Home

IM23x-MA Intelligent Motor - User Manual

1. 17 3 2 4 Serial Communication J2 Connector pinout 17 3 2 5 I O 8 Feedback J3 Connector pinout 18 3 2 0 Digilal HO COMMSCHOM EE 19 3 2 7 Pulse amp Directions inputs connection 20 3 2 8 Analog inputs Connection esse ine 21 3 2 9 Supply connection 22 3 2 10 Serial RS 232 connection 24 3 2 11x GAN connect OM nenn ua deed Seege 25 3 2 12 Master Slave encoder connection 27 3 2 13 Connectors Type and Mating Connectors ee eee eee eee 28 v Step2 Drive Set RENE 29 Technosoft 2007 Vil IM23x MA Technical Reference 4 1 Installing EasySetUp aaa 29 4 2 Getting Started with EasySetUp 29 a Gra aa gia azak elai dela 30 4 2 2 Setup intelligent motor motor 31 4 2 3 Download setup data to intelligent motor motor 33 4 2 4 Evaluate intelligent motor motor behaviour optional 34 4 3 Changing the intelligent motor Axis ID 34 4 4 Setting GANDUS rate SE nr cd asset te ina teu nr en 35 4 5 Creating an Image File with the Setup Data 36 5 Step 3 Motion Programmi
2. The E ROM is seen as 8Kx16 program memory mapped in the address range 4000h to 5FBER It offers the possibility to keep TML programs in a Non volatile memory Read and write accesses to the E ROM locations as well as TML programs downloading and execution are done from the users 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 E ROM SPI Memory 5FBEh Internal SRAM Memory Data Memory DM Program Memory PM 8270h 0A70h Program Memory Not used as for TML programs Data Memory Not used as Data Memory Program Memory for data acguisition EEE OFFFh Figure 7 1 IM23x MA Memory Map Technosoft 2007 56 IM23x MA Technical Reference This page is empty Technosoft 2007 57 IM23x MA Technical Reference IR E bab AE A
3. UE ER AK OCS 20h EST Upload from Drive Motor Online AxisID 255 Firmware F2528 Z Technosoft 2007 31 IM23x MA Technical Reference Before selecting one of the above options you need to establish the communication with the intelligent motor 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 intelligent motor and do the connections Power on the intelligent motor then close the 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 intelligent motor 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 COM1 with a intelligent motor having axis ID 255 default communication settings If your intelligent motor 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 intelligent motor has a different axis ID and you don t know it select in the Communication Setup dialogue at Axi
4. for IM232 MA MIM 70 0 20 40 Ta C Figure 2 4 De rating with ambient temperature for IM233 MA ZMyow the nominal torque value Stand alone operation vertical mounting MIN DA 100 0 50Tc C Figure 2 3 De rating with case temperature for IM232 MA M Msou 70 0 30 50 Tc C Figure 2 5 De rating with case temperature for IM233 MA Fixed on metallic surface vertical mounting Temperature is measured at the contact area between the IDMx40 and the heat sink Technosoft 2007 12 IM23x MA Technical Reference 0 1000 Figure 2 6 De rating with altitude 4000 H m tis NM 0 22 Nm M 0 68 Nm Mt lt 8Nm s t 17s 160 120 80 40 0 021 Figure 2 8 Over current diagram for IM232 04 06 1 08 MINm 1 nyom the nominal speed Technosoft 2007 13 0 12 30 48 Mi Figure 2 7 Speed de rating with the supply voltage HO Miou 0 3 Nm Mux 0 925 Nm Mt 28Nm s L 79s 120 90 60 30 0 0 3 hou 0 6 0 9 lux 12 MINm Figure 2 9 Over current diagram for IM233 IM23x MA Technical Reference 2 5 Torgue Speed Diagrams Nm A Torgue Speed 1 0 ETZEON E A peu 0 0 8 f t Eee 0 6 EEE 1M232 0 4 IM233 02 M232 0 1000 2000 3000 4000 rpm Conditions Supply voltage lt 36 V Rated Torque Ambient temperature lt 20 C ITT Maximum Torgue Figure 2 10 Torque speed diagrams 3 Step 1 Ha
5. C is the temperature 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 ZE E ee T ei beatak te 4xNo 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 Eee x Master speedflU 4x No encoder linesx T where No encoder lines is the master number of encoder lines per revolution 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 Technosoft 2007 54 IM23x MA Technical Reference 6 12 Motor position units The internal motor position units are encoder counts The correspondence with the motor position in SI units is 2x7 Motor _Positio
