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IBL2401 Intelligent Drive - User Manual

1. 52 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview 52 5 1 4 Checking Setup Data Consistency 52 5 2 Using the built in Motion Controller and 52 5 2 1 Technosoft Motion Language Overview 53 2 2 2 Installing Studig Ea 53 5 2 3 Getting Started with EasyMotion Studio 54 5 2 4 Creating an Image File with the Setup Data and the TML Program 60 5 3 Combining CANopen or other host with TML pp 60 5 3 1 Using TML Functions to Split Motion between Master and Drives 61 5 3 2 Executing TML programms a eter ete iD d ep tete net Eus 61 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio 61 5 3 4 Customizing the Homing Procedures for IBL2401 CAN executions 61 5 3 5 Customizing the Drive Reaction to Fault Conditions for IBL2401 CAN auela RES 62 5 4 Using Motion Libraries for PC based 62 5 5 Using Motion Libraries for PLC based 63 6 Scaling factors rcm iode cere vni kia cv Ev CX Xa n RIO E cV eer 64 Biz ABSURDUA AEE 64 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 64 Technosoft 2010
2. ISURKI EC HNOS OFT IBL2401 RS232 Intelligent Servo Drive for Step DC Brushless DC and Motors Intelligent Servo Drive Technical Reference Technosoft 2010 TECHNOSOFT IBL2401 RS232 IBL2401 CAN Technical Reference P091 035 IBL2401 UM 0710 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 Awww technosoftmotion com Read This First 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 Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from Technosoft S A The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the IBL2401 family of intelligent servo drives including the following products IBL2401 RS232 p n P035 001 E001 Universal Drive for Brushless DC and st
3. Controlling the program flow through Conditional jumps and calls of TML functions 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 Oooo 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 axes from a network Using EasyMotion Studio for TML programming 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 with possibility to abort their execution if needed and waiting for a message which confirms the TML functions execution Apart from a CANopen master the IBL2401 drives can also be controlled from a PC or PLC using the fa
4. a CANopen master using the communication objects for writing data into the drive EEPROM from a host PC or PLC using the TML LIB functions for writing data into the drive EEPROM using the 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 2010 50 IBL2401 Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master for IBL2401 CANopen execution The IBL2401 drive supports the CiA draft standard DS 301 v4 02 CANopen Application Layer and Communication Profile It also conforms with the CiA draft standard proposal DSP 402 v2 0 CANopen Device Profile for Drives and Motion Control For details see CANopen Programming manual part no P091 063 UM xxxx 5 1 1 DS 301 Communication Profile Overview The IBL2401 drive accepts the following basic services and types of communication objects of the CANopen communication profile DS 301 v4 02 Service Data Object SDO Service Data Objects SDOs are used by CANopen master to access any object from the drive s Object Dictionary Both expedited and segmented SDO transfers are supported see DS301 v4 02 for details SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority comm
5. is the rotary encoder number of lines per revolution 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 6 3 2 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is For rotary motors 2x7 Load Acceleration Sl x Motor Acceleration IU resolution x Tr x T For linear motors Pole_Pitch Load Acceleration SIl 5 resolution x Tr x T xMotor Acceleration IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 28 SI units for acceleration are rad s for a rotary movement m s for a linear movement Technosoft 2010 69 IBL2401 Technical Reference 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 3 3 DC brushed mo
6. 51 5 resolutionx Trx T xMotor Jerk IU where resolution is the motor position resolution 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 Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is Load Jerk SI 208 xLoad_ Jerk IU 4xNo encoder _ lines x T where 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 2010 72 IBL2401 Technical Reference 6 4 4 Stepper motor open loop control No feedback device The internal jerk units are motor hsteps slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI m 2 aiez Jerk IU No ustepsxNo stepsxTrxT where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read c
7. 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 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2xlpeak 65520 where lpeak is the drive peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Current A x Current IU 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control method used 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 Voltage command V Lle ae x Voltage command IU 65534 where Vdc is the drive power supply voltage expressed in V In case of brushless motors driven in trapezoidal mode the voltage command is the voltage to apply between 2 of the motor phases according with Hall signals values In this case the correspondence with the voltage applied in SI units i e V is Vdc 32767 This correspondence is akso available for DC brushed motors which have the voltage command internal u
8. EasyMotion Studio automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 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 2010 55 IBL2401 Technical Reference O al New Project 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 2010 56 IBL2401 Technical Reference EasyMotion Studio Untitled loj x Project Application Communication View Control Panel Window Help Dc E SEP be duad dd _2_Drive10 3 Status NE SI Untitled E Untitled Application S Setup Enable M Motion Application ID Comma A Homing Modes Und j Functions Under v Ez Interrupts Over vo CAM Tables Axis n
9. move positive else move negative and reverse after home input low high transition Homing6 Stop at first index pulse after home switch low high transition If home input is low move BE negative else move positive and reverse after home input high low transition Homing Moving negative stop at first index pulse after home switch active region ends high low transition If home input is high move negative else move positive and reverse after home input Select low high transition Reverse also if the positive limit switch is reached Homing8 Moving positive stop at first index pulse after home switch active region starts low high Itransition If home input is low move positive else move negative and reverse after home input Select high low transition Reverse also if the positive limit switch is reached Homing9 Moving negative stop at first index pulse after home switch active region starts low high transition Move positive and reverse after home input high low transition Reverse also Select if the positive limit switch is reached Homing10 Moving positive stop at first index pulse after home switch active region ends Select Reload default Reload default Reload default Reload default 0 ENDINIT ted I command If you are using Bici ciun EasyMotion Studio run a TML 1 Short circuit b program This includes execution 0 CANbus error Supply voltage IV
10. 27 V 1A 3 6 APEAK Minimal motor inductance 25 uH at 12V 50 uH at 24V e Operating ambient temperature 0 40 C e Hardware Protections e All I Os are ESD protected 2 Optional for the 1812401 execution Available only for the IBL2401 CAN executions Available only for the IBL2401 CANopen executions 6 Available only for the IBL2401 CAN execution 7 Nominal values cover all cases Higher values may be programmed for configurations with brushless DC DC brush and step motors Technosoft 2010 6 IBL2401 Technical Reference 2 3 Supported Motor Sensor Configurations IBL2401 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 It works with sinusoidal voltages and currents 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 derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IBL2401 Incremental quadrature encoder Figure 2 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor 2 Position speed or torque control of a brushless DC rotary motor with digital Hall sensors and an increm
11. Connector Function Motor amp Feedback Producer Phoenix Contact Board connector MPT 0 5 8 2 54 Supply amp Serial Phoenix Contact 0 5 8 2 54 The mating connector accepts wires of 0 14 0 5 mm AWG26 AWG20 Technosoft 2010 43 IBL2401 Technical Reference 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 EasySetUp includes a firmware programmer through which you can update your drive firmware to the latest revision EasySetUp can be installed independently or together with EasyMotion Studio platform for motion programming using TML You will need EasyMotion Studio only if you plan to use the advance features presented in Section 5 3 Combining CANopen or other host with TML A demo version of EasyMotion Studio including the fully functional version of EasySetUp can be downloaded free of charge from Technosoft web page On request EasySetUp can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting
12. a Technosoft drive requires creating and downloading a TML Technosoft Motion Language program into the drive memory The TML allows you to Set various motion modes profiles PVT PT electronic gearing or camming etc Change the motion modes and or the motion parameters Execute homing sequences Control the program flow through e 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 e Waits for programmed events to occur Handle digital I O and analogue input signals Execute arithmetic and logic operations Perform data transfers between axes Control motion of an axis from another one via motion commands sent between axes Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronize all the axes from a network In order to program a motion using TML you need EasyMotion Studio software platform 5 2 2 Installing EasyMotion Studio 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 A demo version of EasyMotion Studio including the full
