Technosoft IBL2403 Series, Technical Reference

Page 1: ...IBL2403 RS232 IBL2403 CAN Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drive Technical Reference Technosoft 2007 ...

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Page 3: ...32 IBL2403 CAN Technical Reference P091 037 IBL2403 UM 1007 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 e mail contact technosoftmotion com http www technosoftmotion com ...

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Page 5: ...hless DC and step motors IBL2403 CAN p n P037 001 E002 Universal Drive for Brushless DC and step motors Standard execution using Technosoft TMLCAN protocol on CANbus IBL2403 CAN CANopen BL p n P037 001 E012 Servo Drive for Brushless and DC motors using CANopen protocol on CANbus IBL2403 CAN CANopen ST p n P037 001 E013 Stepper Drive using CANopen protocol on CANbus In order to operate the IBL2403 ...

Page 6: ...plication data This is a technical reference manual for all the MotionChip II registers parameters and variables 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 init...

Page 7: ...y 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 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 a PLC Omron series CJ1 a motion application for the Technosoft int...

Page 8: ... Technosoft 2007 VI IBL2403 Technical Reference ...

Page 9: ...nnectors and Connection Diagrams 18 3 2 1 Connectors Layout 18 3 2 2 Identification Labels 18 3 2 3 J1 Connector pinout 19 3 2 4 J2 Connector pinout 20 3 2 5 24V Digital I O connection 21 3 2 6 5V Digital I O connection 22 3 2 7 Analog inputs connection 23 3 2 8 Motor connections 24 3 2 9 Feedback connections 29 3 2 10 Supply connection 34 3 2 11 Serial RS 232 connection 36 3 2 12 CAN connection I...

Page 10: ...ng Setup Data Consistency 50 5 2 Using the built in Motion Controller and TML 50 5 2 1 Technosoft Motion Language Overview 51 5 2 2 Installing EasyMotion Studio 51 5 2 3 Getting Started with EasyMotion Studio 52 5 2 4 Creating an Image File with the Setup Data and the TML Program 58 5 3 Combining CANopen or other host with TML 58 5 3 1 Using TML Functions to Split Motion between Master and Drives ...

Page 11: ...ls 67 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 68 6 3 4 Stepper motor open loop control No feedback device 68 6 3 5 Stepper motor open loop control Incremental encoder on load 68 6 3 6 Stepper motor closed loop control Incremental encoder on motor 69 6 4 Jerk units 69 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 69 6 4 2 Brushless motor with li...

Page 12: ...ontrol Incremental encoder on motor 75 6 13 Motor speed units 75 6 13 1 Brushless DC brushed motor with quadrature encoder on motor 75 6 13 2 Brushless motor with linear Hall signals 75 6 13 3 DC brushed motor with quadrature encoder on load and tacho on motor 76 6 13 4 DC brushed motor with tacho on motor 76 6 13 5 Stepper motor open loop control No feedback device or incremental encoder on load ...

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: ...ulating materials such as synthetic fabrics or plastic surfaces In order to discharge static electricity build up place the drive on a grounded conductive surface and also ground yourself 2 Product Overview 2 1 Introduction The IBL2403 is a family of fully digital intelligent servo drives based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded mo...

Page 15: ...icast 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 inst...

Page 16: ...t lines 5V and 24V compatible 5 digital input lines 2 digital output lines RS 232 serial interface up to 115200 bps CAN bus 2 0B up to 1Mbit s with communication protocol CANopen3 compatible with CiA standards DS301 and DSP402 TMLCAN4 compatible with all Technosoft drives with CANbus interface 1 5K 16 internal SRAM memory 8K 16 E2 ROM to store TML programs and data Nominal PWM switching frequency ...

Page 17: ... 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor 2 Position speed or torque control of a brushless DC rotary motor with digital Hall sensors and an incremental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages Scaling factors take into account th...

Page 18: ...2 The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refe...

Page 19: ...r Position speed torque control Quadrature encoder on load plus tachometer on motor 7 Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for speed and acceleration expressed in SI units or derivatives refer to the load1 while the same comma...

Page 20: ...d IU units refer to the load Figure 2 9 Encoder on load Closed loop control load position open loop control motor speed 10 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 command...

