Technosoft iPOS4808 BX-CAN Technical Reference Download

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Technosoft 2015

iPOS4808 BX-CAN Technical Reference

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Position, Velocity, Time (PVT) 3

order interpolation

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Position, Time (PT) 1

order interpolation

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Electronic gearing and camming

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35 Homing modes

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127 h/w selectable addresses

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Two operation modes selectable by DIP switch:

•

CANopen

– conforming with

CiA 301 v4.2,

CiA

WD 305 v2.2.13

and

CiA DSP 402

v3.0

•

TMLCAN

– intelligent drive conforming with Technosoft protocol for exchanging TML

commands via CAN-bus

•

16K

16 internal SRAM memory for data acquisition

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16K

16 E

ROM to store TML programs and data

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PWM switching frequency up to 100kHz

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Motor supply: 12-50V

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Logic supply: 9-36V.Separate supply is optional

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Output current: iPOS4808 BX-CAN: 8A

continuous; 20A peak

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Operating ambient temperature: 0-40

C (over 40

C with derating)

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Protections:

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Short-circuit between motor phases

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Short-circuit from motor phases to ground

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Over-voltage

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Under-voltage

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Over-current

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Over-temperature

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Communication error

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Control error

8A cont. with DC, step and BLDC motors (trapezoidal), 8A amplitude (5.66A

RMS

) for PMSM (sinusoidal)

Summary of Contents for iPOS4808 BX-CAN

Page 1: ...iPOS4808 BX CAN Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drive Technical Reference Technosoft 2015 ...

Page 2: ......

Page 3: ...CAN Technical Reference P091 027 iPOS4808 BX UM 0915 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: ...ferential encoder on Feedback 1 p n P027 214 E701 supports linear halls on Feedback 1 In order to operate the iPOS4808 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 built in motion controller executing a Technosoft Mo...

Page 6: ...ect 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 EasyMotion Studio ...

Page 7: ...ft intelligent drives using TML_LIB_S7 motion control library The TML_LIB_S7 library is IEC61131 3 compatible 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 ...

Page 8: ...ve 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: ...ons 22 2 7 1 Operating Conditions 22 2 7 2 Storage Conditions 22 2 7 3 Mechanical Mounting 22 2 7 4 Environmental Characteristics 22 2 7 5 Logic Supply Input VLOG 23 2 7 6 Motor Supply Input VMOT 23 2 7 7 Motor Outputs A A B A C B BR B 23 2 7 8 Digital Inputs IN0 IN1 IN2 LSP IN3 LSN IN5 IN6 25 2 7 9 Digital Outputs OUT0 OUT1 OUT2 Error OUT3 Ready OUT4 26 2 7 10 Digital Hall Inputs Hall1 Hall2 Hall...

Page 10: ...14 E701 36 3 3 6 J4 Secondary feedback connector pinout 37 3 3 7 J5 J6 CAN connectors pinout 37 3 3 8 J7 Digital analog I O and logic supply connector pinout 37 3 3 9 J8 RS232 connector pinout 38 3 3 10 J9 Enable circuit connector pinout 38 3 3 11 SW1 Axis ID selection switches 38 3 3 12 SW2 Hardware Configuration selection DIP switch 38 3 3 13 24V Digital I O Connection 39 3 3 14 Analog Inputs Co...

Page 11: ...d Manufacturer Specific Device Profile Overview 73 5 1 4 TechnoCAN Extension 73 5 1 5 Checking Setup Data Consistency 73 5 2 Using the built in Motion Controller and TML 74 5 2 1 Technosoft Motion Language Overview 74 5 2 2 Installing EasyMotion Studio 74 5 2 3 Getting Started with EasyMotion Studio 75 5 2 4 Creating an Image File with the Setup Data and the TML Program 81 5 3 Combining CANopen or...

Page 12: ... DC brushed motor with quadrature encoder on motor 90 6 3 2 Brushless motor with linear Hall signals 91 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 91 6 3 4 Step motor open loop control No feedback device 92 6 3 5 Step motor open loop control Incremental encoder on load 92 6 3 6 Step motor closed loop control Incremental encoder on motor 92 6 3 7 Brushless motor with ...

