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Isel IMD20 Manual

Ac servo positioning module with canopen interface
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AC servo positioning module with CanOpen interface
IMD20
IMD40

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Summary of Contents for Isel IMD20

  • Page 1 AC servo positioning module with CanOpen interface IMD20 IMD40...
  • Page 2 Company: isel Germany AG © 2009 All rights reserved. Without the prior written content of isel Germany AG, no part of this publication may be reproduce stored in a retrieval system or transmitted in any way whatsoever. No responsibility is accepted for the correctness of the data contained in this manual. Isel Germany AG company reserves the right to make changes to the contents hereof without prior notice.

  • Page 3: Table Of Contents

    DIP switch ........................18 Modes of operation......................18 LEDs IMD20 ........................19 LEDs IMD40 ........................20 Hardware description IMD20 ....................21 Connectors........................21 Frame connector X1 – Connection of the operating voltage 40V-95V, motor and brake ........................21 Frame connector X2 – 15-pin Sub-D – Connection of the encoder, hall sensors and limit switch....................
  • Page 4 Table of contents Positioning module IMD20, IMD40 Frame connector X3 – 15-pin Sub-D - Connection encoder, hall sensors, limit switch ........................28 Frame connector X4 – 20-pin – System connection..........29 Frame connector X5 – RJ45 - RS-232 und CAN IN..........29 Frame connector X6 –...
  • Page 5 Positioning module IMD20, IMD40 Table of contents The Help Topics command ................. 45 The Info command ....................45 Programme user interface ......................46 Tool bar .......................... 46 Status bar ........................46 Drive status........................47 Monitor window for serial interface ................47 Monitor window for CAN communication ..............
  • Page 6 General parameters ..................113 Manufacturer-specific parameters ................120 EDS / DCF files ........................128 Appendix ....................129 Connection of Motionking EC motor to the IMD20, IMD40 ..........129 Encoder connection....................... 129 Motor connection......................130 IMD20 basis connection ....................131 IMD20 system connection .................... 132 Glossary ....................

  • Page 7: Overview

    Features of the drive module • Supply voltage IMD20 40-95 V DC, IMD40 220 V AC • Motor current IMD20 bis 25 A (continuous current 12 A), IMD40 bis 13 A • CAN bus interface according to CanOpen DS301 V4.0 and DS402 V1.0 •...

  • Page 8: Safety Notes For Electrical Drives And Controllers

    The safety note indicates a possible perilous voltage. General note In the case of d amage resulting from non-compliance of the safety notes in this manual isel Germany AG will assu e no liability. Prior to the initial use you must read the chapters “Safety notes for electrical drives and controllers”...

  • Page 9: Danger Resulting From Misuse

    Positioning module IMD20, IMD40 Safety notes for electrical drives and controllers • Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment. • First aid training. The follow ing notes must be read prior to the initial operation o...

  • Page 10: General Safety Notes

    Safety notes for electrical drives and controllers Positioning module IMD20, IMD40 DANGER! Surfaces of device housing may be hot! Risk of injury! Risk of burning! DANGER! Dangerous movements! Danger to life, serious personal injury or property damage due to unintentional...

  • Page 11: Safety Notes For Assembly And Maintenance

    Positioning module IMD20, IMD40 Safety notes for electrical drives and controllers DANGER! The general setup and safety regulations for work on power installations (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be complied with. Non-compliance may result in death, personal injury or serious property damages.

  • Page 12: Protection Against Contact With Electrical Parts

    Safety notes for electrical drives and controllers Positioning module IMD20, IMD40 Be careful during the assembly. During the assembly and also later during operation of the drive, make sure to prevent drill chips, metal dust or assembly parts (screws, nuts, cable sections) from falling into the device.

  • Page 13: Protection Against Electrical Shock By Means Of Protective Extra-Low Voltage (Pelv)

    Positioning module IMD20, IMD40 Safety notes for electrical drives and controllers Comply with the minimum copper cross-section for the ground conductor over its entire length as per EN60617! Prior to the initial operation, even for short measuring or testing purposes, always...

  • Page 14: Protection Against Contact With Hot Parts

    Safety notes for electrical drives and controllers Positioning module IMD20, IMD40 • Defective or non-EMC-compliant components • Error in software in superordinated control system These errors c an occur directly after switchi ng on the device or after an indeterminate time of operation.

  • Page 15: Notes On Safe And Emc-Compliant Installation

    Positioning module IMD20, IMD40 Notes on safe and EMC-compliant installation DANGER! Risk of injury due to improper handling! Personal injury due to pinching, shearing, cutting, crushing! e f llowing general safety notes apply: Comply with the general setup and safety regulations on handling and assembly.

  • Page 16: General Information On Emc

    Notes on safe and EMC-compliant installation Positioning module IMD20, IMD40 • Sufficiently small unwanted emission of electrical, magnetic or electromagnetic interference from an electrical installation or an electrical device to other devices in the vicinity via cables or the ambient.
  • Page 17 Positioning module IMD20, IMD40 Notes on safe and EMC-compliant installation • Unshielded signal and control lines should not be used. If t heir use is inevitable they should at least be twisted. • Even shielded cables will inevitably have short unshielded ends (unless shielded connector housings are used).

