Technosoft PIM2401, Technical Reference

Page 1: ...PIM2401 Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drive Technical Reference Technosoft 2007 ...

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Page 3: ...M2401 Technical Reference P091 035 PIM2401 UM 1107 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: ... and step motors Standard execution using Technosoft TMLCAN protocol on CANbus PIM2401 CANopen BL p n P035 001 E112 Servo Drive for Brushless and DC motors using CANopen protocol on CANbus PIM2401 CANopen ST p n P035 001 E113 Stepper Drive using CANopen protocol on CANbus In order to operate the PIM2401 drives you need to pass through 3 steps Step 1 Hardware installation Step 2 Drive setup using T...

Page 6: ...ameters 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 initialized with the setup data read from its EEPROM With EasySetUp it is also possible to retr...

Page 7: ... 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 intelligent drives using TML_LIB_CJ1 motion ...

Page 8: ... Technosoft 2007 VI PIM2401 Technical Reference ...

Page 9: ...17 3 2 Connectors 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 con...

Page 10: ...ng Setup Data Consistency 51 5 2 Using the built in Motion Controller and TML 51 5 2 1 Technosoft Motion Language Overview 52 5 2 2 Installing EasyMotion Studio 52 5 2 3 Getting Started with EasyMotion Studio 53 5 2 4 Creating an Image File with the Setup Data and the TML Program 59 5 3 Combining CANopen or other host with TML 59 5 3 1 Using TML Functions to Split Motion between Master and Drives ...

Page 11: ...ls 68 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 69 6 3 4 Stepper motor open loop control No feedback device 69 6 3 5 Stepper motor open loop control Incremental encoder on load 69 6 3 6 Stepper motor closed loop control Incremental encoder on motor 70 6 4 Jerk units 70 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 70 6 4 2 Brushless motor with li...

Page 12: ...ontrol Incremental encoder on motor 76 6 13 Motor speed units 76 6 13 1 Brushless DC brushed motor with quadrature encoder on motor 76 6 13 2 Brushless motor with linear Hall signals 76 6 13 3 DC brushed motor with quadrature encoder on load and tacho on motor 77 6 13 4 DC brushed motor with tacho on motor 77 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: ...nt electrostatic damage avoid contact with insulating 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 PIM2401 is a family of fully digital intelligent servo drives based on the latest DSP technology and they offer unprecedented ...

Page 15: ...xes 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...

Page 16: ...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 TMLCAN2 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 20 kHz4 Pow...

Page 17: ...gure 2 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 acco...

Page 18: ...gnals2 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...

Page 19: ...sition 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 commands ...

Page 20: ...efer to the load PIM2401 PIM2401 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 com...

Page 21: ... Technosoft 2007 11 PIM2401 Technical Reference 2 4 PIM2401 Dimensions 49 53 mm 1 95 43 18 mm 1 7 2 54 mm 0 1 0 635 mm 0 025 44 0 mm 1 732 6 8 mm 0 268 43 0 mm 1 693 Figure 2 11 PIM2401 drive dimensions ...

Page 22: ...red between VDC and GND Min Typ Max Units Nominal values 6 24 27 VDC Supply voltage Absolute maximum values continuous 0 5 30 VDC Idle 100 250 mA Supply current Operating 3 7 1 3 7 A Motor Outputs All voltages referenced to GND Min Typ Max Units Motor output current Continuous operation VDC 24 V FPWM 20 kHz 1 1 ARMS Motor output current peak Thermal limited to 0 5 s 3 63 3 63 A H W short circuit p...

Page 23: ...ge Absolute maximum duration 1 ms 1 VDC 0 5 V Logic HIGH Load connected to GND 10 Output current Logic LOW 50 mA ESD Protection Human Body Model 100 pF 1 5 kΩ 25 KV Encoder Inputs Min Typ Max Units Standards compliance Differential TTL CMOS 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...

Page 24: ...Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection 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 impedanc...

Page 25: ...ding 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 temperature 2 3 Figure 2 13 De rating with altitude 1 At altitudes over 1 000m current and power rati...

Page 26: ... rating with PWM frequency1 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 frequency2 Figure 2 17 Over current diagram 1 VOUT the output voltage VMOT the motor supply voltage 2 PNOM the nominal power ...

Page 27: ...orizontally 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...