Page 13: ...closed loop control Incremental encoder on motor 99 6 11 7 Brushless motor with sine cosine encoder on motor 99 6 12 Motor speed units 100 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 100 6 12 2 Brushless motor with linear Hall signals 100 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor 100 6 12 4 DC brushed motor with tacho on motor 101 6 12 5 Step...

Page 14: ... Technosoft 2015 XII iPOS4808 BX CAN Technical Reference This page is empty ...

Page 15: ...he knowledge and authorization to perform tasks such as transporting assembling 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 INCL...

Page 16: ...Technical Reference 1 2 Cautions CAUTION THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT ...

Page 17: ...on 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 Performi...

Page 18: ...t 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 exclu...

Page 19: ...ing PNP 2 Limit switches and 4 general purpose 5 digital outputs 5 36 V with 0 5 A sinking NPN open collector Ready Error and 3 general purpose 2 analogue inputs 12 bit 0 5V Reference and Feedback or general purpose NTC PTC analogue Motor Temperature sensor input Feedback devices dual loop support Feedback 1 devices supported Incremental encoder interface single ended or differential1 Pulse direct...

Page 20: ...anging TML commands via CAN bus 16K 16 internal SRAM memory for data acquisition 16K 16 E2ROM to store TML programs and data PWM switching frequency up to 100kHz Motor supply 12 50V Logic supply 9 36V Separate supply is optional Output current iPOS4808 BX CAN 8A1 continuous 20A peak Operating ambient temperature 0 40 C over 40 C with derating Protections Short circuit between motor phases Short ci...

Page 21: ... Technical Reference Manual with revision 0614 product p n P027 014 E201 Figure 2 1 iPOS4808 BX CAN v 01 and v10 comparison Note 1 The hw ver 10 has the p n P027 214 E201 or P027 214 E701 The hw ver 01 has the p n P027 014 E201 Note 2 Each p n has its own software template which is not compatible with the other When creating a new project setup click New 1 iPOS Drives iPOS4808 iPOS4808 BX CAN v10 ...

Page 22: ...r type Feedback 1 Feedback 2 PMSM Incremental encoder single ended or differential Analogue Sin Cos encoder Incremental encoder differential SSI BiSS encoder DC Brush Incremental encoder single ended or differential Analogue Sin Cos encoder Analogue Tacho only on motor Incremental encoder differential SSI BiSS encoder Each defined motor type can have any combination of the supported feedbacks eith...

Page 23: ...cale 2 6 Identification Labels Figure 2 3 iPOS4808 BX CAN Identification Labels The iPOS4808 BX CAN can have the following part numbers on the identification label p n P027 214 E201 standard execution that supports a single ended and differential incremental encoder of Feedback 1 p n P027 214 E701 linear halls execution that supports a single ended encoder and linear halls on Feedback 1 ...

Page 24: ...ient Pressure 0 10 0 atm ESD capability Human body model Not powered applies to any accessible part 0 5 kV Original packaging 15 kV 2 7 3 Mechanical Mounting Airflow natural convection3 closed box 2 7 4 Environmental Characteristics Min Typ Max Units Size Length x Width x Height Without mating connector 88 5 x 77 x 16 4 mm 3 48 x 3 03 x 0 65 inch With recommended mating connectors 98 x 85 x 19 5 m...

Page 25: ...ut VMOT Min Typ Max Units Supply voltage Nominal values 11 48 50 VDC Absolute maximum values drive operating but outside guaranteed parameters 9 52 VDC Absolute maximum values surge duration 10ms 1 57 V Supply current Idle 1 5 mA Operating 20 8 20 A Absolute maximum value short circuit condition duration 10ms 26 A 2 7 7 Motor Outputs A A B A C B BR B Min Typ Max Units Nominal output current contin...

