Technosoft 2018
5
iMOT Intelligent Motors Line Technical Reference
Notational Conventions
This document uses the following conventions:
•
iMOT
– all products described in this manual
•
IU units
–
Internal units of the drive
•
SI units
–
International standard units (meter for length, seconds for time etc.)
•
TML
– Technosoft Motion Language
•
CANopen
– Standard communication protocol that uses 11bit message identifiers over CAN-bus
and enables connection with different brand products
•
TMLCAN
– Technosoft’s own communication protocol for exchanging TML commands only
between Technosoft drives/motors via CAN-bus, using 29bit message identifiers
•
CoE
– CANopen over EtherCAT, CANopen application protocol via EtherCAT® layer
Trademarks
EtherCAT®
is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany. In this document it will be further referenced as EtherCAT.
Related Documentation
iMOT Intelligent Motors line Datasheets
–
describes the hardware connections of the iMOT Intelligent Motors line including the technical data and
connectors.
Help of the EasySetUp software
–
describes how to use
EasySetUp
to quickly setup any Technosoft drive
for your application using only 2 dialogues. The output of EasySetUp is a set of setup data that can be
downloaded into the drive EEPROM or saved on a PC file. At power-on, the drive is initialized with the
setup data read from its EEPROM. With EasySetUp it is also possible to retrieve the complete setup
information from a drive previously programmed.
EasySetUp can be downloaded free of charge from
Technosoft web page
iPOS CANopen Programming
(part no. P091.063.CANopen.iPOS.UM.xxxx)
– explains how to program the
iPOS family of intelligent drives using
CANopen
protocol and describes the associated object dictionary
for
CiA 301 v.4.2
application layer and communication profile,
CiA
WD
305 v.2.2.13
layer settings
services and protocols 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. Since the iMOT Intelligent
Motors are based on the iPOS family of drives, this manual also applies to them.
CoE Programming
(part no. P091.064.EtherCAT.iPOS.UM.xxxx)
– explains how to program the Technosoft
intelligent drives using
CAN application protocol over EtherCAT®
and describes the associated object
dictionary. Since the iMOT Intelligent Motors are based on the iPOS family of drives, this manual also
applies to them.
Motion Programming using EasyMotion Studio (part no. P091.034.ESM.UM.xxxx)
–
describes how to use
the EasyMotion Studio to create motion programs using in Technosoft Motion Language (TML).
EasyMotion Studio platform includes
EasySetUp
for the drive/motor setup, and a
Motion Wizard
for the
motion programming. The Motion Wizard provides a simple, graphical way of creating motion programs
and automatically generates all the TML instructions.
With EasyMotion Studio you can fully benefit from
a key advantage of Technosoft drives – their capability to execute complex motions without requiring an
external motion controller, thanks to their built-in motion controller.
A demo version of EasyMotion
Studio (with EasySetUp part fully functional) can be downloaded free of charge from the
Technosoft web page
TML_LIB v2.0
(part no. P091.040.v20.UM.xxxx)
– explains how to program in
C, C++,C#, Visual Basic or
Delphi Pascal
a motion application for the Technosoft intelligent drives or motors using TML_LIB v2.0
motion control library for PCs. The TML_lib includes ready-to-run examples that can be executed on
Windows
or
Linux
(x86 and x64).
TML_LIB_LabVIEW v2.0
(part no. P091.040.LABVIEW.v20.UM.xxxx)
– explains how to program in
LabVIEW
a motion application for the Technosoft intelligent drives or motors using TML_LIB_Labview
v2.0 motion control library for PCs. The TML_Lib_LabVIEW includes over 40 ready-to-run examples.
TML_LIB_S7
(part no. P091.040.S7.UM.xxxx)
– explains how to program in a PLC
Siemens series S7-300
or S7-400
a motion application for the Technosoft intelligent drives or motors using TML_LIB_S7 motion
control library. The TML_LIB_S7 library is
IEC61131-3 compatible
.
TML_LIB_CJ1
(part no. P091.040.CJ1.UM.xxxx)
– explains how to program in a PLC
Omron series CJ1
a
motion application for the Technosoft intelligent drives or motors using TML_LIB_CJ1 motion control
library for PLCs. The TML_LIB_CJ1 library is
IEC61131-3 compatible
.
TML_LIB_X20
(part no. P091.040.X20.UM.xxxx)
– explains how to program in a PLC
B&R series X20
a
motion application for the Technosoft intelligent drives or motors using TML_LIB_X20 motion control
library for PLCs. The TML_LIB_X20 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
