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Technosoft 2014

iPOS4808 MX Technical Reference

Figure 2.12.

Encoder on load.

Closed-loop control: load position, open-loop control: motor speed.

13. 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 load

while the same commands, expressed in IU units refer to the motor.

Figure 2.13.

Encoder on motor shaft.

Closed-loop control: motor position, speed or torque.

Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1

Summary of Contents for iPOS4808 MX Series

Page 1: ...iPOS4808 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 027 iPOS4808 MX UM 0114 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 ...

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Page 5: ...p n P027 014 E001 iPOS4808 MX CAT p n P027 014 E121 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 or EtherCAT master2 The drive s built in motion controller executing a Technosoft Motion Language ...

Page 6: ...he complete setup information from a drive previously programmed EasySetUp can be downloaded free of charge from Technosoft web page iPOS CANopen Programming part no P091 063 iPOS UM xxxx explains how to program the iPOS family of intelligent drives using CANopen protocol and describes the associated object dictionary for CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 1...

Page 7: ...ing TML_LIB_Labview v2 0 motion control library for PCs The TML_Lib_LabVIEW includes over 40 ready to run examples TML_LIB_S7 part no P091 040 S7 UM xxxx explains how to program in a PLC Siemens series S7 300 or S7 400 a motion application for the Technosoft 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 U...

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: ...1 Operating Conditions 26 2 5 2 Storage Conditions 26 2 5 3 Mechanical Mounting 26 2 5 4 Environmental Characteristics 27 2 5 5 Logic Supply Input VLOG 27 2 5 6 Motor Supply Input VMOT 27 2 5 7 Motor Outputs A A B A C B BR B 28 2 5 8 Digital Inputs IN0 IN1 IN2 LSP IN3 LSN IN4 Enable IN5 IN6 IN7 28 2 5 9 Digital Outputs OUT0 OUT1 OUT2 Error OUT3 Ready OUT5 29 2 5 10 Digital Hall Inputs Hall1 Hall2 ...

Page 10: ...de and Axis ID Selection 43 3 4 7 24V Digital I O Connection 51 3 4 8 5V Digital I O Connection 52 3 4 9 Analog Inputs Connection 53 3 4 10 Motor connections 54 3 4 11 Feedback connections 58 3 4 12 Power Supply Connection 62 3 4 13 Serial RS 232 connection 65 3 4 14 CAN bus connection 66 3 4 15 Removal from Autorun Mode 68 3 4 16 Disabling the setup table at start up for EtheCAT drives 68 4 Step ...

Page 11: ...ions 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 9...

Page 12: ...99 6 4 2 Brushless motor with linear Hall signals 100 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor 100 6 4 4 Step motor open loop control No feedback device 101 6 4 5 Step motor open loop control Incremental encoder on load 101 6 4 6 Step motor closed loop control Incremental encoder on motor 101 6 4 7 Brushless motor with sine cosine encoder on motor 102 6 5 Current u...

Page 13: ...r Hall signals 106 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor 106 6 12 4 DC brushed motor with tacho on motor 106 6 12 5 Step motor open loop control No feedback device or incremental encoder on load 107 6 12 6 Step motor closed loop control Incremental encoder on motor 107 6 12 7 Brushless motor with sine cosine encoder on motor 107 7 Memory Map 109 ...

Page 14: ... Technosoft 2014 XII iPOS4808 MX Technical Reference This page is empty ...

Page 15: ... A qualified person has the 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...

Page 16: ...CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT CAUTION THE iPOS4808 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 ...

Page 17: ...nd 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 gearing1 or camming1 etc Changing the motion modes and or the motion param...

Page 18: ...g manufacturer specific objects see for details par 5 3 When TMLCAN mode is selected the iPOS4808 behaves as standard Technosoft intelligent drive and conforms to Technosoft protocol for exchanging TML commands via CAN bus When TMLCAN protocol is used it is not mandatory to have a master Any iPOS4808 can be set to operate standalone and may play the role of a master to coordinate both the network ...