13. also presents an overview of the following steps and includes the scaling factors between the real SI units and the drive internal units For detailed information regarding the next steps refer to the related documentation Notational Conventions This document uses the following conventions TML Technosoft Motion Language Sl units International standard units meter for length seconds for time etc U units Internal units of the drive BL2401 all products described in this manual 1812401 CANopen the CANopen executions from IBL2401 family 1812401 CAN the CAN standard executions Related Documentation MotionChip I TML Programming part no P091 055 MCII TML UM xxxx describes in detail TML basic concepts motion programming functional description of TML instructions for high level or low level motion programming communication channels and protocols Also give a detailed description of each TML instruction including syntax binary code and examples MotionChip Il Configuration Setup part no P091 055 MCII STP UM xxxx describes the MotionChip 11 operation and how to setup its registers and parameters starting from the user application data This is a technical reference manual for all the MotionChip Il registers parameters and variables Help of the EasySetUp software describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogues
14. axis ID How 7 Setup EAN default Protections Drive operatio 125 Kbps Power supply 250 Kbos Detect v Over current 500 Kbps Motor current gt for more than om s x 800 Kbps ami gre Mbps Control error Gea Position error gt fi 80 deg for more than s 7 1 328 7 Control ero Ki MERI E E Test 5 hi gd 210 rom 7 for more than 3 E Motor over temperature Current limit Speed controller Se 121 451 Intearal 33 ps tx a s ki 617 brake resistor Tune amp Test Connected Activate if power supply gt 28 V Position controller m Inputs polarity Kp E 91 Integral limit fi 0 S Enable Limit switch Limit switch Ki 3895 p Active high Enabled after power on Active high Active high e Feedforward gt Active low Disabled after power on Active low Active low Kd E 9 4 fi Speed SIM TE Start mo ilter 10 1 Current used 2 of e GE Move till aligned with phase ede gida el Tune amp Test Direct using Hall sensors Time to align on phases fi s The 1812401 drives can work with the following rates on the CAN 125kHz 250kHz 500KHz 1MHz In the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using t
15. for PLC you can focus on the main aspects of your PLC application while the motion programming part can be reduced to calling the appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed using the guidelines described in the PLC standards so they can be used on any developmemnt platform that is IEC 61136 compliant All Technosoft s TML Motion Libraries for PLC are provided with EasySetUp Technosoft 2010 63 IBL2401 Technical Reference 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 51 In order to easily identify them each internal unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is 2 Load Position SI xMotor Position IU 4xNo encoder linesx where No encoder lines is the rotary encoder
16. maximum stub length must be below 0 3 meters d The 1200 termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive Technosoft 2010 39 IBL2401 Technical Reference IBL2401 AXISID 1 120R 5 0 25W IBL2401 AXISID 2 8 l EH IBL2401 AXISID 3 PC TR Host Address 255 120R 596 0 25W IBL2401 cw AXISID 265 Figure 3 23 Multiple Axis CAN network Remark The AxisID must be set by software using instruction AXISID number 40 182401 Technical Reference Technosoft 2010 3 2 13 Special connection Non Autorun If the drive contains in the E2ROM a valid TML application when power on this application is automatically executed the drive is by default in the autorun mode To disable this feature in case that the application in the E2ROM is corrupted and the RS232 communication is lost make the following connections IBL2401 v1 0 Connection for Non Autorun MotionChip Figure 3 24 Connection for Non Autorun Technosoft 2010 41 IBL2401 Technical Reference 3 2 14 Master Slave encoder connection IBL2401 v1 0 Master Motor phases IBL2401 v1 0 Slave TM MotionChip Encoder Motor phases Figure 3 25 Master Slave encoder connection using second encoder input Technosoft 2010 42 IBL2401 Technical Reference 3 2 15 Connectors Type and Mating Connectors
17. motors 5 GND e Ground Hall 1 signal for digital Hall sensor 6 Not autorun Connect all 3 Hall signals to GND in order to disable the Autorun e Hall signal for digital Hall sensor 7 Hall2 Not autorun Connect all Hall signals to GND in order to disable the Autorun Hall 3 signal for digital Hall sensor 8 Hall3 Not autorun Connect all Hall signals to GND in order to disable the Autorun 9 _ Single enided encoder A signal e Differential encoder positive A input 10 Single ended encoder B signal e Differential encoder positive B input 11 Enc Z Single ended encoder signal e Differential encoder positive Z input 12 A LH1 Gea encoder negative A signal e Linear Hall 1 signal 13 B LH2 _ Picea encoder negative B signal e Linear Hall 2 signal 14 2 LH3 _ Ditferential encoder negative Z signal e Linear Hall 3 signal e Unipolar 0 V 5 V analog input May be used as 15 Tacho AD2 l analog position or speed feedback from a tachometer 16 5 Vout 5V logic supply internally generated Technosoft 2010 21 IBL2401 Technical Reference 3 2 5 24V Digital I O connection 24V I O Connection IBL2401 v1 0 V 24V Supply Inputs z a o Rmin seg Rmin 560R 5 E o Outputs Figure 3 7 24V Digital I O connection Remarks 1 In order to use 24V outputs a
18. o 2 5 2 lt 9 gt 1 I 8 2 0 DAC E Figure 3 1 1812401 drive connectors The IBL2401 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 Before connecting the motor be sure you have the right CAUTION application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature Technosoft 2010 18 IBL2401 Technical Reference 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout J1 Connector J2 Connector Intelligent Servo Drive IBL2401 CAN TECHNOSOFT SOSSSSSSIGSSSSGSSS Q Q Q Q Q 2 Q Q Q Figure 3 2 IBL2401 drive connectors 3 2 2 Identification Labels C lt Manufacturer Drive Name blur DIII Article Number PoesonEnm lt Serial Number Figure 3 3 IBL2401 RS232 Identification Label tecunosort Manufacturer Drive Nam
19. 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 This value can be an axis number 1 to 255 Remark If a drive axis ID was previously set by software and its value is not anymore known you can find it by selecting in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected Apply this solution only if this drive is connected directly with your PC via an RS 232 link 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 4 4 Setting CANbus rate Drive Setup x r Guideline assistant r Control mode p External reference Previous Next Position C Yes Setup Speed Analogue Incremental Encoder Cancel 5 1 Inthe Control mode gt gt group box select what do you want to control position speed or torque In the CT Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or o Cru TET t idal mode The t idal mode i ible only if ESSET ION OIN trapezoidal mode trapezoidal mode Is possible only If your Advanced gen Sinusoidal M ot or CANbus Baud rate row default Drive Info Set change
20. refer to the motor Motor E Ea LINEAR MOTOR Linear Halls Figure 2 5 Brushless AC linear motor with linear Hall signals Position speed torque control 6 Position speed or torque control of a DC brushed rotary motor with an incremental quadrature encoder on its shaft 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 derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IBL2401 Incremental quadrature encoder Figure 2 6 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 7 Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load Motor IBL2401 Tacho Incremental quadrature encoder Figure 2 7 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor Technosoft 2010 9 IBL2401 Technical Reference 8 Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for spee
21. sensor output at 0 C You can read these values in the Drive Info dialogue which can be opened from the Drive Setup 6 10 Master position units When the master position is sent via a communication channel or via pulse amp direction signals the master position units depend on the type of position sensor present on the master axis When the master position is an encoder the correspondence with the international standard SI units is Master ition rad osition IU ster _pos No encoder lines P where No_encoder_lines is the master number of encoder lines per revolution 6 11 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 When the master position is an encoder the correspondence with the international standard SI units is Master speed rad s xMaster _ speed IU 4xNo encoder linesxT where No encoder lines is the master number of encoder lines per revolution Technosoft 2010 75 IBL2401 Technical Reference T is the slave 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 12 Motor position units 6 12 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspon
22. 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 GND at only one end This point could be either the IBL2401 using the GND pin or the encoder motor Do not connect the shield at both ends If the IBL2401 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V GND lines The capacitor value can be 1 10 UF rated at 6 3V Technosoft 2010 34 IBL2401 Technical Reference 3 2 10 Supply connection 3 2 10 1 Supply connection Power supply connection IBL2401 v1 0 MotionChip 0 2 A max 4 phase Inverter I Figure 3 20 Supply connection 3 2 10 2 Recommendations for Supply Wiring Use short thick wires between the IBL2401 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 pF rated at an appropriate voltage right on the terminals of the IBL2401 Technosoft 2010 35 IBL2401 Technical Reference 3 2 10 3 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor su
23. stopped The IBL2401 is a NMT slave in a CANopen network Technosoft 2010 51 IBL2401 Technical Reference Module Control Services through these unconfirmed services the NMT master controls the state of the drive The following services are implemented Start Remote Node Stop Remote Node Enter Pre Operational Reset Node Reset Communication Error Control Services through these services the master detects failures in CAN based network Both error control services defined by DS301 v4 02 are supported by the IBL2401 Node Guarding including Life Guarding and Heartbeat Bootup Service through this service the drive indicates that it has been properly initialized and is ready to receive commands from a master 5 1 2 TechnoCAN Extension for IBL2401 CAN execution In order to take full advantage of the powerful Technosoft Motion Language TML built into the IBL2401 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 TechnoCAN uses only identifiers outside of the range used by the default by the CANopen predefined connection set as defined by CiA DS301 v4 02 Thus TechnoCAN protocol and CANopen protocol can co exist and communicate simulta
