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IPS110 Technical Reference

Summary of Contents for IPS110

Page 1: ...IPS110 Version 1 0 Intelligent Stepper Minidrive for Step and Brushed DC Motors Intelligent Stepper Minidrive Technical Reference Technosoft 2007 ...

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Page 3: ...FT IPS110 v1 0 Technical Reference P091 045 IPS110 UM 1007 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com ...

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Page 5: ...al reference manual for the IPS110 family of intelligent servo drives version 1 0 including the following products IPS110 RS232 p n P045 001 E001 Minidrive for Step and Brushed DC motors IPS110 CAN p n P045 001 E002 Minidrive for Step and Brushed DC motors Standard execution using Technosoft TMLCAN protocol on CANbus IPS110 CANopen p n P045 001 E012 Minidrive for Step and Brushed DC motors using C...

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Page 7: ...Up includes a firmware programmer with allows you to update your drive firmware to the latest revision EasySetUp can be downloaded free of charge from Technosoft web page CANopen Programming part no P091 063 UM xxxx explains how to program the Technosoft intelligent drives using CANopen protocol and describes the associated object dictionary for the DS 301 communication profile and the DSP 402 dev...

Page 8: ...C Omron series CJ1 a motion application for the Technosoft intelligent drives using TML_LIB_CJ1 motion control library for PCs The TML_LIB_CJ1 library is IEC61131 3 compatible TechnoCAN part no P091 063 TechnoCAN UM xxxx presents TechnoCAN protocol an extension of the CANopen communication profile used for TML commands If you Need Assistance If you want to Contact Technosoft at Visit Technosoft on...

Page 9: ... 3 2 Connectors and Connection Diagrams 13 3 2 1 Connectors Layout 13 3 2 2 Identification Labels 14 3 2 3 J1 Connector pinout 16 3 2 4 J2 Connector pinout 17 3 2 5 Supply connection 18 3 2 6 Motor connections 20 3 2 7 Feedback connections 22 3 2 8 Digital I O connections 24 3 2 9 Analog Inputs connection 27 3 2 10 Serial RS 232 Communication connections 28 3 2 11 CAN Communication connection 29 3...

Page 10: ... the built in Motion Controller and TML 46 5 2 1 Technosoft Motion Language Overview 46 5 2 2 Installing EasyMotion Studio 47 5 2 3 Getting Started with EasyMotion Studio 47 5 2 4 Creating an Image File with the Setup Data and the TML Program 53 5 3 Combining CANopen or other host with TML 54 5 3 1 Using TML Functions to Split Motion between Master and Drives 54 5 3 2 Executing TML programs 54 5 3...

Page 11: ...4 1 DC brushed motor with quadrature encoder on motor 62 6 4 2 Stepper motor open loop control No feedback device 62 6 4 3 Stepper motor open loop control Incremental encoder on load 63 6 4 4 Stepper motor closed loop control Incremental encoder on motor 63 6 5 Current units 63 6 6 Voltage command units 63 6 7 Voltage measurement units 64 6 8 Time units 64 6 9 Master position units 64 6 10 Master ...

Page 12: ... Technosoft 2007 VI IPS110 Technical Reference ...

Page 13: ...m tasks such as transporting assembling installing commissioning and operating drives The following safety symbols are used in this manual WARNING SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION...

Page 14: ...ON TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT CAUTION THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS WHICH MAY 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 or...

Page 15: ...lls 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...

Page 16: ...ter digital reference1 Linear Halls sensor interface Digital I Os 2 digital input output lines TTL compatible shared with 2 analog inputs 0 3 3V RESET input 2 Limit Switches LSP and LSN RS 232 serial communication up to 115kbaud CAN bus 2 0A 2 0B up to 1Mbit s with selectable communication protocol CANopen2 compatible with CiA standards DS301 and DSP402 TMLCAN2 compatible with all Technosoft drive...

Page 17: ...r derivatives refer to the load while the same commands expressed in IU units refer to the motor Figure 2 1 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 2 Open loop control of a 2 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed...

Page 18: ... 3 Encoder on load Closed loop control load position open loop control motor speed 4 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 load1 while the same commands expressed in IU units refer to the m...

Page 19: ... Technosoft 2007 7 IPS110 Technical Reference 2 4 IPS110 Dimensions The next figure presents the IPS110 drives dimensions Figure 2 5 IPS110 drives dimensions ...

