs, a more precise error code is stored in object 1003h.
Pin assignment Pin 1 and 2 are marked below.
Connector Function
X1
min. : 1 mm2 (AWG 17)
Motor
Note: Motor wires are to be routed through ferrites (74271222 from Würth or equivalent).
X2
UB: 1 mm2 (AWG 17)
Supply
UB_Logic; 0.8 mm2 (AWG 18)
X4
In- / Outputs
X5
SSI Encoder
Pin assignment / description
1. A (Stepper)
U (BLDC) 2. A (Stepper)
V (BLDC) 3. B (Stepper)
W (BLDC) 4. B (Stepper)
1. GND_L-, GND for the Logic Supply UB_Logic
2. +UB_Logic;12 V – 30 V DC 3. Ballast4. Ballast+ 5. GND_P, GND for the Main Supply UB 6. +UB;12 V – 57,6 V DC
1. +10 V; Output voltage, max. 350 mA 2. GNDD; GND for digital In/Outs 3. +5 V; Output voltage, max. 350 mA 4. GNDD; GND for digital In/Outs 5. Digital output 1:5 / 24 V (UB_Logic)
switchable, 100mA 6. Digital output 2: :5 / 24 V (UB_Logic)
switchable, 100mA 7. Digital output 3: :5 / 24 V (UB_Logic)
switchable, 100mA 8. GNDD; GND for digital In/Outs 9. Digital input 1; 5 V / 24 V, switchable 10. Digital input 2; 5 V / 24 V, switchable 11. Digital input 3; 5 V / 24 V, switchable 12. Digital input 4; 5 V / 24 V, switchable 13. Digital input 5; 5 V / 24 V, switchable 14. Digital input 6; 5 V / 24 V, switchable 15. GNDA; GND for Analog input 16. Analog input 1: 0 V…+24 V, 12-Bit-
resolution 17. GNDA; GND for Analog input 18. Analog input 2: 0 V…+24 V, 12-Bit-
resolution 19. Brake-: GND for brake 20. Brake+: PWM-controlled output, 5 V /
24 V switchable, up to 20 KHz, max. 1500 mA
1. GND 2. SHIELD 3. n.c. 4. DATA B 5. DATA A 6. CLCK B; up to 10 MHz 7. CLCK A; up to 10 MHz 8. Vcc; +10 V DC, outputs- und Supply
voltage for SSI Encoder, max. 350 mA
Connector Function
Pin assignment / description
X6
Incrmental encoder 1. GND
and Hall sensor
2. Vcc: +5 V DC, output,Supply voltage
Max. 1MHz
for Encoder / Hall Sensor; max. 350 mA
3. A
4. B
5. A
6. B
7. I
8. I
9. Hall 1
10. Hall 2
11. Hall 3
12. Shielding Connector for the shileding
X7
CANopen IN / OUT 1. GND
2. GND
3. CAN_L
4. CAN_L
5. CAN_H
6. CAN_H
S1
DIP switch for 120 OFF (down): The CAN bus termination is
termination for CAN- off.
Bus.
ON (up): The CAN bus termination is on.
S2 and S3
Two Hex coding switches for setting the Node-ID and baud rate:
· S2: 161 · S3: 160
Value
Node-ID
of the
switches
Baud rate
0h 1-7Fh 80h 81h-FFh
Object 2009h
Value of the switches
1MBd 1MBd
Object
Object
2009h
2005h
(Value
Object
of the
2005h
switches)-128
NOTICE
EMC: For a DC power supply line longer than 30 m or when using the motor on a DC bus, additional interferencesuppression and protection measures are necessary. An EMI filter (810911010 from Würth or equivalent) is to be inserted in the DC supply line(s) as close as possible to the controller/motor. Long data or supply lines are to be routed through ferrites. Motor wires are to be routed through ferrites (74271222 from Würth or equivalent).
Commissioning
The Plug & Drive Studio 3 software offers you an option for performing the configuration and adapting the controller to the connected motor. You can find further information in document Plug & Drive Studio: User Manual at us.nanotec.com.
CAUTION
The loss of the safety function due to incorrect wiring may lead to injuries! Incorrect wiring or the use of unsuitable external components may lead to the loss of the safety function. This could result in injuries. Only use components that correspond to the safety category of the application. Check the electrical installation (wiring, pin assignment) and validate the STO function prior to the initial commissioning and after every intervention in the wiring and each time components/ equipment are replaced. Do not bypass the STO function. If the wiring for the initial commissioning does not correspond to the required safety category of the application, remove it immediately after the initial commissioning.
CAUTION
The loss of the safety function due to electromagnetic interference may lead to injuries! External interference may affect and result in the loss of the safety function. Observe the maximum permissible cable length of 30 m for all STO signals. Longer cables reduce the interference immunity (EMC) and require additional interference-suppression and protection measures. Use shielded cables for the STO signals. Lay supply, signal and control cables physically separate from one another.
Configuration via USB
General
The following options are available for configuring the controller via USB:
Configuration file This file can be saved to the controller via the USB connection. For further information, read chapters USB connection and Configuration file.
