Technosoft IPS110, Technical Reference, Page: 16 / 84

©
Technosoft 2007 4 IPS110 Technical Reference
Apart from a CANopen master, the IPS110 drives can also be controlled from a PC or PLC using
the family of
TML_LIB
motion libraries.
For all motion programming options, the IPS110 commissioning for your application is done using
EasySetUp
.
2.2. Key Features
•
Digital drives for control of brushed DC and step motors with built-in motion controller and
high-level TML motion language
•
Position, speed or torque control
•
Various motion programming modes:
ƒ Position profiles with trapezoidal or S-curve speed shape
ƒ Position, Velocity, Time (PVT) 3
rd
order interpolation
ƒ Position, Time (PT) 1
st
order interpolation
ƒ Electronic gearing and camming
1
ƒ External analogue or digital reference
1
ƒ 33 Homing modes
•
Dual incremental encoder interface: 5V single-ended or open-collector
•
Pulse & direction interface (5V or 24V single-ended, open-collector or RS-422 differential)
for external (master) digital reference
1
•
Linear Halls sensor interface
•
Digital I/Os:
ƒ
2 digital input-output lines (TTL compatible) shared with 2 analog inputs (0 …
3.3V)
ƒ RESET input
ƒ 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:
ƒ CANopen
2
– compatible with CiA standards: DS301 and DSP402
ƒ TMLCAN
2
– compatible with all Technosoft drives with CANbus interface
•
1.5K
×
16 SRAM for data acquisitions and 8K
×
16 E
2
ROM for setup data and TML
programs
•
Hardware Axis ID selection – solder joints
•
Nominal PWM switching frequency
3
: 20 kHz
•
Nominal update frequency for torque loop
3
: 10 kHz
•
Update frequency for speed/position loop
4
: 1-10 kHz
•
Continuous output current: 0.5 A
RMS
•
Peak output current: 1A
•
Logic power supply: 5 V
DC
1
Optional for the IPS110 CANopen execution
2
Available only for the IPS110 CANopen execution
3
Nominal values cover all cases. Higher values are possible in specific configurations. For details contact Technosoft
4
1-2kHz cover all cases. Higher values equal with torque loop update frequency are possible with quadrature encoders