Page 20: ...nd GND Min Typ Max Units Operating voltages including ripple braking induced over voltage 12 45 VDC Absolute maximum values continuous 0 48 VDC Supply voltage IPS110 Absolute maximum values surge duration 10mS 0 5 50 V DC bus capacitor value DC bus capacitor connected between VMOT and GND 220 µF DC bus capacitor location Wire length from DC bus capacitor to J1 pins 0 10 20 cm Motor Outputs All vol...

Page 21: ...GH 1500 Input current PULS DIR Logic LOW 700 Input frequency 0 5 MHz Minimum pulse width 150 nS ESD Protection Human Body Model 100 pF 1 5 KΩ 2 KV 3 3V Digital Outputs All voltages referenced to GND Min Typ Max Units Logic LOW 0 0 4 Output voltage Logic HIGH 2 4 3 3 V Output current 4 4 mA Output impedance 470 Ω ESD Protection Human Body Model 100 pF 1 5 KΩ 2 KV Encoder Inputs Min Typ Max Units St...

Page 22: ... Bandwidth 3dB 20 KHz ESD Protection Human Body Model 100 pF 1 5 KΩ 2 KV RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection Human Body Model 100 pF 1 5 KΩ 15 KV Input voltage RX232 input 25 25 V Output short circuit withstand TX232 output to GND Guaranteed CAN Bus All voltages referenced to GND Min Typ Max Units Stand...

Page 23: ... 50 g 1 FS stands for Full Scale Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability Figure 2 6 De rating with ambient temperature 8 9 Figure 2 7 De rating with altitude 7 At altitudes over 1 000m current and power rating are reduced due to thermal dissi...

Page 24: ...ing with PWM frequency 10 CAUTION For PWM frequencies less than 20kHz correlate the PWM frequency with the motor parameters in order to avoid possible motor damage Figure 2 10 Power De rating with PWM frequency 11 Figure 2 11 Over current diagram 10 VOUT the output voltage VMOT the motor supply voltage 11 PNOM the nominal power ...

Page 25: ...tion 3 1 Mounting The IPS110 drive was designed to be cooled by natural convection It shall be mounted horizontally on a printed circuit board Figure 3 1 Recommended mounting of IPS110 on a printed circuit board 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout ...

Page 26: ... Technosoft 2007 14 IPS110 Technical Reference Figure 3 2 IPS110 connectors layout 3 2 2 Identification Labels ...

Page 27: ...S110 RS232 Identification Label T E C H NO SO F T AB1234 Drive Name Article Number Serial Number Manufacturer Figure 3 4 IPS110 CAN Identification Label T E C H NO SO F T AB1234 Drive Name Article Number Serial Number Manufacturer Figure 3 5 IPS110 CANopen Identification Label IPS110 P045 001 E001 IPS110 P045 001 E002 IPS110 P045 001 E112 ...

Page 28: ...ly 12 to 45 VDC 3 A O Phase A for step motors Motor for DC brush motors 4 A O Phase A for step motors Motor for DC brush motors 5 B O Phase B for step motors Motor for DC brush motors 6 B O Phase B for step motors Motor for DC brush motors 7 GND Ground 8 GND Ground 9 5V I Positive terminal of the logic supply 5 VDC 10 TX232 O RS 232 Data Transmission 11 RX232 I RS 232 Data Reception 12 RESET I RES...

Page 29: ...n 3 3V analog input for Linear Hall sensor Limit Switch Positive TTL compatible CAPI Encoder Z signal TTL compatible 8 IO 36 Cos LSN CAPI2 IO 36 CAPI2 I IO 35 digital I O TTL compatible Cos 3 3V analog input for Linear Hall sensor Limit Switch Negative TTL compatible CAPI2 Second encoder index TTL compatible 9 Reference AD5 I 0 3 3 V analog input May be used as analog position speed or torque refe...

Page 30: ...μF rated at an appropriate voltage right on the terminals of the IPS110 2 When the same motor power supply is used for multiple drives do a star connection centered electrically around the supply outputs Connect each drive to the common motor supply using separate wires for plus and return 3 2 5 2 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the reg...

Page 31: ...EM the overall energy flowing back to the supply in Joules In case of a rotary motor and load EM can be computed with the formula F M d d Ph 2 M final initial L M M L M M T 2 t t R 3I h g h m m J J 2 1 E ϖ ϖ where JM total rotor 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...