6. da brai 8A Kinetic energy Potential energy Copper losses Friction losses Ju total rotor inertia 119 107 kgm IM232 MA 173 10 kgm IM233 MA J total load inertia as seen at motor shaft after transmission kgm Gu 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 non horizontal plane g gravitational acceleration i e 9 8 m s Dags initial system altitude m Hyina final system altitude m Im motor current during deceleration Arus phase Rp motor phase resistance O ta time to decelerate s Tg total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jy and the load inertia J will be replaced by the motor mass and the load mass measured in kg the angular speed oy will become linear speed measured in m s and the friction torque Tr will become friction force measured in N Technosoft 2007 24 IM23x MA Technical Reference Remark If the above computation of Eu can t be done due to missing data a good starting value for the capacitor can be 10 000 uF 100V 3 2 10 Serial RS 232 connection 3 2 10 1 Serial RS 232 connection RS 232 Serial connection IM23x MA Transceiver MotionChip Figure 3 12 Serial RS 232 connection 3 2 10 2 Recommendat
7. not connected signal A PLS A PLS v4 B PLS 4 3 di y Integrated Quadrature encoder 500 lines GND Figure 3 15 Master Slave encoder connection using second encoder input Technosoft 2007 28 IM23x MA Technical Reference 3 2 13 Connectors Type and Mating Connectors Connector Function Supply Producer Phoenix Contact Board connector MC1 5 3 STF 381 Serial Communication Fischer Elektronik DS 09 L IO 8 Feedback W P Products 108 15 1 3 0 12 The mating connector accepts wires of 0 14 1 5 mm AWG28 AWG16 Technosoft 2007 29 IM23x MA Technical Reference 4 Step 2 Drive Setup 4 1 Installing EasySetUp EasySetUp is a PC software platform for the setup of the Technosoft intelligent motors 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 intelligent motor 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 EasyMotio
8. performed with no protocol overhead Transmit PDOs are used to send data from the intelligent motor and receive PDOs are used to receive on to the intelligent motor The IM23x MA 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 intelligent motor 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 IM23x MA supports both SYNC consumer and producer Time Stamp Object TIME The Time Stamp Object is not supported by the IM23x MA device Emergency Object EMCY Emergency objects are triggered by the occurrence of a intelligent motor internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the intelligent motor will not transmit further emergency objects Network Management Objects NMT The Network Management is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services the intelligent motor can be initialized started monitored reset or stopped The IM23x MA is a NMT slave in a CANopen network Technosoft 2007 38 IM23x MA Technical Reference Module Control Services through these unconfirmed s
9. 2 5 V Absolute maximum surge duration lt 1S 0 5 5 5 Inpiks rr nt Logic HIGH Internal pull up to 5V 0 0 0 mA P Logic LOW strapped to GND 8 10 12 Isolated Digital Inputs ENABL LSP LSN GPI1 GPI2 All voltages referred to GND 10 Min Typ Max Units Logic LOW 5 0 0 5 Input voltage Logic HIGH 12 24 30 V Absolute maximum surge duration lt 1S 12 65 Input current Logic HIGH 4 10 25 mA Logic LOW 0 5 Input impedance Referred to GND_IO 2 5 KQ Input frequency 0 5 KHz Pulse width 02120 or 15051 100 uS Isolated Digital Outputs READY GPO All voltages referred to GND JO Min Typ Max Units Logic HIGH Output crt 50mA Vios Vros 3 1 Output voltage V d t Vioc Absolute maximum continuous 0 5 0 5V Logic HIGH Output voltage 2Vioc 3V 50 80 GUA Logic LOW leakage current 0 1 ZO Output volt lt 0 5V or gt Vioc 0 5V Clamp diodes current nr yo 9 k 100 100 Absolute maximum continuous Output frequency External load 1KQ to GND IO 0 5 KHz Pulse width 01 0 or 10 1 no external load 5Vpp 100 uS Technosoft 2007 IM23x MA Technical Reference Differential Inputs Outputs ENCA P ENCA P ENCB D ENCB D All voltages referred to GND Min Typ Max Units Standards compliance TIA EIA 422 Differential
10. 50 0 1 POSIUDITUDIES E 50 D Speed E AAA 50 6 3 deei ilea CTT 51 Technosoft 2007 Vill IM23x MA Technical Reference 0 4 laa a 51 Gon C rent ln EE 51 6 6 Voltage command ADA 52 6 7 Voltage measurement units 52 8 9 unie HS a ake AAA E 52 6 9 Drive temperature units trtrrnnnnnn rrn rnrrennn 53 6 10 Master position units arterat 53 6 11 Master speed Uns sees 53 6 12 Motor position AIr 54 6 13 Motor speed ae 54 f MEMORY MaD KEE 55 Technosoft 2007 IX IM23x MA Technical Reference This page is empty Technosoft 2007 X IM23x MA Technical Reference 1 Safety information Read carefully the information presented in this chapter before carrying out the intelligent motor installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the intelligent motor and the accompanying eguipment during the product operation Incorrect handling of the intelligent motor can lead to personal injury or material damage Only gualified personnel may install setup operate and maintain the intelligent motor A gualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating intelligent motors The following safety symbols are used in this manual WARNING SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE
11. BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION gt gt SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION lt x A CAUTION INDICATES AREAS SENSITIVE TO ELECTROSTATIC DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1 1 Warnings THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE WARNING ELECTRICAL SHOCKS DO NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON TO AVOID ELECTRIC ARCING AND HAZARDS NEVER WARNING CONNECT DISCONNECT WIRES FROM THE INTELLIGENT MOTOR WHILE THE POWER SUPPLIES ARE ON Technosoft 2007 3 IM23x MA Technical Reference THE DRIVE MAY HAVE HOT SURFACES DURING N WARNING OPERATION DURING INTELLIGENT MOTOR OPERATION THE WARNING CONTROLLED MOTOR WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions CAUTION THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT CAUTION THE DRIVE CONTAINS ELECTROSTATICALL Y SENSITIVE COMPONENTS WHICH MAY BE DAMAGED BY INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT To prevent electrostatic damage avoid con
12. CANopen executions 2 Available only for IM23x MA CAN executions Technosoft 2007 5 IM23x MA Technical Reference 2 2 Key Features e Fully digital intelligent brushless motor with built in controller and high level TML motion language e Low system cost due to compactness and reduced wiring e Available in 2 motor lengths offering from 0 2 to 0 3 Nm of continuous torque models IM232 IM233 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 e Electronic gearing and camming e External analogue or digital reference s 33 Homing modes s 9 Isolated digital I Os 0 24V s 3 general purpose inputs outputs e 2 inputs e 1 output e 6 dedicated inputs outputs e ENABLE input e Positive Limit Switch input e Negative Limit Switch input e READY output e Master encoder outputs Slave encoder inputs Pulse amp Direction inputs differential signals e 1 analog input 0 5 V e Integrated 2 000 bits revolution quadrature encoder e Integrated Protections for over current over temperature i t control error e RS 222 serial interface up to 115200 bps e CAN bus 2 0B up to 1Mbit s with communication protocol CANopen compatible with CiA standards DS301 and DSP402 e TMLCAN compatible with all Technosoft intelligent motors with CANbu
13. Serial Number Figure 3 6 IM233 MA Identification Label CD tecunosort Manufacturer Drive Name mese canoe ID Article Number Po2one 3 agra lt Serial Number Figure 3 7 IM233 MA CANopen Identification Label Technosoft 2007 17 IM23x MA Technical Reference 3 2 3 Supply J1 Connector pinout Pin name Type Function Alternate function Comments 1 MOT s Motor supply 12V Min DER 48V Max 2 LOG Logic supply 24Vryp 12Vmn 48V max 3 GND 3 2 4 Serial Communication J2 Connector pinout Pin Pin name TML Type Function Alternate function Comments name 1 REF ADO Analog reference input 0 5 V 2 Tx232 O RS232 Transmit 3 Rx232 RS232 Receive 4 CANGND CAN Bus isolated ground 5 GND Ground 6 CANHI CAN Bus Positive isolated referred to CANGND 7 CANLO CAN Bus Negative isolated referred to CANGND 8 VCAN CAN Bus isolated supply 24V yp 12Vmn 36V Max 9 5V DEF S 5V output for potentiometer 5V 1mA Technosoft 2007 Not Autorun Strap to GND and reset in order to stop automatical execution of TML program 18 IM23x MA Technical Reference 3 2 5 1 0 amp Feedback J3 Connector pinout Pin name Function Alternate function Comments Input output isolated supply IN 16 Enable digital input OUT 12 Ready digital output isolated PNP output from
14. T Select 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 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 M home input is low move T Select 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 select DO Interrupts IG CAM Tables select Reload default Homing8 Moving positive stop at first index pulse after home switch active region starts low high transition 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 IHomingS 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 IHoming10 Moving positive stop at first index pulse after home switch active region e
15. and or checking your data Technosoft 2007 45 IM23x MA Technical Reference GEO to EE Drive Motor Press the Download to Drive Motor button to download your setup data in the intelligent motor motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the intelligent motor motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can upload the complete setup data from a intelligent motor 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 intelligent motor dialogues use setup data previously saved in the PC upload setup data from a intelligent motor 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 N X P DK 88 D BF Gh A To tm u 32 TB ar g be mm EE EE Untitled application L S setup Er 5 M f Homing Modes Functions T DO Interrupts x IG CAM Tables dd The Motion Wizard offers you the possibility to program all the motion seguences using high level graphical dialogues which automatically generate the corresponding TML instructions Therefore with Motion Wizard you can develop motion programs using almost all th
