Technosoft iPOS4808 VX Technical Reference
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Technosoft iPOS4808 VX Technical Reference

Intelligent servo drive for step, dc, brushless dc and ac motors intelligent servo drive
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iPOS4808 VX
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
 Technosoft 2018

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Summary of Contents for Technosoft iPOS4808 VX

  • Page 1 VX Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Intelligent Servo Drive Technical Reference  Technosoft 2018...
  • Page 2 T E C H N O S O F T iPOS4808 VX Technical Reference P091.027.iPOS4808.VX.UM.0818 Technosoft S.A. Avenue des Alpes 20 CH-2000 NEUCHATEL Switzerland Tel.: +41 (0) 32 732 5500 Fax: +41 (0) 32 732 5504 e-mail: contact@technosoftmotion.com http://www.technosoftmotion.com/...
  • Page 3 Whilst Technosoft believes that the information and guidance given in this manual is correct, all parties must rely upon their own skill and judgment when making use of it. Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work, whether such error or omission is the result of negligence or any other cause.
  • Page 4 TML instructions. With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives – their capability to execute complex motions without requiring an external motion controller, thanks to their built-in motion controller. A demo...
  • Page 5 Fax: (41) 32 732 55 04 product operation or report Email: hotline@technosoftmotion.com suspected problems (see Note) Make suggestions about, Mail: Technosoft SA or report errors in documentation (see Note) Avenue des Alpes 20 CH-2000, Neuchatel Switzerland  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 6: Table Of Contents

    Introduction....................3 2.2. Key Features ....................4 2.3. Supported Motor-Sensor Configurations ............. 6 2.4. iPOS4808 VX Drive Dimensions ..............6 2.5. Electrical Specifications ................7 Operating Conditions ..................7 Storage Conditions .................... 7 Mechanical Mounting ..................7 Environmental Characteristics ................8 Logic Supply Input (+V ) .................
  • Page 7 Checking Setup Data Consistency ..............54 5.2. Using the built-in Motion Controller and TML ..........54 Technosoft Motion Language Overview ............54 Installing EasyMotion Studio ................55 Getting Started with EasyMotion Studio ............55 Creating an Image File with the Setup Data and the TML Program....60 5.3.
  • Page 8 Brushless / DC brushed motor with quadrature encoder on motor ....77 Brushless motor with linear Hall signals ............77 DC brushed motor with quadrature encoder on load and tacho on motor ..78  Technosoft 2018 VIII iPOS4808 VX Technical Reference...
  • Page 9 Step motor open-loop control. No feedback device or incremental encoder on load Step motor closed-loop control. Incremental encoder on motor ....79 Brushless motor with sine/cosine encoder on motor ........79 Memory Map ..................... 80  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 10: Safety Information

    PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE DEVICE, WHICH WILL BE DAMAGED BY INCORRECT CAUTION! HANDLING. THEREFORE DRIVE SHALL REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT !  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 11: Quality System, Conformance And Certifications

    Authorization and Restriction of Chemicals), which came into force on 01.06.2007. RoHS Compliance - Technosoft SA here with declares that this product is manufactured in compliance with the RoHS directive 2002/95/EC on the restriction of the use of certain hazardous...

  • Page 12: Product Overview

    PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller. Using the high-level Technosoft Motion Language (TML) the following operations can be executed directly at drive level: ...

  • Page 13: Key Features

    TML instructions. With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives – their capability to execute complex motions without requiring an external motion controller, thanks to their built-in motion controllers.
  • Page 14 • Two operation modes: • CANopen – conforming with CiA 301 v4.2 and CiA DSP 402 v3.0 • TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN-bus • 2K × 16 internal SRAM memory for data acquisition •...