Page 26: ...ent range VMOT 48 V FPWM 20 kHz 330 µH FPWM 40 kHz 150 FPWM 60 kHz 120 FPWM 80 kHz 80 FPWM 100 kHz 60 Absolute minimum value limited by short circuit protection VMOT 48 V FPWM 20 kHz 120 µH FPWM 40 kHz 40 FPWM 60 kHz 30 FPWM 80 kHz 15 FPWM 100 kHz 8 Motor electrical time constant L R Recommended value for 5 current measurement error due to ripple FPWM 20 kHz 250 µs FPWM 40 kHz 125 FPWM 60 kHz 100 ...

Page 27: ...Hz Minimum pulse width 3 3 µs ESD protection Human body model 2 kV Min Typ Max Units Mode compliance NPN Open collector 24V outputs Default state Input floating wiring disconnected Logic HIGH Input voltage Logic LOW 0 0 8 V Logic HIGH 2 5 24 Floating voltage not connected 3 Absolute maximum continuous 10 30 Absolute maximum surge duration 1S 20 40 Input current Logic LOW Pulled to GND 0 6 1 mA Log...

Page 28: ... 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 current continuous 0 5 A Logic LOW sink current pulse 5 sec 1 A Logic HIGH source current external load to GND VOUT 2 0V OUT2 Error OUT3 Ready 2 mA OUT0 OUT1 OUT4 4 mA Logic HIGH leakage current external load to VLOG VOUT VLOG max 40V 0 1 0 2 m...

Page 29: ...ull 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 A1 to A1 B1 to B1 Z1 to Z1 1 kΩ Input frequency Single ended mode Open collector NPN 0 5 kHz Differential mode or Single ended driven by push pull TTL CMOS 0 10 MHz Minimum pulse width ...

Page 30: ... 11 14 Input current Input voltage 0 5V 1 0 9 1 mA Interpolation Resolution Depending on software settings 11 bits Frequency 0 1 kHz ESD protection Human body model 1 kV 2 7 14 Sin Cos Encoder Inputs Sin Sin Cos Cos 3 Min Typ Max Units Input voltage differential Sin to Sin Cos to Cos 1 1 25 VPP Input voltage any pin to GND Operational range 1 2 5 4 V Absolute maximum values continuous 7 7 Absolute...

Page 31: ...imum surge duration 1S 36 Input impedance To GND 28 kΩ Resolution 12 bits Integral linearity 2 bits Offset error 2 10 bits Gain error 1 3 FS1 Bandwidth 3dB Depending on software settings 0 1 kHz ESD protection Human body model 5 kV 2 7 16 RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Bau d Short circuit protection 232TX short to GND...

Page 32: ...1 15 LSS non configured CANopen 1 15 255 TMLCAN Software 1 127 CANopen 1 255 TMLCAN Voltage CAN Hi or CAN Lo to GND 26 26 V ESD protection Human body model 15 KV 2 7 18 Supply Output 5V Min Typ Max Units 5V output voltage Current sourced 500mA 4 8 5 5 2 V 5V output current 600 650 mA Short circuit protection NOT protected Over voltage protection NOT protected ESD protection Human body model 1 KV S...

Page 33: ...tt at idle and up to 5 Watts 17 BTU hour worst case while driving a motor and using all digital outputs 3 1 1 Vertical Mounting When the iPOS4808 BX CAN is mounted vertically its overall envelope size including the recommended mating connectors is shown in Figure 3 1 Fixing the iPOS4808 BX CAN onto a support using the provided mounting holes is strongly recommended to avoid vibration and shock pro...

Page 34: ...ted iPOS4808 BX CAN drives it is recommended to provide ventilation holes in the support also Remark In case of using a metallic box with ventilation openings all spacing values may be reduced substantially With proper ventilation keeping the air surrounding the iPOS4808 BX CAN inside the limits indicated the spacing values may be reduced down to zero Figure 3 2 Recommended spacing for vertical mo...

Page 35: ...on openings Whenever possible ventilation openings shall be foreseen Remark In case of using a metallic box with ventilation openings all spacing values may be reduced substantially With proper ventilation keeping the air surrounding the iPOS4808 BX CAN inside the limits indicated the spacing values may be reduced down to the mechanical tolerance limits of Figure 3 1 Figure 3 3 Recommended spacing...

