1. Manuals
  2. Brands
  3. Technosoft Manuals
  4. Servo Drives
  5. iPOS360x MX
  6. Technical reference

Technosoft iPOS360x MX Technical Reference

Intelligent servo drive
Hide thumbs Also See for iPOS360x MX:
Table of Contents

Advertisement

Quick Links

Download this manual
iPOS360x MX
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
 Technosoft 2014

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the iPOS360x MX and is the answer not in the manual?

Questions and answers

Related Manuals for Technosoft iPOS360x MX

Summary of Contents for Technosoft iPOS360x MX

  • Page 1 MX Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Intelligent Servo Drive Technical Reference  Technosoft 2014...
  • Page 3 T E C H N O S O F T iPOS360x MX Technical Reference P091.028.iPOS360x.MX.UM.0614 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 5 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 6 The Motion Wizard provides a simple, graphical way of creating motion programs and automatically generates all the 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.
  • Page 7 TML_LIB_LabVIEW v2.0 (part no. P091.040.LABVIEW.v20.UM.xxxx) – explains how to program in LabVIEW a motion application for the Technosoft intelligent drives using TML_LIB_Labview v2.0 motion control library for PCs. The TML_Lib_LabVIEW includes over 40 ready-to-run examples. TML_LIB_S7 (part no. P091.040.S7.UM.xxxx) – explains how to program in a PLC Siemens series S7-300 or S7-400 a motion application for the Technosoft intelligent drives using TML_LIB_S7 motion control library.
  • Page 8 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 2014 iPOS360x MX Technical Reference...

  • Page 9: Table Of Contents

    Product Overview ..................4 2.1. Introduction .................... 4 2.2. Key Features ..................6 2.3. Supported Motor-Sensor Configurations ..........8 2.4. iPOS360x MX Drive Dimensions ............13 2.5. Electrical Specifications ................ 14 2.5.1. Operating Conditions .................. 14 2.5.2. Storage Conditions ..................14 2.5.3.
  • Page 10 CiA-301 Application Layer and Communication Profile Overview ....68 5.1.2. CiA-305 Layer Setting Services (LSS) and Protocols Overview ....69 5.1.3. CiA 402 and Manufacturer Specific Device Profile Overview ...... 69 5.1.4. TechnoCAN Extension ................69  Technosoft 2014 VIII iPOS360x MX Technical Reference...
  • Page 11 5.1.5. Checking Setup Data Consistency ............. 70 5.2. Using the built-in Motion Controller and TML ........70 5.2.1. Technosoft Motion Language Overview ............70 5.2.2. Installing EasyMotion Studio ............... 71 5.2.3. Getting Started with EasyMotion Studio ............71 5.2.4. Creating an Image File with the Setup Data and the TML Program .... 78 5.3.
  • Page 12 Step motor open-loop control. No feedback device or incremental encoder on load 6.12.4. Step motor closed-loop control. Incremental encoder on motor ....99 6.12.5. Brushless motor with sine/cosine encoder on motor ......100 Memory Map ................... 101  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 13: Safety Information

    This page is empty. 1. Safety information  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 14: Warnings

    WHILE THE POWER SUPPLIES ARE ON ! THE DRIVE MAY HAVE HOT SURFACES DURING WARNING! OPERATION. DURING DRIVE OPERATION, CONTROLLED WARNING! MOTOR WILL MOVE. KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 15: Cautions

    To prevent 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.  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 16: 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 17 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 18: Key Features

     Various modes of operation, including: torque, speed or position control; position or speed profiles, external analogue reference or sent via a communication bus  Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences  Standalone operation with stored motion sequences ...
  • Page 19  Over-current 2A cont. with DC, step and BLDC motors (trapezoidal), 2A amplitude (1.41A ) for PMSM (sinusoidal) 4A cont. with DC, step and BLDC motors (trapezoidal), 4A amplitude (2.82A ) for PMSM (sinusoidal)  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 20: Supported Motor-Sensor Configurations