  • Page 18: Description Of The Drive Module

    Description of the drive module Positioning module IMD20, IMD40 scription of the drive module tings and status display On the front (IMD40) or on the side (IMD 20) of the module, a DIP switch is provided for settings concerning the node address, the baud rate, limit bridge and CAN terminator.

  • Page 19: Leds Imd20

    Positioning module IMD20, IMD40 Description of the drive module is controlled via the Can bus or the serial interface, while there are only two states for the other modes of operation (Enabled, Disabled) which are linked directly with the enabling signal (Input 4).

  • Page 20: Leds Imd40

    Description of the drive module Positioning module IMD20, IMD40 NMT status: STOPPED or Everything is in order PRE-OPERATIONAL STS1 No enabling signal (input 4) Drive status Blinking interval about 1,5s Disturbance on the CAN bus (permanent simultaneous blinking) STS2 Blinking code in case of fault...

  • Page 21: Hardware Description Imd20

    Positioning module IMD20, IMD40 Description of the drive module Hardware description IMD20 Connec tors All connectors are prov ided on the front of the drive module. Frame co ctor X 1 – Connection of the op erating voltage 40V-95V, motor and brake...

  • Page 22: Frame Connector X2 - 15-Pin Sub-D - Connection Of The Encoder, Hall Sensors And Limit Switch

    Description of the drive module Positioning module IMD20, IMD40 Frame connector X2 – 15-pin Sub-D – Connection of the encoder, hall sensors and limit switch → Hall A ← E ncode r vo ltage V (Digita → Encoder /Z → Encoder /B →...

  • Page 23: Frame Connector X4 - Rj45 - Rs-232 And Can In

    Positioning module IMD20, IMD40 Description of the drive module Frame connector X4 – RJ45 - RS-232 and CAN IN ↔ ↔ RS232 RS232 RS232 Signal (Digital High GND) Frame connector X5 – RJ45 – CAN OUT ↔ ↔ Signal High Jumper settings For the normal operation, no settings via jumpers are required.

  • Page 24: Digital Output Ready

    Description of the drive module Positioning module IMD20, IMD40 Input P2.0 10NF 74HCT14SO TLP124 GND 24V Digital output Ready The Ready output is designed as a potential-free contact. It indicates the operational readiness of the module and is only set, if the module software works correctly (monitoring through internal watchdog timer).

  • Page 25: Digital Output Limit Switch Chain

    Positioning module IMD20, IMD40 Description of the drive module Digital output Limit switch chain The Limit Switch Chain output is designed as a potential-free contact. It indicates, if both limit switches are not activated (closed potential-free contact). If one or both limit switch(es) is (are) activated, the contact is open.

  • Page 26: Can

    Description of the drive module Positioning module IMD20, IMD40 LTC489-SOL16 Encoder A Encoder B Encoder Z Encoder /A Encoder /B Encoder /Z +5V Encoder Encoder GND The structure of the C an network is to be realised so as to guarantee that a 120 ohm terminating...

  • Page 27: Hardware Description Imd40

    Positioning module IMD20, IMD40 Description of the drive module Hardware description IMD40 Connec tors All co nnecto rs are provided on the fron t of the drive module with the exception of the brake resistor conne on on one side of the IMD40.

  • Page 28: Frame Connector X2 -Connection Of Operating Voltage 24V, Temperature And Brake

    Description of the drive module Positioning module IMD20, IMD40 Frame connector X2 –Connection of operating voltage 24V, temperature and brake → +24 V (Logic 24V) → Temperatur sensor motor (Temperature) ← Brake GND_24V (Logic GND) Limit SW 1 Limit SW 2...

  • Page 29: Frame Connector X4 - 20-Pin - System Connection

    Positioning module IMD20, IMD40 Description of the drive module Frame connector X4 – 20-pin – System connection Signal GND_24V (Logic GND) +24V (Logic 24V) → Input limit switch chain In (Limit IN) ← Output Homing → Input Ready In (Ready IN) →...

  • Page 30: Frame Connector X7 - Brake Resistor

    Description of the drive module Positioning module IMD20, IMD40 Frame connector X7 – Brake resistor The frame connector you can find at the side of IMD40. Here you can also connect the brake resistor (see frame connector X1). External brake resistor connector 1...

  • Page 31: Wiring Of The Inputs And Outputs

    Positioning module IMD20, IMD40 Description of the drive module Wiring of the inputs and outputs Digital inputs limit switches, reference switch, enable The evaluation of the inputs can be set by means of software. See “ Inputs dialogue box” on page 74 Eingang P2.0...

  • Page 32: Digital Output Limit Switch Chain

    Description of the drive module Positioning module IMD20, IMD40 +24V TLP124 Output Brake DGND GND_24V Digital output Limit switch chain The Limit Switch Chain output is designed as a potential-free contact. It indicates, if both limit switches are not activated (closed potential-free contact). If one or both limit switch(es) is (are) activated, the contact is open.

