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Technosoft PIM2401 Technical Reference

Intelligent servo drive for step, dc, brushless dc and ac motors
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PIM2401
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
© Technosoft 2007

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Summary of Contents for Technosoft PIM2401

  • Page 1 PIM2401 Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Intelligent Servo Drive Technical Reference © Technosoft 2007...
  • Page 3 T E C H N O S O F T PIM2401 Technical Reference P091.035.PIM2401.UM.1107 Technosoft S.A. Buchaux 38 CH-2022 Bevaix, NE Switzerland Tel.: +41 (0) 32 732 5500 Fax: +41 (0) 32 732 5504 e-mail: contact@technosoftmotion.com http://www.technosoftmotion.com/...
  • 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 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 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 Studio (with EasySetUp part fully functional) can be downloaded free of charge from Technosoft web page TML_LIB v2.0 (part no.
  • Page 8 © Technosoft 2007 PIM2401 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 ..........7 2.4. PIM2401 Dimensions ................11 2.5. Electrical Specifications................ 12 Step 1. Hardware Installation ..............17 3.1. Mounting ....................17 3.2. Connectors and Connection Diagrams..........18 3.2.1.
  • Page 10 4.5. Creating an Image File with the Setup Data......... 49 Step 3. Motion Programming ..............50 5.1. Using a CANopen Master (for PIM2401 CANopen execution) ..... 50 5.1.1. DS-301 Communication Profile Overview............ 50 5.1.2. TechnoCAN Extension (for PIM2401 CAN execution)......... 51 5.1.3.
  • Page 11 Master position units ................74 6.11. Master speed units ................74 6.12. Motor position units ................75 6.12.1. Brushless / DC brushed motor with quadrature encoder on motor... 75 6.12.2. Brushless motor with linear Hall signals ........... 75 © Technosoft 2007 PIM2401 Technical Reference...
  • Page 12 DC brushed motor with tacho on motor ............ 77 6.13.5. Stepper motor open-loop control. No feedback device or incremental encoder on load ......................77 6.13.6. Stepper motor closed-loop control. Incremental encoder on motor..78 Memory Map ..................... 79 © Technosoft 2007 PIM2401 Technical Reference...

  • Page 13: Safety Information

    ELECTRICAL SHOCKS. DO NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER WARNING! CONNECT / DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON © Technosoft 2007 PIM2401 Technical Reference...

  • Page 14: Cautions

    2. Product Overview 2.1. Introduction The PIM2401 is a family of fully digital intelligent servo drives, based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller.
  • Page 15 TML functions execution. Apart from a CANopen master, the PIM2401 drives can also be controlled from a PC or PLC using the family of TML_LIB motion libraries.

  • Page 16: Key Features

    CANopen – compatible with CiA standards: DS301 and DSP402 • TMLCAN – compatible with all Technosoft drives with CANbus interface • 1.5K × 16 internal SRAM memory • 8K × 16 E ROM to store TML programs and data • Nominal PWM switching frequency: 20 kHz •...

  • Page 17: Supported Motor-Sensor Configurations

    • All I/Os are ESD protected 2.3. Supported Motor-Sensor Configurations PIM2401 supports the following configurations: 1. Position, speed or torque control of a brushless AC rotary motor with an incremental quadrature encoder on its shaft. The brushless motor is vector controlled like a permanent magnet synchronous motor.
  • Page 18 (rotary or linear). Therefore, the motion commands (for position, Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1 Available only for the PIM2403 CAN execution © Technosoft 2007 PIM2401 Technical Reference...
  • Page 19 8. Open-loop control of a 2 or 3-phase step motor in position or speed. Scaling factors take into account the transmission ratio between motor and load (rotary or linear). Therefore, the motion commands (for position, speed and acceleration) expressed in SI units (or © Technosoft 2007 PIM2401 Technical Reference...
  • Page 20 PIM2401 Figure 2.10. Encoder on motor shaft. 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 2007 PIM2401 Technical Reference...

  • Page 21: Pim2401 Dimensions

    2.4. PIM2401 Dimensions 6.8 mm (0.268”) 43.18 mm (1.7”) 49.53 mm (1.95”) Figure 2.11. PIM2401 drive dimensions © Technosoft 2007 PIM2401 Technical Reference...