24. units are motor The correspondence with the load position in SI units is 2xmn Load Position SI x Motor _ Position IU No steps xNo_ steps x Tr where No steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Stepper motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units is 2 Load Position SI x Motor Position lU 4xNo encoder _ lines x Tr where 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 Sl units 5 SI units for position are rad for a rotary movement m for a linear movement Technosoft 2010 65 IBL2401 Technical Reference 6 1 5 Stepper motor open loop control Incremental encoder on load The internal position units are load encoder counts The transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position SI xLoad Position lU 4xNo encoder lines where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between
25. 2401 CAN executions e Optional for the IBL2401 CANopen execution Technosoft 2010 61 IBL2401 Technical Reference Modes from your EasyMotion Studio application and in the right side to set as User defined of the Homing procedures Following this operation the selected procedure will occur under Homing Modes in a subtree with the name HomeX where X is the number of the selected homing EasyMotion Studio Untitled ni x Project Application Communication View Control Panel Window GRIE b dud didala GZ GIZZ 589 y Untitled Homing Modes E Untitled Application 0 Set actual position as home position T Select S Setup Homing Move negative until the limit switch is reached Reverse and stop at first index pulse Select Ej M Motion Homing2 Move positive until the limit switch is reached Reverse and stop at first index pulse Select D Homing Modes Homing3 Stop at first index pulse after home switch high low transition If home input is high Select Functions move negative else move positive and reverse after home input low high transition D Interrupts Homing Stop at first index pulse after home switch low high transition If home input is low move 7 select iz CAM Tables positive else move negative and reverse after home input high low transition Homing5 Stop at first index pulse after home switch high low transition If home input is high
26. 5232 Linear Halls IDM240 5EI IDM640 8EI j IDM640 8EI CANOPEN 1 IDM680 8BI CANOPEN MEE T 10 680 CANOPEN T wv vv vv vvv v whe IDM680 8LI CANOPEN IDM680 8RI CANOPEN The selection continues with the motor technology for example brushless or brushed and type of feedback device for example Incremental encoder Linear Halls Technosoft 2010 46 IBL2401 Technical Reference 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 EasySetUp Untitled D x Setup Communication View ControlPanel Window Help BSR GIZZ BRI SIZ e E Drive 54 Brushless Motor Setup x Edit View Guide r Guideline assistant Database 34 Setup Data Step 1 Select your motor from a database If your motor Drive does not exist in any database proceed through all the ay next steps in order to define your motor and sensors data In either case use the tests from the next steps to Motor Setup dae to verify detect the motor and sensors parameters and PTE rive Motor operation Cancel Save to User Database Delete Help Save Bau Moto
27. 6 3 6 Stepper motor closed loop control Incremental encoder on motor 71 6 4 JEK UI TIR 71 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 71 6 4 2 Brushless motor with linear Hall Signals 72 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor 72 6 4 4 Stepper motor open loop control No feedback device 73 6 4 5 Stepper motor open loop control Incremental encoder on 73 6 4 6 Stepper motor closed loop control Incremental encoder on motor 73 65 imei ood i mad ee et eso md el pi ode Ao eed oi s 74 6 6 Voltage command OEE 74 6 7 Voltage measurement 74 Alu AAA 75 6 9 Drive temperature units pp 75 6 10 Master position units pp 75 6 11 Master speed Units d doxes 75 6 12 Motor position BAIAN 76 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 76 6 12 2 Brushless motor with linear Hall signals 76 Technosoft 2010 IX IBL2401 Technical Reference 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor 76 6 12 4 Stepper motor open loop control No feedback device 76 6 12 5 gt Stepper motor open loop control Inc
28. Communication Setup dialogue with OK If the communication is established EasySetUp displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasySetUp tries to communicate via RS 232 and COM 1 with a drive having axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically 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 e Press New button and select your drive type EasySetUp ND ini xi Setup Communication View Help d d d he gt Den 1 PLUG IN DRIVES gt 2 OPEN FRAME DRIVES gt 1812401 2 PHASE STEPPER YA 4 INTELLIGENT MOTORS gt 1812401 3 PHASE STEPPER LZ A 5 oTHER gt IBL2401 RS232 BRUSHED MOTOR 1812403 BRUSHLESS LINEAR MOTOR gt Open IBL2403 CANOPEN BRUSHLESS ROTARY MOTOR gt Incremental Encoder IBL2403 R
29. Direction motion mode e be used as second encoder B signal for single ended encoder 7 Enable IN 16 5Vor24V compatible digital input ENABLE e Enable Connect to high to disable PWM outputs BN or 24V compatible digital input 5 ESP Jare Positive limit switch BN or 24V compatible digital input 9 LSN nee DSN e Negative limit switch 5Vor 24V compatible digital output 10 Error OUT 13 O Error 5V or 24V compatible digital output 11 Ready OUT 25 O Ready e Can Bus positive line positive during dominant bit 12 CAN H e connected on execution of the IBL2401 drive P035 001 E001 CAN Bus negative line negative during dominant bit 13 CAN L IO e Not connected on the no CAN execution of the IBL2401 drive P035 001 E001 14 GND 15 232 RS 232 Data Transmission 16 232Rx RS 232 Data Reception Technosoft 2010 20 IBL2401 Technical Reference 3 2 4 J2 Connector pinout Pin Pin name TML name Type Function Alternate function Comments e Phase A for brushless motors 1 A A e Phase A for step motors Motor for DC brush motors e Phase B for brushless motors 2 e Phase A for step motors Motor for DC brush motors 3 C B4 _ for brushless motors e Phase B for step motors 4 B e Phase B for step
30. Drive Info Set change axis ID z Setup Drive operation parameters Power supply 24 v Current limit 2 Detect r Current controller 250 m Protections Over current Motor current gt for m 2 Control error Position error fi 80 deg form Aw ei 251 252 519 4 Kd filter 0 1 Tune amp Test Kp 1 328 b Control error Ki 0 1606 Tune amp Test Speed error gt 210 ipm for than 3 Motor over temperature Speed controller SZ deie v 121 461 Integral limit 33 E Ua Eden ps s for p s ki Bez m Extemal brake resistor Tune amp Test Connected Activate if power supply gt 28 V Y Position controller Inputs polarity Kp 77 91 Integral limit 10 x Enable Limit switch Limit switch Ki 3855 p Acceleration Active high Enabled after power on Active high Active high e Feedforward Active low Disabled after power on Active low Active low Kd Speed Start mode Move till aligned with phase C Direct using Hall sensors Current used of nominal current 34 x 2 Time to align on phases fi s Technosoft 2010 48 1812401 Technical Reference The axis ID of an IBL2401 drive can be set software any value between 1 and 255 stored in the setup table The axis ID is initialized at power
31. ECTED ENVIRONMENT b gt gt 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 2 Product Overview 2 1 Introduction The IBL2401 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 IBL2401 drives accept as position feedback incremental encoders quadrature and linear Halls signals All drives perform position speed or torque control and work in either single multi axis or stand alone configurations Thanks to the embedded motion controller the IBL2401 drives combine controller drive and PLC functionality in a single compact unit and are capable to execute Technosoft 2010 4 IBL2401 Technical Reference 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 or camming etc Changing the motion modes and or the motion parameters Executing homing sequences
32. Motor button to download your setup data in the 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 Technosoft 2010 58 IBL2401 Technical Reference possible to save the setup data on your PC and use it in other applications Note that you upload the complete setup data from a drive motor To summarize you can define or change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the 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 ABl xl F X 9 981 0 x TA To 2 18 32 52 T6 Byns e Untitled _______ _ _ Xj Untitled Application S Setup E aM fr Homing Modes Functions T 1 Interrupts CAM Tables 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 without needing to learn them A TML program includes a main se
33. Started with EasySetUp Using EasySetUp you can quickly setup a drive for your application The drive can be directly connected with your PC via a serial RS 232 link drive from a CANbus network where the PC is serially linked with one of the other drives The output of EasySetUp is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use EasySetUp includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning EasySetUp works with setup data A setup contains all the information needed to configure and parameterize a Technosoft drive This information is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed Note that with EasySetUp you do only your drive motor commissioning For motion programming you have the following options Use a CANopen master for IBL2401 CANopen Use EasyMotion Studio to create and download a TML program into the drive motor memory Technosoft 2010 44 IBL2401 Technical Reference Use one of the TML LIB motion libraries to control the drives motors from your host master If your host is a PC TML LIB offers a collection of h