Page 21: ...007 11 IBL2403 Technical Reference 2 4 IBL2403 Dimensions 44 0 mm 58 0 mm 65 0 mm 19 0 mm 18 0 mm 50 0 mm 2 5 mm 4 mm 4 0 mm 0 098 0 748 1 732 2 283 0 157 0 157 0 709 1 968 2 559 Figure 2 11 IBL2403 drive dimensions ...

Page 22: ... A Motor Outputs All voltages referenced to GND Min Typ Max Units Motor output current Continuous operation VDC 24 V FPWM 20 kHz 3 3 ARMS Motor output current peak Thermal limited to 0 5 s 6 1 6 1 A On state voltage drop Output current 3 A 900 250 300 mV Off state leakage current 1 0 1 1 mA FPWM 20 kHz VMOT 12 V 50 μH Motor inductance FPWM 20 kHz VMOT 24 V 100 μH Digital Inputs All voltages refere...

Page 23: ...MOS open collector Low level input current Internal 470 Ω pull ups to 5 VDC 10 12 mA Input threshold voltage In single ended mode TTL CMOS open collector 1 8 1 9 2 V Input hysteresis 0 1 0 2 0 5 V Analog Inputs Ref Tacho Referenced to GND Min Typ Max Units Voltage range 0 5 V Input impedance 16 KΩ Resolution 10 bits Differential linearity Guaranteed 10 bit no missing codes 0 09 FS 1 Offset error 0...

Page 24: ...otection 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 Standards compliance CAN Bus 2 0B error active ISO 11898 2 Recommended transmission line impedance Measured at 1MHz 90 120 150 Ω Bit rate Depending on software settings 125K 1M Baud Bit rate 125kbps 25...

Page 25: ...ing to IEC529 1 FS stands for Full Scale Stresses beyond values 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 T B D To be determined Figure 2 12 De rating with ambient temperature13 14 Figure 2 13 De rating with altitude 12 At altitudes over 1 000m current and power rat...

Page 26: ...ating with PWM frequency15 CAUTION For PWM frequencies less than 20kHz correlate the PWM frequency with the motor parameters in order to avoid possible motor damage Figure 2 16 Power De rating with PWM frequency16 Figure 2 17 Over current diagram 15 VOUT the output voltage VMOT the motor supply voltage 16 PNOM the nominal power ...

Page 27: ...ally with label upwards or vertically inside a cabinet see Figure 3 2 In both cases leave at least 25mm between the drive and surrounding walls drives to allow for free air circulation CAUTION Before connecting the motor be sure you have the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 t...

Page 28: ...mber Manufacturer Figure 3 3 IBL2403 RS232 Identification Label T E C H NO SO F T AB1234 Drive Name Article Number Serial Number Manufacturer Figure 3 4 IBL2403 CAN CAN execution Identification Label T E C H NO SO F T AB1234 Drive Name Article Number Serial Number Manufacturer Figure 3 5 IBL2403 CAN CANopen execution for Brushless and DC motors with incremental encoder Identification Label IBL2403...

Page 29: ...DIR I 5V or 24V compatible digital input Can be used as DIRECTION input in Pulse Direction motion mode Can be used as second encoder B signal for single ended encoder 7 Enable IN 16 ENABLE I 5V or 24V compatible digital input Enable Connect to high to disable PWM outputs 8 LSP IN 2 LSP I 5V or 24V compatible digital input Positive limit switch 9 LSN IN 24 LSN I 5V or 24V compatible digital input N...

Page 30: ...n Connect all 3 Hall signals to GND in order to disable the Autorun 8 Hall 3 I Hall 3 signal for digital Hall sensor Not autorun Connect all 3 Hall signals to GND in order to disable the Autorun 9 Enc A I Single ended encoder A signal Differential encoder positive A input 10 Enc B I Single ended encoder B signal Differential encoder positive B input 11 Enc Z I Single ended encoder Z signal Differe...

Page 31: ...4V 1K 10 1 J1 7 8 6 GND Error Rmin 560R 3 3V 470R 10K 3 3V 470R 10K 470R 3 3V 10K 1K 470R 1K 1K 5V LSN 2 LSP 5V LOAD 5 V 24V Supply DC VDC 5V 5V LOAD Rmin 560R Inputs Outputs Figure 3 7 24V Digital I O connection Remarks 1 In order to use 24V outputs an external resistor needs to be connected to a supply of VDC 2 The minimum value of external resistors must be 560 Ω ...

