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 Technosoft 2013 

68 

iPOS360x MX Technical Reference  

5.  Step 3. Motion Programming 

5.1.  Using a CANopen Master (for iPOS360x CANopen execution) 

The iPOS360x drive conforms to 

CiA 301 v.4.2

 application layer and communication profile, 

CiA 

WD

 

305 v.2.2.13

  layer  settings  services  and protocols  and 

CiA  DSP  402

 

v3.0

  device profile for 

drives and motion control the now included in IEC 61800-7-1 Annex A, IEC 61800-7-201 and IEC 
61800-7-301  standards.  For  details  see 

iPOS  CANopen  Programming 

(part  no. 

P091.063.iPOS.UM.xxxx)

.

 

5.1.1. 

CiA-301 Application Layer and Communication Profile Overview 

The iPOS360x drive accepts the following basic services and types of communication objects of 
the CANopen communication profile CiA301 v4.2: 

 

Service Data Object (SDO) 

Service Data Objects (SDOs) are used by CANopen master to access any obje

ct from the drive’s 

Object Dictionary. Both expedited and segmented SDO transfers are supported. SDO transfers are 
confirmed services. The SDOs are typically used for drive configuration after power-on, for PDOs 
mapping  and  for  infrequent  low  priority  communication  between  the  CANopen  master  and  the 
drives.  

 

Process Data Object (PDO) 

Process Data Objects (PDO) are used for high priority, real-time data transfers between CANopen 
master and the drives. The PDOs are unconfirmed services which are performed with no protocol 
overhead.  Transmit  PDOs  are  used  to send data from  the  drive,  and receive  PDOs  are  used  to 
receive on to the drive. The iPOS360x accepts 4 transmit PDOs and 4 receive PDOs. The contents 
of  the  PDOs  can be set  according  with  the  application needs  using the  dynamic  PDO-mapping.  
This operation can be done during the drive configuration phase using SDOs.  

 

Synchronization Object (SYNC) 

The  SYNC  message  provides  the  basic  network  clock,  as  the  SYNC  producer  broadcasts  the 
synchronization object periodically. The service is unconfirmed. The iPOS360x supports both SYNC 
consumer and producer. 

 

Time Stamp Object (TIME) 

The Time Stamp Object is supported by the iPOS360x device. 

 

Emergency Object (EMCY) 

Summary of Contents for iPOS360x MX

Page 1: ...iPOS360x MX Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drive Technical Reference Technosoft 2014 ...

Page 2: ......

Page 3: ...X Technical Reference P091 028 iPOS360x MX UM 0614 Technosoft S A Avenue des Alpes 20 CH 2000 NEUCHATEL Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 e mail contact technosoftmotion com http www technosoftmotion com ...

Page 4: ......

Page 5: ... family of intelligent servo drives including the following products iPOS3602 MX CAN p n P028 001 E101 iPOS3604 MX CAN p n P028 002 E101 In order to operate the iPOS360x drives you need to pass through 3 steps Step 1 Hardware installation Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning Step 3 Motion programming using one of the options A CANopen master1 The drive s b...

Page 6: ...iated object dictionary for CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards Motion Programming using EasyMotion Studio part no P091 034 ESM UM xxxx describes how to use the EasyMotio...

Page 7: ...TML_LIB_CJ1 part no P091 040 CJ1 UM xxxx explains how to program in a PLC Omron series CJ1 a motion application for the Technosoft intelligent drives using TML_LIB_CJ1 motion control library for PLCs The TML_LIB_CJ1 library is IEC61131 3 compatible TML_LIB_X20 part no P091 040 X20 UM xxxx explains how to program in a PLC B R series X20 a motion application for the Technosoft intelligent drives usi...

Page 8: ... general information or assistance see Note Ask questions about product operation or report suspected problems see Note Make suggestions about or report errors in documentation see Note World Wide Web http www technosoftmotion com Email contact technosoftmotion com Fax 41 32 732 55 04 Email hotline technosoftmotion com Mail Technosoft SA Avenue des Alpes 20 CH 2000 Neuchatel Switzerland ...