  • Page 15: Supported Motor-Sensor Configurations

    6 .9 ±0 .2 3 ±0 .1 1 .6 ±0 .1 5 2 .4 ±0 .1 0 .6 Figure 2.1. iPOS4808 VX drive dimensions All dimensions are in mm. The drawings are not to scale.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 16: Electrical Specifications

    In case of forced cooling (conduction or ventilation) the spacing requirements may drop down to mechanical tolerances as long as the ambient temperature is kept below the maximum operating limit  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 17: Environmental Characteristics

    Absolute maximum values, drive operating but outside guaranteed parameters Supply voltage Absolute maximum values, continuous -0.6 Absolute maximum values, surge † (duration ≤ 10ms) Idle Operating ±8 Absolute maximum value, short-circuit † condition (duration ≤ 10ms)  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 18: Motor Outputs (A/A+, B/A-, C/B+, Br/B-)

    Logic “LOW”; Pulled to GND Logic “HIGH”; Internal 4.7KΩ pull-up to +3.3 Input current Logic “HIGH”; Pulled to +5V 0.15 Logic “HIGH”; Pulled to +24V Input frequency Minimum pulse width µS ESD protection Human body model ±5  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 19: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready, Out5)

    Floating voltage (not connected) † Absolute maximum, surge (duration ≤ 1s) Logic “LOW”; Pull to GND Input current Logic “HIGH”; Internal 1KΩ pull-up to +5 Minimum pulse width µS ESD protection Human body model ±5  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 20: Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-)

    Human body model ±1 For full RS-422 compliance, 120Ω termination resistors must be connected across the differential pairs, as close as incremental encoder connection possible to the drive input pins. See Figure 3.21. Differential  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 21: Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)

    ±2 For many applications, an 120Ω termination resistor should be connected across SIN+ to SIN-, and across COS+ to COS-. Please consult the feedback device datasheet for confirmation. “FS” stands for “Full Scale”  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 22: Can-Bus

    ESD protection Human body model ±1 † 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.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 23: Ipos4808 De-Rating Curves

    Figure 2.2. iPOS4808 VX-CAN Output Voltage De-rating Figure 2.3. iPOS4808 VX-CAN De-rating with ambient with PWM frequency temperature Figure 2.4. iPOS4808 VX-CAN De-rating with altitude Figure 2.5. iPOS4808 VX-CAN Over-current diagram FOR PWM FREQUENCIES LESS THAN 20 KHZ,...

  • Page 24: Step 1. Hardware Installation

    Remark: In case of using a metallic box, with ventilation openings, all spacing values may be reduced substantially. With proper ventilation, keeping the air surrounding the iPOS4808 inside the limits indicated. The spacing values may be reduced down to the mechanical tolerance limits of Figure  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 25: Horizontal Mounting

    Figure 3.3. The iPOS4808 has 6 fixing tabs and one groove that may be used to secure the drive. Figure 3.4 details the fixing tabs and groove position shown with red arrows. 36.8 - 56.4 typ Figure 3.3 Overall dimensions for horizontal mounting  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 26 Remark: In case of using a metallic box, with ventilation openings, all spacing values may be reduced substantially. With proper ventilation, keep the air surrounding the iPOS4808 inside the limits indicated. The spacing values may be reduced down to the mechanical tolerance limits of Figure 3.1.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 27: Motherboard Pcb Design

    “star point” ground connection on-board each iPOS4808. For a multi-axis motherboard with one common power supply for all motors, each motor power supply return track shall be routed separately for each iPOS4808, and star-point connected at the power supply terminal.  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 28 EEPROM CONTENT IS ACCIDENTALLY CORRUPTED. THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE DEVICE, WHICH WILL BE DAMAGED BY INCORRECT CAUTION! HANDLING. THEREFORE DRIVE SHALL REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT !  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 29: Mating Connector

    Samtec PCIE-098-02-F-D-TH Tyco 1761465-3 PCIe 8x horizontal card edge connector,1.0 mm pitch, 2x49 contacts Samtec PCIE-098-02-F-D-RA 3.4. Connector and Connection Diagrams Connector Layout J1 Top view Figure 3.7. iPOS4808 VX drive connector J1  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 30: Identification Labels