Page 32: ... connection Pulse 9 IBL2403 v1 1 5V I O Connection 3 3V Dir 11 Enable Ready 470R MotionChip TM 1K 10 5 J1 7 8 6 LSP LOAD Error max 6mA LOAD 1K 470R 1K 3 3V 470R 10K 3 3V 470R 10K 5V 1K 5V LSN 5V Inputs Outputs 5V max 6mA 470R 5V 470R Figure 3 8 5V Digital I O connection ...

Page 33: ...se contact Technosoft 3 2 7 2 Recommendation for wiring a If the analogue signal source is single ended use a 2 wire shielded cable as follows 1st wire connects the live signal to the drive positive input 2nd wire connects the signal ground to the drive negative input b If the analogue signal source is differential and the signal source ground is isolated from the drive GND use a 3 wire shielded c...

Page 34: ...nd wire connects the signal minus to the drive negative input 3 2 8 Motor connections 3 2 8 1 Brushless Motor connection J2 Brushless motor connection GND IBL2403 v1 1 MotionChipTM Figure 3 10 Brushless Motor connection CAUTION Before connecting the motor be sure you have the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatica...

Page 35: ... GND 1 coil per phase IBL2403 v1 1 MotionChipTM Figure 3 11 Step Motor connection CAUTION Before connecting the motor be sure you have the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature ...

Page 36: ...B1 B2 A1 A2 A A C B B A B J2 2 coils per phase in parallel connection 1 4 3 2 Figure 3 12 Step Motor connection CAUTION Before connecting the motor be sure you have the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature ...

Page 37: ... 1 coil per phase IBL2403 v1 1 MotionChipTM Figure 3 13 3 phase Step Motor connection CAUTION Before connecting the motor be sure you have the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature ...

Page 38: ... 13 to disable this feature 3 2 8 5 Recommendations for motor wiring a Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters If this situation cannot be avoided use a shielded cable for the motor wires Connect the cable shield to the IBL2403 GND pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 100nF If...

Page 39: ...und 100 μH c A good shielding can be obtained if the motor wires are running inside a metallic cable guide 3 2 9 Feedback connections 3 2 9 1 Single ended encoder connection 3 3V Single ended encoder connection Shield IBL2403 v1 1 J2 5V MotionChip TM 5VOUT Enc A Enc B Enc Z GND 5V 2V 5V 2V 5V 2V 470R 47K 1K 1K 1K 470R 47K 470R 47K Figure 3 15 Single ended encoder connection ...

Page 40: ...n Shield IBL2403 v1 1 J2 5V MotionChip TM 5VOUT Enc A A LH1 Enc B B LH2 Enc Z Z LH3 GND 5V 2V 5V 2V 5V 2V 470R 47K 1K 1K 1K 470R 47K 470R 47K 120R terminator 120R terminator 120R terminator Figure 3 16 Differential encoder connection Remark 120 Ω 0 25 W terminators are required for long encoder cables or noisy environments ...

Page 41: ... 31 IBL2403 Technical Reference 3 2 9 3 Hall connection 16 6 5VOUT J2 GND 3 3V Hall1 Hall2 7 Hall connection Internally generated IBL2403 v1 1 MotionChip TM 3 3V Hall3 5 5V 3 x 1K 3 x 1K 5V Figure 3 17 Hall connection ...

Page 42: ...echnical Reference 3 2 9 4 Linear Hall connection 5 GND 3 3V B LH2 C LH3 14 Linear Hall connection IBL2403 v1 1 MotionChip TM 5VOUT J2 12 5V Internally generated 3 x 10K 3 x 20K 3 x 22nF 13 A LH1 Figure 3 18 Linear Hall connection ...

Page 43: ...tial group of signals as follows Enc A with A LH1 Enc B with B LH2 Enc Z with Z LH3 Use another twisted pair for the 5V supply and GND b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the GND at only one end This point could be either the IBL2403 using the GND pin or the encod...

Page 44: ...longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 1000 μF rated at an appropriate voltage right on the terminals of the IBL2403 3 2 10 3 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an incre...

Page 45: ...d 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 a non horizontal plane mL load mass kg when load is moving in a non horizontal plane g gravitational accelerat...

Page 46: ... 3 21 Serial RS 232 connection 3 2 11 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shield cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 14 of J1 must be included inside the shield like the RxD and TxD signals b Do not rely on an earthed PC to provide the IBL2403 GND connection The drive must be earthed through a separa...