  • Page 22: Electrical Specifications

    H/W short-circuit protection delay Output current = ±1 A ±250 On-state voltage drop -900 +300 ±0.1 Off-state leakage current μH On-board phase inductance μH Motor inductance = 40 kHz, including on-board Total electrical time constant μs inductance © Technosoft 2007 PIM2401 Technical Reference...
  • Page 23 Referenced to GND Min. Typ. Max. Units Voltage range Input impedance KΩ Resolution bits Differential linearity Guaranteed 10-bit no-missing-codes 0.09 % FS ±0.3 Offset error % FS ±5 Gain error % FS Bandwidth (-3 dB) © Technosoft 2007 PIM2401 Technical Reference...
  • Page 24 Bit rate Depending on software settings 125K Baud Number of network nodes Depending on software settings ±15 ESD Protection Human Body Model Supply Output Min. Typ. Max. Units Voltage 4.75 5.25 available current © Technosoft 2007 PIM2401 Technical Reference...
  • Page 25 Figure 2.12. De-rating with ambient temperature At altitudes over 1,000m, current and power rating are reduced due to thermal dissipation efficiency at higher altitudes. See Figure 2.13 – De-rating with altitude – the nominal current Stand-alone operation, vertical mounting © Technosoft 2007 PIM2401 Technical Reference...
  • Page 26 PWM frequency with the motor parameters in order to avoid possible motor damage. Figure 2.16. Power De-rating with PWM Figure 2.17. Over-current diagram frequency – the output voltage, V – the motor supply voltage – the nominal power © Technosoft 2007 PIM2401 Technical Reference...

  • Page 27: Step 1. Hardware Installation

    3.1. Mounting Figure 3.1. PIM2401 drive connectors The PIM2401 drive was designed to be cooled by natural convection. It can be mounted horizontally (with label upwards) or vertically inside a cabinet (see Figure 3.2). In both cases, leave at least 25mm between the drive and surrounding walls/drives, to allow for free air circulation.

  • Page 28: Connectors And Connection Diagrams

    T E C H N O S O F T Drive Name PIM2401 Article Number P035.001.E112 Serial Number AB1234 Figure 3.4. PIM2401 (CANopen execution for Brushless and DC motors with incremental encoder ) Identification Label © Technosoft 2007 PIM2401 Technical Reference...

  • Page 29: J1 Connector Pinout

    T E C H N O S O F T Drive Name PIM2401 Article Number P035.001.E113 Serial Number AB1234 Figure 3.5. PIM2401 (CANopen execution for Step motors with incremental encoder ) Identification Label 3.2.3. J1 Connector pinout Pin name TML name Type Function/Alternate function/ Comments •...

  • Page 30: J2 Connector Pinout

    Linear Hall 3 signal • Unipolar 0 V…+5 V analog input. May be used as analog position or speed feedback (from a Tacho tachometer) • 5V logic supply (from J1 / pin3) +5 V © Technosoft 2007 PIM2401 Technical Reference...

  • Page 31: Digital I/O Connection

    Figure 3.6. 24V Digital I/O connection Remarks: 1. In order to use 24V outputs, an external resistor needs to be connected to a supply of 2. The minimum value of external resistors must be 560 Ω. © Technosoft 2007 PIM2401 Technical Reference...

  • Page 32: Digital I/O Connection

    3.2.6. 5V Digital I/O connection IBL2401 v1.0 5V I/O Connection PIM2401 v1.0 Pulse +3.3V +3.3V Enable 470R 470R LOAD Error max. 6mA 470R 470R LOAD Ready max. 6mA +3.3V Figure 3.7. 5V Digital I/O connection © Technosoft 2007 PIM2401 Technical Reference...

  • Page 33: Analog Inputs Connection

    3.2.7. Analog inputs connection 3.2.7.1 Analog inputs connection PIM2401 v1.0 Figure 3.8. Analog inputs connection Remark: Default input range for analog inputs is 0÷5 V. For a +/-10 V range, please contact Technosoft. © Technosoft 2007 PIM2401 Technical Reference...