    The brushless motor is vector controlled like a permanent magnet synchronous motor. It works with sinusoidal voltages and currents. Scaling factors take Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 21 , while the same commands, expressed in IU units, refer to the motor. Motion commands can be referred to the motor by setting in EasySetUp a linear to linear transmission with ratio 1:1  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 22 IU units, refer to the motor. Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 23 IU units, refer to the motor. Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 24 Encoder on motor shaft. Figure 2.11. Closed-loop control: motor position, speed or torque. Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 25: Ipos360X Mx Drive Dimensions

    2.4. iPOS360x MX Drive Dimensions Figure 2.12. iPOS360x MX drive dimensions All dimensions are in mm. The drawings are not to scale.  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 26: Electrical Specifications

    See Figure 2.14 and Figure 2.19 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 2014 iPOS360x MX Technical Reference...

  • Page 27: Environmental Characteristics

    Absolute maximum values, continuous -0.7 Absolute maximum values, surge † (duration  10ms) Idle iPOS3604 ±4 Operating iPOS3602 -3.2 ±2 +3.2 Supply current Absolute maximum value, short- iPOS3604 circuit condition (duration  † iPOS3602 10ms)  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 28: Motor Outputs (A/A+, B/A-, C/B+, Br/B-)

    TTL / CMOS / LVTTL (3.3V) / Open- Mode compliance collector / NPN / 24V outputs Default state Input floating (wiring disconnected) Logic HIGH Logic “LOW” Logic “HIGH” 5÷24 Input voltage Floating voltage (not connected) Absolute maximum, continuous  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 29: Digital Outputs (Out0, Out2/Error, Out3/ Ready)

    µS ESD protection Human body model ±5 2.5.10. Digital Hall Inputs (Hall1, Hall2, Hall3) Min. Typ. Max. Units Mode compliance TTL / CMOS / Open-collector Default state Input floating (wiring disconnected) Logic HIGH  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 30: Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-)

    Human body model ±1 For full RS-422 compliance, 120 termination resistors must be connected across the differential pairs, as close as possible to the drive input pins. See Figure 3.16. Differential incremental encoder connection  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 31: Linear Hall Inputs (Lh1, Lh2, Lh3)

    Offset error ±2 ±10 bits 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.  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 32: Axis Id Inputs (Axisid 0, Axisid 1, Axis Id 2)

    Node addressing Strapping option (AxisID0,1,2) & 255 (TMLCAN) ESD protection Human body model ±15 2.5.18. Supply Output (+5V) Min. Typ. Max. Units +5V output voltage Current sourced = 250mA “FS” stands for “Full Scale”  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 33 36V 4- phase 0 10 20 30 40 50 60 70 80 90 100 PWM Frequency[KHz] Current [A] Figure 2.15 iPOS3602 MX Current De-rating with PWM frequency Figure 2.16 iPOS3602 MX Over-current diagram  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 34 = 4 A = 10 A T = 250 A = 2.5 s 9 10 11 Current [A] Figure 2.21. iPOS3604 MX Over-current diagram – the output voltage, V – the motor supply voltage  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 35 FOR PWM FREQUENCIES LESS THAN 20 KHZ, CORRELATE THE PWM FREQUENCY WITH THE CAUTION! MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE.  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 36: Step 1. Hardware Installation

    For motherboard PCB design, use the dimensional drawing from Figure 3.1. below. Figure 3.1. iPOS360x MX PCB Footprint For thermal calculations, each iPOS360x drive can be assumed to generate 1 Watt at idle, and up to 3 Watts (= 10 BTU/hour) worst case while driving a motor.
  • Page 37 +5V  The outer box / case / cabinet must be connected to the motherboard ground either galvanically (directly) or through high-frequency decoupling capacitors, rated at an appropriate voltage.  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 38: Mating Connector And Retainer