    Identification Labels LABEL SERIAL NUMBER LABEL P027.01x.E001 B side A side Identification label Identification label with with Technosoft serial number Technosoft part number Figure 3.8. iPOS4808 VX-CAN Identification Labels  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 31: J1 Connector Pinout (A Side)

    Phase A for 3-ph motors, 5-36V 0.5A drive ready output, OUT3/ B43-49 A/A+ A+ for 2-ph steppers, active low, NPN open-collector/TTL Ready Motor+ for DC brush motors pull-up. Also drives the green LED.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 32: Operation Mode And Axis Id Selection

    AxisID can have one of the integer values: 0 to 6 (0 for L0, 1 for L1, 2 for L2, etc.) 2. If the resulting AxisID value is 0, the axis ID will be set to 255  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 33 Figure 3.9 Axis ID Setting Examples. CANopen mode  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 34 Figure 3.10 Axis ID Setting Examples. TMLCAN mode  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 35 3.4.5.2 Axis ID Settings Table 3.1. Axis ID setting in CANopen mode Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 ID CANopen ID 2 ID 1 ID 0 CANopen  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 36 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 ID CANopen ID 2 ID 1 ID 0 ID CANopen  Technosoft 2013 iPOS360x VX Technical Reference...
  • Page 37 Table 3.2. Axis ID setting in TMLCAN mode Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 38 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 39 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 40: Digital I/O Connection

    3. The inputs are compatible with NPN type outputs (input must be pulled to GND to change it’s default state) 4. The outputs are compatible with NPN type inputs (load is tied to common +V , output pulls to GND when active and is floating when inactive)  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 41 1. The inputs are compatible with TTL(5V), LVTTL(3.3V), CMOS and open collector outputs 2. The outputs are compatible with TTL (5V) inputs 3. The output loads can be individually and independently connected to +5V or to GND.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 42: Analog Inputs Connection

    (GND); shield is connected only at the drive side, to the drive GND, and is left unconnected at the source side. The source minus (negative, out-of-phase) output remains unconnected.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 43: Motor Connections

    Brushless Motor connection Figure 3.15. Brushless motor connection 3.4.9.2 2-phase Step Motor connection Figure 3.16. 2-phase step motor connection, one coil per phase Figure 3.17. 2-phase step motor connection, two coils per phase  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 44 (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.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 45: Feedback Connections

    3.4.10.1 Single-ended Incremental Encoder Connection Figure 3.20. Single-ended incremental encoder connection 3.4.10.2 Differential Incremental Encoder Connection Figure 3.21. Differential incremental encoder connection Remark: 120Ω (0.25W) terminators are required for long encoder cables, or noisy environments.  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 46 3.4.10.3 Digital Hall Connection Figure 3.22. Digital Hall connection 3.4.10.4 Linear Hall Connection Figure 3.23. Linear Hall connection  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 47 5 meters, add a decoupling capacitor near the supplied device, between the +5V and GND lines. The capacitor value can be 1...10 μF, rated at 6.3V.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 48: Power Supply Connection

    = the overall energy flowing back to the supply in Joules. In case of a rotary motor and load, E can be computed with the formula: ϖ ϖ − − )g(h initial final Kinetic energy Potential energy Copper losses Friction losses  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 49 × CYCLE where t is the time interval between 2 brakes in case of repetitive moves. CYCLE × 4. to be rated for an average power and a peak power PEAK CYCLE Remarks:  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 50: Serial Rs-232 Connection

    Do not rely on an earthed PC to provide the iPOS4808 GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 51: Can-Bus Connection

    For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters. d) The 120Ω termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive. Figure 3.28. Multiple-Axis CAN network  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 52: Removal From Autorun Mode

    TML application from the EEPROM. On next power on, in absence of a valid TML application, the drive enters in the non-Autorun/slave mode independently of the digital Hall inputs status. Figure 3.29. Temporary connection during power-on to remove the drive from Autorun mode  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 53: Step 2. Drive Setup

    4. Step 2. Drive Setup 4.1. Installing EasySetUp EasySetUp is a PC software platform for the setup of the Technosoft drives. It can be downloaded free of charge from Technosoft web page. EasySetUp comes with an Update via Internet tool through which you can check if your software version is up-to-date, and when necessary download and install the latest updates.