Page 32: ...e friction torque TF will become friction force measured in N Remark If the above computation of EM can t be done due to missing data a good starting value for the capacitor can be 10 000 μF 100V 3 2 6 Motor connections Step motor connection 1 coil per phase GND J1 IPS110 MotionChip TM B1 B2 A1 A2 B1 B2 A1 A2 J1 2 coils per phase in parallel connection A1 A1 A2 B1 B1 B2 A2 B2 2 coils per phase in ...

Page 33: ...ect the cable shield to the IPS110 GND pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 100nF If very long cables hundreds of meters are used this condition may not be met In this case add series inductors between the IPS110 outputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor ...

Page 34: ...22 IPS110 Technical Reference 3 2 7 Feedback connections IPS110v1 0 Encoder Connection 1 2 7 8 7 5V ENCB ENCZ GND ENCA GND 5 5V MotionChip TM J2 3 x 4K7 J1 5V 5V Figure 3 9 Single ended open collector encoder connection ...

Page 35: ...NCB GND 1 Master Motor phases Slave Motor phases Encoder Master Slave IPS110 v1 0 J2 7 GND 3 3V Analog Inputs MotionChip TM IPS110v1 0 9 10 J1 REFERENCE FEEDBACK 7 J2 8 470R 470R 3 3V 100K 100K 3 3V 100K 100K Figure 3 10 Master Slave connection using second encoder input ...

Page 36: ...pacitive coupled noise when using cable lengths over 1 meter Connect the cable shield to the earth potential at only one end This point could be either the IPS110 using the GND pin or the encoder motor Do not connect the shield at both ends 3 2 8 Digital I O connections 3 2 8 1 5V Digital Inputs connection 3 3V Digital Inputs MotionChip TM IPS110 v1 0 IO 35 in out J2 IO 35 Sin LSP CAPI 470R 3 3V S...

Page 37: ...puts connection J2 Puls Pulse Direction connection MotionChip TM DIRECTION Switch 3 3V IPS110v1 0 3 4 IN 38 PULSE IN 37 DIR 5V compatible signal 5V compatible signal Pu s l Dir Dir 5V 5V 120R 5V 5V 120R Figure 3 12 Pulse Direction Inputs connection Remarks 1 When IN 38 PULSE is used as PULSE input in Pulse Direction motion mode on each rising edge the reference or feedback is incremented decrement...

Page 38: ... CAPI in IO 36 in out IO 36 Cos LSN CAPI2 470R 3 3V Cos in LSN in CAPI2 in LOAD max 2 5mA 3 3V LOAD max 2 5mA 3 3V GND J1 7 Figure 3 13 Digital outputs connection Remarks 1 IO 35 and IO 36 must be programmed as outputs for this operating mode 2 IO 35 Sin in LSP in and CAPI in lines are shared also the IO 36 Cos in LSN in and CAPI2 in lines are shared You cannot use these lines simultaneously as an...

Page 39: ...2 9 1 Recommendations for Analogue Signals Wiring a Use a shielded cable as follows inner wire connects the live signal to the drive analog input shield connects the signal ground to the drive GND b If the signal source output voltage is out of the range 0 3 3V use a 2 resistor differential divider located near the IPS110 I O connector Choose the divider resistances as low as possible close to the...

Page 40: ... 4 5 6 7 8 9 Figure 3 15 Serial RS 232 connection 3 2 10 1 Recommendations for RS 232 Wiring a Always power off all the IPS110 supplies before inserting removing the RS 232 serial connector b Use a 9 wire standard 1 to 1 non inverting shielded cable preferable with metallic or metallized shells casings CAUTION DO NOT CONNECT DISCONNECT THE RS 232 CABLE WHILE THE DRIVE IS POWERED ON THIS OPERATION ...

Page 41: ...nd CAN_L pins of J2 connector are not connected pins on the IPS110 drive execution P045 001 E001 3 2 11 1 Recommendations for CAN Wiring a Build CAN network using cables with 2 pairs of twisted wires 2 wires pair as follows one pair for CAN_H with CAN_L and the other pair for CAN_V with CAN_GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b When tota...

Page 42: ...p them as short as possible For 1 Mbit s worst case the maximum stub length must be below 0 3 meters e The 120Ω termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive Figure 3 17 Multiple Axis CAN network 12 12 The maximum value of the AXISID is 127 for the IPS110 CANopen execution and 255 for IPS110 CAN executions IPS110 AXISID 1 IPS110 AXISID 2 IPS110...