  • Page 33: Encoder Connections

    Positioning module IMD20, IMD40 Description of the drive module oder connections The drive module is preset for the connection of a quadrature incremental encoder with index signal. The transfer of the signals is carried out according to the RS422 specification. It is recomm ended to se shielded cables twisted in pairs for the encoder wiring.

  • Page 34: Data Transfer

    RS232 • Can bus The RS232 interface and Can bus connection can be found on frame connector X4 (IMD20) and respectively frame connector X5 (IMD40). Both interfaces can be used to access all objects (parameters) of the module. The access rights depend on the communication channel which was set by means of the DIP switch on the front side.
  • Page 35 Positioning module IMD20, IMD40 Description of the drive module Control Meaning character SDO query (is received by the module) SDO response (is sent by the module) Boot-up message Emergency telegram Error during transfer F1: received too few characters F2: checksum error...

  • Page 36: Commissioning

    One axis works as the master and the other works as the slave. In order to commission a antry axis, each axis (master or slave) has to be commissioned separately, before the machine is assembled. These parameters are stored as usual in the IMD20, IMD40 module. On the basis of the control and mot ion parameters of the master and slave axis, the ISEL CNC control determines the ptimum motion behaviour for the gantry axis during the initialisation phase.

  • Page 37: Example 2

    Positioning module IMD20, IMD40 Description of the drive module Set the "Modes of operation" (606 ) parame ter via SDO to the value 3. Send Rece Data Data 2F 60 60 00 03 00 00 00 582 60 60 60 00 00 00 00 00 Set the "Control word"...
  • Page 38 Description of the drive module Positioning module IMD20, IMD40 Set the "Modes of operation" (6060 ) via RS232 to the value 1. Send Receive Data (ASCII characte Data C 2F 60 60 0 0 01 10 B 60 60 60 00 E0 Set the "Control word...

  • Page 39: Example 3

    Positioning module IMD20, IMD40 Description of the drive module Query of the status word (6041 Send eive Data (ASCII characters) Data C 40 41 60 00 1F B 4B 41 60 00 27 12 DB Exam ple 3: Communication: Analogu...

  • Page 40: Fault States

    Description of the drive module Positioning module IMD20, IMD40 Fault states If an error occurs, the module switches to the fault state, in which the final stage is switched off. The LEDs o n the front side indicate the current error by a blinking sequence.

  • Page 41: Acsetup Programme

    Positioning module IMD20, IMD40 ACSetup programme Setup pro gramme Menus Commands of the File menu New command (File menu) Use this command to create a new DCF file with default parameters. Shortcuts Tool bar: Keyboard: CTRL+N The Open command (File menu) Use this command to open an existing DCF file.

  • Page 42: Commands Of The Connection Menu

    ACSetup programme Positioning module IMD20, IMD40 Shortcuts Mouse: System menu Keyboard: A T+F4 Commands of the Connection menu The Online Mode On/Off command Use this com mand in order to enable or disable the online mode (see “Online operation” on page 49).

  • Page 43: Commands Of The Commissioning Menu

    After a firmware update via the bootstrap loader has een realised, the module has the default password “ISEL”. Via the menu Tools\Password, it is ossible to define a new password at any given point in time.

  • Page 44: The Firmware Update / Normal Command

    ACSetup programme Positioning module IMD20, IMD40 s long as the default password is valid, the users do not notice during the application of the CSetup programme that a Password is required. If the password differs from the default password, however, users are require d to enter the right password in order to permanently store the parameters in the module.

  • Page 45: Commands Of The View Menu

    Positioning module IMD20, IMD40 ACSetup programme See “Firmware update” on page 78. Commands of the View menu The Tool Bar command By means of this command, you can show or hide the tool bar. T he tool bar contains shortcuts for certain menu commands.

  • Page 46: Programme User Interface

    ACSetup programme Positioning module IMD20, IMD40 Programme user interface Tool bar The tool bar offers shortcuts for frequently used menu commands: Opens a new parameter file Opens an existing parameter file Saves the open parameter file Makes a connection to the drive module...

  • Page 47: Drive Status

    Positioning module IMD20, IMD40 ACSetup programme Drive status This display can be used to consult and change the operating state of the drive module in case of an active online mode. The status is queried about 5 times every second via the active connection.

  • Page 48: Monitor Window For Can Communication

    ACSetup programme Positioning module IMD20, IMD40 Monitor window for CAN communication CAN address (node nr. 1) CAN data (SDO) CAN message received In this window, CAN data are shown which are exchanged between the ACSetup programme and the selected drive mod ule.

  • Page 49: Programme Functions

    The positioning module IMD20, IMD40 can internally store a configurable set of parameters, in which all drive and control settings are included. If no settings have been carried out yet, the parameters contain default values.