  • Page 54: Establish Communication

    Implement on your master the TML commands you need to send to the drives/motors using one of 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)

  • Page 55: Setup Drive/Motor

    (for example: Incremental encoder, Linear Halls). The selection opens 2 setup dialogues: for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft drive, plus several predefined control panels customized for the product selected.

  • Page 56: Download Setup Data To Drive/Motor

    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 Drive Status control panel to find the cause.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 57: Changing The Drive Axis Id

    “non-configured” mode, by setting another axis ID between 1 and 127, from above dialogue using a serial link between the drive and the PC.  Software (via CANopen master) – using CiA-305 protocol  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 58 CANbus with other Technosoft drives having an easier access, connect your PC serially to one of the other drives. Use EasySetUp or EasyMotion Studio menu command Communication | Scan Network to find the axis IDs of all the Technosoft drives present in the network.  Technosoft 2018...

  • Page 59: Setting Canbus Rate

    CANopen master via CiA-305 protocol. d) If the setup table is invalid, there is no previous CAN rate set from a valid setup table or by a CANopen master, with f/w default value which is 500kbs  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 60: Creating An Image File With The Setup Data

    EEPROM Programmer tool, which comes with EasySetUp but may also be installed separately. The EEPROM Programmer was specifically designed for repetitive fast and easy programming of .sw files into the Technosoft drives during production.  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 61: Step 3. Motion Programming

    Module Control Services – through these unconfirmed services, the NMT master controls the state of the drive. The following services are implemented: Start Remote Node, Stop Remote Node, Enter Pre-Operational, Reset Node, Reset Communication  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 62: Cia-402 And Manufacturer Specific Device Profile Overview

    Electronic gearing and camming position mode TechnoCAN Extension In order to take full advantage of the powerful Technosoft Motion Language (TML) built into the iPOS4808, Technosoft has developed an extension to CANopen, called TechnoCAN through which TML commands can be exchanged with the drives. Thanks to TechnoCAN you can inspect or reprogram any of the Technosoft drives from a CANopen network using EastSetUp or EasyMotion Studio and an RS-232 link between your PC and anyone of the drives.

  • Page 63: Installing Easymotion Studio

    Getting Started with EasyMotion Studio Using EasyMotion Studio you can quickly do the setup and the motion programming of a Technosoft a drive according with your application needs. The drive can be connected with your PC in one of the following ways: 1.
  • Page 64 The setup component contains all the information needed to configure and parameterize a Technosoft drive. This information is preserved in the drive/motor EEPROM in the setup table. The setup table is copied at power-on into the RAM memory of the drive/motor and is used during runtime.
  • Page 65 Click on your 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).  Technosoft 2018 iPOS4808 VX Technical Reference...
  • Page 66 Setup and for Drive Setup (same like on EasySetUp) through which you can configure and parameterize a Technosoft drive. In the Motor setup dialogue you can introduce the data of your motor and the associated sensors. Data introduction is accompanied by a series of tests having as ...
  • Page 67 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, followed by the subroutines used:  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 68: Creating An Image File With The Setup Data And The Tml Program

    CANopen Programming (part no. P091.063.UM.xxxx) manual. All features presented below require usage of EasyMotion Studio as TML programming tool The customization of the interrupt service routines and homing routines is available only for iPOS480x CAN execution Optional for iPOS480x CANopen execution  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 69: Using Tml Functions To Split Motion Between Master And Drives

    EasySetUp. Using TML Functions to Split Motion between Master and Drives With Technosoft intelligent drives you can really distribute the intelligence between a CANopen master and the drives in complex multi-axis applications. Instead of trying to command each step of an axis movement, you can program the drives using TML to execute complex tasks and inform the master when these are done.