16. on request information about intelligent motor 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 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 As Technosoft intelligent motors can execute a greater number of motion modes than those introduced by the PLC IEC61131 3 standard the TML Motion Libraries for PLCs include additional function blocks to support them All these blocks have been designed using the guidelines described in the PLC IEC61131 3 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 2007 50 IM23x MA Technical Reference 6 Scaling factors Technosoft intelligent motors work with parameters and variables represented in the intelligent motor 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 intelligent motor internal units and their relation with the international standard units S
17. 19 4 Kd filter E Tune amp Test Kp 1 328 b Control error Ki 0 1606 Tune amp Test 5 n 216 em z for more than S Motor over temperature r Speed controller p 4617 eral limit 33 v l2 e er E 4 Over current 25 A for so s z Ki 146 17 External brake resistor Tune amp Test IC Connected Activate if power supply gt E v z r Position controller m Inputs polarity Kp 77 31 Integral limit io z z Enable Limit switch Limit switch Ki 3895 fo Gz Active high Enabled after power on C Active high Active high a Feedforward S Active low Disabled after power on Active low Active low IR Speed Start mode C Direct using Hall Move till aligned with phase A EEE c s be sensors Time to align on phases 1 The IM23x MA intelligent motors 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 the following algorithm If a valid setup table exists with the CAN rate value read from it This can 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 de
18. 55 default communication settings If your intelligent motor 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 Technosoft 2007 44 IM23x MA Technical Reference 5 2 3 3 Setup intelligent motor motor In the project window left side select S Setup to access the setup data for your application 2 inl xl S Untitled Untitled Application s M Motion fr Homing Modes Define Load Functions DO Interrupts IG CAM Tables View Modify Download to ver 1 1 Drive Motor Load from a previous version Upload from pes Drive Motor Press View Modify button View Mod 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 intelligent motor 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 intelligent motor 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 intelligent motor for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing
19. C brushed motors which have the voltage command internal units as the brushless motors intelligent motorn in trapezoidal mode 6 7 Voltage measurement units The internal voltage measurement units refer to the intelligent motor Vyor supply voltage The correspondence with the supply voltage in V is Voltage measured v dcMaxMeasurable y iiaa measured U 65520 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 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 Timel lU 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 lt 1ms one second 1000 IU Technosoft 2007 53 IM23x MA Technical Reference 6 9 Drive temperature units The intelligent motor includes a temperature sensor The correspondence with the temperature in C is 3 3 V x DriveTemperature IU Sensor _output __0 C V Drive temperature C b 65520x Sensor _ gain V C Sensor gain V C where Sensor_gain is the temperature sensor gain Sensor_output_0
20. Device Profile Overview The IM23x MA 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 IM23x MA intelligent motor contains the right information If the checksum reported by the intelligent motor doesn t match with that computed from the sw file the CANopen master can download the entire sw file into the intelligent motor EEPROM using the communication objects for writing data into the intelligent motor EEPROM Technosoft 2007 39 IM23x MA Technical Reference 5 2 Using the built in Motion Controller and TML One of the key advantages of the Technosoft intelligent motors is their capability to execute complex motions without reguiring an external motion controller This is possible because Technosoft intelligent motors offer in a single compact package both a state of art digital intelligent motor and a powerful motion controller 5 2 1 Technosoft Motion Language Overview Programming motion directly on a Technosoft intellige