34. The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed EasySetUp includes a firmware programmer with allows you to update your drive firmware to the latest revision EasySetUp can be downloaded free of charge from Technosoft web page CANopen Programming part no P091 063 UM xxxx explains how to program the Technosoft intelligent drives using CANopen protocol and describes the associated object dictionary for the DS 301 communication profile and the DSP 402 device profile Help of the EasyMotion Studio software describes how to use the EasyMotion Studio to create motion programs using in Technosoft Motion Language TML EasyMotion Studio platform includes EasySetUp for the drive motor setup and a Motion Technosoft 2010 IV IBL2401 Technical Reference Wizard for the motion programming 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 A demo version of EasyMotion Studio with EasySetUp p
35. Vill IBL2401 Technical Reference 6 1 2 Brushless motor with linear Hall Signals 64 6 1 3 brushed motor with quadrature encoder on load and tacho on motor 65 6 1 4 Stepper motor open loop control No feedback device 65 6 1 5 Stepper motor open loop control Incremental encoder on load 66 6 2 Speed Tale 66 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 66 6 2 2 Brushless motor with linear Hall Signals 66 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor 67 6 2 4 DC brushed motor with tacho on motor pp 67 6 2 5 Stepper motor open loop control No feedback device 67 6 2 6 Stepper motor closed loop control Incremental encoder on motor 68 6 9 ullis ase e ub eee tiet edet eem ie ds 69 6 3 1 Brushless DC brushed motor with quadrature encoder on motor 69 6 3 2 Brushless motor with linear Hall Signals 69 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 70 6 3 4 Stepper motor open loop control No feedback device 70 6 3 5 Stepper motor open loop control Incremental encoder on load 70
36. a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio The IBL2401 offers others motion modes like electronic gearing electronic camming external modes with analogue or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in EasyMotion Studio and are included in the information stored in the EEPROM together with the setup data and the TML programs functions Remark The cam tables are included in the sw file generated with EasyMotion Studio Therefore the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing Homing Procedures for IBL2401 CAN executions The IBL2401 supports all homing modes defined in DSP 402 device profile If needed any of these homing modes can be customized In order to do this you need to select the Homing 2 The customization of the interrupt service routines and homing routines is available only for IBL
37. art fully functional can be downloaded free of charge from Technosoft web page LIB v2 0 part no P091 040 v20 UM xxxx explains how to program in C C C Visual Basic or Delphi Pascal a motion application for the Technosoft intelligent drives using TML LIB v2 0 motion control library for PCs The TML lib includes ready to run examples that can be executed on Windows or Linux x86 and x64 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 The TML LIB S7 library is IEC61131 3 compatible TML LIB CJ1 part no P091 040 CJ1 UM xxxx explains how to program a PLC Omron series CJ1 a motion application for the Technosoft intelligent drives using TML LIB CJ1 motion control library for PCs The TML LIB CJ1 library is IEC61131 3 compatible TechnoCAN part no P091 063 TechnoCAN UM xxxx presents TechnoCAN protocol an extension of the CANopen communication profile used for TML commands If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web htt
38. atures which arise when combining TML programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming part no P091 063 UM xxxx manual All features presented below require usage of EasyMotion Studio as TML programming tool Technosoft 2010 60 IBL2401 Technical Reference Remark If you don t use the advanced features presented below you don t need EasyMotion Studio In this case the IBL2401 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 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 Thus for each axis the master task may be reduced at calling TML functions with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the TML functions execution 5 3 2 Executing TML programs The distributed control concept can go on step further You may prepare and download into a drive a complete TML program including functions homing procedures etc The TML program execution can be started by simply writing a value in
39. ave the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature Technosoft 2010 26 IBL2401 Technical Reference 2 coils per phase in series connection 2 coils per phase in parallel connection 1 2 A1 A2 B1 2 B1 B2 1 A1 2 A2 1 B1 B2 B2 Step MOTOR Figure 3 12 Step Motor connection Before connecting the motor be sure you have the right CAUTION application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature Technosoft 2010 27 IBL2401 Technical Reference 3 2 8 3 3 phase Step Motor connection 3 phase step motor connection IBL2401 v1 0 4 phase Inverter Currents Info 1 coil per phase MotionChip Figure 3 13 3 phase Step Motor connection Before connecting the motor be sure you have the right CAUTION application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature Technosoft 2010 28 IBL2401 Technical Reference 3 2 8 4 DC Motor connection IBL2401 v1 0 DC motor connection 3 phase Inverter Current
40. cal Reference 3 2 9 2 Differential encoder connection Differential encoder connection IBL2401 v1 0 GND 5VOUT 120R terminator MotionChip terminator Figure 3 16 Differential encoder connection Remark 120 0 0 25 W terminators are required for long encoder cables or noisy electromagnetic environments Technosoft 2010 31 IBL2401 Technical Reference 3 2 9 3 Hall connection Hall connection IBL2401 v1 0 Internally generated MotionChip Figure 3 17 Hall connection Technosoft 2010 32 IBL2401 Technical Reference 3 2 9 4 Linear Hall connection Linear Hall connection IBL2401 v1 0 MotionChip Internally generated 3 x 22nF Figure 3 18 Linear Hall connection Technosoft 2010 33 IBL2401 Technical Reference 3 2 9 5 Linear Hall Auto Setup connection Linear Hall Auto Setup IBL2401 v1 0 connection 5V 1K B LH2 C LH3 MotionChip Internally generated Figure 3 19 Linear Hall Auto Setup connection 3 2 9 6 Recommendations for wiring a Always connect both positive and negative signals when the encoder or the Hall sensors are differential and provides them Use one twisted pair for each differential group of signals as follows Enc with A LH1 Enc B with B LH2 Enc 2 with Z LH3 Use another twisted pair for the 5V supply and GND Always use
41. ction followed by the subroutines used functions interrupt service routines and homing procedures The TML program may also include cam tables used for electronic camming applications 20 The customization of the interrupt service routines and homing routines is available only for IBL2401 CAN executions 2 Optional for IBL2401 CANopen execution Technosoft 2010 59 IBL2401 Technical Reference When activated Motion Wizard adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated TML instructions are automatically generated Note that the TML instructions generated are not a simple text included in a file but a motion object Therefore with Motion Wizard you define your motion program as a collection of motion objects The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Wizard button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are d
42. d and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor otor IBL2401 Tacho Figure 2 8 DC brushed rotary motor Speed torque control Tachometer on motor 9 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 derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IBL2401 Figure 2 9 No position or speed feedback Open loop control motor position or speed 10 Closed loop control of load position using an encoder on load combined with open loop control of a 2 phase step motor in speed with speed reference provided by the position controller The motion commands in both SI and IU units refer to the load Motor IBL2401 Incremental quadrature encoder Figure 2 10 Encoder on load Closed loop control load position open loop control motor speed Technosoft 2010 10 IBL2401 Technical Reference 11 Closed loop control of a 2 phase step motor in position speed or torque Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands expressed in SI units or derivatives refer to the load wh
43. dence with the motor position in SI units is Motor Position SI 2 xMotor Position lU 4xNo encoder lines where No encoder lines is the rotary encoder number of lines per revolution 6 12 2 Brushless motor with linear Hall signals The internal motor position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor position in SI units is For rotary motors Motor Position SI 28 x Motor _ Position IU resolution For linear motors Motor Position SI Position IU resolution where resolution is the motor position resolution Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not computed 6 12 4 Stepper motor open loop control No feedback device The internal motor position units are motor usteps The correspondence with the motor position in SI units is 2 Motor Position SI x Motor _ Position IU No ustepsxNo steps 3151 units for motor position are rad for a rotary motor m for a linear motor Technosoft 2010 76 IBL2401 Technical Reference where No steps is the number of motor steps per revolution No usteps is the number of microstep
44. e mec 001 0002 Article Number gt Serial Number Figure 3 4 IBL2401 CAN CAN execution Identification Label tecunosort lt Manufacturer Drive amp 2wcw UIN Article Number Pesoxro2 amz4 lt Serial Number Figure 3 5 IBL2401 CAN CANopen execution for Brushless and DC motors with incremental encoder Identification Label Technosoft 2010 19 IBL2401 Technical Reference CP Manufacturer Drive Name amp zwcw Article Number gt 5 Aum lt Serial Number Figure 3 6 IBL2401 CAN CANopen execution for Step motors with incremental encoder Identification Label 3 2 3 J1 Connector pinout Pin Pinname TML name Type Function Alternate function Comments 1 Vpc e Positive terminal of the motor supply 12 to 27Vpc 2 GND Ground 3 5Vour e 5V output internally generated e Unipolar 0 V 5 V analog input May be used as Ref ADS SEE position speed bide 24V compatible digital input IN 38 be used PULSE input in Pulse amp Direction 5 Pulse PULSE motion mode e be used as second encoder A signal for single ended encoder BN or 24V compatible digital input e Can be used as DIRECTION input in Pulse amp 6 Dir IN 37 DIR