Page 47: ... and CAN_L pins of J1 connector are not connected pins on the IBL2403 RS232 drive 3 2 12 2 Recommendation for 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 total CAN bus length is ...

Page 48: ...t 0 2W minimum Do not use winded resistors which are inductive CAN_GND CAN_L CAN_H IBL4203 AXISID 2 Node A Node B RS 232 PC Host Address 255 120R 5 0 25W Node C CAN_GND CAN_L CAN_H CAN_GND CAN_L CAN_H CAN_GND CAN_L CAN_H Node Z L Lmax 120R 5 0 25W IBL4203 AXISID 3 IBL4203 AXISID 255 IBL4203 AXISID 1 Figure 3 23 Multiple Axis CAN network Remark The AxisID must be set by software using instruction A...

Page 49: ...ation is automatically executed the drive is by default in the autorun mode To disable this feature in case that the application in the E2ROM is corrupted and the RS232 communication is lost make the following connections 6 GND 3 3V Hall1 Hall2 7 Connection for Non Autorun IBL2403 v1 1 MotionChip TM 3 3V Hall3 J2 5 3 x 1K 3 x 1K 5V Figure 3 24 Connection for Non Autorun ...

Page 50: ... connection Pulse IBL2403 v1 1 3 3V Dir MotionChip TM J1 6 GND 3 3V 470R 10K 3 3V 470R 10K 2 5V 5 Shield IBL2403 v1 1 J2 5VOUT Enc A Enc B GND Master Motor phases Slave J2 Motor phases Encoder Master Slave Figure 3 25 Master Slave encoder connection using second encoder input ...

Page 51: ...15 Connectors Type and Mating Connectors Connector Function Producer Board connector J1 Motor Feedback Phoenix Contact MPT 0 5 8 2 5417 J2 Supply I O Serial Phoenix Contact MPT 0 5 8 2 54 17 The mating connector accepts wires of 0 14 0 5 mm2 AWG26 AWG20 ...

Page 52: ...ted the installation package follow its indications 4 2 Getting Started with EasySetUp 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...

Page 53: ... the supported communication channels The implementation must be done according with Technosoft communication protocols Combine TML programming at drive level with one of the other options 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 d...

Page 54: ...irst started EasySetUp tries to communicate via RS 232 and COM1 with a drive having 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...

Page 55: ... 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 introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes r...

Page 56: ...owing 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 4 2 4 Evaluate drive motor behaviour optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior In case of errors like protections triggered use the Dri...

Page 57: ...ware and its value is not anymore known you can find it by selecting in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected Apply this solution only if this drive is connected directly with your PC via an RS 232 link If this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Ne...

Page 58: ...text file that can be read with any text editor It contains blocks of data separated by an empty raw Each block of 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 conta...

Page 59: ...time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The IBL2403 accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set according with the application needs using the dynamic PDO mapping ...

Page 60: ...ined connection set as defined by CiA DS301 v4 02 Thus TechnoCAN protocol and CANopen protocol can co exist and communicate simultaneously on the same physical CAN bus without disturbing each other 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview The IBL2403 supports the following CiA DSP402 v2 0 modes of operation Profile position mode Profile velocity mode Homing mode Interpolated...

Page 61: ...n all the axes from the group Synchronize all the axes from a network In order to program a motion using TML you need EasyMotion Studio software platform 5 2 2 Installing EasyMotion Studio EasyMotion Studio is an integrated development environment for the setup and motion programming of Technosoft intelligent drives It comes with an Update via Internet tool through which you can check if your soft...

Page 62: ... the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the drives motors from the network All data exchanges are done with the ...

Page 63: ...r project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 255 which is the default axis ID of the drives Press New button and select your drive type Depending on the product chosen the selection may continue with the motor technology for example brushless or brushed and the type of fe...

Page 64: ...our 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 S Setup and M Motion program ...

Page 65: ...he 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 EasyMotion Studio tries to communicate via RS 232 and COM1 with a...

Page 66: ... 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 introducing and or checking your data Press the Download to Drive Motor button to downloa...

Page 67: ...ng This automatically activates the Motion Wizard The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate the corresponding TML instructions Therefore with Motion Wizard you can develop motion programs using almost all the TML instructions without needing to learn them A TML program includes a main section f...