NanoJ program This program can be programmed, compiled and then transferred to the controller with NanoJ via USB. NanoJ is integrated in the Plug & Drive Studio 3 software. You can find further information in document Plug & Drive Studio 3: User manual at us.nanotec.com.
After connecting to a voltage supply, the controller reads out the configuration in the following order:
1. The configuration file is read out and processed. 2. The NanoJ program is started.
USB connection
NOTICE
Damage of the product and/or external hardware due to potential differences on the USB. Connecting the USB cable while the electronic is powered on (Hot-Plugging) possibly causes damage. Connect the USB bevor you switch on the voltage supply. If possible, balance any potential differences between PC and the product or use a USB isolator. Connect the USB cable first to the product and then to the PC.
If the controller is connected to a PC via a USB cable, an MTP device is created in the Windows file explorer, which contains a data storage device.
Three files are displayed: the configuration file (cfg*.txt), the NanoJ program (nanoj*.usr) and the firmware file (*.fw). You can thereby store the configuration file or the NanoJ program on the controller. The voltage supply of the controller must also be connected during USB operation.
Configuration file
General
The cfg.txt configuration file is used to preset values for the object dictionary to a certain value during startup. This file uses a special syntax to make accessing the objects of the object dictionary as easy as possible. The controller evaluates all assignments in the file from top to bottom.
Reading and writing the file
How to access the file:
1. Connect and switch on the voltage supply. 2. Connect the controller to your PC using the USB cable. 3. After the PC has detected the device as a removable storage device,
navigate in the Explorer to the directory of the controller. File cfg.txt is stored there. 4. Open this file with a simple text editor, such as Notepad or Vi. Do not use any programs that use markup (LibreOffice or similar).
After you have made changes to the file, proceed as follows to apply the changes through a restart:
1. Save the file if you have not yet already done so. The motor stops. 2. Disconnect the USB cable from the controller. 3. Disconnect the voltage supply from the controller for approx. 1 second until
the power LEDs stop flashing. 4. Reconnect the voltage supply. When the controller is now restarted, the
values in the configuration file are read out and applied.
Establishing communication via CANopen
1. Connect the CANopen master to the controller via the CAN_L, CAN_H cables. Check the connection of your CAN-GND and that the necessary termination resistor termination resistor is present between CAN_H and CAN_L.
2. Supply the controller with voltage (+UB Logic).
3. Change the configuration values if necessary.
4. To test the interface, send bytes 40 41 60 00 00 00 00 00 to the controller. Statusword (6041h) was read; you receive this response: 4B 41 60 00 XX XX 00 00.
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 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.
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 in the technical manual.
· Motor with brake: Object 3202h:00h (Motor Drive Submode Select): The brake control is activated for the initial commissioning. Depending on the specific application, this configuration can be deactivated later if necessary. One of the following values is to be entered depending on the motor type:
– Stepper motor, brake control activated: 00000004h – BLDC motor, brake control activated, closed-loop: 00000045h
NOTICE
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.
Auto setup
To determine a number of parameters related to the motor and the connected sensors (encoders/Hall sensors), you must perform an auto setup.
TIP
As long as the motor connected to the controller or the sensors for feedback (encoders/Hall sensors) are not changed, auto setup is only to be performed once during initial commissioning.
NOTICE
Note the following prerequisites for performing the auto setup: The motor must be load-free. The motor must not be touched. The motor must be able to turn freely in any direction. No NanoJ programs may be running (object 2300h:00h bit 0 = “0”).
Execution
1. To preselect the auto setup operating mode, enter the value “-2″ (=”FEh”) in object 6060h:00h. The power state machine must now switch to the Operation enabled state.
2. Start auto setup by setting bit 4 OMS in object 6040h:00h (controlword).
To determine the values, the direction of the measurement method is reversed and edge detection re-evaluated.
Value 1 in bit 12 OMS in object 6041h:00h (statusword) indicates that the auto setup was completely executed and ended. In addition, bit 10 TARG in object 6041h:00h can be used to query whether (= “1”) or not (= “0”) an encoder index was found.
Master/Software
Motion Controller
write 6040h:00h = 0006h read 6041h:00h (Bit 9, 5 und 0 = 1?)
write 6060h:00h = FEh write 6040h:00h = 0007h read 6041h:00h (Bit 9, 5, 4, 1, 0 = 1?)
write 6040h:00h = 000Fh read 6041h:00h (Bit 9, 5, 4, 2, 1, 0 = 1?)
read 6061h:00h (= FEh?) write 6040h:00h = 001Fh
Wait for auto-setup to finish.
read 6041h:00h (Bit 12, 9, 5, 4, 2, 1, 0 = 1?)
write 6040h:00h = 0000h
CAUTION!
Uncontrolled motor movements!
!
After the auto setup, the internal coordinate system is no longer valid. Unforeseen reactions can result.
Restart the device after an auto setup. Homing alone
does not suffice.
Documents / Resources
 | Nanotec N6 Series Motor Controller [pdf] Instruction Manual N6-1-2-1, N6-2-2, N6 Series Motor Controller, N6 Series, Motor Controller, Controller |