45. ental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages 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 derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IBL2401 Incremental quadrature encoder Hall Figure 2 2 Brushless DC rotary motor Position speed torque control Hall sensors and quadrature encoder on motor 8 Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2010 7 IBL2401 Technical Reference 3 Position speed or torque control of brushless AC linear motor with an incremental quadrature linear encoder on the track The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load linear or rotary Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IBL2401 LINEAR MOTOR Linear Encoder Figure 2 3 Brushless AC linear mot
46. ep motors IBL2401 CAN p n P035 001 E002 Universal Drive for Brushless DC and step motors Standard execution using Technosoft TMLCAN protocol on CANbus IBL2401 CAN CANopen BL p n P035 001 E012 Servo Drive for Brushless and DC motors using CANopen protocol on CANbus IBL2401 CAN CANopen ST p n P035 001 E013 Stepper Drive using CANopen protocol on CANbus IBL2401 CAN CANopen LH p n P035 001 E014 Servo Drive for Brushless motors with Linear Hall sensors using CANopen protocol on CANbus In order to operate the IBL2401 drives you need to pass through 3 steps L Step 1 Hardware installation Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning Step 3 Motion programming using of the options ACANOpen master for the IBL2401 CANopen version The drive built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software LIB motion library for PCs Windows or Linux ATNML LIB motion library for PLCs A distributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in TML Technosoft 2010 ll IBL2401 Technical Reference This manual covers Step 1 in detail It describes the IBL2401 hardware including the technical data the connectors and the wiring diagrams needed for installation The manual
47. fault communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically 5 2 33 Setup drive motor In the project window left side select S Setup to access the setup data for your application Technosoft 2010 57 IBL2401 Technical Reference Ig Project Untitled Untitled Application 5 M Motion fr Homing Modes Define Load Functions DO Interrupts CAM Tables View Modify 10 bei ike Drive Motor Load from a previous version GE from Drive Motor Press View Modify button View Modify This opens 2 setup dialogues for Motor 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 In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Demos to f Drive Motor Press the Download to Drive
48. hange this value in the Drive Setup dialogue from EasySetUp 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 6 4 5 Stepper motor open loop control Incremental encoder on load The internal jerk units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load jerk in SI units is Load 9 2 7 xioad 4xNo encoder linesx T where No encoder lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 6 Stepper motor closed loop control Incremental encoder on motor The internal jerk units are motor encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI Motor leki 4xNo encoder linesx Tr x where 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 30 SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2010 73 IBL2401 Technical Reference T
49. he following algorithm Technosoft 2010 49 IBL2401 Technical Reference If a valid setup table exists with the CAN rate value read from it This be any of the supported rates or can indicate to use the firmware default F W default value which is 500kHz If the setup table is invalid with the last CAN rate value set with a valid setup table This can be any of the supported rates or can indicate to use the firmware default F W default value If there is no CAN rate value set by a valid setup table with the firmware default value i e 500kHz 4 5 Creating an Image File with the Setup Data Once you have validated your setup you can create with the menu command Setup Create EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty raw Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit values maximum 4 hexadecimal digits Each raw contains a single data value When less then 4 hexadecimal digits are shown the value must be right justified For example 92 represent 0x0092 The sw file can be programmed into a drive
50. here resolution is the motor position resolution 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 Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2 Load Speed SI x Load 4xNo encoder linesx T where 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 6 2 4 DC brushed motor with tacho on motor 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 is Analogue Input Range Load Speed SI 4096 x Tacho _ gain x Tr Motor Speed IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be
51. igh level motion functions which can be called from applications written in C C Visual Basic Delphi Pascal or LabVIEW If your host is a PLC TML LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program 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 Establish communication EasySetUp starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor EasySetUp 5 xl Setup Communication View Help Dek a o OO 8 A e TECHNOSOET Upload from Drive Motor E eady nline Axis irmware 2 Read Online AxisID 255 FFi F250A Before selecting one of the above options you need to establish the communication with the drive you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive and do the connections Power on the drive Technosoft 2010 45 IBL2401 Technical Reference then close the
52. ile the same commands expressed in IU units refer to the motor Motor IBL2401 Incremental quadrature encoder Figure 2 11 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 2010 11 IBL2401 Technical Reference 2 4 IBL2401 Dimensions ry 2 E el ES 2 E 2 2 2 E A 53 2 mm 2 094 50 0 mm 1 968 E oo 58 0 mm l 2 283 Figure 2 12 IBL2401 drive dimensions Technosoft 2010 12 IBL2401 Technical Reference 2 5 Electrical Specifications All parameters were measured under the following conditions unless otherwise specified 25 power supply Vpc 24Vpc Supplies start up shutdown sequence any Load current 1 Arms Supply Input Measured between Vpc and GND Min Typ Max Units Nominal values 6 24 27 Voc Supply voltage Absolute maximum values continuous 0 5 30 Idle 100 250 mA Supply current Operating 3 7 1 3 7 Motor Outputs All voltages referenced to GND Min Typ Max Units Continuous operation Vpc 24 V Motor output current 1 1 Anus Fpww 40 kHz Motor output current peak Thermal limited to lt 0 5 s 3 63 3 63 H W shor
53. ing with altitude 13 Inom the nominal current 14 Stand alone operation vertical mounting Technosoft 2010 16 IBL2401 Technical Reference 0 40 100 f kHz 0 40 100 f kHz Figure 2 15 Current De rating with PWM Figure 2 16 Output Voltage De rating with PWM frequency frequency For PWM frequencies less than 20kHz correlate the CAUTION PWM frequency with the motor parameters in order to avoid possible motor damage 400 4 191 350 bezi Imax 3 63 A Pt 250 2 5 tpk 19s 85 300 250 200 150 100 50 0 40 100 f kHz 0 1 2 3 4 Figure 2 17 Power De rating with PWM Figure 2 18 Over current diagram frequency 15 your the output voltage the motor supply voltage 1 Piom the nominal power Technosoft 2010 17 IBL2401 Technical Reference 3 Step 1 Hardware Installation 3 1 Mounting RI P NN St 8 S xy PN 9 E Js P DO B 9 N WS Intelligent Servo Drive IBL2401 CAN YS M y 1 07 Min 25 mm N Fo NM AN A wh Ea N N ST NT A a
54. l WARNING SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION CAUTION gt gt gt INDICATES AREAS SENSITIVE TO ELECTROSTATIC DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1 1 Warnings WARNING THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE ELECTRICAL SHOCKS DO NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON WARNING gt TO AVOID ELECTRIC AND HAZARDS NEVER CONNECT DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON Technosoft 2010 3 IBL2401 Technical Reference THE DRIVE MAY HAVE HOT SURFACES DURING WARNING OPERATION DURING DRIVE OPERATION THE CONTROLLED MOTOR WARNING WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY gt gt 1 2 Cautions THE POWER SUPPLIES CONNECTED TO THE DRIVE CAUTION MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT TROUBLESHOOTING AND SERVICING ARE PERMITTED CAUTION ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS WHICH MAY BE DAMAGED BY INCORRECT CAUTION HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROT
55. l PO connection isse anche iR eret 23 3 2 7 Analog inputs Connection aako ur ea 24 3 2 8 Motor connections ete erar I E CHR RR E HE eee 25 3 2 9 Feedback connections dk aa Ek ee dE 30 3 2 10 Supply connection mai Ararat aere 35 3 2 11 Serial 9 232 connection de Lax docet duce Eripe 37 3 2 12 connection IBL2401 CAN 38 3 2 13 Special connection 41 3 2 14 Master Slave encoder connection pp 42 3 2 15 Connectors Type and Mating Connectors 43 Technosoft 2010 VII IBL2401 Technical Reference 4 Step 2 ANUE Al aA EAO 44 4 1 dstallingEasySelUp uc icm rese CES tese CES 44 4 2 Getting Started with EasySetUp pp 44 4 2 1 Establish eau luza 45 4 2 2 Setup 46 4 2 3 Download setup data to drive Motor rrura 47 4 2 4 Evaluate drive motor behaviour 48 4 3 Changing the drive Axis ID pp 48 44 Setting CANbus at 49 4 5 Creating an Image File with the Setup Data 50 5 Step 3 Motion Programming ee 51 5 1 Using a CANopen Master for IBL2401 CANopen execution 51 5 1 1 05 301 Communication Profile 51 5 1 2 TechnoCAN Extension for IBL2401 CAN
56. mily of TML_LIB motion libraries For all motion programming options the IBL2401 commissioning for your application is done using EasySetUp Optional for the IBL2401 CANopen execution 2 Available only for the IBL2401 CAN executions Technosoft 2010 5 IBL2401 Technical Reference 2 2 Key Features e Digital drives for control of brushless DC brushless AC DC brushed and step motors with built in controller and high level TML motion language e Position speed or torque control e Various motion programming modes e Position profiles with trapezoidal or S curve speed shape e Position Velocity Time PVT 3 order interpolation e Position Time PT 1 order interpolation Electronic gearing and camming e External analogue or digital reference e 33 Homing modes Single ended differential and or open collector encoder interface Single ended open collector Hall sensor interface e Linear Hall sensor interface e 7 dedicated digital input output lines 5V and 24V compatible e 5 digital input lines 2digital output lines RS 222 serial interface up to 115200 bps CAN bus 2 0B to 1Mbit s with communication protocol CANopen compatible with CiA standards DS301 and DSP402 TMLCAN compatible with all Technosoft drives with CANbus interface e 1 5K x 16 internal SRAM memory e 8K x 16 to store TML programs and data e Nominal PWM switching frequency 40 kHz e Power supply 6