  • Page 50: Can Settings

    If the CAN driver has already been launched from a different application, the ACSetup programme can normally no longer use the Can bus in order to communicate with the IMD20 / IMD40 module. Only the serial interface is concerned. If you nevertheless want to use ACSetup with the CAN bus, you have to activate the “Declaration mode”.

  • Page 51: Commissioning / Adjustment Of Parameters

    “Object Directory dialogue box” of the Settings\Object Directory main menu. If the drive module is operated together with the ISEL control card UPMV4/12, the ACSetup programme has to generate an enabling signal so as to ensure that the final stages can be switched on.
  • Page 52 <APPLY> The set of parameters is only transferred to the module. A permanent storing is only carried out automatically, if the default password “ISEL” is in use. Otherwise it is not carried out. The permanent storing of data can always be realised via the <OK>...

  • Page 53: Connection Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme Connection dialogue box Here, you can select the active connection and adjust the corresponding settings. Afterwards, the online mode can be activated. During the step-by-step commissioning, the online mode is automatically launched with the <Next> button.

  • Page 54: Mode Of Operation Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Mode of Operation dialogue box The current mode of operation is given in this dialogue box and can be changed, if the DIP switch was not used to set the analogue reference input (current or velocity control preset). In case of the step-by-step commissioning, the number of the following setting dialogue boxes depends on the mode of operation chosen here.

  • Page 55: Offset Calibration Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme Offset Calibration dialogue box ith the offset calibration the offsets are measured and the drive module is calibrated.The offset calibration is realised automatically in the drive module and launched via the corresponding button.

  • Page 56: Analogue Input Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Analogue Input dialogue box This setting possibility serves to eliminate small zero point deviations and voltage fluctuations on the analogue input. The digitalised voltage value is set to zero in the set area around the zero point. This...

  • Page 57: Brake Dialogue Box

    Brak dialogue box Output 3 (X1 pin 7at IMD20, X2 pin 3 at IMD40) is specifically designed for the control of a connected brake. The use of the brake is optional. If a brake does not exist, the manual control mode has to be chosen.

  • Page 58: Current Controller Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Current Controller dialogue box The setting of the PI current controller is realised via the parameters kp (proportional amplification) and ki (integral amplification). Based upon the default values, the controller settings can be optimised. In order to facilitate the setting process, an internally generated rectangular signal (three impulses) is applied on the controller’s input for the test.
  • Page 59 Positioning module IMD20, IMD40 ACSetup programme On the basis of the actual current display, the jump response of the controller can be assessed. Only if the target value is complied with, the set current values for the rated and peak current correspond to the actual currents.

  • Page 60: Encoder Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Encoder dialogue box An operational encoder connection is an essential condition of the commissioning of the velocity and position controller. If the encoder is not connected or not connected correctly, the motor would make uncontrolled movements.

  • Page 61: Motor And Transmission Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme Motor and Transmission dialogue box In this dialogue box the motor data and transmission data can be input. The current controller limitaion can be calculated from the motor data (iq_Limit, id_Limit). In the dialogue box "Current Controller"...
  • Page 62 ISEL motor please press the button "Default values for ISEL motors". In the ase you wa nt to use a your own motor together with IMD20/IMD40 communicate with us. We will elp you to determine the hall sensor and index signal positions.

  • Page 63: Velocity Controller Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme Velocity Controller dialogue box setting of the PID velocity controller is carried out by analogy with the setting of the current ontroller (see “Current Controller dialogue box”). Furthermore, there are the parameters kd (differential amplification) and the related scan time td. The td factor affects the scan time of the...
  • Page 64 ACSetup programme Positioning module IMD20, IMD40 Target position Target speed Overtravel limitation Output= MAX Ground Actual speed Actual position The deviation betw een the target and the actual position cannot be greater than the following limitation, since the target position follows the actual position, if this distance is exceeded. A too great value of an following limitation might lead to a permanent vibration of the axes.
  • Page 65 Positioning module IMD20, IMD40 ACSetup programme...

  • Page 66: Direction Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Direction dialogue box Every axis (linear axis, rotary axis) driven with the positioning module should have a defined axis direction. If the motor is connected correctly, it should rotate to the right in case of a positive direction and to the left in case of a negative direction (viewed from the front).

  • Page 67: Acceleration Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme Acceleration dialogue box The maximum acceleration is the limitation for the acceleration of all motion functions with a ramp (profile velocity mode, profile position mode). I.e. the acceleration cannot become greater than this value, even if a different parameter (e.g. profile acceleration) contains a higher value.

  • Page 68: Velocity Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Velocity dialogue box The maximum speed is the limitation for the speed of all motion functions with a ramp (profile velocity mode, profile position mode). I.e. the speed cannot become greater than this value, even if a different parameter (e.g.