Page 43: ...ctors Mating connector On board connector Connector Manufacturer and part number Details Manufacturer and part number Details J1 J2 FISCHER ELEKTRONIK BL 5 12 Precision female socket 2 54 mm pitch FISCHER ELEKTRONIK SL 1 053 012 G Standard header square pin 0 635 x 0 635 mm 2 54 mm pitch ...

Page 44: ... slave mode After reset waits for commands from an external device o JP2 FU Norm SHORT Enable firmware update OPEN Normal operation o ID5 ID0 Axis ID solder joints These solder joints are sampled during power up and the Axis ID is configured accordingly See Table 3 1 Table 3 1 Axis ID configuration Axis ID solder joints ID5 ID4 ID3 ID2 ID1 ID0 Axis ID OPEN OPEN OPEN OPEN OPEN OPEN 255 OPEN OPEN OP...

Page 45: ...46 OPEN SHORT OPEN OPEN SHORT OPEN 45 OPEN SHORT OPEN OPEN SHORT SHORT 44 OPEN SHORT OPEN SHORT OPEN OPEN 43 OPEN SHORT OPEN SHORT OPEN SHORT 42 OPEN SHORT OPEN SHORT SHORT OPEN 41 OPEN SHORT OPEN SHORT SHORT SHORT 40 OPEN SHORT SHORT OPEN OPEN OPEN 39 OPEN SHORT SHORT OPEN OPEN SHORT 38 OPEN SHORT SHORT OPEN SHORT OPEN 37 OPEN SHORT SHORT OPEN SHORT SHORT 36 OPEN SHORT SHORT SHORT OPEN OPEN 35 OP...

Page 46: ...T SHORT SHORT OPEN OPEN OPEN 7 SHORT SHORT SHORT OPEN OPEN SHORT 6 SHORT SHORT SHORT OPEN SHORT OPEN 5 SHORT SHORT SHORT OPEN SHORT SHORT 4 SHORT SHORT SHORT SHORT OPEN OPEN 3 SHORT SHORT SHORT SHORT OPEN SHORT 2 SHORT SHORT SHORT SHORT SHORT OPEN 1 Technosoft drives can be set with axis ID values from 1 to 255 In CANopen protocol the maximum axis number is 127 When CANopen protocol is used the CA...

Page 47: ... with any of the drives from the CANopen network The inspection data acquisition can be done while the main application is running In TechnoCAN protocol the maximum axis number is 31 When TML commands are exchanged using TechnoCAN protocol the CAN communication sees the drives axis ID modulo 32 The correspondence is given in Table 3 2 In order to avoid having multiple devices with the same Axis ID...

Page 48: ...st way is via an RS 232 serial link between your PC and the drive Therefore before the first power up check the following Power supply connections and their voltage levels Motor connections Serial cable connections Axis ID solder joints configuration EasySetUp is installed on the PC which is serially connected with the drive see chapter Step 2 Drive Setup ...

Page 49: ...tUp Using EasySetUp you can quickly setup a drive for your application The drive can be directly connected with your PC via a serial RS 232 link any drive from a CANbus network where the PC is serially linked with one of the other drives The output of EasySetUp is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use EasySetUp includes a set of evaluat...

Page 50: ...ions 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 options you need to establish the communication with the drive you want to commission Use menu command Communication Setup to check change ...

Page 51: ...aving axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically 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 4 2 2 Setup drive m...

Page 52: ...e 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 dialogue you will find a Guideline Assistant which will guide you through the whole process of ...

Page 53: ...he cause 4 3 Changing the drive Axis ID The axis ID of an IPS110 drive can be set in 2 ways Hardware H W according with the solder joints configuration in the range 1 to 31 or 255 see 3 3 Jumper and solder joint configuration Software any value between 1 and 255 stored in the setup table The axis ID is initialized at power on using the following algorithm a If a valid setup table exists with the v...

Page 54: ...CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm If a valid setup table exists with the CAN rate value read from it This can be any of the supported rates or can indicate to use the firmware default F W default value which is 500kHz If the setup table is invalid with the last CAN rate value set with a valid setup table ...

Page 55: ...data starts with the block start address followed by data values to place in ascending order at consecutive addresses 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...

Page 56: ...d services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master with the drives Process Data Object PDO Process Data Objects 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 overhe...