Page 36: ...IMP PIN MINIFIT JR 13A MOLEX 45750 1111 AWG 18 20 J3 J4 C Grid III Crimp Housing Dual Row 10 Circuits with retention MOLEX 90142 0010 AWG 22 24 C Grid III Crimp Housing Dual Row 10 Circuits without retention 90143 0010 J3 J4 C Grid III Crimp Terminal MOLEX 90119 0109 AWG 22 24 J7 MICROFIT RECEPTACLE HOUSING 2x9 WAY MOLEX 43025 1800 AWG 20 24 J5 J6 J8 J9 MICROFIT RECEPTACLE HOUSING 2x2 WAY MOLEX 43...

Page 37: ...s 3 3 2 J1 Motor and logic supply input connector pinout Connector description Pin Name Type Description J1 1 GND Negative return ground of the power supply 2 GND Negative return ground of the power supply 3 VLOG I Positive terminal of the logic supply input 9 to 36VDC Internally connected to J7 pin 8 4 VMOT I Positive terminal of the motor supply 11 to 50VDC ...

Page 38: ...diff input or analogue encoder Cos diff input 4 B1 Cos I Incr encoder1 B single ended or B diff input or analogue encoder Cos diff input 5 A1 Sin I Incr encoder1 A diff input or analogue encoder Sin diff input 6 A1 Sin I Incr encoder1 A single ended or A diff input or analogue encoder Sin diff input 7 GND Return ground for sensors supply 8 Temp Mot I NTC PTC input Used to read an analog temperatur...

Page 39: ... supply for sensors usage 3 3 7 J5 J6 CAN connectors pinout Connector description Pin Name Type Description J5 J6 1 n c not connected 2 GND Return ground for CAN Bus 3 Can Hi I O CAN Bus positive line dominant high 4 Can Lo I O CAN Bus negative line dominant low 3 3 8 J7 Digital analog I O and logic supply connector pinout Connector description Pin Name Type Description J7 1 IN5 I 12 36V general p...

Page 40: ...Connector description Pin Name Type Description J8 1 ENA2 I Enable circuit input2 connect ENA1 ENA2 to 24V to activate motor operation 2 ENA1 I Enable circuit input1 connect ENA1 ENA2 to 24V to activate motor operation 3 GND Return ground 4 GND Return ground 3 3 11 SW1 Axis ID selection switches Switch description Switch Position Description SW1 0 F 15 H W Axis ID 1 F 15 Exception SW1 0 Axis ID 25...

Page 41: ...table as PNP NPN by software 2 The inputs are compatible with PNP type outputs input must receive a positive voltage value 12 36V to change its default state 3 3 13 2 NPN inputs Figure 3 6 24V Digital NPN Inputs connection Remarks 1 The inputs are selectable as PNP NPN by software 2 The inputs are compatible with NPN type outputs input must be pulled to GND to change its default state ...

Page 42: ...N Technical Reference 3 3 13 3 NPN outputs Figure 3 7 24V Digital NPN Inputs connection Remarks 1 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 43: ...4 Analog Inputs Connection 3 3 14 1 0 5V Input Range Figure 3 8 Analog inputs connection Remark Default input range for analog inputs is 0 5 V for REF and FBDK For a 10 V range see Figure 3 9 3 3 14 2 10V to 0 5V Input Range Adapter Figure 3 9 10V to 0 5V adapter ...

Page 44: ...drive positive input 2nd wire connects the signal minus to the drive negative input and 3rd wire connects the source ground to the drive GND c If the analogue signal source is differential and the signal source ground is common with the drive GND use a 2 wire shielded cable as follows 1st wire connects the signal plus to the drive positive input 2nd wire connects the signal minus to the drive nega...

Page 45: ...8 BX CAN Technical Reference 3 3 15 Motor connections 3 3 15 1 Brushless Motor connection Figure 3 10 Brushless motor connection 3 3 15 2 2 phase Step Motor connection Figure 3 11 2 phase step motor connection one coil per phase ...

Page 46: ... Technosoft 2015 44 iPOS4808 BX CAN Technical Reference Figure 3 12 2 phase step motor connection two coils per phase 3 3 15 3 3 Phase Step Motor connection Figure 3 13 3 phase step motor connection ...