Page 19: ... Sinusoidal FOC or trapezoidal Hall based control of brushless motors Open or closed loop control of 2 and 3 phase steppers Various modes of operation including torque speed or position control position or speed profiles external analogue reference or sent via a communication bus Technosoft Motion Language TML instruction set for the definition and execution of motion sequences Standalone operatio...

Page 20: ...changing TML commands via CAN bus 1K 16 internal SRAM memory 4K 16 E2ROM to store TML programs and data PWM switching frequency up to 100kHz Motor supply 11 48V Logic supply 9 36V Separate supply is optional Output current iPOS4808 MX CAN 8A2 continuous 20A peak Operating ambient temperature 0 40 C over 40 C with derating Hardware Protections Short circuit between motor phases Short circuit from m...

Page 21: ... the motor Figure 2 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor 2 Position speed or torque control 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 transmi...

Page 22: ...h rectangular currents and trapezoidal BEMF voltages 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 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 contr...

Page 23: ...to the load2 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 f...

Page 24: ... 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 Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI...

Page 25: ...ion 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 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 11 No position or speed feedback Open loop control motor position or speed 12 Closed loop contr...

Page 26: ... 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 13 Encoder on motor shaft Closed loop control motor position speed or torque 1 Motion commands can be referred to the motor by setting in EasySetUp a rotary t...

Page 27: ... Technosoft 2014 25 iPOS4808 MX Technical Reference 2 4 iPOS4808 MX Drive Dimensions Figure 2 14 iPOS4808 MX drive dimensions All dimensions are in mm The drawings are not to scale ...

Page 28: ...an body model Not powered applies to any accessible part 0 5 kV Original packaging 15 kV 2 5 3 Mechanical Mounting Min Typ Max Units Airflow natural convection3 closed box Spacing required for horizontal mounting Between adjacent drives 4 mm Between drives and nearby walls 5 mm Space needed for drive removal 10 mm Between drives and roof top 15 mm Insertion force Using recommended mating connector...

Page 29: ...drive operating but outside guaranteed parameters 8 40 VDC Absolute maximum values continuous 0 6 42 VDC Absolute maximum values surge duration 10ms 1 45 V Supply current VLOG 7V 125 320 mA VLOG 12V 85 220 VLOG 24V 50 145 VLOG 40V 40 120 2 5 6 Motor Supply Input VMOT Min Typ Max Units Supply voltage Nominal values 11 50 VDC Absolute maximum values drive operating but outside guaranteed parameters ...

Page 30: ... ripple 5 of measurement range VMOT 48 V FPWM 20 kHz 330 H 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 H 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 1...

Page 31: ...OUT2 Error OUT5 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 OUT1 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 current continuous 0 5 A Logic LOW sink current pulse 5 se...

Page 32: ...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 5 MHz Input frequency Differential mode or Single ended drive...

Page 33: ...ts 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 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 Software selectable for one sine cosine period 2 10 bits Frequency Sin Cos interpolat...

Page 34: ...otection Human body model 5 KV 2 5 15 Axis ID Inputs AxisID 0 AxisID 1 Axis ID 2 Min Typ Max Units External connections 7 levels Not connected Strap to GND Strap to 5V 4 7KΩ to GND 4 7KΩ to 5V 22KΩ to GND 22KΩ to 5V Pin current Use to size PCB tracks 0 5 mA 4 7KΩ 22KΩ resistor rating 3 mW 4 7KΩ 22KΩ resistor tolerance 5 ESD protection Human body model 5 KV 2 5 16 RS 232 Min Typ Max Units Standards...

Page 35: ...5 KV 2 5 18 Supply Output 5V Min Typ Max Units 5V output voltage Current sourced 250mA 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 Stresses beyond values listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extend...