Page 28: ...abels T E C H NO SO F T AB1234 Drive Name Article Number Serial Number Manufacturer PIM2401 P035 001 E102 Figure 3 3 PIM2401 CAN execution Identification Label T E C H NO SO F T AB1234 Drive Name Article Number Serial Number Manufacturer PIM2401 P035 001 E112 Figure 3 4 PIM2401 CANopen execution for Brushless and DC motors with incremental encoder Identification Label ...

Page 29: ...n motion mode Can be used as second encoder A signal for single ended encoder 6 Dir IN 37 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 ...

Page 30: ...orun 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 Diff...

Page 31: ...nChip TM 24V 1K 10 1 J1 7 8 6 V 24V Supply DC GND Error Rmin 560R 3 3V 10K 3 3V 4K7 10K VDC 4K7 3 3V 10K 1K 470R 1K 1K 5V LSN 2 LSP 5V LOAD 5 Inputs 5V Rmin 560R 5V Outputs LOAD Figure 3 6 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: ...nection IBL2401 v1 0 5V I O Connection 3 3V PIM2401 v1 0 Pulse 9 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 10K 3 3V 4K7 10K 5V 1K 5V LSN 5V Inputs Outputs 5V 470R 5V 470R max 6mA Figure 3 7 5V Digital I O connection ...

Page 33: ...Technical Reference 3 2 7 Analog inputs connection 3 2 7 1 Analog inputs connection PIM2401 v1 0 Figure 3 8 Analog inputs connection Remark Default input range for analog inputs is 0 5 V For a 10 V range please contact Technosoft ...

Page 34: ...al plus to the drive positive input 2nd wire connects the signal minus to the drive negative input and 3rd wire connects the source ground to the drive GND c If the analogue signal source is differential and the signal source ground is common with the drive GND use a 2 wire shielded cable as follows 1st wire connects the signal plus to the drive positive input 2nd wire connects the signal minus to...

Page 35: ... 2 2 phase Step Motor connection A A B A GND C B B A A B B 1 coil per phase J2 3 phase step motor connection 2 4 3 1 5 B A Q5 B Q6 Q3 Q2 Q1 Q4 A Currents Info 4 phase Inverter Q8 Q7 IBL2401 v1 0 MotionChipTM PIM2401 v1 0 Figure 3 10 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 o...

Page 36: ...r phase in series connection J2 A A C B B A B A1 A1 A2 B1 B1 B2 A2 B2 1 4 3 2 A1 A1 A2 A2 B1 B1 B2 B2 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 37: ... B Q6 Q3 Q2 Q1 Q4 A Currents Info 4 phase Inverter Q8 Q7 IBL2401 v1 0 MotionChipTM PIM2401 v1 0 Figure 3 12 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: ... 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 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 mo...

Page 39: ...ed toroidal for example and must be rated for the motor surge current Typically the necessary values are around 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 IBL2401 v1 0 5 J2 12 10 13 11 16 5V MotionChip TM PIM2401 v1 0 5VOUT Enc A...

Page 40: ...2 12 10 13 11 14 5V MotionChip TM PIM2401 v1 0 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 9 470R 47K 470R 47K 16 120R terminator 120R terminator 120R terminator Figure 3 15 Differential encoder connection Remark 120 Ω 0 25 W terminators are required for long encoder cables or noisy electromagnetic environments ...

Page 41: ...2401 Technical Reference 3 2 9 3 Hall connection 16 6 5VOUT J2 GND 3 3V Hall1 Hall2 7 Hall connection IBL2401 v1 0 MotionChip TM PIM2401 v1 0 Internally generated 8 5 5V 3 3V 5V 3 x 1K Hall3 3 x 1K Figure 3 16 Hall connection ...

Page 42: ...1 Technical Reference 3 2 9 4 Linear Hall connection 5 GND 3 3V B LH2 C LH3 14 Linear Hall connection 16 PIM2401 v1 0 MotionChip TM 5VOUT J2 12 5V 3 x 10K 3 x 20K 3 x 22nF 13 A LH1 PIM2401 v1 0 Figure 3 17 Linear Hall connection ...

Page 43: ...l 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 PIM2401 using the GND pin or the encoder ...