  • Page 69: Position Controller Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme The maximum speed is determined internally and then limited to 95 %, in order to dispose of a good reserve for the regulation. Important: If a current short circuit fault (fault number 13) occurs during the automatic determination of the maximal velocity the user must reduce step by step the current limitation (in the main iq_Limit) until the fault 13 does not occur anymore.
  • Page 70 ACSetup programme Positioning module IMD20, IMD40 The setting of the regulation parameters can be realised as follows: Load default values. Set test acceleration to maximum acceleration and control the course of speed. Increase kp until a considerable overshooting can be noticed.
  • Page 71 The speed amplification kv is a characteristic parameter for the dynamism of an axis. This parameter is not used within the positioning module. A superordinate CNC control such as the ISEL control can read this parameter and use it for the optimisation of the sequence of motions. The kv factor is to be...

  • Page 72: Can Interpolation Dialogue Box

    Concerning the axis type, the axis can either be set as a linear or as rotary axis. The CNC control of ISEL uses this parameter for the display. Otherwise, the axis type is not used. In case of a gantry axis, where two axes are to be moved synchronously, the maximum position error can be freely defined.
  • Page 73 Positioning module IMD20, IMD40 ACSetup programme axis exceeds this value, the slave axis is immediately stopped with the error code 22 (see section on fault states). The related master axis is informed of this error via the CAN bus and stops immediately with the error code 28.

  • Page 74: Inputs Dialogue Box

    ACSetup programme Positioning module IMD20, IMD40 Inputs dialogue box The positioning module disposes of three digital inputs for two limit switches, an enabling signal and as signal for the motor temperature sensor. The allocation of the signals to the inputs can be made at random, apart from the enabling signal which is always to be led to input 4 (hardware connection of input 4 with final stage release).

  • Page 75: Reference Run Dialogue Box

    Positioning module IMD20, IMD40 ACSetup programme Reference Run dialogue box The reference run serves to define the zero point of an axis. For this, the axis moves with the “Drive into the switch” speed in one direction, until the switch indicated becomes active. Afterwards, the axis (slowly) moves with the “Drive out of the switch”...

  • Page 76: Object Directory Dialogue Box

    Likewise, the speeds an d the r eference distance can be set here. Furthermore, there is the possibility to test the reference run. You have to take into consideration that IMD20/IMD40 do not support a reference switch, that mea ns the u...
  • Page 77 Positioning module IMD20, IMD40 ACSetup programme...

  • Page 78: Firmware Update

    ACSetup programme Positioning module IMD20, IMD40 Firmware update The software of the drive module is stored in a rewritable Flash memory. Thus, the programme can be loaded easily from the outside into the module, without memory modules having to be replaced.

  • Page 79: Canopen Protocol

    Positioning module IMD20, IMD40 CanOpen protocol nOpen protocol Overv he communication in CanOpen networks is based upon CAN data packages the content (max. 8 bytes) and target address of which are used by the CanOpen protocol. The main part of the communication is handled via the communications objects SDO (Service Data Object) and PDO (Process Data Object).
  • Page 80 CanOpen protocol Positioning module IMD20, IMD40 Principle of the data transfer in the CANOpen network via SDOs and PDOs CANOpen control e.g. PC Parameters and data of the control Control level e.g. target position Object X e.g. target position Object Y...

  • Page 81: Sdo

    • data with a length of more than 4 bytes are transferred in several successive SDO telegrams (Normal Transfer). case of the IMD20, IMD40 drive module, all parameters can be transferred in the framework of the “Expedited Transfer”, with the exception of the objects 1008...
  • Page 82 CanOpen protocol Positioning module IMD20, IMD40 Overview of the possible values of the command specifiers in case of the "Expedited Transfer": Requirement (Client) Response (Server) Command specifier Command Number of Read object (upload Content of the object request) (upload response)

  • Page 83: Pdo

    Positioning module IMD20, IMD40 CanOpen protocol Example 1: Query of the actual position (object 6064 ). As a response, the value 16900000 = 0101DFA0 is sent back. Data Address 0x40 0x64 0x60 0x00 0x00 0x00 0x00 0x00 Client Server 0x43...

  • Page 84: Types Of Transfer

    CanOpen protocol Positioning module IMD20, IMD40 PDO Producer R_PDO2 with default settings 0x300 + Data Node ID PDO Consumer Object2 Object1 Modes of Control word Operation Object1 Object1 Object2 Objekt X Objekt X ..Byte 0 Byte 1 Byte 0...

  • Page 85: Sync

    Positioning module IMD20, IMD40 CanOpen protocol The transfer of synchronous PDOs can again be subdivided into two types: • Cyclic PDOs are transferre d periodi cally accordi to a adjustab le nu mber of S YNC impulses (1-240). • cycli...

  • Page 86: Emcy

    CanOpen protocol Positioning module IMD20, IMD40 EMCY Emergency messages are trigg ered b y intern al errors in the d evice and t with a hig h priority to the Can bus. A superordinate control can thus react very quickly...

  • Page 87: Status Diagram

    Positioning module IMD20, IMD40 CanOpen protocol 0x82 “Reset Communication“ Reset of the communications parameters and restart Example: Bring all nodes into the Operat ional st aster 0x01 0x00 NMT Slaves tatu dia ram Every Can Open partic ipant disposes of an internal state machine which co...

