Technosoft iPOS4808 MX Series, Technical Reference

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Technosoft 2014 IX iPOS4808 MX Technical Reference
4.5. Creating an Image File with the Setup Data ......................................... 77
5. Step 3. Motion Programming .................................................................. 78
5.1. Using a CANopen Master (for iPOS4808 CANopen execution) ........... 78
5.1.1. CiA-301 Application Layer and Communication Profile Overview ............... 78
5.1.2. CiA-305 Layer Setting Services (LSS) and Protocols Overview .................. 79
5.1.3. CiA-402 and Manufacturer Specific Device Profile Overview ...................... 79
5.1.4. TechnoCAN Extension ............................................................................... 79
5.1.5. Checking Setup Data Consistency ............................................................. 79
5.2. Using the built-in Motion Controller and TML ....................................... 80
5.2.1. Technosoft Motion Language Overview ..................................................... 80
5.2.2. Installing EasyMotion Studio ....................................................................... 80
5.2.3. Getting Started with EasyMotion Studio ..................................................... 81
5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 87
5.3. Combining CANopen /or other host with TML ...................................... 88
5.3.1. Using TML Functions to Split Motion between Master and Drives .............. 88
5.3.2. Executing TML programs ........................................................................... 88
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 88
5.3.4. Customizing the Homing Procedures ......................................................... 89
5.3.5. Customizing the Drive Reaction to Fault Conditions ................................... 89
5.4. Using Motion Libraries for PC-based Systems ..................................... 90
5.5. Using Motion Libraries for PLC-based Systems ................................... 90
6. Scaling factors ......................................................................................... 91
6.1. Position units ........................................................................................ 91
6.1.1. Brushless / DC brushed motor with quadrature encoder on motor ............. 91
6.1.2. Brushless motor with linear Hall signals ..................................................... 91
6.1.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 92
6.1.4. Step motor open-loop control. No feedback device .................................... 92
6.1.5. Step motor open-loop control. Incremental encoder on load ...................... 92
6.1.6. Brushless motor with sine/cosine encoder on motor ................................... 93
6.2. Speed units .......................................................................................... 93
6.2.1. Brushless / DC brushed motor with quadrature encoder on motor ............. 93
6.2.2. Brushless motor with linear Hall signals ..................................................... 94
6.2.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 94