    SL 1 053 012 G BL 5 12 J1, J2 Standard header square pin Standard socket for square pin 0.635 x 0.635 mm; 2.54 mm pitch 0.635 x 0.635 mm; 2.54 mm pitch  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 39: Connector And Connection Diagrams

    3.4. Connector and Connection Diagrams 3.4.1. Connector Layout Figure 3.2. iPOS360x MX drive connectors  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 40: Identification Labels

    3.4.2. Identification Labels Figure 3.3. iPOS360x MX-CAN Identification Labels  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 41: J1 Connector Pinout

    Incr. encoder B single-ended, or B+ diff. B / B+ / Cos+ input, or analogue encoder Cos+ diff. input Incr. encoder B- diff. input, or analogue encoder Cos-diff. input, B- / Cos- / LH2 or linear Hall 2 input  Technosoft 2014 iPOS360x MX Technical Reference...

  • Page 42: J2 Connector Pinout

    GND or +5V, resistor 4K7 or 22K to AxisID 0 GND or +5V Can-Lo CAN-Bus negative line (dominant low) Can-Hi CAN-Bus positive line (dominant high) 232TX RS-232 Data Transmission 232RX RS-232 Data Reception 3.4.5. Operation Mode and Axis ID Selection  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 43 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 2014 iPOS360x MX Technical Reference...
  • Page 44 Figure 3.4 Axis ID Setting Examples. CANopen mode  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 45 Figure 3.5 Axis ID Setting Examples. TMLCAN mode  Technosoft 2014 iPOS360x MX Technical Reference...
  • Page 46 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 2014 iPOS360x MX Technical Reference...
  • Page 47 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 MX Technical Reference...
  • Page 48 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 2013 iPOS360x MX Technical Reference...
  • Page 49 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 50 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 51: 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 2013 iPOS360x MX Technical Reference...

  • Page 52: Digital I/O Connection

    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 2013 iPOS360x MX Technical Reference...

  • Page 53: Analog Inputs Connection

    3.4.8. Analog Inputs Connection 3.4.8.1 0-5V Input Range Figure 3.8. Analog inputs connection Remark: Default input range for analog inputs is 0÷5 V for REF. For a +/-10 V range, see Figure 3.9.  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 54 (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 2013 iPOS360x MX Technical Reference...

  • Page 55: Motor Connections

    3.4.9. Motor connections 3.4.9.1 Brushless Motor connection Figure 3.10. Brushless motor connection 3.4.9.2 2-phase Step Motor connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 56 Figure 3.11. 2-phase step motor connection, one coil per phase Figure 3.12. 2-phase step motor connection, two coils per phase 3.4.9.3 3-Phase Step Motor connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 57 Figure 3.13. 3-phase step motor connection 3.4.9.4 DC Motor connection  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 58: Feedback Connections

    (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. 3.4.10. Feedback connections  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 59 3.4.10.1 Single-ended Incremental Encoder Connection Figure 3.15. Single-ended incremental encoder connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 60 3.4.10.2 Differential Incremental Encoder Connection Figure 3.16. Differential incremental encoder connection Remark: 120Ω (0.25W) terminators are required for long encoder cables, or noisy environments.  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 61 3.4.10.3 Digital Hall Connection Figure 3.17. Digital Hall connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 62 3.4.10.4 Linear Hall Connection Figure 3.18. Linear Hall connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 63 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  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 64: Power Supply Connection

    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. 3.4.11. Power Supply Connection 3.4.11.1 Supply Connection Figure 3.20. Supply connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 65 Always provide a nearby capacitor on the motor supply lines. The capacitor should be located within 10cm of the iPOS360x MX J2 connector, max. 20cm. The minimum recommended capacitance is 330µF for iPOS3604, or 220µF for iPOS3602, always rated at the appropriate voltage.
  • Page 66 Remarks: – the 1. If the braking power P must be reduced by increasing either t time to decelerate or C – the external capacitor on the motor supply  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 67: Serial Rs-232 Connection

    Do not rely on an earthed PC to provide the iPOS360x GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection 3.4.13. CAN-bus connection  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 68 For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters. d) The 120 termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive.  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 69 Figure 3.23. Multiple-Axis CAN network  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 70: Disabling 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 3.24. Temporary connection during power-on to disable Autorun mode  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 71: 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 72: 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) 4.2.1.