Page 47: ...able shield to the iPOS4808 GND 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 iPOS4808 outputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor surge curr...

Page 48: ...16 Feedback connections 3 3 16 1 Single ended Incremental Encoder Feedback 1 Connection Figure 3 15 Single ended incremental encoder Feedback 1 connection CAUTION DO NOT CONNECT UNTERMINATED WIRES THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS ...

Page 49: ...coder Feedback 1 Connection1 Figure 3 16 Differential incremental encoder feedback 1 connection Remark 150Ω terminators are required for long encoder cables or noisy environments They are available through the SW2 DIP switch 1 Differential Feedback 1 is not available with the p n P027 214 E721 ...

Page 50: ...ce 3 3 16 3 Differential Incremental Encoder Feedback 2 Connection Figure 3 17 Differential incremental encoder feedback 2 connection Remark The Feedback 2 input has internal 150Ω terminators present in the drive Single ended connections are not supported ...

Page 51: ...ave connection using the second incremental encoder input Figure 3 18 Master Slave connection using second encoder input This type of hardware connection is useful when executing an Electronic Gearing or Camming motion to not send the feedback data over the communication bus ...

Page 52: ...ction Figure 3 19 Digital Hall connection 3 3 16 6 Pulse and direction connection See 4 2 4 to select Feedback 1 or 2 as the Pulse Direction source in the software setup 3 3 16 6 1 Single ended connection on Feedback 1 Figure 3 20 Single ended 5V Pulse Direction Feedback 1 connection ...

Page 53: ... 6 2 Differential connection of Feedback 2 Figure 3 21 Differential RS 422 Pulse Direction Feedback 2 connection 3 3 16 7 SSI Feedback 2 Connection Figure 3 22 SSI Feedback 2 connection Remark The Feedback 2 input has internal 150Ω terminators present in the drive ...

Page 54: ...dback 2 connection Remark The Feedback 2 input has internal 150Ω terminators present in the drive 3 3 16 9 Linear Hall Feedback 1 Connection Figure 3 24 Linear Hall connection Remark The linear hall connection is available only on the iPOS4808 BX CAN having the part number P027 214 E701 1 Currently in development ...

Page 55: ...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 Connect the cable shield to the GND at only one end This point could be either the iPOS4808 using the GND pin or the encoder motor Do not connect the shield at both ends c If the iPOS4808 5V sup...

Page 56: ...rt thick wires between the iPOS4808 and the motor power supply Connect power supply wires to all the indicated pins If the wires are longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 4 700μF rated at an appropriate voltage right on the terminals of the iPOS4808 It is recommended to connect the negative motor supply r...

Page 57: ...or inertia kgm2 JL total load inertia as seen at motor shaft after transmission kgm2 ϖM motor angular speed before deceleration rad s mM motor mass kg when motor is moving in a non horizontal plane mL load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s2 hinitial initial system altitude m hfinal final system altitude m IM motor current during decelera...

Page 58: ...s 1 to limit the maximum current below the drive peak current IPEAK 20A PEAK MAX BR I U R 2 to sustain the required braking power d brake MAX M BR t U U C E P 2 2 2 1 where C is the capacitance on the motor supply external i e BR BRAKE BR P U R 2 2 3 to limit the average current below the drive nominal current INOM 8A 2 NOM CYCLE d BR BR I t t P R where tCYCLE is the time interval between 2 brakes...

Page 59: ...d as GND The ground wire pin 2 or 4 of J8 must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the iPOS4808 BX CAN supplies before inserting removing the RS 232 serial connector c Do not rely on an earthed PC to provide the iPOS4808 GND connection The drive must be earthed through a separate circuit Most communication problems are caused by the lack of such co...

Page 60: ... other iPOS4808 circuits 3 3 19 2 Recommendation for wiring a Build CAN network using cables with twisted wires 2 wires pair with CAN Hi twisted together with CAN Lo It is recommended but not mandatory to use a shielded cable If so connect the shield to GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b The 120Ω termination resistors must be rated at...

