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Technosoft iPOS4808 MX Series Technical Reference

Intelligent servo drive for step, dc, brushless dc and ac motors
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iPOS4808 MX
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
 Technosoft 2014

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Summary of Contents for Technosoft iPOS4808 MX Series

  • 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 iPOS4808 MX Technical Reference P091.027.iPOS4808.MX.UM.0114 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: About This Manual

    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: Notational Conventions

    Help of the EasySetUp software – describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogues. The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file.
  • Page 7 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 version of EasyMotion...

  • Page 8: If You Need Assistance

    If you Need Assistance … If you want to … Contact Technosoft at … Visit Technosoft online World Wide Web: http://www.technosoftmotion.com/ Receive general information World Wide Web: http://www.technosoftmotion.com/ or assistance (see Note) Email: contact@technosoftmotion.com Ask questions about Fax: (41) 32 732 55 04...

  • Page 9: Table Of Contents

    Linear Hall Inputs (LH1, LH2, LH3) ............31 2.5.13. Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) ........31 Analog 0…5V Inputs (REF, FDBK) ............32 2.5.14. 2.5.15. Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2) .......... 32  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 10 Setup drive/motor ..................71 4.2.3. Download setup data to drive/motor ............72 4.2.4. Evaluate drive/motor behavior (optional) ............ 73 4.3. Changing the drive Axis ID ..............74 4.4. Setting CANbus rate ................76  Technosoft 2014 VIII iPOS4808 MX Technical Reference...
  • Page 11 TechnoCAN Extension ................79 5.1.5. Checking Setup Data Consistency ............. 79 5.2. Using the built-in Motion Controller and TML ........80 5.2.1. Technosoft Motion Language Overview ............. 80 5.2.2. Installing EasyMotion Studio ............... 80 5.2.3. Getting Started with EasyMotion Studio ............. 81 5.2.4.
  • Page 12 Step motor open-loop control. No feedback device ....... 104 6.11.5. Step motor open-loop control. Incremental encoder on load ....105 6.11.6. Step motor closed-loop control. Incremental encoder on motor .... 105 6.11.7. Brushless motor with sine/cosine encoder on motor ......105  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 13 Step motor open-loop control. No feedback device or incremental encoder on load 6.12.6. Step motor closed-loop control. Incremental encoder on motor .... 107 6.12.7. Brushless motor with sine/cosine encoder on motor......107 Memory Map ................... 109  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 14 This page is empty.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 15: Safety Information

    DIS-CHARGES (ESD), WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1.1. Warnings TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER WARNING! PLUG / UNPLUG THE iPOS4808 FROM ITS SOCKET WHILE THE POWER SUPPLIES ARE ON!  Technosoft 2014 XIII iPOS4808 MX Technical Reference...

  • Page 16: 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 iPOS4808 MX Technical Reference...

  • Page 17: 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 18 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  Technosoft 2014...

  • Page 19: 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 20  Two operation modes:  CANopen – conforming with CiA 301 v4.2, CiA WD 305 v2.2.13 and CiA DSP 402 v3.0  TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN-bus  1K  16 internal SRAM memory ...

  • Page 21: Supported Motor-Sensor Configurations

    Figure 2.2. Brushless AC rotary motor. Position/speed/torque control. Sine/cosine incremental encoder on motor Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 22 , 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 iPOS4808 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 iPOS4808 MX Technical Reference...
  • Page 24 Figure 2.9. DC brushed rotary motor. Position / speed / torque control. Quadrature encoder on load plus tachometer on motor. Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 25 The motion commands in both SI and IU units refer to the load. Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 26 Encoder on motor shaft. Figure 2.13. 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 iPOS4808 MX Technical Reference...

  • Page 27: Ipos4808 Mx Drive Dimensions

    2.4. iPOS4808 MX Drive Dimensions Figure 2.14. iPOS4808 MX drive dimensions All dimensions are in mm. The drawings are not to scale.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 28: 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 2014 iPOS4808 MX Technical Reference...