  • Page 88: Boot-Up Object

    CanOpen protocol Positioning module IMD20, IMD40 Boot-Up object After a successful initialisation , the mo dule s ends a b ot-up object wh ich n otifies the N MT master of the fact that the node is available and has achieved the Pre -Operational state.
  • Page 89 Positioning module IMD20, IMD40 CanOpen protocol NMT Master NMT Slave (Operational) 0x05 Guard time 0x85 0x05 Life-Time Life-guarding error...

  • Page 90: Object Directory

    CanOpen protocol Positioning module IMD20, IMD40 Object Directory The object directory contains a ll param eters and vari bles o the mod ule th at can be read or written via the Can network. The entries in the directory are characte...
  • Page 91 Positioning module IMD20, IMD40 CanOpen protocol Error memory Index Sub Name Type Attrib Map Default Meaning value Pre-defined error Error memory (list of the 1003 RECORD field last errors that occu rred). 1003 Number of errors Unsigned 8 Number errors occurred.
  • Page 92 CanOpen protocol Positioning module IMD20, IMD40 Hardware version Index Sub Name Type Attrib Map Default Meaning value Manufacturer’s Hardware vers 1009 Visible strin hardware version number. oftwa e ve ion Index Sub Name Type Attri Default Meaning value 100A Manufacturer’s Visible String Software version number.
  • Page 93 Positioning module IMD20, IMD40 CanOpen protocol • Manufacturer-specific parameters: offset values of the analogue inputs. Load default parameters ex Sub Nam Type Attrib Map Default Meaning value 1011 Restore default RECORD Load default parameters. parameters 1011 Largest supported Unsigned 8 CONST Number of options.

  • Page 94: Pdo / Mapping Parameters

    CanOpen protocol Positioning module IMD20, IMD40 SDO a p rameters Index Sub Name Type Attrib Map Default Meaning value Server SDO param eters of the 1200 RECOR paramet module. 1200 Number of entries Unsigned 8 CONST Number of entries. 1200...
  • Page 95 Positioning module IMD20, IMD40 CanOpen protocol Receive PDO4 – comm nications parameter Index Sub Name Type Attrib Map D efault Meaning alue 1403 R_PDO4 parameters RECORD Comm. parameters. 1403 Number of entries Unsigned 8 CONST Number of entries. 1403 COB ID...
  • Page 96 CanOpen protocol Positioning module IMD20, IMD40 Receive PDO4 – mapping parameters Index Sub Name Type Attrib Map Default Meaning value 1603 R_ PDO4 mapping RECORD Mapping parameters. 1603 No. of ob j. in PDO Unsigned 8 Number of objects. 1603 Mapping for 1st obj.
  • Page 97 Positioning module IMD20, IMD40 CanOpen protocol Transmit PDO3 – communication parameters Index Sub Name Type Attrib Map Default Meaning value 1802 T_PDO3 parameters RECORD Comm. parameters. 1802 Number of e ntries Unsigned 8 CONST Number of entries. 1802 COB ID...
  • Page 98 CanOpen protocol Positioning module IMD20, IMD40 Transmit PDO2 – Mapping parameters Index Sub Name Type Attrib Map Default Meaning value 1A01 T_ PDO2 Mapping RECORD Mapping parameters. 1A01 No. of obj. in Unsigned 8 Number of objects. 1A01 Mapping for 1st obj.

  • Page 99: Device Profile Parameters

    Positioning module IMD20, IMD40 CanOpen protocol Device profile parameters CanOpen comprises different devices (e.g. I/O modules, drives, encoders ...), so-called device profiles, in which pre-defined parameters and modes of operation are available for each device class. According to the functional scope of a device, more or less of these default objects can be implemented.
  • Page 100 CanOpen protocol Positioning module IMD20, IMD40 • Fault: Final stage blocked. Drive functions blocked. Control word Index Sub Name Type Attri Defaul Meaning value Control word Unsigned 16 0x00 Control of all important drive functions. eaning of the bits in t...

  • Page 101: Mode Of Operation

    Positioning module IMD20, IMD40 CanOpen protocol ning of the bits in the status word All modes of Mode of Mode o Mode of Mode of operation operation: operation: operation: operation: “Velo city control” “Profile position “Homing mode” “Interpolation” mode” Status of the state machine.

  • Page 102: Current Control

    The admissible settings for the rated rrent a re betw n 0 t 10,000 mA. The rated current i s limited by 25000 (mA) at IMD20 and is limited by 8000 (mA) at IMD40. I²t – turn -off me Index Sub Name Type...
  • Page 103 Positioning module IMD20, IMD40 CanOpen protocol Curr nt controller parameter Index Sub Name Type Attrib Map Default Meaning value Torque Control RECORD Parameter of the current 60F6 Parameter controller 60F6 Number of En tries Unsigned 8 CONST Number of entries...
  • Page 104 CanOpen protocol Positioning module IMD20, IMD40 Actual velocity sensor value Index Sub Name Type Attrib Map Default Meaning value Velocity sensor: 6069 Signed 32 Actual velocity in Incr/s. actual value Velocity sensor selection Index Sub Name Type Attrib Map Default...