21. Direction E A Generator sr ENCB D gt 3 a E Qu o e S TTE compatible aL Integrated Quadrature 0 5V Encoder 500 lines GND Figure 3 9 Pulse amp Direction inputs connection CONNECT ENCDIR PIN TO GND ELSE SEVER DAMAGE WILL CAUTION OCCUR ON THE IM23X MA INTELLIGENT MOTOR AND PULSE amp DIRECTION GENERATOR Technosoft 2007 21 IM23x MA Technical Reference 3 2 8 Analog inputs connection 3 2 8 1 Analog inputs connection Analog Inputs IM23x MA Connection 5V MotionChip Figure 3 10 Analog inputs connection 3 2 8 2 Recommendation for wiring Use a 2 wire shielded cable as follows 1 wire connects the live signal to the intelligent motor positive input 2 wire connects the signal ground to the intelligent motor negative input Connect the shield to ground at the IM23x MA side at pin 5 of connector J2 or using the Sub D shield case Technosoft 2007 22 IM23x MA Technical Reference 3 2 9 Supply connection 3 2 9 1 Supply connection Power supply connection IM23x MA 12 48VDC E 2 E o 9 o 12 48VDC Figure 3 11 Supply connection 3 2 9 2 Recommendations for Supply Wiring Use short thick wires between the IM23x MA 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 uF rated at an appro
22. I 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 The internal position units are encoder counts The correspondence with the load position in SI units is 2x7 Load Position SI x Motor _ Position IU 4x No encoder linesx Tr 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 Sl units 6 2 Speed units The internal speed units are encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2x7 Load Speed SI x Motor Speedjlu 4x No encoder linesx TrxT 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 SI units for position are rad for a rotary movement m for a linear movement Technosoft 2007 51 IM23x MA Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue whi
23. IM232 MA IM233 MA Intelligent Brushless DC T z C H N 0 S 0 2 T Motor Intelligent Motor Technical Reference Technosoft 2007 TECHNOSOFT IM232 MA IM233 MA Technical Reference P091 042 1M23x MA UM 1007 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 e mail contact technosoftmotion com http www technosoftmotion com 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 IM23x MA family of intelligent servo intelligent motors including the following products IM232 MA CAN p n P042 001 E203 Multi Axis Motor Standard execution using Technosoft TMLCAN protocol on CANb
24. IM23x MA Technical Reference Others Min Typ Max Units Temperature Operating 0 40 C Storage not powered 40 85 C E Operating 0 90 RH Humidity Non condensing Storage 0 700 RH Altitude pressure Altitude referenced to sea level 0 17 4 Km Ambient Pressure 0 64 0 9 1 4 0 atm IM232 MA 0 9 Weight IM233 MA 1 3 kg Protection degree IP31 according to IEC529 Motor parameters IM232 MA IM233 MA Units N of pole 4 4 N of phase 3 3 Rated voltage 36 36 V Rated speed 4000 4000 rpm Rated torgue 0 22 0 31 Nm Max peak torgue 0 68 0 925 Nm Torgue constant 0 063 0 0561 Nm A Terminal Resistance 0 58 0 5 ohm Line to line inductance 2 1 1 65 mH B E M F at nominal speed 21 20 3 Vrms Max peak current 9 8 15 A Rotor Inertia 11 9 17 3 Kgmm 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 lt To be determined 5 At altitudes over 1 000m current and power rating are reduced due to thermal dissipation efficiency at higher altitudes See Figure 2 6 De rating with altitude Technosoft 2007 11 IM23x MA Technical Reference MIN 100 0 40Ta C Figure 2 2 De rating with ambient temperature
25. Motor data m Motor sensors dE No of lines rev Eco ines Test Connections Detect Number of Lines encoder F Hall sensors Hall configuration Fo Test Connections Detect Hall Configuration r Transmission to load Transmission type Rotary to rotary Motor displacement of IE rot Kd n Rotary to linear coresponds en loadto fa v Online AxisID 255 IM232 MA CANop Firmware F252B SetupID 030E d In the Motor setup dialogue you can see the data of the brushless motor and the associate sensor incremental encoder In the Drive setup dialogue you can configure and parameterize the intelligent motor 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 setup dialogue with OK to keep all the changes regarding the motor and the intelligent motor setup 4 2 3 Download setup data to intelligent motor motor Download to Drive Motor Press the Download to Drive Motor button to download your setup data in the intelligent motor motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the intelligent motor motor RAM memory which is used during runtime It is also possible to Save the setup data on your PC and use it in other applications Technosoft 2007 34 IM23x MA Technical Reference To summarize you can d
