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4.2.
Getting Started with EasySetUp........................................................... 57
4.2.1.
Establish communication ............................................................................. 58
4.2.2.
Setup drive/motor......................................................................................... 59
4.2.3.
Download setup data to drive/motor ............................................................ 61
4.2.4.
Evaluate drive/motor behaviour (optional) ................................................... 61
4.3.
Changing the drive Axis ID................................................................... 61
4.4.
Setting CANbus rate............................................................................. 62
4.5.
Creating an Image File with the Setup Data......................................... 63
5.
Step 3. Motion Programming .................................................................. 64
5.1.
Using a CANopen Master (for IDM640 CANopen execution)............... 64
5.1.1.
DS-301 Communication Profile Overview.................................................... 64
5.1.2.
TechnoCAN Extension (for IDMx40 CAN executions) ................................. 65
5.1.3.
DSP-402 and Manufacturer Specific Device Profile Overview..................... 65
5.1.4.
Checking Setup Data Consistency .............................................................. 66
5.2.
Using the built-in Motion Controller and TML ....................................... 66
5.2.1.
Technosoft Motion Language Overview ...................................................... 66
5.2.2.
Installing EasyMotion Studio........................................................................ 67
5.2.3.
Getting Started with EasyMotion Studio ...................................................... 67
5.2.4.
Creating an Image File with the Setup Data and the TML Program ............ 73
5.3.
Combining CANopen /or other host with TML ...................................... 74
5.3.1.
Using TML Functions to Split Motion between Master and Drives............... 74
5.3.2.
Executing TML programs ............................................................................. 74
5.3.3.
Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 74
5.3.4.
5.3.5.
executions)................................................................................................................ 75
5.4.
Using Motion Libraries for PC-based Systems..................................... 76
5.5.
Using Motion Libraries for PLC-based Systems................................... 76
6.
Scaling Factors ........................................................................................ 77
6.1.
Position units........................................................................................ 77
6.1.1.
Brushless / DC brushed motor with quadrature encoder on motor .............. 77
6.1.2.
6.1.3.
Stepper motor open-loop control. No feedback device................................ 78
© Technosoft 2011
V
IDMx40 Technical Reference
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