2.2. Nanotec Stepper Motor

Summary:	NanotecStepMotor
Type:	Actuator
License:	licensed under LGPL
Platforms:	Windows
Devices:	Motor-Controller Nanotec SMCP
Author:	H. Bieger, M. Gronle, ITO, University Stuttgart

2.2.1. Overview

The plugin implements the controllers SMCP from Nanotec.

NanotecStepMotor is an itom-plugin, which can be used to communicate with the Nanotec controllers SMCP. It has been tested with one connected controller SMCP33 and 4 axis.

2.2.2. Initialization

The following parameters are mandatory or optional for initializing an instance of this plugin:

serial: Union[itom.dataIO, itom.actuator]
An initialized SerialIO

Only plugin “SerialIO” is allowed

axisID: Sequence[int]
internal ID of axis (default 1, 2, 3, …), range: 1..254

Allowed number of values: 1 - 255, Value range: [1, 254], Default: [ ]

axisSteps: Sequence[float]
number of full steps per unit (deg or mm) of axis

Allowed number of values: 1 - 255, Value range: [0, inf], Default: [ ]

units: Sequence[int], optional
unit of axis, 0: degree [default], 1: mm

Allowed number of values: 1 - 255, Value range: [0, 1], Default: [ ]

2.2.3. Parameters

These parameters are available and can be used to configure the NanotecStepMotor instance. Many of them are directly initialized by the parameters of the constructor. During the runtime of an instance, the value of these parameters is obtained by the method getParam, writeable parameters can be changed using setParam.

accel: {seq. of int}: motor shaft acceleration, range: 1..65.535 [default 2.364]
async: {int}: asychronous (1) or sychronous (0) [default] mode
axisID: {seq. of int}: internal ID of axis
axisSteps: {seq. of float}, read-only: number of full steps per unit (deg or mm) of axis, 0: axis not connected [default]
coilCurrent: {seq. of int}: coil current if motor is running, range: 0..100
coilCurrentRest: {seq. of int}: coil current if motor is in rest, range: 0..100
decel: {seq. of int}: motor shaft deceleration, range: 1..65.535 [default 2.364]
deviceID: {str}, read-only: Name of controller
devicePort: {int}, read-only: Serial port of device
microSteps: {seq. of int}: micro steps for motor [1, 2, 4, 5, 8, 10, 16, 32, 64]
name: {str}, read-only: NanotecStepMotor
numaxis: {int}, read-only: Number of axis
speed: {seq. of int}: target speed range: 1..1.000.000 [default 1.000]
units: {seq. of int}, read-only: unit of axis, 0: degree [default], 1: mm

2.2.4. Usage

In order to open an instance of NanotecStepMotor, create an instance of serialIO first. Then pass this instance to the constructor of NanotecStepMotor. The motor plugin configures the serial connection with the right parameter set.

At the time of the initialization you have to indicate which Nanotec axis IDs should be controlled by this plugin. For each connected axis, you further have to indicate the number of full steps per unit, whereas the unit can be either in mm or degree.

In the following example, the axes 1 and 4 are connected (controllable by the plugin axis numbers 0 and 1 respectively). They both run at 10 full steps per mm (1) (hence: linear axes):

ser = dataIO(“SerialIO”,4,115200,”r”,8,1) mot = actuator(“NanotecStepMotor”,ser,[1,4],[10,10],[1,1])