26. VIO OUT 26 General purpose output isolated PNP output from VIO Input outp IN 2 Limit switch P input isolated 0 24V referred to GNDIO LSN Limit switch N input isolated 0 24V referred to GNDIO GRI General purpose input isolated 0 24V referred to GNDIO GPI2 General purpose input isolated 0 24V referred to GNDIO ENCDIR Select Encoder Output or Master Encoder Pulse input Strap to GND to select input ENCA P Encoder A input output pulse RS422 differential 0 5V ENCA P Encoder A input output pulse RS422 differential 0 5V ENCB D Encoder B input output dir RS422 differential 0 5V ENCB D Encoder B input output dir RS422 differential 0 5V GND Ground Technosoft 2007 19 IM23x MA Technical Reference 3 2 6 Digital UO connection Digital UO connection IM23x MA J3 24V IO Optical isolation OUT 12 LOAD READY 50 mA max LOAD GPO 50 mA max 5 24V GNDIO E 2 e ENABL 6 E LSP o ZE LSN GEI isolatio O o GPI2 GND Figure 3 8 Digital 1 0 connection Technosoft 2007 20 IM23x MA Technical Reference 3 2 7 Pulse amp Directions inputs connection Pulse amp Direction Connection IM23x MA 3 3V MotionChip Selection signal ol E g U Diferential JL N D Pulse 8
27. apture 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 LI Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group U Synchronizing all the axes from a network Using EasyMotion Studio for TML programming you can really distribute the intelligence between the master and the intelligent motors 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 intelligent motors 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 intelligent motor 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 IM23x MA intelligent motors can also be controlled from a PC or PLC using the family of TML_LIB motion libraries For all motion programming options the IM23x MA commissioning for your application is done using EasySetUp 1 Optional for IM23x MA
28. ary 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 Technosoft 2007 V IM23x MA Technical Reference If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoftmotion com Receive general information World Wide Web http www technosoftmotion com or assistance see Note Email contact technosoftmotion com Ask questions about Fax 41 32 732 55 04 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 2007 VI IM23x MA Technical Reference Contents Read THIS First EE III 1 Safety Lu E a LANAN 3 11 Alua E 3 KEA Sea 4 2 Product GARDEN a 4 2 1 audela 15151110 AEE 4 22 ROBOM TES tem aate 6 ERA A SEa Wl eLa EE 7 24 Eiectrical ziala etz au EAE 8 2 5 Torgue Speed Diagrams rr nrrrreeen 14 3 Step 1 Hardware Installation sn 14 Sdo MOON AAA 14 3 2 Connectors and Connection Diagrams 15 3 2 1 Connect rs ESA 15 3 2 2 Jdentification Labels siint ea e Qa tax oe E RB RR e E qu 16 3 2 3 Supply J1 Connector pinout
29. ch can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is 2x i Load Acceleration SI x Motor Acceleration IU 4x No encoder linesx Tr x T 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 4 Jerk units The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load _ Jerk SI EXE x Motor Jerk IU 4x No encoder linesx Tr x T 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 5 Current units The internal current units refer to the
30. ct or open a previously created one Technosoft 2007 41 IM23x MA Technical Reference EasyMotion Studio CI XI ed O eh e o c x Eban a1 KO J C ART STO 7 e D a i m EX be db dale 9 al 3 x MS 35187 When you start a new project 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 intelligent motor motor axis ID The initial value proposed is 255 which is the default axis ID of the intelligent motors Technosoft 2007 42 IM23x MA Technical Reference Press New button and select your intelligent motor type for example the IM232 MA CAN product 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 2007 43 IM23x MA Technical Reference GETE EasyMotion Studio Untitled Project Application Communication View Control Panel Window Help D SZ bi GZ EIE be ee FOO dal SZ d E ui e eel Motion Status _2 DriveIO JL Drive Status nr mnn Ig Project S Untitled IH Untitled Application A
31. e TML instructions Technosoft 2007 46 IM23x MA Technical Reference without needing to learn them A TML program includes a main section 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 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 Add 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 done automatically A TML program is created by inserting your motion objects int
32. e to its embedded motion controller a IM23x MA offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming features which arise when combining TML programming at intelligent motor 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 reguire usage of EasyMotion Studio as TML programming tool Remark If you don t use the advanced features presented below you don t need EasyMotion Studio In this case the IM23x MA is treated like a standard CANopen intelligent motor whose setup is done using EasySetUp 5 3 1 Using TML Functions to Split Motion between Master and Drives With Technosoft intelligent intelligent motors you can really distribute the intelligence between a CANopen master and the intelligent motors in complex multi axis applications Instead of trying to command each step of an axis movement you can program the intelligent motors 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 intelligent motors EEPROM and waiting for a message which confirms the finalization of the TML functions execution 5 3 2 Executing TML programs The distributed control conc