Page 57: ...ecutions In order to take full advantage of the powerful Technosoft Motion Language TML built into the IPS110 Technosoft has developed an extension to CANopen called TechnoCAN through which TML commands can be exchanged with the drives Thanks to TechnoCAN you can inspect or reprogram any of the Technosoft drives from a CANopen network using EastSetUp or EasyMotion Studio and an RS 232 link between...

Page 58: ...ctly on a Technosoft drive requires to create and download a TML Technosoft Motion Language program into the drive memory The TML allows you to Set various motion modes profiles PVT PT electronic gearing14 or camming1 etc Change the motion modes and or the motion parameters Execute homing sequences15 Control the program flow through Conditional jumps and calls of TML functions TML interrupts gener...

Page 59: ...ANbus network where the PC is serially linked with one of the other drives The output of the EasyMotion Studio is a set of setup data and a motion program which can be downloaded to the drive motor EEPROM or saved on your PC for later use EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test me...

Page 60: ...Studio starts with an empty window from where you can create a new project or open a previously created one When you start a new project EasyMotion Studio automatically creates a first application Additional applications can be 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 a...

Page 61: ...roduct chosen the selection may continue with the motor technology for example 2 phase Stepper closed loop and the type of feedback device Incremental encoder Click 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 ...

Page 62: ...ommunication is established EasyMotion Studio displays in the status 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 EasyMo...

Page 63: ... 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 di...

Page 64: ...tup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor To summarize you 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...

Page 65: ...al motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Wizard button Trapezoidal profiles and set a position or 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 ...

Page 66: ... to execute complex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling TML functions 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 on step further You may prepar...

Page 67: ...set as User defined one of the Homing procedures Following this operation the selected procedure will occur under Homing Modes in a subtree 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 me...

Page 68: ...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 IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applica...

Page 69: ...C brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units20 is IU Position _ Motor Tr lines _ encoder _ No SI Position _ Load π 4 2 where No_encoder_lines is the encoder number of lines per revolution 6 1 2 Stepper motor open loop control No feedback device The internal position units are motor µsteps The c...

Page 70: ...its is IU Position _ Load 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 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 per...

Page 71: ... dialogue which can be opened from the Drive Setup 6 2 3 Stepper 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 where No_encoder_lines is the rotary encoder number o...

Page 72: ...o SI on Accelerati _ Load π 2 4 2 where No_encoder_lines is the encoder number of lines per revolution 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 3 2 Stepper motor open loop control No feedback device The internal acceleration units are motor µsteps slow loop sampling period 2 The correspondence with...

Page 73: ...s 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 6 3 4 Stepper motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period 2 The t...

Page 74: ... Advanced dialogue which can be opened from the Drive Setup 6 4 2 Stepper motor open loop control No feedback device The internal jerk units are motor µsteps slow loop sampling period 3 The correspondence with the load jerk in SI units is IU Jerk _ Motor T Tr steps _ No steps _ No SI Jerk _ Load μ π 3 2 where No_steps is the number of motor steps per revolution No_µsteps is the number of microstep...

Page 75: ...d jerk in SI units is IU Jerk _ Motor T Tr lines _ encoder _ No SI Jerk _ Load π 3 4 2 where No_encoder_lines is the motor encoder number of lines per revolution 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...

Page 76: ...ment units refer to the drive VMOT supply voltage The correspondence with the supply voltage in V is IU measured _ Voltage urable VdcMaxMeas V measured _ Voltage 65520 where VdcMaxMeasurable is the maximum measurable 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 ...

Page 77: ...nes is the master number of encoder lines per revolution T is the slave 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 11 Motor position units 6 11 1 DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in SI units28 is I...

Page 78: ...oder on motor The internal 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 12 Motor speed units 6 12 1 DC brushed motor with quadrature encoder on motor For linear motors IU Speed _ Motor T accuracy _...

Page 79: ...etUp 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 3 Stepper 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 Speed _ Motor T lines _ encoder _ No SI Speed ...

Page 80: ... is mapped both in the program space from 8270h to 87FFh and in the data space from A70h to FFFh The data memory can be used for real time data acquisition and to temporarily save variables during a TML program execution The program space can be used to download and execute TML programs It is the user s choice to decide how to split the 1 5 K SRAM into data and program memory The E2 ROM is seen as...

Page 81: ... those in the SRAM program memory The E2 ROM SPI serial access is completely transparent to the user 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 ...

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