Page 61: ... Technical Reference Figure 3 29 Multiple Axis CAN network Remarks 1 The axis IDs in Figure 3 29 are valid for TMLCAN mode For CANopen mode the highest axis ID a drive can have is 127 2 Lmax is the bus length defined in paragraph 2 7 17 ...

Page 62: ...1 in first EEPROM location at address 0x4000 b Hardware by temporary connecting all digital Hall inputs to GND during the power on for about 1 second until the green LED is turned on as shown in Figure 3 30 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 invalida...

Page 63: ...on the axis ID will be SW1 position AxisID in TMLCAN mode AxisID in CANopen mode 0x0 255 LSS non configured state 0x1 1 1 0x2 2 2 0x3 3 3 0x4 4 4 0x5 5 5 0x6 6 6 0x7 7 7 0x8 8 8 0x9 9 9 0xA 10 10 0xB 11 11 0xC 12 12 0xD 13 13 0xE 14 14 0xF 15 15 Note LSS non configured state is a state in which the drive does not have assigned an active Axis ID while connected to the CAN network In this mode the A...

Page 64: ... 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 adapter 3 Via another drive from the same CAN bus network which is connected to the PC via one o...

Page 65: ...lement 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 according with Technosoft communication protocols Combine TML programming at drive level with one of the other options see Section 5 3 4 2 1 Establish communication EasySetUp starts with an empty window from where you can create a New setup ...

Page 66: ...ies to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected If this drive is part of a CANbus network use the menu command Communication Scan Network 4 2 2 Setup drive motor Press New button...

Page 67: ...onnections 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 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 reg...

Page 68: ...inputs type PNP or NPN 4 2 4 Selecting the feedback source for Pulse and Direction The Pulse and Direction feedback source can be chosen in Setup Drive Setup External reference Setup button Feedback 1 or Feedback 2 will be available for Pulse and Direction only if they are not already selected as primary feedback for the motor ...

Page 69: ...the setup data on your PC and use it in other applications To summarize you can define or change the setup data 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 4 2 6 Evaluate drive motor behavior optional You can use the Data Logger or the Control Panel evaluati...

Page 70: ... CAN communication in non configured mode waiting for a CANopen master to configure it using CiA 305 protocol A non configured drive answers only to CiA 305 commands All other CANopen commands are ignored and transmission of all other CANopen messages including boot up is disabled In absence of a CANopen master you can get out a drive from non configured mode by setting another axis ID between 1 a...

Page 71: ...n indicate that axis ID will be set according with the AxisID hex switch d If the setup table is invalid there is no previous axis ID set from a valid setup table or by a CANopen master according with the AxisID hex switch Remark If you don t know the axis ID set in a drive you can find it in the following way a Connect the drive via a serial RS232 link to a PC where EasySetUp or EasyMotion Studio...

Page 72: ...ogue see above with the value read from the setup table This value can be one of the above 4 values or the firmware default F W default which is 500kbs b If a valid setup table exists and this setup table was created with the Set baud rate checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol c I...

Page 73: ...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 hexadecimal digits Each raw contains a single data value When less then 4 hexadecimal digits are shown the value must be right justified For example 92 represents 0x0092 The sw file can be programmed into a drive from a CANopen master using the communication objects...

Page 74: ...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 iPOS4808 accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set according with the application...

Page 75: ...position and velocity modes Homing mode Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined External reference modes position speed or torque Electronic gearing and camming position mode 5 1 4 TechnoCAN Extension In order to take full advantage of the powerful Technosoft Motion Language TML built into the iPOS4808 Technosoft has developed...

Page 76: ...gue input signals Execute arithmetic and logic operations Perform data transfers between axes Control motion of an axis from another one via motion commands sent between axes Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronize all the axes from a network In order to program a motion using TML y...

Page 77: ... set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application EasyMotion Studio works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis num...

Page 78: ...e added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor 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...

Page 79: ...on your selection EasyMotion Studio opens the Project window where on the left side you can see the structure of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program ...

Page 80: ... 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 EasyMotion Studio tries to communicate via RS 232 and COM1 with a drive ha...