  • Page 73: Setup Drive/Motor

    Communication | Setup dialogue at “Axis ID of drive/motor connected to PC” the option Autodetected. If this drive is part of a CANbus network,, use the menu command Communication | Scan Network 4.2.2. Setup drive/motor  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 74 (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 75: Download Setup Data To Drive/Motor

    EEPROM memory in the setup table. From now on, at each power-on, the setup data is copied into the drive/motor RAM memory which is used during runtime. It is also possible to Save the setup data on your PC and use it in other applications.  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 76: Evaluate Drive/Motor Behavior (Optional)

    In case of errors like protections triggered, use the Drive Status control panel to find the cause. 4.3. Changing the drive Axis ID The axis ID of an iPOS360x drive can be set in 3 ways:  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 77 Axis ID c) If the access to the drive with the unknown Axis ID is difficult, but this drive is connected via CANbus with other Technosoft drives having an easier access, connect your PC serially to one of the other drives.

  • Page 78: Setting Canbus Rate

    Communication | Scan Network to find the axis IDs of all the Technosoft drives present in the network. 4.4. Setting CANbus rate The iPOS360x drives accept the following CAN rates: 125Kbps, 250 Kbps, 500kbps and 1Mbps. Using the Drive Setup dialogue you can choose the initial CAN rate after power on. This information...

  • Page 79: 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 2013 iPOS360x MX Technical Reference...

  • Page 80: Step 3. Motion Programming

    The service is unconfirmed. The iPOS360x supports both SYNC consumer and producer.  Time Stamp Object (TIME) The Time Stamp Object is supported by the iPOS360x device.  Emergency Object (EMCY)  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 81: Cia-305 Layer Setting Services (Lss) And Protocols Overview

    Electronic gearing position mode 5.1.4. TechnoCAN Extension In order to take full advantage of the powerful Technosoft Motion Language (TML) built into the iPOS360x, 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 82: Checking Setup Data Consistency

    EEPROM using the communication objects for writing data into the drive EEPROM. 5.2. Using the built-in Motion Controller and TML One of the key advantages of the Technosoft drives is their capability to execute complex motions without requiring an external motion controller. This is possible because Technosoft drives offer in a single compact package both a state of art digital drive and a powerful motion controller.

  • Page 83: Installing Easymotion Studio

    5.2.3. 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 84 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 85 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 2013 iPOS360x MX Technical Reference...
  • Page 86 Communication | Setup dialogue at “Axis ID of drive/motor connected to PC” the option Autodetected. If this drive is part of a CANbus network and the PC is serially connected with another drive, use the menu command Communication | Scan Network  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 87 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 goal to check the connections to the drive and/or to determine or validate a part of the motor and sensors parameters.
  • Page 88 PC  upload setup data from a drive/motor EEPROM memory 5.2.3.4 Program motion In the project window left side, select “M Motion”, for motion programming. This automatically activates the Motion Wizard.  Technosoft 2013 iPOS360x MX Technical Reference...
  • Page 89 Add, delete, move, copy, insert, enable or disable one or more motion objects The customization of the interrupt service routines and homing routines is available only for iPOS360x CAN execution Optional for iPOS360x CANopen execution  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 90: Creating An Image File With The Setup Data And The Tml Program

    Remark: If you don’t use the advanced features presented below you don’t need EasyMotion Studio. In this case the iPOS360x is treated like a standard CANopen drive, whose setup is done using EasySetUp. 5.3.1. Using TML Functions to Split Motion between Master and Drives  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 91: Executing Tml Programs

    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 92: 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 93: Using Motion Libraries For Plc-Based Systems

    A TML Motion Library for PLC is a collection of high-level functions and function blocks allowing you to control from a PLC the Technosoft intelligent drives. The motion control function blocks are developed in accordance with the PLC IEC61131-3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications with Technosoft products.