  • Page 70: Customizing The Drive Reaction To Fault Conditions

    A TML Library for PC is a collection of high-level functions allowing you to control from a PC a network of Technosoft intelligent drives. It is an ideal tool for quick implementation on PCs of motion control applications with Technosoft products.

  • Page 71: Scaling Factors

    All Technosoft's TML Motion Libraries for PLC are provided with EasySetUp. 6. Scaling factors Technosoft drives work with parameters and variables represented in the drive internal units (IU). These correspond to various signal types: position, speed, current, voltage, etc. Each type of signal has its own internal representation in IU and a specific scaling factor.

  • Page 72: Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor

    The internal position units are motor encoder counts. The correspondence with the load position in SI units SI units for position are [rad] for a rotary movement , [m] for a linear movement  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 73: Step Motor Open-Loop Control. Incremental Encoder On Load

    Brushless / DC brushed motor with quadrature encoder on motor The internal speed units are encoder counts / (slow loop sampling period). The correspondence with the load speed in SI units is:  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 74: Brushless Motor With Linear Hall Signals

    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”  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 75: Dc Brushed Motor With Tacho On Motor

    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 SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 76: Step Motor Closed-Loop Control. Incremental Encoder On Motor

    The internal acceleration units are encoder counts / (slow loop sampling period) . The correspondence with the load acceleration in SI units is: SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 77: Brushless Motor With Linear Hall Signals

    The correspondence with the load acceleration in SI units is: SI units for acceleration are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 78: Step Motor Open-Loop Control. No Feedback Device

    No_encoder_lines – is the rotary encoder number of lines per revolution Encoder_accuracy – is the linear encoder accuracy i.e. distance in [m] between 2 pulses Tr – transmission ratio between the motor displacement in SI units and load displacement in SI units  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 79: Step Motor Closed-Loop Control. Incremental Encoder On Motor

    SI units for acceleration are [rad/s ] for a rotary movement, [m/s ] for a linear movement SI units for jerk are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 80: Brushless Motor With Linear Hall Signals

    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” Step motor open-loop control. No feedback device  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 81: Step Motor Open-Loop Control. Incremental Encoder On Load

    “Drive Setup”. Brushless motor with sine/cosine encoder on motor SI units for jerk are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 82: Current Units

    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: × Voltage command Voltage command 32767  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 83: Voltage Measurement Units

    The internal motor position units are encoder counts. The correspondence with the motor position in SI units SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 84: Brushless Motor With Linear Hall Signals

    In open-loop control configurations with incremental encoder on load, the motor position is not computed. Step motor closed-loop control. Incremental encoder on motor The internal motor position units are motor encoder counts. The correspondence with the motor position in SI units is:  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 85: Brushless Motor With Sine/Cosine Encoder On Motor

    512 and 8192. By default it is set at 2048 counts per turn. The correspondence with the motor speed in SI units is: × π × Motor Speed Motor Speed For rotary motors: × resolution  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 86: Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor

    The internal motor speed units are motor µsteps / (slow loop sampling period). The correspondence with the motor speed in SI units is: SI units for motor speed are [rad/s] for a rotary motor, [m/s] for a linear motor  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 87: Step Motor Closed-Loop Control. Incremental Encoder On Motor

    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”  Technosoft 2018 iPOS4808 VX Technical Reference...

  • Page 88: Memory Map

    7. Memory Map iPOS4808 VX has 2 types of memory available for user applications: 2K×16 SRAM and 4K×16 serial E ROM. The SRAM memory is mapped in the address range: 9800h to 9FFFh. It can be used to download and run a TML program, to save real-time data acquisitions and to keep the cam tables during run- time.

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