Technosoft 2018
3
iPOS4808 VX Technical Reference
2. Product Overview
2.1. Introduction
The
iPOS4808
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), DC brushed motors and step
motors, the iPOS4808 drives accept as position feedback incremental encoders (quadrature or
sine/cosine) and linear Halls 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 iPOS4808 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
, 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
Controlling motion of an axis from another one via motion commands sent between axes
Sending commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group
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.
All iPOS4808 drives are equipped with a serial RS232 and a CAN 2.0B interface and can be set
(hardware, via an AxisID input level) to operate in 2 modes:
CANopen
TMLCAN
When
CANopen
mode is selected, the iPOS4808 conforms to
CiA 301 v4.2
application layer 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. In this mode, the iPOS4808 may be
controlled via a CANopen master. As a bonus, iPOS4808 offers a CANopen master the option to
call motion sequences, written in TML and stored in the drive EEPROM, using manufacturer specific
objects (see for details par. 5.3).
1
Available if the master axis sends its position via a communication channel