33. efine or change the setup data in the following ways create a new setup data by going through the motor and intelligent motor dialogues use setup data previously saved in the PC upload setup data from a intelligent motor motor EEPROM memory 4 2 4 Evaluate intelligent motor 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 intelligent motor Axis ID Drive Setup ES r Guideline assistant r Control mode p External reference Previous Next Position C No Yes Setup Speed Analogue Incremental Encoder Cancel Step1 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 Commutation method gt gt group box choose sinusoidal or Ou COSE Se 3 k il r Commutation mel trapezoidal mode The trapezoidal mode is possible only if your e EEE Trapezoidal se M ot or CANbus em Baud rate 500 Kbps Drive Info Set change axis ID How z 250 m Drive operation parameters r Protections 251 Power supply 2 v z Detect V Over current 252 253 Curentimi Ek d ge gek A Zame b 7 ontrol error JRA 7 Current controller Posi
34. ept can go one step further You may prepare and download into a intelligent motor a complete TML program including functions homing procedures etc The TML program execution can be started by simply writing a value in a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio The IM23x MA 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 intelligent motor active RAM memory after each power on b The cam points are stored in the intelligent motor EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the intelligent motor EEPROM and during the intelligent motor 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 H The customization of the interrupt service routines and homing routines is available only for IM23x MA CAN executions 18 Optional for IM23x MA CANopen executions Technosoft 2007 48 IM23x MA Technical Reference Remark The cam tables are included in the sw file generated with EasyMotion St
35. ervices the NMT master controls the state of the intelligent motor 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 NMT master detects failures in a CAN based network Both error control services defined by DS301 v4 02 are supported by the IM23x MA Node Guarding including Life Guarding and Heartbeat Bootup Service through this service the intelligent motor indicates that it has been properly initialized and is ready to receive commands from a master 5 1 2 TechnoCAN Extension for IM23x MA CAN execution In order to take full advantage of the powerful Technosoft Motion Language TML built into the IM23x MA Technosoft has developed an extension to CANopen called TechnoCAN through which TML commands can be exchanged with the intelligent motors Thanks to TechnoCAN you can inspect or reprogram any of the Technosoft intelligent motors from a CANopen network using EastSetUp or EasyMotion Studio and an RS 232 link between your PC and anyone of the intelligent motors 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 simultaneously on the same physical CAN bus without disturbing each other 5 1 3 DSP 402 and Manufacturer Specific
36. fault F W default value Technosoft 2007 36 IM23x MA Technical Reference 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 intelligent motor 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 intelligent motor from a CANopen master using the communication objects for writing data into the intelligent motor EEPROM from a host PC or PLC using the TML LIB functions for writing data into the intelligent motor EEPROM using the EEPROM Programmer tool which comes with EasySetUp but may also be installed separately The EEPROM Programmer was specifically designed
37. for repetitive fast and easy programming of sw files into the Technosoft intelligent motors during production Technosoft 2007 37 IM23x MA Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master for IM23x MA CANopen executions The IM23x MA intelligent motor 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 IM23x MA intelligent motor 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 intelligent motor 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 intelligent motor configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master with the intelligent motors Process Data Object PDO Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the intelligent motors The PDOs are unconfirmed services which are