Page 81: ... 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 dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Press the Download to Drive Motor button to download your se...

Page 82: ...orresponding TML instructions Therefore with Motion Wizard you can develop motion programs using almost all the TML instructions without needing to learn them A TML program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures1 The TML program may also include cam tables used for electronic camming applications2 When activated Motion Wi...

Page 83: ...those expected to be received as answers 5 2 3 5 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can cr...

Page 84: ...r downloads the cam points into the 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 ...

Page 85: ...ng 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 With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels RS...

Page 86: ... 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 the ma...

Page 87: ...e load position in SI units1 is IU Position _ Motor Tr lines _ encoder _ No SI Position _ Load π 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...

Page 88: ...ps 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...

Page 89: ...mber power of 2 between 1 an 256 1 means no interpolation Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 2 Speed units The internal speed units are internal position units slow loop sampling period i e the position variation over one slow loop sampling period 6 2 1 ...

Page 90: ...hich can be opened from the Drive Setup Pole_Pitch is the magnetic pole pitch NN distance expressed in m 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is IU Speed _ Load T lines _ encoder _ ...

Page 91: ...period expressed 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 π 4 2 w...

Page 92: ...ds 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 means no 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...

Page 93: ...inear motors 2 Pole_Pitch Load_Acceleration SI Motor_Acceleration 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 which can be opened from the Drive Setup Pole_Pitch is the magnetic...

Page 94: ...ve Setup 6 3 5 Step motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period 2 The correspondence with the load acceleration in SI units is For rotary to rotary transmission IU on Accelerati _ Load T lines _ encoder _ No SI on Accelerati _ Load π 2 4 2 For rotary to linear transmission IU on Accelerati _ Load T accuracy _...

Page 95: ...its1 is For rotary motors IU on Accelerati _ Motor T Tr ion Interpolat periods _ Enc SI on Accelerati _ Load π 2 4 2 For linear motors IU on Accelerati _ Motor T Tr ion Interpolat accuracy _ Encoder SI on Accelerati _ Load 2 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 I...

Page 96: ...be opened from the Drive Setup 6 4 2 Brushless motor with linear Hall signals The internal jerk units are counts slow loop sampling period 3 The motor is rotary The 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 acceleration in SI units is For rotary motors IU...

Page 97: ...Load µ π 3 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 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...

Page 98: ...otary motors IU Jerk _ Motor T Tr ion Interpolat periods _ Enc SI Jerk _ Load π 3 4 2 For linear motors IU Jerk _ Motor T Tr ion Interpolat accuracy _ Encoder SI Jerk _ Load 3 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...

Page 99: ... i e V is IU command Voltage Vdc V command Voltage 32767 This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode 6 7 Voltage measurement units The internal voltage measurement units refer to the drive VMOT supply voltage The correspondence with the supply voltage in V is IU measured _ Voltage urabl...

Page 100: ...r _ No SI Position _ Motor π 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 as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the m...

Page 101: ... motor position units are motor encoder counts The correspondence with the motor position in SI units is IU Position _ Motor lines _ encoder _ No SI Position _ Motor π 4 2 where No_encoder_lines is the motor encoder number of lines per revolution 6 11 7 Brushless motor with sine cosine encoder on motor The internal motor position units are interpolated encoder counts The correspondence with the mo...

Page 102: ...n 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 motor speed in SI units is For rotary motors IU Speed _ Motor T resolution SI Speed _ Motor π 2 For linear motors Pole_Pitch Motor_Speed SI Motor_Speed IU resolution T where resolution is the motor position resolution T is the slow loop...

Page 103: ... or incremental encoder on load The internal motor speed units are motor µsteps slow loop sampling period The correspondence with the motor speed in SI units is IU Speed _ Motor T steps _ No steps _ No SI Speed _ Motor µ π 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 EasyS...

Page 104: ...nterpolat 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 means no interpolation Tr transmission ratio between the motor displace...

Page 105: ... time The E2ROM is mapped in the address range 4000h to 7FFFh 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 iPOS4808 BX CAN Memory Map TML Progra...

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