  • Page 29: Environmental Characteristics

    Supply voltage Absolute maximum values, continuous -0.6 Absolute maximum values, surge † (duration  10ms) Idle Operating iPOS4808 ±8 Supply current Absolute maximum value, short- circuit condition (duration  iPOS4808 † 10ms)  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 30: Motor Outputs (A/A+, B/A-, C/B+, Br/B-)

    Input floating (wiring disconnected) Logic HIGH Logic “LOW” Logic “HIGH” 5÷24 Floating voltage (not connected) Input voltage Absolute maximum, continuous † Absolute maximum, surge (duration  1S) Logic “LOW”; Pulled to GND Input current  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 31: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready, Out5)

    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 Logic “LOW” Input voltage  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 32: 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 incremental encoder connection possible to the drive input pins. See Figure 3.16. Differential  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 33: Linear Hall Inputs (Lh1, Lh2, Lh3)

    ESD protection Human body model ±1 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 iPOS4808 MX Technical Reference...

  • Page 34: Analog 0

    Typ. Max. Units Standards compliance TIA/EIA-232-C Bit rate Depending on software settings 9600 115200 Baud Short-circuit protection 232TX short to GND Guaranteed ESD protection Human body model ±2 “FS” stands for “Full Scale”  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 35: Can-Bus

    † 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. De-rating Temperature Temperature [°C] De-rating Current Figure 2.15 iPOS4808 MX De-rating with ambient temperature  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 36 Figure 2.16 iPOS4808 MX De-rating with altitude Output Voltage De-rating CAN version EtherCAT® version PWM Frequency [KHz] Figure 2.17. iPOS4808 MX Output Voltage De-rating with PWM frequency – the output voltage, V – the motor supply voltage  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 37  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 38: Step 1. Hardware Installation

    Figure 3.1 iPOS4808 MX PCB Footprint For thermal calculations, each iPOS4808 drive can be assumed to generate 1.5 Watt (= 5 BTU/hour) at idle, and up to 5 Watt (= 17 BTU/hour) worst case while driving a motor.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 39: Motherboard Pcb Design

    GND pin for it’s intended purpose, as described in par. 3.4. This will create local “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  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 40 EEPROM CONTENT IS ACCIDENTALLY CORRUPTED. THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE DEVICE, WHICH WILL BE DAMAGED BY INCORRECT CAUTION! HANDLING. THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT !  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 41: Mating Connector

    0.46mm square pin High-current socket 2.54mm-pitch Samtec SSQ-108-01-G-S accepting 0.635mm square pin High-current socket 2.54mm-pitch Samtec SSQ-102-01-G-D accepting 0.635mm square pin 3.4. Connector and Connection Diagrams 3.4.1. Connector Layout Figure 3.2. iPOS4808 MX drive connectors  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 42: Identification Labels

    3.4.2. Identification Labels Figure 3.3. iPOS4808 MX-CAN Identification Labels  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 43: J1 Connector Pinout (I/O, Communication. Feedback)

    NPN open- 21 OUT2/Error General-purpose collector/TTL pull-up. Also drives † the red LED reserved Reserved for interface extensions 5V supply for sensors - internally † leave unconnected if interface extensions are not used generated  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 44: J2 Connector Pinout (Motor Phases)

    Brake resistor / Phase B- for 2-ph steppers 3.4.5. J3 Connector pinout (Motor supply input) Name Type Description Positive terminal of the motor supply: 11 to 50V Negative return (ground) of the motor supply  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 45: 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 and the drive will be in LSS “non-configured” mode.  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 46 Figure 3.4 Axis ID Setting Examples. CANopen mode  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 47 Figure 3.5 Axis ID Setting Examples. TMLCAN mode  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 48 3.4.6.2 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 iPOS4808 MX Technical Reference...
  • Page 49 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 ID CANopen ID 2 ID 1 ID 0 ID CANopen  Technosoft 2013 iPOS4808 MX Technical Reference...
  • Page 50 Table 3.2. Axis ID setting in TMLCAN mode Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 ID TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 51 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 52 Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN ID 2 ID 1 ID 0 TMLCAN  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 53: 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 2014 iPOS4808 MX Technical Reference...

  • Page 54: 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 2014 iPOS4808 MX Technical Reference...