57. n The correspondence with the motor speed in SI units is 2x7 For rotary motors Motor Speed SI Motor Speed IU resolution x T Pole_Pitch For linear motors Motor Speed SI resolution x T xMotor Speed IU Technosoft 2010 77 IBL2401 Technical Reference where resolution is the motor position resolution T is the slow loop sampling period expressed 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 13 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed SI 4096 Tacho gain x Motor 0 where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 13 4 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor 51 4096 Tacho gain Motor where Analogue Input Range is the range
58. n external resistor needs to be connected to a supply of Vpc 2 The minimum value of external resistors must be 560 3 The inputs are compatible with NPN type outputs 4 The outputs are compatible with TTL 5V and NPN 24V inputs Technosoft 2010 22 IBL2401 Technical Reference 3 2 6 5V Digital I O connection 5V I O Connection IBL2401 v1 0 Pulse Dir a B d A LSP LSN 2 c 9 CR Eror 5 i LOAD OS pump Emor z max 6mA m 5 E Q 5 d 9 Us Ly 470R LOAD Ready arr Figure 3 8 5V Digital connection Remarks 1 The inputs are compatible with NPN type outputs 2 The outputs are compatible with TTL 5V and NPN 24V inputs Technosoft 2010 23 IBL2401 Technical Reference 3 2 7 Analog inputs connection 3 2 7 1 Analog inputs connection Analog Inputs Connection IBL2401 v1 0 AD 10V 5VouT emt o 1 10K 10V optional GND TM MotionChip AD 10V Tacho 0 5 10V optional AD 0 5V Figure 3 9 Analog inputs connection Remark Default input range for analog inputs is 0 5 V For a 10 V range please contact Technosoft Technosoft 2010 24 IBL2401 Technical Reference 3 2 7 2 Recommendation for wiring st a If the analogue signal source is single ended use a 2 wire shielded cable as follows 1 wire connects the live signal to the drive positive input 2 wire co
59. neously on the same physical CAN bus without disturbing each other 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview The IBL2401 supports the following CiA DSP402 v2 0 modes of operation Profile position mode Profile velocity mode Homing mode Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined External reference modes position speed or torque Electronic gearing position mode 5 1 4 Checking Setup Data Consistency During the configuration phase a CANopen master can quickly verify using the checksum objects and a reference sw file see 4 5 and 5 2 4 for details whether the non volatile EEPROM memory of an IBL2401 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 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 Technosoft 2010 52 IBL2401 Technical Reference 5 2 1 Technosoft Motion Language Overview Programming motion directly on
60. ng period The correspondence with the load acceleration in SI units is For rotary to rotary transmission Load Acceleration Sl xLoad Acceleration lU 4xNo encoder linesx T For rotary to linear transmission Technosoft 2010 70 IBL2401 Technical Reference Encoder accuracy 7 xLoad Acceleration IU T Load Acceleration m s where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses 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 6 3 6 Stepper 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 Load Acceleration Sl _ x Motor Acceleration lU 4xNo encoder linesx Tr x T where 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 T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened f
61. nits as the brushless motors driven in trapezoidal mode Voltage command V x Voltage command IU 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vyor supply voltage The correspondence with the supply voltage in V is Voltage measured V x Voltage measured IU where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the 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 2010 74 IBL2401 Technical Reference 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is Time s T x Time IU where 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 6 9 Drive temperature units The drive includes a temperature sensor The correspondence with the temperature in is 3 3 V x DriveTemperature IU Sensor output _0 C V Drive temperature 65520 x Sensor _ gain V Sensor gain V where Sensor gain is the temperature sensor gain Sensor output 0 is the temperature
62. nnects the signal ground to the drive negative input b Ifthe analogue signal source is differential and the signal source ground is isolated from the drive GND use a 3 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 2 wire connects the signal minus to the drive negative input and 3 wire connects the source ground to the drive GND If the analogue signal source is differential and the signal source ground is common with the drive GND use a 2 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 279 wire connects the signal minus to the drive negative input 3 2 8 Motor connections 3 2 8 1 Brushless Motor connection Brushless motor connection IBL2401 v1 0 3 phase Inverter Currents Info MotionChip Figure 3 10 Brushless Motor connection Technosoft 2010 25 IBL2401 Technical Reference CAUTION Before connecting the motor be sure you have the right application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature 3 2 8 2 2 phase Step Motor connection 1 coil per phase 2 phase step motor connection IBL2401 v1 0 4 phase Inverter Currents Info MotionChip Figure 3 11 Step Motor connection CAUTION Before connecting the motor be sure you h
63. non horizontal plane g gravitational acceleration i e 9 8 m s initial system altitude m hfinal final system altitude m motor current during deceleration Rpn motor phase resistance Technosoft 2010 36 IBL2401 Technical Reference tu time to decelerate s total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jm and the load inertia J will be replaced by the motor mass and the load mass measured in kg the angular speed y will become linear speed measured in m s and the friction torque Tr will become friction force measured N Remark If the above computation of can t be done due to missing data a good starting value for the capacitor can be 10 000 uF 100V 3 2 11 Serial RS 232 connection 3 2 11 1 Serial RS 232 connection IBL2401 v1 0 RS 232 connection Transceiver MotionChip Figure 3 21 Serial RS 232 connection Technosoft 2010 37 IBL2401 Technical Reference 3 2 11 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shield cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 14 of J1 must be included inside the shield like the RxD and TxD signals b Do not rely on an earthed PC to provide the IBL2401 GND connection The drive must be ear
64. number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 2 Brushless motor with linear Hall signals The internal position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load position in SI units is 2xm For rotary motors Load Position SI x Motor _ Position IU resolution x Tr For linear motors Load Position SI mE xMotor Position IU r where resolution is the motor position resolution 2491 units for position are rad for a rotary movement m for a linear movement Technosoft 2010 64 IBL2401 Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 1 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is Load Positionirad xf xLoad Position lU 4xNo encoder lines where No encoder lines is the encoder number of lines per revolution 6 1 4 Stepper motor open loop control No feedback device The internal position
65. of ENDINIT or Position wraparound Ready Online AxisID 255 1812403 Firmware F253A SetupID 0135 d If you click on the HomeX procedure on the right side you ll see the TML function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged 5 3 5 Customizing the Drive Reaction to Fault Conditions for IBL2401 CAN executions Similarly to the homing modes the default service routines for the TML interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the TML interrupts is similar with that for the homing modes 5 4 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 With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about drive motor status check and modify its setup parame
66. of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 13 5 Stepper motor open loop control No feedback device or incremental encoder on load The internal motor speed units are motor hsteps slow loop sampling period The correspondence with the motor speed in SI units is 2xmn Motor Speed SI x Motor Speed lU No _ _ steps x T where 32 SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 78 IBL2401 Technical Reference No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp 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 13 6 Stepper motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2xmn Motor Speed SI x Motor Speed IU 4xNo encoder linesx T where No encoder lines is the motor encoder number of lines per revolution T is the slow loop sampling period e
67. one automatically program is created by inserting your motion objects into a predefined template The TML program is compiled and downloaded to the drive motor The TML program execution is started For learning how to send TML commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 5 3 Combining CANopen or other host with TML Due to its embedded motion controller an IBL2401 offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming fe
68. opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 2 5 Stepper motor open loop control No feedback device The internal speed units are motor usteps slow loop sampling period The correspondence with the load speed in SI units is 26 SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2010 67 IBL2401 Technical Reference Load Speed SI 2 Speed IU No _ usteps x No _ steps x Tr x T where No_steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp 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 Stepper motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is Load Speedirad s __ gt xlLoad_ Speed IU 4xNo encoder linesx T where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m T is