Page 9: ...acteristics 15 2 5 5 Logic Supply Input VLOG 15 2 5 6 Motor Supply Input VMOT 15 2 5 7 Motor Outputs A A B A C B BR B 16 2 5 8 Digital Inputs IN0 IN1 IN2 LSP IN3 LSN IN4 Enable 16 2 5 9 Digital Outputs OUT0 OUT2 Error OUT3 Ready 17 2 5 10 Digital Hall Inputs Hall1 Hall2 Hall3 17 2 5 11 Encoder Inputs A A A B B B Z Z Z 18 2 5 12 Linear Hall Inputs LH1 LH2 LH3 19 2 5 13 Sin Cos Encoder Inputs Sin Si...

Page 10: ...ction 55 3 4 13 CAN bus connection 55 3 4 14 Disabling Autorun Mode 58 4 Step 2 Drive Setup 59 4 1 Installing EasySetUp 59 4 2 Getting Started with EasySetUp 59 4 2 1 Establish communication 60 4 2 2 Setup drive motor 61 4 2 3 Download setup data to drive motor 63 4 2 4 Evaluate drive motor behavior optional 64 4 3 Changing the drive Axis ID 64 4 4 Setting CANbus rate 66 4 5 Creating an Image File...

Page 11: ... 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 82 6 1 2 Brushless motor with linear Hall signals 82 6 1 3 Step motor open loop control No feedback device 83 6 1 4 Step motor open loop control Incremental encoder on load 83 6 1 5 Brushless motor with sine cosine encoder on motor 84 6 2 Speed units 84 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 84 6 2 2 Brus...

Page 12: ...s 96 6 11 Motor position units 96 6 11 1 Brushless DC brushed motor with quadrature encoder on motor 96 6 11 2 Brushless motor with linear Hall signals 96 6 11 3 Step motor open loop control No feedback device 97 6 11 4 Step motor open loop control Incremental encoder on load 97 6 11 5 Step motor closed loop control Incremental encoder on motor 97 6 11 6 Brushless motor with sine cosine encoder on...

Page 13: ... Technosoft 2014 XI iPOS360x MX Technical Reference This page is empty 1 Safety information ...

Page 14: ...sembling install ing commissioning and operating drives The following safety symbols are used in this manual WARNING SIGNALS A DANGER THAT MIGHT CAUSE BODILY INJURY TO THE OPERATOR MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION CAUTION INDICATES AREAS SENSIT...

Page 15: ... TECHNOSOFT CAUTION THE iPOS360x IS AN ELECTROSTATICALLY SENSITIVE DEVICE WHICH WILL BE DAMAGED BY INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT To prevent electrostatic damage avoid contact with insulating materials such as synthetic fabrics or plastic surfaces In order to discharge static electricity build up place the driv...

Page 16: ...on modes and or the motion parameters Executing homing sequences Controlling the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analogue input signals Executing arithmetic and l...

Page 17: ...of the TML_LIB motion libraries For iPOS360x commissioning EasySetUp or EasyMotion Studio PC applications may be used EasySetUp is a subset of EasyMotion Studio including only the drive setup part The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With EasySe...

Page 18: ...nces Various motion programming modes Position profiles with trapezoidal or S curve speed shape Position Velocity Time PVT 3rd order interpolation Position Time PT 1st order interpolation Electronic gearing and camming1 35 Homing modes Single ended and RS 422 differential encoder interface Single ended open collector Digital Hall sensor interface Linear Hall sensor interface Analogue Sin Cos encod...

Page 19: ...uous 3 2A peak iPOS3604 MX CAN 4A2 continuous 10A peak Operating ambient temperature 0 40 C over 40 C with derating Hardware Protections Short circuit between motor phases Short circuit from motor phases to ground Over voltage Under voltage Over current 1 2A cont with DC step and BLDC motors trapezoidal 2A amplitude 1 41ARMS for PMSM sinusoidal 2 4A cont with DC step and BLDC motors trapezoidal 4A...

Page 20: ...ol of a brushless AC rotary motor with an incremental sine cosine encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI unit...

Page 21: ...y or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Figure 2 4 Brushless DC rotary motor Position speed torque control Hall sensors and quadrature encoder on motor 5 Position speed or torque control of a brushless AC linear motor with an incremental quad...

Page 22: ...ad2 while the same commands expressed in IU units refer to the motor Figure 2 6 Brushless AC rotary motor with linear Hall signals Position speed torque control 7 Position speed or torque control of a brushless AC linear motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors ta...