Page 68: ...ands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the C...

Page 69: ...dio The IBL2403 offers others motion modes like23 electronic gearing electronic camming external modes with analogue or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy i...

Page 70: ...ing to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the TML interrupts is similar with that for the homing modes 5 4 Using Motion Libraries for PC based Systems A T...

Page 71: ... PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications with Technosoft products With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set...

Page 72: ...or The internal position units are encoder counts The correspondence with the load position in SI units24 is IU Position _ Motor Tr 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 1 2 Brushless motor with linear Hall signals ...

Page 73: ...respondence with the load position in SI units is IU Position _ Motor Tr steps _ No steps _ No SI Position _ Load μ π 2 where No_steps is the number of motor steps per revolution No_µsteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units S...

Page 74: ...oder counts slow loop sampling period The correspondence with the load speed in SI units is IU Speed _ Motor T Tr lines _ encoder _ No SI Speed _ 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 T is the slow loop sampling period expressed in s You can read this ...

Page 75: ...n 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 2 4 DC brushed motor with tacho on motor When only a tachometer is mounted on the motor shaft the internal speed units are A D converter bits The correspondence with the load speed in SI units26 is IU Speed _ Motor Tr gain _ Tacho Range _ Input _ ue log An...

Page 76: ... No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m 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 2 6 Stepper motor closed loop control Incremental encoder on motor The internal speed units a...

Page 77: ...p 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 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period 2 The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 20...

Page 78: ... open loop control No feedback device The internal acceleration units are motor µsteps slow loop sampling period 2 The correspondence with the load acceleration in SI units is IU on Accelerati _ Motor T Tr steps _ No steps _ No SI on Accelerati _ Load μ π 2 2 where No_steps is the number of motor steps per revolution No_µsteps is the number of microsteps per step You can read change this value in ...

Page 79: ...IU on Accelerati _ Motor T Tr lines _ encoder _ No SI on Accelerati _ Load π 2 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 6 4...

Page 80: ..._Pitch Load_Jerk SI Motor_Jerk IU resolution Tr T where resolution is the motor position resolution 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 Pole_Pitch is the magnetic pole pitch NN distance expressed i...

Page 81: ... on load The internal jerk units are load encoder counts slow loop sampling period 3 The transmission is rotary to rotary The correspondence with the load jerk in SI units is IU Jerk _ Load T lines _ encoder _ No SI Jerk _ Load π 3 4 2 where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advance...

Page 82: ... motor phase voltages in SI units i e V is IU command Voltage Vdc V command Voltage 65534 1 1 where Vdc is the drive power supply voltage expressed in V In case of brushless motors driven in trapezoidal mode the voltage command is the voltage to apply between 2 of the motor phases according with Hall signals values In this case the correspondence with the voltage applied in SI units i e V is IU co...

Page 83: ...ialogue which can be opened from the Drive Setup 6 10 Master position units When the master position is sent via a communication channel or via pulse direction signals the master position units depend on the type of position sensor present on the master axis When the master position is an encoder the correspondence with the international standard SI units is IU position _ Master lines _ encoder _ ...

Page 84: ...number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor position in SI units is For rotary motors IU Position _ Motor resolution SI Position _ Motor π 2 For linear motors Pole_Pitch Motor_Position SI Motor_Position IU resolution where resolution is the motor position resolution Pole_Pitch is...

Page 85: ...Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is IU Speed _ Motor T lines _ encoder _ No SI Speed _ Motor π 4 2 where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this va...

Page 86: ...tup Tacho_gain is the tachometer gain expressed in V rad s 6 13 4 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is IU Speed _ Motor gain _ Tacho Range _ Input _ ue log Ana SI Speed _ Motor 4096 where Analogue_Input_Range is the range of the drive analogue input for feedback expressed in V You can read ...

Page 87: ...e Drive Setup 6 13 6 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 _ Motor π 4 2 where No_encoder_lines is the motor encoder number of lines per revolution T is the slow loop sampling period express...

Page 88: ...5 K SRAM into data and program memory The E2 ROM is seen as 8K 16 program memory mapped in the address range 4000h to 5FBEh It offers the possibility to keep TML programs in a Non volatile memory Read and write accesses to the E2 ROM locations as well as TML programs downloading and execution are done from the user s point of view similarly to those in the SRAM program memory The E2 ROM SPI serial...

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