Page 36: ... frequency1 1 VOUT the output voltage VMOT the motor supply voltage Altitude De rating 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 5 5 6 6 5 7 7 5 8 8 5 0 1 2 3 4 5 6 7 8 9 10 Altitude Km Current A Output Voltage De rating 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 110 120 PWM Frequency KHz Output Voltage V OUT V MOT CAN version EtherCAT version ...

Page 37: ... Technosoft 2014 35 iPOS4808 MX Technical Reference ...

Page 38: ...he recommended mating connectors as specified in chapter 3 3 Several iPOS4808 drives can be hosted by a single motherboard For motherboard PCB design use the dimensional drawing from Figure 3 1 below Figure 3 1 iPOS4808 MX PCB Footprint For thermal calculations each iPOS4808 drive can be assumed to generate 1 5 Watt 5 BTU hour at idle and up to 5 Watt 17 BTU hour worst case while driving a motor ...

Page 39: ...he filter This is necessary because the ground negative return is shared between VMOT and VLOG Motor outputs shall be routed with parallel traces and minimizing the loop area between these tracks Avoid placing components above or below the motor output tracks as these components may become effective antennas radiating EMI If possible route all 4 motor outputs in strip line configuration above or b...

Page 40: ... circuit protection use transient absorbers to protect against ESD and over voltage add high frequency filtering to protect against external noise injected on 5VOUT The outer box case cabinet must be connected to the motherboard ground either galvanically directly or through high frequency decoupling capacitors rated at an appropriate voltage CAUTION WHEN iPOS4808 IS SET IN TMLCAN MODE IT STARTS T...

Page 41: ...1 27x2 54mm pitch accepting 0 46mm square pin Samtec SMS 125 01 G D J2 High current socket 2 54mm pitch accepting 0 635mm square pin Samtec SSQ 108 01 G S J3 High current socket 2 54mm pitch accepting 0 635mm square pin Samtec SSQ 102 01 G D 3 4 Connector and Connection Diagrams 3 4 1 Connector Layout Figure 3 2 iPOS4808 MX drive connectors ...

Page 42: ... Technosoft 2014 40 iPOS4808 MX Technical Reference 3 4 2 Identification Labels Figure 3 3 iPOS4808 MX CAN Identification Labels ...

Page 43: ...0 5A drive error output active low NPN open collector TTL pull up Also drives the red LED 22 5VOUT O 5V supply for sensors internally generated J1 Pin Name Type Description 23 OUT3 Ready O 5 36V 0 5A drive ready output active low NPN open collector TTL pull up Also drives the green LED 24 A Sin LH1 I Incr encoder A diff input or analogue encoder Sin diff input or linear Hall 1 input 25 IN0 I 5 36V...

Page 44: ...C brush motors 3 4 B A O Phase B for 3 ph motors A for 2 ph steppers Motor for DC brush motors 5 6 C B O Phase C for 3 ph motors B for 2 ph steppers 7 8 Br B O Brake resistor Phase B for 2 ph steppers 3 4 5 J3 Connector pinout Motor supply input Pin Name Type Description J3 1 2 VMOT I Positive terminal of the motor supply 11 to 50VDC 3 4 GND Negative return ground of the motor supply ...

Page 45: ...D 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 If the resulting AxisID is greater than 127 the axis ID will be set to 255 3 If the AxisID is set ...

Page 46: ... Technosoft 2014 44 iPOS4808 MX Technical Reference Figure 3 4 Axis ID Setting Examples CANopen mode ...

Page 47: ... Technosoft 2014 45 iPOS4808 MX Technical Reference Figure 3 5 Axis ID Setting Examples TMLCAN mode ...

Page 48: ... 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 49: ...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 50: ...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 L3 L5 L0 35 L3 L5 L1 36 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN 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 L3 52 L4 L0 L4 53 L4 L0 L5 54 ...