  • Page 34: Motor Connections

    (-). 3.2.8. Motor connections 3.2.8.1 Brushless Motor connection PIM2401 v1.0 IBL2401 v1.0 Brushless motor connection 4-phase Inverter A B C Currents Info MotionChip Figure 3.9. Brushless Motor connection © Technosoft 2007 PIM2401 Technical Reference...
  • Page 35 Before connecting the motor, be sure you have the right application programmed to E2ROM, else you can damage the CAUTION ! motor and drive. At power-on, the TML application is automatically executed. See paragraph 3.2.13 to disable this feature. © Technosoft 2007 PIM2401 Technical Reference...
  • Page 36 Before connecting the motor, be sure you have the right application programmed to E2ROM, else you can damage the CAUTION ! motor and drive. At power-on, the TML application is automatically executed. See paragraph 3.2.13 to disable this feature. © Technosoft 2007 PIM2401 Technical Reference...
  • Page 37 Before connecting the motor, be sure you have the right application programmed to E2ROM, else you can damage the CAUTION ! motor and drive. At power-on, the TML application is automatically executed. See paragraph 3.2.13 to disable this feature. © Technosoft 2007 PIM2401 Technical Reference...
  • Page 38 Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters. If this situation cannot be avoided, use a shielded cable for the motor wires. Connect the cable shield to the PIM2401 GND pin. Leave the other end disconnected. © Technosoft 2007...

  • Page 39: Feedback Connections

    (hundreds of meters) are used, this condition may not be met. In this case, add series inductors between the PIM2401 outputs and the cable. The inductors must be magnetically shielded (toroidal, for example), and must be rated for the motor surge current.
  • Page 40 Enc B+ 470R B-/LH2 120R terminator Enc Z + 470R Z-/LH3 120R terminator +3.3V Figure 3.15. Differential encoder connection Remark: 120-Ω (0.25-W) terminators are required for long encoder cables, or noisy electromagnetic environments. © Technosoft 2007 PIM2401 Technical Reference...
  • Page 41 3.2.9.3 Hall connection PIM2401 v1.0 IBL2401 v1.0 Hall connection Internally generated +3.3V 3 x 1K Hall1 Hall2 Hall3 3 x 1K +3.3V Figure 3.16. Hall connection © Technosoft 2007 PIM2401 Technical Reference...
  • Page 42 Linear Hall connection PIM2401 v1.0 Linear Hall connection PIM2401 v1.0 3 x 10K A- / LH1 B- / LH2 C- / LH3 3 x 22nF 3 x 20K +3.3V Figure 3.17. Linear Hall connection © Technosoft 2007 PIM2401 Technical Reference...
  • Page 43 Hall sensors with cable lengths over 1 meter. Connect the cable shield to the GND, at only one end. This point could be either the PIM2401 (using the GND pin) or the encoder / motor. Do not connect the shield at both ends.

  • Page 44: Supply Connection

    Figure 3.19. Supply connection 3.2.10.2 Recommendations for Supply Wiring Use short, thick wires between the PIM2401 and the motor power supply. If the wires are longer than 2 meters, use twisted wires for the supply and ground return. For wires longer than 20 meters, add a capacitor of at least 1000 μF (rated at an appropriate voltage) right on the terminals...
  • Page 45 – load mass [kg] – when load is moving in a non-horizontal plane g – gravitational acceleration i.e. 9.8 [m/s – initial system altitude [m] initial – final system altitude [m] final – motor current during deceleration [A /phase] – motor phase resistance [Ω] © Technosoft 2007 PIM2401 Technical Reference...

  • Page 46: Serial Rs-232 Connection

    10 000 μF / 100V. 3.2.11. Serial RS-232 connection 3.2.11.1 Serial RS-232 connection PIM2401 v1.0 IBL2401 v1.0 RS-232 connection 232Tx RS-232 232Rx Transceiver RS-232 +3.3V Figure 3.20. Serial RS-232 connection © Technosoft 2007 PIM2401 Technical Reference...

  • Page 47: Can Connection

    RxD and TxD signals b) Do not rely on an earthed PC to provide the PIM2401 GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the...
  • Page 48 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. © Technosoft 2007 PIM2401 Technical Reference...
  • Page 49 AXISID = 3 Host Address = 255 RS-232 120R 5%, 0.25W CAN_H PIM2401 Node CAN_L CAN_GND AXISID = 255 Figure 3.22. Multiple-Axis CAN network Remark: The AxisID must be set by software, using instruction AXISID number. © Technosoft 2007 PIM2401 Technical Reference...