69. or with incremental quadrature linear encoder signals Position speed torque control 4 Position speed or torque control of a brushless AC rotary motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents 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 derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IBL2401 Linear Hall Figure 2 4 Brushless AC rotary motor with linear Hall signals Position speed torque control 5 Position speed or torque control of a brushless AC linear motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 10 Available only for the IBL2401 CAN execution Technosoft 2010 8 IBL2401 Technical Reference the motion commands for position speed and acceleration expressed in SI units derivatives refer to the load while the same commands expressed in IU units
70. otion Studio works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the drives motors from the network All data exchanges are done with the drive motor having the same address as the selected application In the second case all the applications have the same axis number 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 The motion component contains the motion sequences to do These are described via a TML Technosoft Motion Language program which is executed by the drives motors built in motion controller 5 2 3 1 Create a new project EasyMotion Studio starts with an empty window from where you can create a new project or open a previously created one Technosoft 2010 54 IBL2401 Technical Reference EasyMotion Studio TE When you start a new project
71. p 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 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 Buchaux 38 CH 2022 Bevaix NE Switzerland Technosoft 2010 V IBL2401 Technical Reference Technosoft 2010 VI IBL2401 Technical Reference Contents Head THIS FIEST Bedv nd dnb ah c bv UR D RE CR ZEZALA E aA inier nior aru aru aso cda aya pande 3 11 uio m Ea 3 125 CAUTIONS Ade ban e E e er ad badea 4 SO dala Ua ASU ALAZ GANE 4 2 1 Introduction eot IERI 4 2 2 Key Features 22224 html m AE deel AA RS 6 2 3 Supported Motor Sensor Configurations 7 2 4 IBL2401 Dimensions pp 12 2 5 Electrical Specifications 13 3 Step 1 Hardware Installation rna 18 Sdo a Uu KAE 18 3 2 Connectors and Connection 19 3 24 Connectors BSO 19 GRAU A ie eia e aA 19 3 2 32 UT Connector PINOUE s t ere araia 20 3 2 4 J2 Connector pinOuUt nennen 21 3 2 5 24V Digital lO GODEBIeCLIOT eoi a aea heme datiuo 22 3 2 6 5V Digita
72. pply voltage depending on the power supply characteristics If the voltage bypasses the Umax value the drive over voltage protection is triggered and the drive power stage is disabled In order to avoid this situation 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 2xE C gt 2 M m Cprive Umax UNoM where Umax is the over voltage protection limit expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Corive is the drive internal capacitance 220 uF Unom is nominal motor supply voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup the overall energy flowing back to the supply in Joules In case of a rotary motor and load can be computed with the formula ZTO JL bu my mp 9 hinitia hfinal Renta Ic aa cl Kinetic energy Potential energy Copper losses Friction losses where Jm total rotor inertia kgm J total load inertia as seen at motor shaft after transmission kgm wm motor angular speed before deceleration rad s my motor mass kg when motor is moving in a non horizontal plane m load mass kg when load is moving in a
73. r data inal 7 Drive EE Test Phase Connections E Erre Peak current 54 Save A Curren Pole pais 4 Detect Number of Pole Pai vee Torque constant 0035 Nm amp z Phase resistance motor drive fi 8 Ohms Eble ps gt Identify Resistance and Inductance Close Motor inertia 2 kgm 2E 7 gt Motor inertia is unknown GA Ga Phase connection Star f Delta m Motor sensors Incremental No of lines rev 500 lines S Test Connections Detect Number of Lines encoder Hall sensors Hall configuration 8 X Test Connections Detect Hall Configuration p Positi Sensor type Temperature C NC k NTC C K Transmission to load Kd fit Transmission type Rotary to rotary Motor displacement of 1 rot Rotary to linear corresponds on load to A 4 E Online AxisID 255 IBL2403 CAN Firmware F252A SetupID 0135 d 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 In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive
74. remental encoder on load 6 12 6 Stepper motor closed loop control Incremental encoder on motor 6 13 Motor speed Units pp TT 6 13 1 Brushless DC brushed motor with quadrature encoder on motor 77 6 13 2 Brushless motor with linear Hall signals 77 6 13 3 DC brushed motor with quadrature encoder on load and tacho on motor 78 6 13 4 DC brushed motor with tacho on MOTOS pp 78 6 13 5 Stepper motor open loop control No feedback device or incremental encoder on lari 78 6 13 6 Stepper motor closed loop control Incremental encoder on motor 79 Te Memory 80 Technosoft 2010 X IBL2401 Technical Reference 1 Safety information Read carefully the information presented in this chapter before carrying out the drive installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive can lead to personal injury or material damage Only qualified personnel may install setup operate and maintain the drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating drives The following safety symbols are used in this manua
75. rential RS422 3 3 Input frequency MHz Single ended TTL CMOS open collector 1 Analog Inputs Ref Tacho Referenced to GND Min Typ Max Units Voltage range 0 5 V Input impedance 16 KO Resolution 10 bits Differential linearity Guaranteed 10 bit no missing codes 0 09 FS Offset error 0 3 FS Gain error 5 FS Bandwidth 3 dB 250 Hz Linear Hall Inputs LH1 LH2 LH3 Referenced to GND Min Typ Max Units Maximum range 0 5 V Voltage range Operating range Programmable Input current 0 5 0 5 mA Bandwidth 3 dB 1 KHz Technosoft 2010 14 IBL2401 Technical Reference Hall Inputs digital All voltages referenced to GND Min Typ Max Units Logic LOW 0 5 0 0 8 Logic HIGH 2 5 5 5 Input voltage V Absolute maximum surge 8 8 duration lt 1ms Low level input current Internal 1 pull ups to 5 5 6 mA RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection Human Body Model 100 pF 1 5 15 KV Input voltage RX232 input 25 25 V Output short circuit withstand TX232 output to GND Guaranteed CAN Bus All voltages referenced to GND Min Typ Max Units 7 CAN Bus 2 0B error active Standards compliance ISO 11898 2 Recommended transmission line Measured at 1MH
76. rom the Drive Setup 6 4 Jerk units The internal jerk units are internal position units slow loop sampling period i e the acceleration variation over one slow loop sampling period 6 4 1 Brushless DC brushed motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI 0 Motor _ Jerk IU 4xNo encoder lines x Trx T where No encoder lines is the rotary encoder number of lines per revolution SI units for jerk rad s for a rotary movement m s for a linear movement Technosoft 2010 71 IBL2401 Technical Reference 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 6 4 2 Brushless motor with linear Hall signals The internal jerk units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is 2xmn For rotary motors Load Jerk SI x Motor Jerk IU resolution x Tr x T Pole Pitch For linear motors Load
77. s Info MotionChip Figure 3 14 DC Motor connection Before connecting the motor be sure you have the right CAUTION application programmed to E2ROM else you can damage the motor and drive At power on the TML application is automatically executed See paragraph 3 2 13 to disable this feature 3 2 8 5 Recommendations for motor wiring a 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 IBL2401 GND pin Leave the other end disconnected Technosoft 2010 29 IBL2401 Technical Reference b 3 2 9 3 2 9 1 The parasitic capacitance between the motor wires must not bypass 100nF If very long cables hundreds of meters are used this condition may not be met In this case add series inductors between the IBL2401 outputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor surge current Typically the necessary values are around 100 A good shielding can be obtained if the motor wires are running inside a metallic cable guide Feedback connections Single ended encoder connection Single ended encoder connection IBL2401 v1 0 A shield GND Figure 3 15 Single ended encoder connection MotionChip Technosoft 2010 30 IBL2401 Techni
78. s per step You can read change this value in the Drive Setup dialogue from EasySetUp 6 12 5 Stepper motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 12 6 Stepper motor closed loop control Incremental encoder on motor The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is 2 Motor Position SI x Motor _ Position IU 4xNo encoder lines where No encoder lines is the motor encoder number of lines per revolution 6 13 Motor speed units 6 13 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is 2x7 Motor Speed SI x Motor _ Speed IU 4xNo encoder linesx T where No encoder lines is the rotary 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 6 13 2 Brushless motor with linear Hall signals The internal motor speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per tur
79. setup dialogue with OK to keep all the changes regarding the motor and the drive setup 4 2 3 Download setup data to drive motor Download to Press the Download to Drive Motor button Drive Motor to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data Technosoft 2010 47 IBL2401 Technical Reference is copied into the drive motor RAM memory which is used during runtime It is also possible to Save Save the setup data on your PC and use it in other applications To summarize you can define or change the setup data in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 4 2 4 Evaluate drive motor behaviour 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 4 3 Changing the drive Axis ID Drive Setup Previous Next GE E do deratze Setup Step 1 Inthe Control made gt gt group box select what do C Speed te dece Encoder Cae m T TM vc rr trapezoidal mode The trapezoidal mode is possible only if pour sl GE Ea zie M t or CANbus q Baud rate f500Kbps x