  • Page 55: Analog Inputs Connection

    Remark: Default input range for analog inputs is 0÷5 V for REF and FBDK. For a +/-10 V range, see Figure 3.9. 3.4.9.2 +/- 10V to 0-5V Input Range Adapter Figure 3.9. +/-10V to 0-5V adapter  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 56: Motor Connections

    (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. 3.4.10. Motor connections 3.4.10.1 Brushless Motor connection Figure 3.10. Brushless motor connection  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 57 3.4.10.2 2-phase Step Motor connection Figure 3.11. 2-phase step motor connection, one coil per phase Figure 3.12. 2-phase step motor connection, two coils per phase  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 58 3.4.10.3 3-Phase Step Motor connection Figure 3.13. 3-phase step motor connection 3.4.10.4 DC Motor connection Figure 3.14. DC Motor connection  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 59 (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 2014 iPOS4808 MX Technical Reference...

  • Page 60: Feedback Connections

    3.4.11. Feedback connections 3.4.11.1 Single-ended Incremental Encoder Connection Figure 3.15. Single-ended incremental encoder connection DO NOT CONNECT UNTERMINATED WIRES. THEY CAUTION! MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS.  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 61 3.4.11.2 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 2014 iPOS4808 MX Technical Reference...
  • Page 62 3.4.11.3 Digital Hall Connection Figure 3.17. Digital Hall connection 3.4.11.4 Linear Hall Connection Figure 3.18. Linear Hall connection  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 63 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 2014 iPOS4808 MX Technical Reference...

  • Page 64: Power Supply Connection

    Option 1. Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply. The capacitor must be rated to a voltage equal or bigger than the maximum expected over-voltage and can be sized with the formula:  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 65 Remark: This option can be combined with an external capacitor whose value is not enough to absorb the entire regenerative energy E but can help reducing the brake resistor size. Brake resistor selection  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 66 (see Remark 1) – the time interval between braking cycles must be increased or t CYCLE THE BRAKE RESISTOR MAY HAVE HOT SURFACES WARNING! DURING OPERATION.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 67: 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 2014 iPOS4808 MX Technical Reference...

  • Page 68: Can-Bus Connection

    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 2014 iPOS4808 MX Technical Reference...
  • Page 69 Figure 3.23. Multiple-Axis CAN network  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 70: Removal From Autorun Mode

    On the next power on, the drive will load setup default settings and the Motion Error Register (MER) bit 2 will be 1. After a new valid setup table is loaded onto the drive, disconnect the hall sensors from GND and execute a new power off/ power on cycle.  Technosoft 2014 iPOS4808 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

    Setup drive/motor Press New button and select your drive type. The selection continues with the motor technology (for example: brushless or brushed) and type of feedback device (for example: Incremental encoder, Linear Halls).  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 74: Download Setup Data To Drive/Motor

    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. In the Motor setup dialogue you can introduce the data of your motor and the associated sensors.

  • Page 75: Evaluate Drive/Motor Behavior (Optional)

    You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior. In case of errors like protections triggered, use the Drive Status control panel to find the cause.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 76: 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 2014 iPOS4808 MX Technical Reference...
  • Page 77 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.

  • Page 78: 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 2014 iPOS4808 MX Technical Reference...

  • 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 2014 iPOS4808 MX Technical Reference...

  • Page 80: Step 3. Motion Programming

    The Network Management is node oriented and follows a master-slave structure. NMT objects are used for executing NMT services. Through NMT services the drive can be initialized, started, monitored, reset or stopped. The iPOS4808 is a NMT slave in a CANopen network.  Technosoft 2014 iPOS4808 MX Technical Reference...