Page 23: ...fer to the load1 while the same commands expressed in IU units refer to the motor Figure 2 8 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 9 Open loop control of a 2 or 3 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and accel...

Page 24: ... Closed loop control load position open loop control motor speed 11 Closed loop control of a 2 phase step motor in position speed or torque Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands expressed in SI units or derivatives refer to the load1 while the same commands expressed in IU units refer to the motor Figure 2 11 ...

Page 25: ... Technosoft 2014 13 iPOS360x MX Technical Reference 2 4 iPOS360x MX Drive Dimensions Figure 2 12 iPOS360x MX drive dimensions All dimensions are in mm The drawings are not to scale ...

Page 26: ... Original packaging 15 kV 2 5 3 Mechanical Mounting Min Typ Max Units Airflow natural convection3 closed box Spacing required for vertical mounting Between adjacent drives 30 mm Between drives and nearby walls 30 mm Between drives and roof top 20 mm Spacing required for horizontal mounting Between adjacent drives 4 mm Between drives and nearby walls 5 mm Space needed for drive removal 10 mm Betwee...

Page 27: ...age Nominal values 7 36 VDC Absolute maximum values drive operating but outside guaranteed parameters 4 9 40 VDC Absolute maximum values continuous 0 7 42 VDC Absolute maximum values surge duration 10ms 1 45 V Supply current VLOG 7V 125 300 mA VLOG 12V 80 200 VLOG 24V 50 125 VLOG 40V 40 100 2 5 6 Motor Supply Input VMOT Min Typ Max Units Supply voltage Nominal values 9 36 VDC Absolute maximum valu...

Page 28: ...act resistance 0 3 0 5 V Off state leakage current 0 5 1 mA Motor inductance phase to phase Recommended value for ripple 5 of measurement range VMOT 36 V FPWM 20 kHz 250 H FPWM 40 kHz 120 FPWM 60 kHz 100 FPWM 80 kHz 60 FPWM 100 kHz 45 Absolute minimum value limited by short circuit protection VMOT 36 V FPWM 20 kHz 75 H FPWM 40 kHz 25 FPWM 60 kHz 20 FPWM 80 kHz 10 FPWM 100 kHz 5 Motor electrical ti...

Page 29: ...ogic HIGH OUT2 Error OUT3 Ready Logic LOW Normal operation OUT0 OUT2 Error Logic HIGH OUT3 Ready Logic LOW Output voltage Logic LOW output current 0 5A 0 2 0 8 V Logic HIGH output current 0 no load OUT2 Error OUT3 Ready 2 9 3 3 3 OUT0 4 4 5 5 Logic HIGH external load to VLOG VLOG Absolute maximum continuous 0 5 VLOG 0 5 Absolute maximum surge duration 1S 1 VLOG 1 Output current Logic LOW sink curr...

Page 30: ... Z Logic LOW Pull to GND 2 5 3 mA Logic HIGH Internal 2 2K pull up to 5 0 0 0 Differential mode compliance For full RS422 compliance see 1 TIA EIA 422 A Input voltage differential mode Hysteresis 0 06 0 1 0 2 V Common mode range A to GND etc 7 7 Input impedance differential A to A B to B 4 2 4 7 KΩ Z to Z 6 1 7 2 Input frequency Single ended mode Open collector NPN 0 500 KHz Differential mode or S...

Page 31: ...4 V Absolute maximum values continuous 7 7 Absolute maximum surge duration 1S 11 14 Input impedance Differential Sin to Sin Cos to Cos 1 4 2 4 7 KΩ Common mode to GND 2 2 KΩ Interpolation Resolution Depending on software settings 11 bits Frequency Sin Cos interpolation 0 450 KHz Quadrature no interpolation 0 10 MHz ESD protection Human body model 1 KV 2 5 14 Analog 0 5V Inputs REF Min Typ Max Unit...

Page 32: ...x Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud Short circuit protection 232TX short to GND Guaranteed ESD protection Human body model 2 KV 2 5 17 CAN Bus Min Typ Max Units Standards compliance ISO11898 CiA 301v4 2 CiA DSP402v3 0 Bit rate Depending on software settings 125 1000 Kbps Bus length 1Mbps 25 M 800Kbps 50 500Kbps 100 250Kbps 250 Number ...