  • Page 50: Special Connection (Non-Autorun)

    To disable this feature in case that the application in the E2ROM is corrupted and the RS232 communication is lost, make the following connections: PIM2401 v1.0 Connection for Non-Autorun IBL2401 v1.0 +3.3V 3 x 1K Hall1 Hall2 Hall3 3 x 1K +3.3V Figure 3.23. Connection for Non-Autorun © Technosoft 2007 PIM2401 Technical Reference...

  • Page 51: Master - Slave Encoder Connection

    Motor phases Master Shield Enc A+ Enc B+ IBL2401 v1.0 PIM2401 v1.0 Slave +3.3V +3.3V 470R 470R Pulse +3.3V Slave Encoder Motor phases Figure 3.24. Master – Slave encoder connection using second encoder input © Technosoft 2007 PIM2401 Technical Reference...

  • Page 52: Connectors Type And Mating Connectors

    3.2.15. Connectors Type and Mating Connectors Board connector Mating connector Connector Producer Part Number Producer Part Number Standard header 1 x 16, J1, J2 W+P Pro 157-16-1-00 square 0.635 mm, 6.8 mm height © Technosoft 2007 PIM2401 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) 4.2.1.

  • Page 55: Setup Drive/Motor

    If the drive has a different axis ID and you don’t know it, select in the Communication | Setup dialogue at “Axis ID of drive/motor connected to PC” the option Autodetected. 4.2.2. Setup drive/motor Press New button and select your drive type. © Technosoft 2007 PIM2401 Technical Reference...

  • Page 56: Download Setup Data To 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 57: Changing The Drive Axis Id

    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. 4.3. Changing the drive Axis ID © Technosoft 2007 PIM2401 Technical Reference...

  • Page 58: Setting Canbus Rate

    The axis ID of an PIM2401 drive can be set software – any value between 1 and 255, stored in the setup table. The axis ID is initialized at power on, using the following algorithm: a) If a valid setup table exists, with the value read from it. This value can be an axis number 1 to 255 b) If the setup table is invalid, with the last value set with a valid setup table.

  • Page 59: 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 2007 PIM2401 Technical Reference...

  • Page 60: Step 3. Motion Programming

    Transmit PDOs are used to send data from the drive, and receive PDOs are used to receive on to the drive. The PIM2401 accepts 4 transmit PDOs and 4 receive PDOs. The contents of the PDOs can be set according with the application needs using the dynamic PDO-mapping.

  • Page 61: Technocan Extension (For Pim2401 Can Execution)

    .sw file (see 4.5 and 5.2.4 for details) whether the non-volatile EEPROM memory of an PIM2401 drive contains the right information. If the checksum reported by the drive doesn’t match with that computed from the .sw file, the CANopen master can download the entire .sw file into the drive EEPROM using the communication objects for writing data into the drive EEPROM.

  • Page 62: Technosoft Motion Language Overview

    EasyMotion Studio is an integrated development environment for the setup and motion programming of Technosoft intelligent drives. It comes with an Update via Internet tool through which you can check if your software version is up-to-date, and when necessary download and install the latest updates.

  • Page 63: Getting Started With Easymotion Studio

    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 64 255 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 2007 PIM2401 Technical Reference...
  • 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 2007 PIM2401 Technical Reference...
  • Page 66 DIP switches OFF and it is connected to your PC port COM1 via an RS-232 cable, the communication shall establish automatically. 5.2.3.3 Setup drive/motor In the project window left side, select “S Setup”, to access the setup data for your application. © Technosoft 2007 PIM2401 Technical Reference...
  • Page 67 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 68 . The TML program may also include cam tables used for electronic camming applications The customization of the interrupt service routines and homing routines is available only for PIM2401CAN executions Optional for PIM2401 CANopen execution © Technosoft 2007 PIM2401 Technical Reference...

  • Page 69: Combining Canopen /Or Other Host With Tml

    4.5 5.3. Combining CANopen /or other host with TML Due to its embedded motion controller, an PIM2401 offers many programming solutions that may simplify a lot the task of a CANopen master. This paragraph overviews a set of advanced programming features which arise when combining TML programming at drive level with CANopen master control.

  • Page 70: Using Tml Functions To Split Motion Between Master And Drives

    Remark: If you don’t use the advanced features presented below you don’t need EasyMotion Studio. In this case the PIM2401 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 With Technosoft intelligent drives you can really distribute the intelligence between a CANopen master and the drives in complex multi-axis applications.