Page 44: ...8V 5V 5VOUT J2 2 1 3 J1 To motor 5VIN 5V OUTPUT Figure 3 19 Supply connection 3 2 10 2 Recommendations for Supply Wiring Use short thick wires between the PIM2401 and the motor power supply If the wires are 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 terminal...

Page 45: ... read this value in the Drive Info dialogue which can be opened from the Drive Setup CDrive is the drive internal capacitance 220 μF UNOM is nominal motor supply voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup EM the overall energy flowing back to the supply in Joules In case of a rotary motor and load EM can be computed with the f...

Page 46: ... the angular speed ϖM will become linear speed measured in m s and the friction torque TF will become friction force measured in N Remark If the above computation of EM can t be done due to missing data a good starting value for the capacitor can be 10 000 μF 100V 3 2 11 Serial RS 232 connection 3 2 11 1 Serial RS 232 connection 15 GND 232Tx 232Rx RS 232 Transceiver 3 3V J1 RS 232 connection RS 23...

Page 47: ...must be earthed through a separate circuit Most communication problems are caused by the lack of such connection c Always power off all the PIM2401 supplies before inserting removing the RS 232 serial connector 3 2 12 CAN connection 3 2 12 1 CAN connection 12 J1 GND 3 3V 13 IBL2401 v1 0 CAN_H CAN_L CAN connection PIM2401 v1 0 CAN transceiver 5V To Previous Node To Next Node 14 MotionChip TM Figure...

Page 48: ... 4 material build the CAN network using a pair of 12mil 0 012 tracks spaced 8 to 10mils 0 008 0 010 apart placed over a local ground plane microstrip which extends at least 1mm left and right to the tracks c Whenever possible use daisy chain links between the CAN nodes Avoid using stubs A stub is a T connection where a derivation is taken from the main bus When stubs can t be avoided keep them as ...

Page 49: ...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 AXISID 3 AXISID 255 AXISID 1 PIM2401 PIM2401 PIM2401 PIM2401 Figure 3 22 Multiple Axis CAN network Remark The AxisID must be set by software using instruction AXISID number ...

Page 50: ... 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 8 IBL2401 v1 0 MotionChip TM PIM2401 v1 0 3 3V Hall3 J2 5 5V 3 x 1K 3 x 1K Figure 3 23 Connection for Non Autorun ...

Page 51: ...IBL2401 v1 0 3 3V Dir MotionChip TM J1 6 GND 3 3V 470R 10K 3 3V 470R 10K 2 5V 5 Shield 0 5 J2 10 16 IBL2401 v1 Master PIM2401 v1 0 Motor phases 5VOUT Enc A Enc B GND 9 Slave J2 Motor phases Encoder Master Slave PIM2401 v1 0 Figure 3 24 Master Slave encoder connection using second encoder input ...

Page 52: ... Technical Reference 3 2 15 Connectors Type and Mating Connectors Board connector Mating connector Connector Producer Part Number Producer Part Number J1 J2 Standard header 1 x 16 square 0 635 mm 6 8 mm height W P Pro 157 16 1 00 ...

Page 53: ...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 54: ... 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 55: ...ion Setup dialogue press the Help button and check troubleshoots Remark When first 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 ax...

Page 56: ...a introduction is accompanied by a series of tests having as goal 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 check...

Page 57: ...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 58: ...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 59: ...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 60: ...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 PIM2401 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 61: ...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 PIM2401 supports the following CiA DSP402 v2 0 modes of operation Profile position mode Profile velocity mode Homing mode Interpolated...

Page 62: ...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 softwa...

Page 63: ... 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 64: ...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 65: ...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 66: ...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 67: ... 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 68: ...mming 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 sectio...

Page 69: ...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 70: ...udio The PIM2401 offers others motion modes like2 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 71: ...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 72: ... 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 73: ...tor The internal position units are encoder counts The correspondence with the load position in SI units1 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 74: ...rrespondence 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 ...

Page 75: ...otor The internal speed units are encoder 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 per...

Page 76: ...4 2 where No_encoder_lines is the encoder number of lines per revolution 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 S...

Page 77: ... No s rad 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 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 o...

Page 78: ...op 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 2...

Page 79: ... 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 80: ... 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 ...

Page 81: ..._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 82: ... 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 83: ... 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 84: ...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 85: ...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 86: ...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 87: ...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 88: ...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 89: ...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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