Page 33: ...ing with altitude Figure 2 15 iPOS3602 MX Current De rating with PWM frequency Figure 2 16 iPOS3602 MX Over current diagram 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 2 2 50 55 60 65 Current A Ambient Temperature ºC Temperature De rating 20KHz 3 phase 100KHz 3 phase 20KHz 4 phase 20KHz 3 phase 24V 100KHz 3 phase 24V 0 0 5 1 1 5 2 2 5 0 1 2 3 4 5 6 7 8 9 10 Current A Altitude Km Altitude De rating 0 0 2...

Page 34: ... 80 90 100 Output Voltage V OUT V MOT PWM Frequency KHz Output Voltage De rating 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 35 40 45 50 55 60 65 Current A Ambient Temperature ºC Temperature De rating 20KHz 3 phase 100KHz 3 phase 20KHz 4 phase 20KHz 3 phase 24V 100KHz 3 phase 24V 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 0 1 2 3 4 5 6 7 8 9 10 Current A Altitude Km Altitude De rating 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 0 10 20 3...

Page 35: ... Technosoft 2014 23 iPOS360x MX Technical Reference CAUTION FOR PWM FREQUENCIES LESS THAN 20 KHZ CORRELATE THE PWM FREQUENCY WITH THE MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE ...

Page 36: ...s of the iPOS360x Using a 2 layer PCB is possible when some of the iPOS360x pins remain un connected Below is a list of recommendations for the PCB design of the motherboard Motor supply and motor outputs use islands areas of copper to escape connector area this will maximize current capability When using simple tracks use at least 100mil cross section 75mil track width for 1oz ft2 copper thicknes...

Page 37: ... the current flow between each iPOS360x and it s decoupling VMOT capacitor For best EMC performance it is strongly recommended to provide an un interrupted ground plane on one of the inner layers All GND pins of the iPOS360x are galvanically connected together on board the iPOS360x If the motherboard provides an uninterrupted ground plane it is recommended to connect all GND pins to the ground pla...

Page 38: ... THE EEPROM CONTENTS IS ACCIDENTALLY CORRUPTED CAUTION THE iPOS360x IS AN ELECTROSTATICALLY SENSITIVE DEVICE WHICH WILL BE DAMAGED BY INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT 3 3 Mating Connector and Retainer Connectors type Ref Producer On board connector Mating connector J1 J2 Fischer Elektronik SL 1 053 012 G BL 5 12 ...

Page 39: ... Technosoft 2014 27 iPOS360x MX Technical Reference 3 4 Connector and Connection Diagrams 3 4 1 Connector Layout Figure 3 2 iPOS360x MX drive connectors ...

Page 40: ... Technosoft 2014 28 iPOS360x MX Technical Reference 3 4 2 Identification Labels Figure 3 3 iPOS360x MX CAN Identification Labels ...

Page 41: ...put Hall 1 sensor 11 Hall 2 I Digital input Hall 2 sensor 12 Hall 3 I Digital input Hall 3 sensor 13 OUT0 O 5 36V 0 5A general purpose digital output NPN open collector TTL pull up 14 REF I Analogue input 12 bit 0 5V Used to read an analog position speed or torque reference or used as general purpose analogue input 15 Z Z I Incr encoder Z index single ended or Z diff input 16 Z LH3 I Incr encoder ...

Page 42: ...egative limit switch input 11 IN4 Enable I 5 36V digital input Drive enable input 12 GND Return ground 13 5VOUT O 5V output supply 14 AxisID 2 I Axis ID Address input 7 states floating strap to GND or 5V resistor 4K7 or 22K to GND or 5V 15 AxisID 1 I Axis ID Address input 7 states floating strap to GND or 5V resistor 4K7 or 22K to GND or 5V 16 AxisID 0 I Axis ID Address input 7 states floating str...

Page 43: ...input level is set for CANopen operation Table 3 1 shows how to set all possible values for axis ID in this mode of operation Remarks 1 AxisID value is computed with formula 49 x AxisID2 7 x AxisID1 AxisID0 where each AxisID can have one of the integer values 0 to 6 0 for L0 1 for L1 2 for L2 etc 2 If the resulting AxisID value is 0 all 3 inputs are connected to GND the axis ID will be set to 127 ...