  • Page 105: Profile Position Mode - Position Control With Ramp Profile

    Positioning module IMD20, IMD40 CanOpen protocol Profile Position Mode – position control with ramp profile In the Profile Position Mode, a motion segment can be allocated to the drive module which the controller automatically realises. During the proce ssing of a segment, the parameters for the next movement can already be set, so that individual segments can be lined up seamlessly.
  • Page 106 CanOpen protocol Positioning module IMD20, IMD40 Segment velocity Index Sub Name Type Attrib Map Default Meaning value Velocity during 6081 Profile velocity Unsigned 32 movement ment user-defined units / s. Final velocity Index Sub Name Type Attrib Map Default Meaning...

  • Page 107: Interpolated Position Mode - Position Control With Interpolation

    Positioning module IMD20, IMD40 CanOpen protocol word (Bit 13), if the actual position deviates from the target value for the "Following error time window" by the "F ollowing erro r positio n wind ow”. ollow ing erro r time window...
  • Page 108 CanOpen protocol Positioning module IMD20, IMD40 Data Data Data S NC Interpolation target values Internally calculated target values Position Pos. contr. Interval SYNC interval Time In order to launch the interpolation, the Sync signal has to be active and Bit 4 has to be set in the control wo The length of the SYNC interval in µs has to be entered in the "Communication Cycle Period"...

  • Page 109: Homing Mode - Reference Run

    Positioning module IMD20, IMD40 CanOpen protocol Configuration of the interpolation buffer Index Sub Name Type Attrib Map Default Meaning value Interpol ation data Configuration 60C4 RECORD guration interpolation buffer. 60C4 ber of entri Unsigned 8 CONST Number of entries. 60C4 Max.
  • Page 110 CanOpen protocol Positioning module IMD20, IMD40 The following possibilities can be selected: Refere ce run metho Directio Target Referen ce point for zero position negative limit switch Next in dex signal after the limit switch duri ng the mov ing out of the limit switch.

  • Page 111: Moving The Axis Out Of A Limit Switch

    Positioning module IMD20, IMD40 CanOpen protocol Moving the axis out of a limit switch If a limit switch of the axis is triggered, the drive module switches to the fault state and the final stage cannot be released, until the limit switch is active.
  • Page 112 CanOpen protocol Positioning module IMD20, IMD40 Dimensions index Inde x Sub Name Type Attrib Map Default Meaning value Position dimen sion Unsigned 8 Index for the dimensions 608A index of the position. The dimensions index indi cates whic h physical dimension is to be used. The following values can be...

  • Page 113: General Parameters

    Positioning module IMD20, IMD40 CanOpen protocol Feed forward constant ex Sub Name Type Attrib Map Default Meaning value Feed forward 6092 RECORD Feed forward constant. constant 6092 Number of entries Unsigned 8 CONST Number of Entries. 6092 Feed Unsigned 32 10000 Feed.
  • Page 114 CanOpen protocol Positioning module IMD20, IMD40 Axis direction ex Sub Name Type Attrib Map Default Meaning value Axis direction (0x00: 607E Polarity Unsigned 8 0x00 positive, 0xC0: negative). Axis irection parameter m akes it possib le to inv t the rotation dire...
  • Page 115 Positioning module IMD20, IMD40 CanOpen protocol Normally, the current is switched off by the hardware, if a limit switch is activated. By means of the 0x2054 bject (“Limit switch shunt"), the safety circuit can be shunted in order to be able to switch on the current gain.
  • Page 116 CanOpen protocol Positioning module IMD20, IMD40 Motor Data Index Sub Name Attrib Map Default Meaning value General parameters 6410 Motor Data RECORD the connected motor 6410 Number of Entries Unsigned 8 CONST 6410 Hall_CBA_001 Unsigned 16 Position [Inkr.] Position CBA_Halls_Conditio...
  • Page 117 6510 Phase Cu rrent Hard Unsigned 8 Motor phase current Limit limitation in % von 13 A at IMD40 or 25A at IMD20 6510 DC Bus V oltage Lo Unsigned 16 DC Bus Voltage Low Limit in volt 6510 Voltage...
  • Page 118 CanOpen protocol Positioning module IMD20, IMD40 Invert digital inputs Meaning Bit 0 … 3 Input 1 ... 4 is high-active (i.e. no signal inversion). Input 1 ... 4 is low-active (i.e. signal inversion). The meaning of the bits is internally allocated as follows:...
  • Page 119 An exceeding of this value leads to deactivation of the controlling until the motor phase currents decrease under the limit value. Take into consideration that the IMD20/IMD40 is not switched off during this measure. It is only a security measure.