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

    5.1.4. 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 82: Using The Built-In Motion Controller And Tml

    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: Getting Started With 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 84 255 which is the default axis ID of the drives. Press New button and select your drive type. Depending on the product chosen, the selection may continue with the motor technology (for example: brushless or brushed) and the type of feedback device (for example: incremental encoder).  Technosoft 2014 iPOS4808 MX Technical Reference...
  • 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 2014 iPOS4808 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 2014 iPOS4808 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 The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate the corresponding TML instructions. Therefore with Motion Wizard you can develop motion programs using almost all the TML instructions  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 89: Creating An Image File With The Setup Data And The Tml Program

    For details regarding the .sw file format and how it can be programmed into a drive, see paragraph 4.5 The customization of the interrupt service routines and homing routines is available only for iPOS4808 CAN execution Optional for iPOS4808 CANopen execution  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 90: Combining Canopen /Or Other Host With Tml

    5.3.1. 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 91: Customizing The Homing Procedures

    The procedure for modifying the TML interrupts is similar with that for the homing modes.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 92: Using Motion Libraries For Pc-Based Systems

    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: Scaling Factors

    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. This chapter presents the drive internal units and their relation with the international standard units (SI).

  • Page 94: Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor

    The internal position units are load encoder counts. The transmission is rotary-to-rotary. The correspondence with the load position in SI units is: SI units for position are [rad] for a rotary movement , [m] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 95: 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 2014 iPOS4808 MX Technical Reference...

  • Page 96: Brushless Motor With Linear Hall Signals

    When only a tachometer is mounted on the motor shaft, the internal speed units are A/D converter bits. The correspondence with the load speed in SI units SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 97: Step Motor Open-Loop Control. No Feedback Device

    SI units     Load Speed Motor Speed    encoder lines SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 98: Brushless Motor With Sine/Cosine Encoder On Motor

    SI units is:     Load Accelerati Motor Accelerati    encoder lines where: No_encoder_lines – is the rotary encoder number of lines per revolution  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 99: Brushless Motor With Linear Hall Signals

    The correspondence with the load acceleration in SI units is: where: No_encoder_lines – is the encoder number of lines per revolution SI units for acceleration are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 100: Step Motor Open-Loop Control. No Feedback Device

    Step motor closed-loop control. Incremental encoder on motor The internal acceleration units are motor encoder counts / (slow loop sampling period) . The transmission is rotary-to-rotary. The correspondence with the load acceleration in SI units is:  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 101: Brushless Motor With Sine/Cosine Encoder On Motor

    The internal jerk units are encoder counts / (slow loop sampling period) . The correspondence with the load jerk in SI units SI units for acceleration are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 102: 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” SI units for jerk are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 103: Step Motor Open-Loop Control. No Feedback Device

    Tr – transmission ratio between the motor displacement in SI units and load displacement in SI units SI units for jerk are [rad/s ] for a rotary movement, [m/s ] for a linear movement  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 104: Brushless Motor With Sine/Cosine Encoder On Motor

    SI units i.e. [V] is:    Voltage command Voltage command 65534 where Vdc – is the drive power supply voltage expressed in [V].  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 105: Voltage Measurement Units

    6.10. Master speed units The master speed is computed in internal units (IU) as master position units / slow loop sampling period i.e. the master position variation over one position/speed loop sampling period.  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 106: Motor Position Units

    No_µsteps – is the number of microsteps per step. You can read/change this value in the “Drive Setup” dialogue from EasySetUp. SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 107: Step Motor Open-Loop Control. Incremental Encoder On Load

    The internal motor speed units are encoder counts / (slow loop sampling period). The correspondence with the motor speed in SI units is: For rotary motors: where: No_encoder_lines – is the rotary encoder number of lines per revolution  Technosoft 2014 iPOS4808 MX Technical Reference...

  • Page 108: Brushless Motor With Linear Hall Signals

    The internal motor speed units are A/D converter bits. 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 2014 iPOS4808 MX Technical Reference...

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

    6.12.7. Brushless motor with sine/cosine encoder on motor The internal motor speed units are interpolated encoder counts / (slow loop sampling period). The correspondence with the motor speed in SI units is: For rotary motors: For linear motors:  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 110 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 2014 iPOS4808 MX Technical Reference...

  • Page 111: Memory Map

    4000h ROM memory for: TML programs Cam tables Setup information 4FFFh 5000h Reserved 8FFFh Data acquisitions 9000h cam tables at runtime SRAM memory TML Programs 9FFFh Figure 7.1. iPOS4808 MX Memory Map  Technosoft 2014 iPOS4808 MX Technical Reference...
  • Page 112 This page is empty  Technosoft 2014 iPOS4808 MX Technical Reference...

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