Technosoft 2018
9
iMOT Intelligent Motors Line Technical Reference
2
Product Overview
2.1 Introduction
The
iMOT line
of intelligent brushless and step motors combines an intelligent drive, a motor and a position sensor into
a single unit. The result is a cost effective, compact solution that translates motion commands stored by the user in its
own memory or received through a communication channel into mechanical motion.
All
iMOTs
perform position, speed or torque control and can be configured for either stand-alone or multi-axis operation.
Beside the motor and position sensor, thanks to the intelligent drive, the
iMOTs
combine motion controller PID, power
stage drive and PLC functionality in a single 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 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
Synchronizing all the axes from a network
By implementing motion sequences directly at the iMOT level you can really distribute the intelligence between the
master and the iMOTs 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 iMOTs using TML to execute 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 iMOT’s EEPROM and waiting for a
message, which confirms the TML functions execution completion.
All iMOT Intelligent Motors are equipped with a serial RS232 and a CAN 2.0B / EtherCAT interface depending on the
model. The CAN models can be set by hardware pins to operate in one of the 2 communication protocol modes:
CANopen
TMLCAN
When
CANopen
mode is selected, the iMOT 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, it may be controlled via a CANopen master.
The iMOT 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 intelligent motors can communicate
separately between each other by using non reserved 11 bit identifiers (TechnoCAN protocol).
When
TMLCAN
mode is selected, the iMOT 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 iMOT 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
intelligent motors.
When higher level coordination is needed, apart from a CANopen master, the iMOT intelligent motors can also be
controlled via a PC or a PLC using one of the
TML_LIB
motion libraries.
For the commissioning of the intelligent motors,
EasySetUp
or
EasyMotion Studio
PC applications may be used.
EasySetUp
is a subset of EasyMotion Studio, containing only the setup part (drive + motor). The output of EasySetUp
is a set of setup data that can be downloaded into the iMOT EEPROM or saved on a PC file. At power-on, the intelligent
motor is initialized with the setup data read from its EEPROM. With EasySetUp it is also possible to retrieve the complete
setup information from an iMOT previously programmed. EasySetUp shall be used for drive setup + motor in all cases
where the motion commands are sent exclusively from a master. Hence neither the iMOT TML programming capability
nor the camming mode are used.
EasySetUp can be downloaded free of charge from Technosoft web page.
