©
Technosoft 2022
8
iPOS4803 Microdrive EtherCAT Technical Reference
2 Product Overview
2.1 Introduction
The
iPOS4803
is a family of fully digital intelligent servo drives, based on the latest DSP technology and they offer
unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushless DC, brushless AC (vector control) and DC brushed motors the iPOS4803 drives
accept as position feedback incremental encoders, absolute encoders (SSI, BiSS-C, EnDAT, TAMAGAWA,
Panasonic, Nikon, Sanyo Denki) and linear Hall signals.
All drives perform position, speed or torque control and work in single, multi-axis or stand-alone configurations.
Thanks to the embedded motion controller, the iPOS4803 drives combine controller, drive and PLC functionality in a
single compact unit and are capable to execute complex motions without requiring intervention of an external motion
controller. Using the high-level Technosoft Motion Language (
TML
) the following operations can be executed directly
at drive level:
❑
Setting various motion modes (profiles, PVT, PT, electronic gearing
1
or camming
1F
1
, etc.)
❑
Changing the motion 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 logic operations
❑
Performing data transfers between axes
❑
Synchronizing all the axes from a network
By implementing motion sequences directly at drive level you can really distribute the intelligence between the master
and the drives in complex multi-axis applications, reducing both the development time and the overall communication
requirements. For example, instead of trying to command each movement of an axis, you can program the drives
using TML to execute complex motion tasks and inform the master when these tasks are done. Thus, for each axis
control the master job may be reduced at: calling TML functions stored in the drive EEPROM and waiting for a
message, which confirms the TML functions execution completion.
For iPOS4803 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 EasySetUp it is also possible to retrieve the complete setup
information from a drive previously programmed. EasySetUp shall be used for drive setup in all cases where the
motion commands are sent exclusively from a master. Hence neither the iPOS481x TML programming capability nor
the drive camming mode are used.
EasySetUp can be downloaded free of charge from Technosoft web page.
EasyMotion Studio
platform includes EasySetUp for the drive setup, and a
Motion Wizard
for the motion
programming. The Motion Wizard provides a simple, graphical way of creating motion programs and automatically
generates all the TML instructions.
With EasyMotion Studio you can execute complex motions, thanks to their built-in
motion controller
s. EasyMotion Studio, may be used to program motion sequences in TML.
A demo version of EasyMotion Studio (with EasySetUp part fully functional) can be downloaded free of
charge from Technosoft web page.
1
Available if the master axis sends its position via a communication channel, or by using the secondary encoder input