Page 51: ...104 L5 L1 L0 105 L5 L1 L1 106 L5 L1 L2 107 L5 L1 L3 108 L5 L1 L4 109 L5 L1 L5 110 L5 L1 L6 111 L5 L2 L0 112 L5 L2 L1 113 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN 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 127 L5 L4 L2 128 L5 L4 L3 129 L5 L4 L4 130 L5 L4 L5 131 L5 L4...

Page 52: ...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 L6 L3 L4 172 L6 L3 L5 173 L6 L3 L6 174 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN 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 L6 L6 L1 190 L6 L6 L2 191 L6 L6...

Page 53: ...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 54: ... 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 55: ...Analog Inputs Connection 3 4 9 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 4 9 2 10V to 0 5V Input Range Adapter Figure 3 9 10V to 0 5V adapter ...

Page 56: ... 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 a 2 wire shielded cable as follows 1st wire connects the source plus positive in pha...

Page 57: ...osoft 2014 55 iPOS4808 MX Technical Reference 3 4 10 2 2 phase Step Motor connection Figure 3 11 2 phase step motor connection one coil per phase Figure 3 12 2 phase step motor connection two coils per phase ...

Page 58: ... Technosoft 2014 56 iPOS4808 MX Technical Reference 3 4 10 3 3 Phase Step Motor connection Figure 3 13 3 phase step motor connection 3 4 10 4 DC Motor connection Figure 3 14 DC Motor connection ...

Page 59: ...in 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 current Typically the necessary value...

Page 60: ...ence 3 4 11 Feedback connections 3 4 11 1 Single ended Incremental Encoder Connection Figure 3 15 Single ended incremental encoder connection CAUTION DO NOT CONNECT UNTERMINATED WIRES THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS ...

Page 61: ...4808 MX Technical Reference 3 4 11 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 62: ... Technosoft 2014 60 iPOS4808 MX Technical Reference 3 4 11 3 Digital Hall Connection Figure 3 17 Digital Hall connection 3 4 11 4 Linear Hall Connection Figure 3 18 Linear Hall connection ...

Page 63: ... 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 supply output is ...

Page 64: ...nd return For wires longer than 20 meters add a capacitor of at least 2 200μF rated at an appropriate voltage right on the terminals of the iPOS4808 3 4 12 3 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply...

Page 65: ...motor mass and the load mass measured in kg the angular speed M will become linear speed measured in m s and the friction torque TF will become friction force measured in N Option 2 Connect a brake resistor RBR between phase BR B pins A35 A41 and ground pins A23 A24 B23 B24 and activate the software option of dynamic braking see below This option is not available when the drive is used with a step...

Page 66: ... current INOM 4A 2 NOM CYCLE d BR BR I t t P R where tCYCLE is the time interval between 2 brakes in case of repetitive moves 4 to be rated for an average power CYCLE d BR AV t t P P and a peak power BR MAX PEAK R U P 2 Remarks 1 If BR BRAKE PEAK MAX P U I U 2 2 the braking power PBR must be reduced by increasing either td the time to decelerate or C the external capacitor on the motor supply 2 If...

Page 67: ...ble with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 5 of J1 must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the iPOS4808 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 communica...

Page 68: ... GND The cable 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 ch...

Page 69: ... Technosoft 2014 67 iPOS4808 MX Technical Reference Figure 3 23 Multiple Axis CAN network ...

Page 70: ...d to invalidate the TML application from the EEPROM On next power on in absence of a valid TML application the drive enters in the non Autorun slave mode independently of the digital Hall inputs status Figure 3 24 Temporary connection during power on to remove the drive from Autorun mode 3 4 16 Disabling the setup table at start up for EtheCAT drives Remark This method applies only to EtherCAT dri...

Page 71: ...irectly 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 connected to the PC via one of the above options from point 1 The output of Eas...

Page 72: ...mentation 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 Open a previously created setup which was saved on your PC or Upload the setup from the drive motor Before selecting one of the above op...