Page 44: ... Technosoft 2014 32 iPOS360x MX Technical Reference Figure 3 4 Axis ID Setting Examples CANopen mode ...

Page 45: ... Technosoft 2014 33 iPOS360x MX Technical Reference Figure 3 5 Axis ID Setting Examples TMLCAN mode ...

Page 46: ... L0 L3 L2 23 L0 L3 L3 24 L0 L3 L4 25 L0 L3 L5 26 L0 L3 L6 27 L0 L4 L0 28 L0 L4 L1 29 L0 L4 L2 30 L0 L4 L3 31 L0 L4 L4 32 L0 L4 L5 33 L0 L4 L6 34 L0 L5 L0 35 Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen L0 L5 L1 36 L0 L5 L2 37 L0 L5 L3 38 L0 L5 L4 39 L0 L5 L5 40 L0 L5 L6 41 L0 L6 L0 42 L0 L6 L1 43 L0 L6 L2 44 L0 L6 L3 45 L0 L6 L4 46 L0 L6 L5 47 L0 L6 L6 48 L1 L0 L0 49 L1 L0 L1 50 L1 L0 L2 51 L1 L0 L3 5...

Page 47: ...00 L2 L0 L3 101 L2 L0 L4 102 L2 L0 L5 103 L2 L0 L6 104 L2 L1 L0 105 L2 L1 L1 106 L2 L1 L2 107 L2 L1 L3 108 L2 L1 L4 109 Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen L2 L1 L5 110 L2 L1 L6 111 L2 L2 L0 112 L2 L2 L1 113 L2 L2 L2 114 L2 L2 L3 115 L2 L2 L4 116 L2 L2 L5 117 L2 L2 L6 118 L2 L3 L0 119 L2 L3 L1 120 L2 L3 L2 121 L2 L3 L3 122 L2 L3 L4 123 L2 L3 L5 124 L2 L3 L6 125 L2 L4 L0 126 L2 L4 L1 255 L2 L4...

Page 48: ...L1 22 L3 L3 L2 23 L3 L3 L3 24 L3 L3 L4 25 L3 L3 L5 26 L3 L3 L6 27 L3 L4 L0 28 L3 L4 L1 29 L3 L4 L2 30 L3 L4 L3 31 L3 L4 L4 32 L3 L4 L5 33 L3 L4 L6 34 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN L3 L5 L0 35 L3 L5 L1 36 L3 L5 L2 37 L3 L5 L3 38 L3 L5 L4 39 L3 L5 L5 40 L3 L5 L6 41 L3 L6 L0 42 L3 L6 L1 43 L3 L6 L2 44 L3 L6 L3 45 L3 L6 L4 46 L3 L6 L5 47 L3 L6 L6 48 L4 L0 L0 49 L4 L0 L1 50 L4 L0 L2 51 L4 L0 ...

Page 49: ... L5 L0 L2 100 L5 L0 L3 101 L5 L0 L4 102 L5 L0 L5 103 L5 L0 L6 104 L5 L1 L0 105 L5 L1 L1 106 L5 L1 L2 107 L5 L1 L3 108 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN L5 L1 L4 109 L5 L1 L5 110 L5 L1 L6 111 L5 L2 L0 112 L5 L2 L1 113 L5 L2 L2 114 L5 L2 L3 115 L5 L2 L4 116 L5 L2 L5 117 L5 L2 L6 118 L5 L3 L0 119 L5 L3 L1 120 L5 L3 L2 121 L5 L3 L3 122 L5 L3 L4 123 L5 L3 L5 124 L5 L3 L6 125 L5 L4 L0 126 L5 L4 L1...

Page 50: ...L2 L1 162 L6 L2 L2 163 L6 L2 L3 164 L6 L2 L4 165 L6 L2 L5 166 L6 L2 L6 167 L6 L3 L0 168 L6 L3 L1 169 L6 L3 L2 170 L6 L3 L3 171 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN L6 L3 L4 172 L6 L3 L5 173 L6 L3 L6 174 L6 L4 L0 175 L6 L4 L1 176 L6 L4 L2 177 L6 L4 L3 178 L6 L4 L4 179 L6 L4 L5 180 L6 L4 L6 181 L6 L5 L0 182 L6 L5 L1 183 L6 L5 L2 184 L6 L5 L3 185 L6 L5 L4 186 L6 L5 L5 187 L6 L5 L6 188 L6 L6 L0 189...