  • Page 94: Position Units

    Position  resolution Pole_Pitch Load_Position[SI] = ×Motor_Position[IU] For linear motors: where: resolution – is the motor position resolution SI units for position are: [rad] for a rotary movement, [m] for a linear movement  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 95: Step Motor Open-Loop Control. No Feedback Device

    Tr – transmission ratio between the motor displacement in SI units and load displacement in SI units 6.1.4. Step motor open-loop control. Incremental encoder on load SI units for position are [rad] for a rotary movement , [m] for a linear movement  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 96: Brushless Motor With Sine/Cosine Encoder On Motor

    6.2.1. 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 2013 iPOS360x MX Technical Reference...

  • Page 97: 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” Pole_Pitch – is the magnetic pole pitch NN (distance expressed in [m]) 6.2.3. Step motor open-loop control. No feedback device  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 98: Step Motor Closed-Loop Control. Incremental Encoder On Motor

    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. Step motor closed-loop control. Incremental encoder on motor  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 99: Brushless Motor With Sine/Cosine Encoder On Motor

    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” SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 100: Acceleration Units

    For rotary motors:     Load Accelerati Motor Accelerati   resolution For linear motors: SI units for acceleration are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 101: Step Motor Open-Loop Control. No Feedback Device

    6.3.4. Step motor open-loop control. Incremental encoder on load The internal acceleration units are load encoder counts / (slow loop sampling period) . The correspondence with the load acceleration in SI units is:  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 102: Step Motor Closed-Loop Control. Incremental Encoder On Motor

    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” 6.3.6. Brushless motor with sine/cosine encoder on motor  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 103: Jerk Units

    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 2013 iPOS360x MX Technical Reference...

  • Page 104: Brushless Motor With Linear Hall Signals

    The internal jerk units are motor µsteps / (slow loop sampling period) . The correspondence with the load jerk in SI units where: SI units for jerk are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 105: Step Motor Open-Loop Control. Incremental Encoder On Load

    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 2013 iPOS360x MX Technical Reference...

  • Page 106: Brushless Motor With Sine/Cosine Encoder On Motor

    In case of brushless motors driven in sinusoidal mode, a field oriented vector control is performed. The voltage command is the amplitude of the sinusoidal phase voltages. In this case, the correspondence with the motor phase voltages in SI units i.e. [V] is:  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 107: Voltage Measurement 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”. For example, if T = 1ms, one second = 1000 IU.  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 108: Master Position Units

    2048 counts per turn. The correspondence with the motor position in SI units is: For rotary motors: For linear motors: SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 109: Step Motor Open-Loop Control. No Feedback Device

    No_encoder_lines – is the motor encoder number of lines per revolution 6.11.6. Brushless motor with sine/cosine encoder on motor The internal motor position units are interpolated encoder counts. The correspondence with the motor position in SI units is: For rotary motors:  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 110: Motor Speed Units

    512 and 8192. By default it is set at 2048 counts per turn. The correspondence with the motor speed in SI units is:     For rotary motors: Motor Speed Motor Speed  resolution  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 111: Step Motor Open-Loop Control. No Feedback Device Or Incremental Encoder

    The internal motor speed units are motor encoder counts / (slow loop sampling period). The correspondence with the load speed in SI units is: where: No_encoder_lines – is the motor encoder number of lines per revolution  Technosoft 2013 iPOS360x MX Technical Reference...

  • Page 112: Brushless Motor With Sine/Cosine 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 2013 iPOS360x MX Technical Reference...

  • Page 113: Memory Map

    7. Memory Map iPOS360x MX 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.
  • Page 114 This page is empty  Technosoft 2013 iPOS360x MX Technical Reference...

Table of Contents