Technosoft 2019
8
iPOS80x0 BX-CAN/-CAT Technical Reference
2
Product Overview
2.1
Introduction
The
iPOS80x0
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 iPOS80x0
drives accept as position feedback incremental encoders (quadrature or sine/cosine) and absolute encoders (SSI and
BiSS-C).
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 iPOS80x0 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
2
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 iPOS80x0 CAN drives are equipped with a serial RS232 and a CAN 2.0B interface that can be set by hardware pins
to operate in 2 communication protocol modes:
CANopen
TMLCAN
The iPOS80x0 CAT drives support only the EtherCAT® communication protocol. They communicate through the serial
RS232 interface for software commissioning and the EtherCAT® interface.
When
CANopen
mode is selected, the iPOS80x0 conforms to
CiA 301 v4.2
application layer communication profile,
the
CiA
WD 305 v2.2.13
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 iPOS80x0 may be controlled via a
CANopen master. The iPOS drive offers the possibility for a CANopen master to call motion sequences/ functions,
written in TML and stored in the drive EEPROM, using manufacturer specific objects. Also, the drives can communicate
separately between each other by using non reserved 11 bit identifiers.
When
TMLCAN
mode is selected, the iPOS80x0 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 iPOS80x0 can be set to operate standalone, and may play the role of a master to coordinate both
the network communication/synchronization and the motion application via TML commands sent directly to the other
drives.
When higher level coordination is needed, apart from a CANopen master, the iPOS80x0 drives can also be controlled
via a PC or a PLC using one of the
TML_LIB
motion libraries.
1
Available if the master axis sends its position via a communication channel, or by using the secondary encoder input
2
Available only for CAN drives
