©
Technosoft 2007
3
IPS110 Technical Reference
2. Product Overview
2.1. Introduction
The
IPS110
is a family of intelligent stepper minidrive, based on the latest DSP technology and
they offer unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushed DC and step motors, the IPS110 drives accept as position
feedback incremental encoders (quadrature).
All drives perform position, speed or torque control and work in either single-, multi-axis or stand-
alone configurations. Thanks to the embedded motion controller, the IPS110 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
2
or camming
, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences
1
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
Using
EasyMotion Studio
for TML programming 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 (with possibility
to abort their execution if needed) and waiting for a message, which confirms the TML functions
execution.
1
Optional for the IPS110 CANopen execution
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