  • Page 120: Manufacturer-Specific Parameters

    CanOpen protocol Positioning module IMD20, IMD40 Manufacturer-specific parameters In the range of 2 to 5FF of the object direc tory, th ere are th parameters that are not predefined by a CanOpen specification. Can Baud Rat Index Sub Name Type...
  • Page 121 The “Password” object offers the possibility to protect the set parameters from unauthorised changes. It has to be taken into account that the protection mechanism does not work on the IMD20, IMD40 level. An application software has to use the possibilities offered by this object in order to protect the parameters within the IMD20, IMD40 module.
  • Page 122 Check (Dummy) Check (Dummy) With the help of the synchronous control objects given above, the ISEL CNC control realises the operation of the gantry axis. The “Synchronous Mode” object is set during the CNC operation by the control, if applicable. Currently, up to 2 gantry axes are allowed per machine. The CAN node ID of the slave axes are stored in the “Slave minimal node ID”...
  • Page 123 Positioning module IMD20, IMD40 CanOpen protocol factor” object. It has to be taken into account that these two objects of a slave axis, and not of a master axis, have to be set. Motor controller write register Index Sub Name...
  • Page 124 CanOpen protocol Positioning module IMD20, IMD40 Fault reset Index Sub Name Type Attrib Map Default Meaning value 2051 Fault reset Unsigne Fault reset or reset. The writing of a 1 releases a fault reset (alternatively to cont rol word Bit7 0→1). The writing of a 2 releases a complete reset of the module.
  • Page 125 Map Defaultwert Bedeutung 2072 Number of Entries Unsigned 8 CONST 2072 IMD20 Actual Active Unsigned 8 At IMD20: 1= DC Bus Level Status Voltage over 30V, 0 = DC Bus Voltage under 30V 2072 IMD40 Actual Unsigned 16 At IMD40: actual DC Bus...
  • Page 126 CanOpen protocol Positioning module IMD20, IMD40 Velocity control test signal Index Sub Name Type Attrib Map Default Meaning value Velocity / Position Test signal for velocity 2091 RECORD control: test input and position controller. 2091 Number of entries Unsigned 8 CONST Number of entries.
  • Page 127 Positioning module IMD20, IMD40 CanOpen protocol Trace Data Index Sub Name Type Attrib Map Default Meaning value Data field internal 2081 Trace data Domain registrations of courses of current and velocities etc.

  • Page 128: Eds / Dcf Files

    CanOpen protocol Positioning module IMD20, IMD40 EDS / DC F files The drive m odule includes a so-called EDS file (Electronic Data Sheet) which contains a description of all objects of a module. This file has a form which is defined in CanOpen so as to make sure that it can be read in by different configuration tools.

  • Page 129: Appendix

    Positioning module IMD20, IMD40 Appendix Appendix Connection of Motionking EC motor to the IMD20 , IMD40 Encoder connection The encoder con tion is valid for the following Motionki ng EC motors: 60BLS70A-440-100 0Z (EC 60 S 156W) 60BLS90A-440-1000Z (EC 60 L 235W)

  • Page 130: Motor Connection

    Appendix Positioning module IMD20, IMD40 Motor connection The following motor connection is valid for Motionking EC motors: Connectionat IMD20 60BLS70A-440-1000Z (EC 60 S 156W) Connectionat IMD20 60BLS90A-440-1000Z (EC 60 L 235W) Connectionat IMD20 90BLS70A-440-1000Z Connectionat IMD40 90BLS70A-640-1000Z Connectionat IMD20 90BLS100A-440-1000Z...

  • Page 131: Imd20 Basis Connection

    Positioning module IMD20, IMD40 Appendix IMD20 basis connection iMD 20 DIP-Switch 1 ON CAN-Terminator Limit-Bridge Interface RS232 RS232 Baudrate High High Node-Adr. Limit-Switch Limit-Switch Encoder / Hall Encoder / Hall RS232 RS232 CAN IN CAN IN CAN OUT CAN OUT...

  • Page 132: Imd20 System Connection

    Appendix Positioning module IMD20, IMD40 IMD20 system connection iMD 20 DIP-Switch 1 ON CAN-Terminator Limit-Bridge Interface RS232 RS232 Baudrate High High Node-Adr. Limit-Switch Limit-Switch Encoder / Hall Encoder / Hall RS232 RS232 CAN IN CAN IN CAN OUT CAN OUT...

  • Page 133: Glossary

    Positioning module IMD20, IMD40 Index Glossary DCF file Device Configuration File Descriptions of the module’s objects and current value of the objects. EDS file Electronic Data Sheet File Descriptions of the module’s objects. Process Data Object Can message with a defined identifier which contains one or more objects without address information.

  • Page 134: Index

    Index Positioning module IMD20, IMD40 Index Frame connector 21, 27, 28 Active connection 53 Analogue input 25, 32 Guarding 88 Appendix 129 Axis direction 66, 114 Axis type 121 Hard limit 64 Baud rate 26, 33 Interface 45 Blinking sequence 40...
  • Page 135 Positioning module IMD20, IMD40 Index Switched On 99 SYNC 85, 107 Ready to Switch On 99 Synchronous PDOs 84 Reference potential 26, 34 Reference run 75, 109, 111 RS232 34, 42, 47 td (scan time) 63 RS232 interface 18 Terminating resistor 26, 33...

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