Page 73: ...ed EasySetUp tries 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 P...

Page 74: ...he 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 Close the Drive setup dialogue with OK to keep all the changes...

Page 75: ...p 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 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 trig...

Page 76: ...ith CAN communication 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 The Ready green LED will flash at 1 second time intervals while in this mode In absence of a CANopen master you can ge...

Page 77: ...CAN 1 to 127 for CANopen or can indicate that axis ID will be set according with the AxisID inputs levels 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 inputs levels 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 ...

Page 78: ...ue 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 If ...

Page 79: ...irst 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 represent 0x0092 The sw file can be programmed into a drive from a CANopen master using the communication objects f...

Page 80: ...O 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 n...

Page 81: ...ition 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 an...

Page 82: ...ations 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 you need EasyMotion Studio software platform 5 2 2 I...

Page 83: ...ontrol 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 number an integer value between 1 and 255 An applicati...

Page 84: ...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 w...

Page 85: ... 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 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: ...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 motion In the project window left side select M Motion for motion programming This automatically activates the Motion Wizard The Motion Wizard o...

Page 89: ...r speed profile Then press the Run button At this point the following operations are done automatically A TML program is created by inserting your motion objects into a predefined template The TML program is compiled and downloaded to the drive motor The TML program execution is started For learning how to send TML commands from your host master using one of the communication channels and protocol...

Page 90: ...with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the TML functions execution 5 3 2 Executing TML programs The distributed control concept can go one step further You may prepare and download into a drive a complete TML program including functions homing procedures1 etc The TML program execution can be started by simp...

Page 91: ...e selected procedure will occur under Homing Modes in a sub tree with the name HomeX where X is the number of the selected homing If you click on the HomeX procedure on the right side you ll see the TML function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged 5 3 5 Customizing the Drive Reaction to Fault Conditi...

Page 92: ...d with EasySetUp 5 5 Using Motion Libraries for PLC based Systems A TML Motion Library for PLC is a collection of high level functions and function blocks allowing you to control from a PLC the Technosoft intelligent drives The motion control function blocks are developed in accordance with the PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control a...

Page 93: ...e load position in SI units1 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 n...

Page 94: ...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 SI...

Page 95: ...er 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 Br...

Page 96: ...ch 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 _ No...

Page 97: ...riod 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 4 2 where...

Page 98: ... 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 t...

Page 99: ...ear 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 p...

Page 100: ...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 2 4 2 For rotary to linear transmission IU on Accelerati _ Load T accuracy _ Enco...

Page 101: ...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 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 displacem...

Page 102: ...oad 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 which can be opened from the Drive Setup Pole_Pitch is the magnetic po...

Page 103: ...er on load The internal jerk units are load encoder counts slow loop sampling period 3 The transmission is rotary to rotary The correspondence with the load 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 Advance...

Page 104: ...he 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 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 pe...

Page 105: ...le 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 units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is IU Time T s ...

Page 106: ...e motor position in SI units is For rotary motors IU Position _ Motor resolution SI Position _ Motor 2 For linear motors Pole_Pitch Motor_Position SI Motor_Position IU resolution where resolution is the motor position resolution Pole_Pitch is the magnetic pole pitch NN distance expressed in m 6 11 3 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not compu...

Page 107: ...e motor position in SI units is For rotary motors IU Position _ Motor ion Interpolat periods _ Enc SI Position _ Motor 4 2 For linear motors IU Position _ Motor ion Interpolat accuracy _ Encoder SI Position _ Motor 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 b...

Page 108: ...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 pole pitch NN distance expressed in m 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units1 is IU Speed _ Moto...

Page 109: ...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 from the Drive Setup 6 12 6 Step motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is IU ...

Page 110: ... 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 this value in the Advanced dialogue which ...

Page 111: ... 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 iPOS4808 MX Memory Map TML Programs 4000h ...

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