80. t 2010 80 IBL2401 Technical Reference This page is empty Technosoft 2010 81 IBL2401 Technical Reference
81. t circuit protection threshold 48 H W short circuit protection delay 22 us On state voltage drop Output current 1 A 900 250 300 mV Off state leakage current 1 0 1 1 mA Vpc 12 V FPwM 40 kHz 25 uH Motor inductance 24 V FPwM 40 kHz 50 uH Digital Inputs All voltages referenced to GND Min Typ Max Units Logic LOW 0 5 0 0 8 Input voltage Logic HIGH 2 54224 28 V t Absolute maximum surge duration lt 1S 25 30 Logic HIGH Internal 4 7 KO pull up to 5V 0 0 0 Input current mA Logic LOW 0 8 1 1 3 Input frequency 0 1 MHz Minimum pulse width 0 5 uS Technosoft 2010 13 IBL2401 Technical Reference Digital Outputs All voltages referenced to GND Min Typ Max Units Logic LOW 0 5 0 0 2 Output voltage Logic HIGH Output current 0 24 44 V Absolute maximum duration 1 ms 1 Ze F Logic HIGH Load connected to GND 10 Output current mA Logic LOW 50 ESD Protection Human Body Model 100 pF 1 5 25 KV Encoder Inputs Min Typ Max Units Differential TTL CMOS Standards compliance open collector Low level input current Internal 470 O pull ups to 5 10 12 mA Input threshold voltage insinge ended mede CMOS 18 19 2 v open collector Input hysteresis 0 1 0 2 0 5 V Diffe
82. ters read inputs and set outputs etc Technosoft 2010 62 IBL2401 Technical Reference The TML Motion Library can work under a Windows or Linux operating system Implemented as a dll so it can be included an application developed in C C C Visual Basic Delphi Pascal or Labview Using a TML Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done All Technosoft s TML Motion Libraries for PCs are provided with EasySetUp 5 5 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 With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a TML Motion Library
83. the motor displacement in SI units and load displacement in SI units 6 2 Speed units The internal speed units are internal position units slow loop sampling period i e the position variation over one slow loop sampling period 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 2xmn Load Speed SI x Motor _ Speed IU 4xNo encoder linesx TrxT where No encoder lines is the rotary encoder number of lines per revolution 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 6 2 2 Brushless motor with linear Hall signals The internal speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load speed in SI units is 2 For rotary motors Load Speed SI x Motor _ Speed IU resolution x Tr x T Technosoft 2010 66 IBL2401 Technical Reference Pole Pitch resolutionx Trx T For linear motors Load Speed Sl xMotor Speed IU w
84. 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 6 Stepper motor closed loop control Incremental encoder on motor The internal speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2xmn Load Speed SI x Motor _ Speed IU 4xNo encoder linesxTrxT where 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 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 2 SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2010 68 IBL2401 Technical Reference 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is Load Acceleration Sl 201 Motor Acceleration IU 4xNo encoder linesx TrxT where No encoder lines
85. thed through a separate circuit Most communication problems are caused by the lack of such connection c Always power off all the IBL2401 supplies before inserting removing the RS 232 serial connector 3 2 12 CAN connection IBL2401 CAN drives 3 2 12 1 CAN connection IBL2401 CAN drives CAN connection IBL2401 v1 0 To Previous Node MotionChip CAN transceiver To Next Node Figure 3 22 CAN connection Remarks 1 The CAN network requires a 120 Ohm terminator This is not included on the board See Figure 4 14 2 CAN signals are not insulated from other IBL2401 circuits CAN signals CAN H and CAN L pins of J1 connector are not connected pins on the IBL2401 RS232 drive Technosoft 2010 38 IBL2401 Technical Reference 3 2 12 2 Recommendation for wiring a Build CAN network using cables with 2 pairs of twisted wires 2 wires pair as follows one pair for CAN with CAN and the other pair for CAN with CAN GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b When total CAN bus length is below 5 meters it is possible to use a standard phone straight through cable with parallel wires c Whenever possible use daisy chain links between the CAN nodes Avoid using stubs A stub is a T connection where a derivation is taken from the main bus When stubs can t be avoided keep them as short as possible For 1 Mbit s worst case the
86. tor with quadrature encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load Acceleration SI 2 xLoad Acceleration IU 4xNo encoder _ lines x T where 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 6 3 4 Stepper motor open loop control No feedback device The internal acceleration units are motor hsteps slow loop sampling period The correspondence with the load acceleration in SI units is Load Acceleration SI 200 xMotor Acceleration lU No ustepsxNo steps x Tr x where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp 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 6 3 5 Stepper motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampli
87. umber 255 Settings Over tei Drive 1812403 Over tei Product ID P037 001 E002 2t Firmware ID F020K Over Setup ID 0135 1 lim E2ROM 8 Kwords Hall sen RAM 1 Kwords Serial Motor M171 Control Invalid s 77777 7 S T T EasyMotion Studio run TML Short cit program This includes execution CANbus S Ita of ENDINIT upply voltage M SA 4 A Ready Online AxisID 255 1812403 Firmware 25 SetupID 0135 5 2 3 2 Step 2 Establish communication If you have a drive motor connected with your PC now its time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established EasyMotion Studio displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasyMotion Studio tries to communicate via RS 232 and COM1 with a drive having axis ID 255 de
88. unication between the CANopen master with the drives Process Data Object Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The IBL2401 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 This operation can be done during the drive configuration phase using SDOs Synchronization Object SYNC The SYNC message provides the basic network clock as the SYNC producer broadcasts the synchronization object periodically The service is unconfirmed The IBL2401 supports both SYNC consumer and producer Time Stamp Object TIME The Time Stamp Object is not supported by the IBL2401 device Emergency Object EMCY Emergency objects are triggered by the occurrence of a drive internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the drive will not transmit further emergency objects Network Management Objects 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
89. xpressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Technosoft 2010 79 IBL2401 Technical Reference 7 The drive has 2 types of memory a 1 5Kx16 SRAM internal memory and an 8Kx16 serial E ROM external memory The SRAM memory is mapped both in the program space from 8270h to 87FFh and in the data space from 0A70h to OFFFh The data memory can be used for real time data acquisition and to temporarily save variables during a TML program execution The program space can be used to download and execute TML programs It is the user s choice to decide how to split the 1 5 K SRAM into data and program memory The is seen as 8Kx16 program memory mapped in the address range 4000h to 5FBERh It offers the possibility to keep TML programs in a Non volatile memory Read and write accesses to the E7ROM locations as well as TML programs downloading and execution are done from the user s point of view similarly to those in the SRAM program memory The E ROM SPI serial access is completely transparent to the user Physical memory 4000h SPI Memory 5FBEh Internal SRAM Memory Program Memory PM Data Memory DM 8270h 0A70h Program Memory Not used as for TML programs Data Memory Not used as Data Memory Program Memory for data acquisition 87FFh OFFFh Figure 8 1 IBL2401 IBL2401 CAN Memory Technosof
90. y functional version of EasySetUp can be downloaded free of charge from Technosoft web page EasyMotion Studio is delivered on a CD Once you have started the installation package follow its indications After installation use the update via internet tool to check for the latest updates Alternately you can first install the demo version and then purchase a license By introducing the license serial number in the menu command Help Enter registration info you can transform the demo version into a fully functional version 18 Optional for IBL2401 CANopen execution The customization of the homing routines is available only for IBL2401 CAN execution Technosoft 2010 53 IBL2401 Technical Reference 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 e directly connected with your PC a serial RS 232 link eany drive from a CANbus network where the PC is serially linked with one of the other drives The output of the EasyMotion Studio is a set of setup data and a motion program which can be downloaded to the drive motor EEPROM or saved on your PC for later use EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application EasyM
91. z 90 120 150 Q impedance Bit rate Depending on software settings 125K 1M Baud Number of network nodes Depending on software settings 64 ESD Protection Human Body Model 15 KV Supply Output Min Typ Max Units 5Vour Voltage 4 75 5 5 25 V 5Vour available current 150 mA Technosoft 2010 15 IBL2401 Technical Reference Others Min Typ Max Units Operating 0 40 C Temperature Storage not powered 40 85 p Operating 0 90 RH Humidity Non condensing Storage 0 100 RH Altitude pressure Altitude referenced to sea level 072 5 7 Ambient Pressure 0 4 0 74 1 4 0 Dimensions Length x Width x Height 58 x 44 x 16 mm Weight 40 g Storage temperature Not powered 40 85 Humidity Non condensing 0 90 9o RH Protection degree IP20 according to IEC529 1 FS stands for Full Scale T 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 T B D To be determined Us VM os 9 KOI 100 100 40 65 0 2500 7000 m Figure 2 13 De rating with ambient temperature Figure 2 14 De rating with altitude 12 At altitudes over 1 000m current and power rating are reduced due to thermal dissipation efficiency at higher altitudes See Figure 2 13 De rat

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