Page 51: ...al supply VLOG for using the 24V outputs 2 The maximum sink current is 0 5A continuous up to 1A pulsed for less than 5 seconds 3 The inputs are compatible with NPN type outputs input must be pulled to GND to change it s default state 4 The outputs are compatible with NPN type inputs load is tied to common VLOG output pulls to GND when active and is floating when inactive ...

Page 52: ... O Connection Figure 3 7 5V Digital I O connection Remarks 1 The inputs are compatible with TTL 5V LVTTL 3 3V CMOS and open collector outputs 2 The outputs are compatible with TTL 5V inputs 3 The output loads can be individually and independently connected to 5V or to GND ...

Page 53: ...1 iPOS360x MX Technical Reference 3 4 8 Analog Inputs Connection 3 4 8 1 0 5V Input Range Figure 3 8 Analog inputs connection Remark Default input range for analog inputs is 0 5 V for REF For a 10 V range see Figure 3 9 ...

Page 54: ... shielded cable as follows 1st wire connects the source plus positive in phase to the drive analogue input 2nd wire connects the source minus negative out of phase to the drive ground GND Shield is connected only at the drive side to the drive GND and is left unconnected at the source side c If the analogue signal source is differential and the signal source ground is common with the drive GND use...

Page 55: ... Technosoft 2013 43 iPOS360x MX Technical Reference 3 4 9 Motor connections 3 4 9 1 Brushless Motor connection Figure 3 10 Brushless motor connection 3 4 9 2 2 phase Step Motor connection ...

Page 56: ...nosoft 2013 44 iPOS360x MX Technical Reference Figure 3 11 2 phase step motor connection one coil per phase Figure 3 12 2 phase step motor connection two coils per phase 3 4 9 3 3 Phase Step Motor connection ...

Page 57: ... Technosoft 2013 45 iPOS360x MX Technical Reference Figure 3 13 3 phase step motor connection 3 4 9 4 DC Motor connection ...

Page 58: ... pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 10nF If very long cables tens of meters are used this condition may not be met In this case add series inductors between the iPOS360x outputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor surge current Typically the necessary val...

Page 59: ... Technosoft 2013 47 iPOS360x MX Technical Reference 3 4 10 1 Single ended Incremental Encoder Connection Figure 3 15 Single ended incremental encoder connection ...

Page 60: ...360x MX Technical Reference 3 4 10 2 Differential Incremental Encoder Connection Figure 3 16 Differential incremental encoder connection Remark 120Ω 0 25W terminators are required for long encoder cables or noisy environments ...

Page 61: ... Technosoft 2013 49 iPOS360x MX Technical Reference 3 4 10 3 Digital Hall Connection Figure 3 17 Digital Hall connection ...

Page 62: ... Technosoft 2013 50 iPOS360x MX Technical Reference 3 4 10 4 Linear Hall Connection Figure 3 18 Linear Hall connection ...

Page 63: ...gative signals when the position sensor is differential and provides them Use one twisted pair for each differential group of signals as follows A Sin with A Sin LH1 B Cos with B Cos LH2 Z with Z LH3 Use another twisted pair for the 5V supply and GND b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Conne...

Page 64: ...ield at both ends c If the iPOS360x 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 μF rated at 6 3V 3 4 11 Power Supply Connection 3 4 11 1 Supply Connection Figure 3 20 Supply connection ...

Page 65: ...gered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2 2 2 NOM MAX M U U E C where UMAX 39V is the over voltage pro...

Page 66: ...r earlier before reaching dangerous voltages when the over voltage protection will stop the drive Of course UBRAKE must always be less than UMAX the over voltage protection threshold Remark This option can be combined with an external capacitor whose value is not enough to absorb the entire regenerative energy EM but can help reducing the brake resistor size Brake resistor selection The brake resi...

Page 67: ...ction 3 4 12 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin B1 of J1 must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the iPOS360x supplies before inserting removing the RS 232 serial connector c Do not rely on an earthed PC ...