  • Page 71: Customizing The Drive Reaction To Fault Conditions (For Pim2401 Can Executions)

    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 72: 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 73: 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 74: Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor

    No_encoder_lines – is the motor encoder number of lines per revolution Tr – transmission ratio between the motor displacement in SI units and load displacement in SI units SI units for position are [rad] for a rotary movement , [m] for a linear movement © Technosoft 2007 PIM2401 Technical Reference...

  • Page 75: Stepper Motor Open-Loop Control. Incremental Encoder On Load

    512 and 8192. By default it is set at 2048 counts per turn. The correspondence with the load speed in SI units is: × π × For rotary motors: Load Speed Motor Speed × × resolution © Technosoft 2007 PIM2401 Technical Reference...

  • Page 76: Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor

    The internal speed units are motor µsteps / (slow loop sampling period). The correspondence with the load speed in SI units is: SI units for speed are [rad/s] for a rotary movement, [m/s] for a linear movement © Technosoft 2007 PIM2401 Technical Reference...

  • Page 77: Stepper 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”. SI units for speed are [rad/s] for a rotary movement , [m/s] for a linear movement © Technosoft 2007 PIM2401 Technical Reference...

  • Page 78: Acceleration Units

    Tr – transmission ratio between the motor displacement in SI units and load displacement in SI units SI units for acceleration are [rad/s ] for a rotary movement, [m/s ] for a linear movement © Technosoft 2007 PIM2401 Technical Reference...

  • Page 79: Dc Brushed Motor With Quadrature Encoder On Load And Tacho On Motor

    The internal acceleration units are load encoder counts / (slow loop sampling period) . The correspondence with the load acceleration in SI units is: For rotary-to-rotary transmission: × π × Load Accelerati Load Accelerati × × encoder lines For rotary-to-linear transmission: © Technosoft 2007 PIM2401 Technical Reference...

  • Page 80: Stepper Motor Closed-Loop Control. Incremental Encoder On Motor

    × × × encoder lines where: No_encoder_lines – is the rotary encoder number of lines per revolution SI units for jerk are [rad/s ] for a rotary movement, [m/s ] for a linear movement © Technosoft 2007 PIM2401 Technical Reference...

  • Page 81: 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 2007 PIM2401 Technical Reference...

  • Page 82: Stepper 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 2007 PIM2401 Technical Reference...

  • Page 83: Current Units

    “Drive Info” dialogue, which can be opened from the “Drive Setup”. Remark: the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement © Technosoft 2007 PIM2401 Technical Reference...

  • Page 84: Time Units

    When the master position is an encoder, the correspondence with the international standard (SI) units is: × π × Master speed Master speed × × encoder lines where: No_encoder_lines – is the master number of encoder lines per revolution © Technosoft 2007 PIM2401 Technical Reference...

  • Page 85: Motor Position Units

    The internal motor position units are motor µsteps. The correspondence with the motor position in SI units × π × Motor Position Motor Position μ × steps steps SI units for motor position are: [rad] for a rotary motor, [m] for a linear motor © Technosoft 2007 PIM2401 Technical Reference...
  • Page 86 512 and 8192. By default it is set at 2048 counts per turn. The correspondence with the motor speed in SI units is: × π × For rotary motors: Motor Speed Motor Speed × resolution Pole_Pitch For linear motors: Motor_Speed[SI] = ×Motor_Speed[IU] resolution× T © Technosoft 2007 PIM2401 Technical Reference...

  • Page 87: Stepper Motor Open-Loop Control. No Feedback Device Or Incremental Encoder On Load

    Motor Speed μ × × steps steps where: No_steps – is the number of motor steps per revolution SI units for motor speed are [rad/s] for a rotary motor, [m/s] for a linear motor © Technosoft 2007 PIM2401 Technical Reference...

  • Page 88: Stepper Motor Closed-Loop Control. Incremental Encoder On Motor

    No_encoder_lines – is the motor 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 2007 PIM2401 Technical Reference...

  • Page 89: Memory Map

    Data Memory (PM) (DM) 8270h 0A70h Program Memory Not used as for TML programs Data Memory Not used as Data Memory Program Memory for data acquisition 0FFFh 87FFh Figure 8.1. PIM2401 / PIM2401-CAN Memory Map © Technosoft 2007 PIM2401 Technical Reference...
  • Page 90 This page is empty © Technosoft 2007 PIM2401 Technical Reference...

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