Product Overview; Introduction - Technosoft iPOS3602 BX-CAN Technical Reference

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Product Overview

2.1

Introduction

The iPOS360X 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.
Suitable for control of brushless DC, brushless AC (vector control), DC brushed motors and step motors, the iPOS360x
BX-CAN drives accept as position feedback incremental encoders (quadrature or sine/cosine) and linear Halls signals.
All drives perform position, speed or torque control and work in single, multi-axis or stand-alone configurations. Thanks
to the embedded motion controller, the iPOS360X drives combine controller, drive and 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:

Setting various motion modes (profiles, PVT, PT, electronic gearing

Changing the motion modes and/or the motion parameters

Executing homing sequences

Controlling the program flow through:
 Conditional jumps and calls of TML functions
 TML interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)
 Waits for programmed events to occur

Handling of digital I/O and analogue input signals

Executing arithmetic and logic operations

Performing data transfers between axes

Controlling motion of an axis from another one via motion commands sent between axes

Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously
motion sequences on all the axes from the group

Synchronizing all the axis in a network
By implementing motion sequences directly at drive level you can really distribute the intelligence between the master
and the drives in complex multi-axis applications, reducing both the development time and the overall communication
requirements. For example, instead of trying to command each movement of an axis, you can program the drives using
TML to execute complex motion tasks and inform the master when these tasks are done. Thus, for each axis control
the master job may be reduced at: calling TML functions stored in the drive EEPROM and waiting for a message, which
confirms the TML functions execution completion.
All iPOS360X CAN drives are equipped with a serial RS232 and a CAN 2.0B interface that can be set by hardware pins
to operate in 2 communication protocol modes:

CANopen

TMLCAN
When CANopen mode is selected, the iPOS360X conforms to CiA 301 v4.2 application layer communication profile
and CiA DSP 402_2 v4.1 device profile for drives and motion control, now included in IEC 61800-7-1 Annex A, IEC
61800-7-201 and IEC 61800-7-301 standards. In this mode, the iPOS360X may be controlled via a CANopen master.
The iPOS drive offers the possibility for a CANopen master to call motion sequences/ functions, written in TML and
stored in the drive EEPROM, using manufacturer specific objects. Also, the drives can communicate separately between
each other by using non reserved 11 bit identifiers.
When TMLCAN mode is selected, the iPOS360X behaves as standard Technosoft intelligent drive and conforms to
Technosoft protocol for exchanging TML commands via CAN-bus. When TMLCAN protocol is used, it is not mandatory
to have a master. Any iPOS360X can be set to operate standalone, and may play the role of a master to coordinate
both the network communication/synchronization and the motion application via TML commands sent directly to the
other drives.
When higher level coordination is needed, apart from a CANopen master, the iPOS360X drives can also be controlled
via a PC or a PLC using one of the TML_LIB motion libraries.
For iPOS360X commissioning EasySetUp or EasyMotion Studio PC applications may be used.
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Available if the master axis sends its position via a communication channel, or by using the secondary encoder input
 Technosoft 2022
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or camming , etc.)
iPOS360x BX-CAN Technical Reference