Page 68: ...e impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b When using a printed circuit board PCB motherboard based on FR 4 material build the CAN network using a pair of 12mil 0 012 tracks spaced 8 to 10mils 0 008 0 010 apart placed over a local ground plane microstrip which extends at least 1mm left and right to the tracks c Whenever possible use daisy chain links bet...

Page 69: ... Technosoft 2013 57 iPOS360x MX Technical Reference Figure 3 23 Multiple Axis CAN network ...

Page 70: ... first EEPROM location at address 0x4000 b Hardware by temporary connecting all digital Hall inputs to GND during power on for about 1 second until the green LED is turned on as shown in Figure 3 24 This option is particularly useful when it is not possible to communicate with the drive After the drive is set in non Autorun slave mode using 2nd method the 1st method may be used to invalidate the T...

Page 71: ...can quickly setup a drive for your application The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using Technosoft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using Technosoft Ethernet to CAN ...

Page 72: ...pplications written in C C Visual Basic Delphi Pascal or LabVIEW If your host is a PLC TML_LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program Implement on your master the TML commands you need to send to the drives motors using one of the supported communication channels The implementation must be done accordi...

Page 73: ...status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasySetUp tries to communicate via RS 232 and COM1 with a drive havi...

Page 74: ...r technology for example brushless or brushed and type of feedback device for example Incremental encoder Linear Halls The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft drive plus several predefined control panels customized for the product selected ...

Page 75: ...lication In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup 4 2 3 Download setup data to drive motor Press the Download to Drive Motor button to download your setup data in the drive motor EEPROM memory in t...

Page 76: ...sly saved in the PC upload setup data from a drive motor EEPROM memory 4 2 4 Evaluate drive motor behavior optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior In case of errors like protections triggered use the Drive Status control panel to find the cause 4 3 Changing the drive Axis ID The axis ID of an iPOS360x drive...

Page 77: ...see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to 255 for TMLCAN 1 to 127 for CANopen or can indicate that axis ID will be set according with the AxisID inputs levels c If the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol Thi...

Page 78: ...sing the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm a If a valid setup table exists and this setup table was created with the Set baud rate checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be one of the ab...

Page 79: ...our drive A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty raw Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit values maximum 4 he...

Page 80: ...rted SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master and the drives Process Data Object PDO Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are per...

Page 81: ... receive commands from a master 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview When used in a CANopen network the iPOS360x drives accept node ID and CAN bus bit timing settings according with CiA 305 protocol This allows a CANopen master supporting CiA WD 305 to configure each iPOS360x from the network with the desired node ID and CAN bus bit timing CiA 305 protocol allows connect...

Page 82: ...use Technosoft drives offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 Technosoft Motion Language Overview Programming motion directly on a Technosoft drive requires creating and downloading a TML Technosoft Motion Language program into the drive memory The TML allows you to Set various motion modes profiles PVT PT electronic gearing or cam...

Page 83: ... the motion programming of a Technosoft a drive according with your application needs The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using Technosoft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interfa...

Page 84: ...he information needed to configure and parameterize a Technosoft drive This information is preserved in the drive motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The motion component contains the motion sequences to do These are described via a TML Technosoft Motion Language program which is executed by the dri...

Page 85: ...r axis ID The initial value proposed is 255 which is the default axis ID of the drives Press New button and select your drive type Depending on the product chosen the selection may continue with the motor technology for example brushless or brushed and the type of feedback device for example incremental encoder Click on your selection EasyMotion Studio opens the Project window where on the left si...

Page 86: ...ar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasyMotion Studio tries to communicate via RS 232 and COM1 with a drive havi...

Page 87: ...e a Technosoft drive In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each...

Page 88: ... setup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor To summarize you can define or change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 5 2 3 4 Program mot...

Page 89: ...ons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated TML instructions are automatically generated Note that the TML instructions generated are not a simple text included in a file but a motion object Therefore with Motion Wizard you define your motion program as a collection of motion objects The major advantag...

Page 90: ...on application 5 2 4 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format...

Page 91: ...drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in EasyMotion St...

Page 92: ...l of the drive The procedure for modifying the TML interrupts is similar with that for the homing modes 5 4 Using Motion Libraries for PC based Systems A TML Library for PC is a collection of high level functions allowing you to control from a PC a network of Technosoft intelligent drives It is an ideal tool for quick implementation on PCs of motion control applications with Technosoft products Wi...

Page 93: ...e with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a TML Motion Library for PLC you can focus on ...

Page 94: ...its1 is IU Position _ Motor Tr lines _ encoder _ No SI Position _ Load 4 2 where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 2 Brushless motor with linear Hall signals The internal position units are counts The motor is rotary The resolution i e number of counts per revo...

Page 95: ... per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Step motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units 1 is IU Position _ Motor Tr lines _ encoder _ No S...

Page 96: ..._ Enc SI Position _ Load 4 2 For linear motors IU Position _ Motor Tr ion Interpolat accuracy _ Encoder SI Position _ Load where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder_accuracy is the linear encoder accuracy in ...

Page 97: ...he position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load speed in SI units is For rotary motors IU Speed _ Motor T Tr resolution SI Speed _ Load 2 For linear motors Pole_Pitch Load_Speed SI Motor_Speed IU resolution Tr T where resolution is the motor position resolut...

Page 98: ...ed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Step motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is IU Speed _ Load T lines _ encoder _ No s rad Speed _ Load 4 2 where No_encoder_...

Page 99: ... loop sampling period The correspondence with the load speed in SI units is For rotary motors IU Speed _ Motor T Tr ion Interpolat periods _ Enc SI Speed _ Load 4 2 For linear motors IU Speed _ Motor T Tr ion Interpolat accuracy _ Encoder SI Speed _ Load where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in ...

Page 100: ...r transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 2 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period 2 The motor is rotary The position resolution ...

Page 101: ...oop sampling period 2 The correspondence with the load acceleration in SI units is IU on Accelerati _ Motor T Tr steps _ No steps _ No SI on Accelerati _ Load 2 2 where No_steps is the number of motor steps per revolution No_µsteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in S...

Page 102: ...can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 5 Step motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period 2 The transmission is rotary to rotary The correspondence with the load acceleration in SI units is IU on Accelerati _ Motor T Tr lines _ encoder _ No SI on Accelera...

Page 103: ...o interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 Jerk units The internal jerk units are internal position units slow loop sampling period 3 i e the acceleration variation over one slow loop ...

Page 104: ... units is For rotary motors IU Jerk _ Motor T Tr resolution SI Jerk _ Load 3 2 For linear motors 3 Pole_Pitch Load_Jerk SI Motor_Jerk IU resolution Tr T where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue...

Page 105: ...oad jerk in SI units is IU Jerk _ Load T lines _ encoder _ No SI Jerk _ Load 3 4 2 where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 5 Step motor closed loop control Incremental encoder on motor The internal jerk units are motor e...

Page 106: ...ement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is IU Current Ipeak A Current 65520 2 where Ipeak is the drive peak current expre...

Page 107: ...its The internal voltage measurement units refer to the drive VMOT supply voltage The correspondence with the supply voltage in V is IU measured _ Voltage urable VdcMaxMeas V measured _ Voltage 65520 where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement un...

Page 108: ...are encoder counts The correspondence with the motor position in SI units1 is IU Position _ Motor lines _ encoder _ No SI Position _ Motor 4 2 where No_encoder_lines is the rotary encoder number of lines per revolution 6 11 2 Brushless motor with linear Hall signals The internal motor position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable a...

Page 109: ... in the Drive Setup dialogue from EasySetUp 6 11 4 Step motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 11 5 Step motor closed loop control Incremental encoder on motor The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is IU P...

Page 110: ...motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors IU Speed _ Motor T lines _ encoder _ No SI Speed _ Motor 4 2 where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the...

Page 111: ...ce with the motor speed in SI units is IU Speed _ Motor T steps _ No steps _ No SI Speed _ Motor 2 where No_steps is the number of motor steps per revolution No_µsteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened fr...

Page 112: ...Enc SI Speed _ Motor 4 2 For linear motors IU Speed _ Motor T ion Interpolat accuracy _ Encoder SI Speed _ Motor where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 mean...

Page 113: ...me The E2ROM is mapped in the address range 4000h to 4FFFh It is used to keep in a non volatile memory the TML programs the cam tables and the drive setup information Remark EasyMotion Studio handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application Figure 7 1 iPOS360x MX Memory Map TML Programs 4000...

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