38. g the fully functional version of EasySetUp can be downloaded free of charge from Technosoft web page 13 Optional for the IM23x MA CANopen executions 14 The customization of the homing routines is available only for IM23x MA CAN executions Technosoft 2007 40 IM23x MA Technical Reference 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 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 intelligent motor according with your application needs The intelligent motor can be e directly connected with your PC via a serial RS 232 link e any intelligent motor from a CANbus network where the PC is serially linked with one of the other intelligent motors The output of the EasyMotion Studio is a set of setup data and a motion program which can be downloaded to the intelligent motor 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 yo
39. he 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 maximum stub length must be below 0 3 meters c The 1200 termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive Technosoft 2007 26 IM23x MA Technical Reference IM23x MA AXISID lt 1 120R 5 0 25W IM23x MA AXISID 2 x T E 2 v 2j IM23x MA AXISID 3 CANGND ree 120R PC 5 0 25W Host Address 3 IM23x MA CANLO AXISID VCAN 127 255 CANGND Figure 3 14 Multiple Axis CAN network Remark The AxisID must be set by software using instruction AXISID number 1 The maximum value of the AXISID is 127 for the ISCMxx05 CANopen executions and 255 for ISCMxx05 CAN executions Technosoft 2007 27 IM23x MA Technical Reference 3 2 12 Master Slave encoder connection IM23x MA Tr Master Slave encoder connection Slave Intelligent Motor de O DIE 2 d o c 2 Terminators 120 Q S recommended ENCDIR Ee AIPLS BI oT lt I a X deei D B PLS Q II CE sme Biko Lal O Integrated Ouadrature Ill Encoder 500 lines Master Slave encoder connection IM23x MA Master Intelligent Motor a niti Leave open o c 2 o ENCDIR Selection
40. input voltage hysteresis 0 1 0 2 0 5 7 12 Input voltage common mode range T k S EE Absolute maximum surge duration lt 1S 25 25 Input impedance 3 KQ Differential output voltage External 120Q load 1 5 3 V External 1200 load 60 Output current T mA Absolute maximum surge duration lt 1S 250 Input Output frequency 0 500 KHz Analog Inputs REF DIR All voltages referred to GND Min Typ Max Units Resolution 10 bits Differential linearity Guaranteed 10 bits no missing codes 0 09 FS Offset error 0 5 2 FS Gain error 0 5 3 FS Bandwidth 3dB 250 Hz Input voltage Operating range REF 0 5 V Input voltage Absolute Maximum REF 5 30 V continuous Input impedance REF 30 KO External potentiometer Recommended resistance 10 10 20 KO RS 232 All voltages referred to GND Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 dg Baud ESD Protection Human Body Model 100pF 1 5 KO 15 KV Input voltage RX232 input 25 25 V Output short circuit withstand TX232 output to GND Guaranteed CAN Bus All voltages referred to GND CAN Min Typ Max Units Standards compliance CAN Bus 2 0B error active H ISO 11898 2 Recommended transmission line Measured at 1MHz 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 415 KV Technosoft 2007 10
41. ion 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 IM23x MA GND connection The intelligent motor must be earthed through a separate circuit Most communication problems are caused by the lack of such connection c Always power off all the IM23x MA supplies before inserting removing the RS 232 serial connector Technosoft 2007 25 IM23x MA Technical Reference 3 2 11 CAN connection 3 2 11 1 CAN connection CAN connection IM23x MA To Previous Node CAN Optical transceiver Isolation CANHI f CANLO D CANGND To Next Node MotionChip Figure 3 13 CAN connection Remarks 1 The CAN network reguires a 120 Ohm terminator This is not included on the board See Figure 3 22 2 CAN signals are insulated from other IM23x MA circuits Thus it reguires an external supply to operate the CAN transceiver 3 2 11 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 H with CAN L and the other pair for CAN V with CAN GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b Whenever possible use daisy chain links between t
42. lecting in the Communication Setup dialogue at Axis ID of intelligent motor motor connected to PC the option Autodetected Apply this solution only if this intelligent motor is connected directly with your PC via an RS 232 link If this intelligent motor is part of a CANbus network and the PC is serially connected with another intelligent motor use the menu command Communication Scan Network 4 4 Setting CANbus rate Drive Setup r Control mode p External reference r Guideline assistant Previous Next Position C No Yes Setup E Step 1 Inthe Control mode gt gt group box select what do Speed Analogue 7 Incremental Encoder a you want to control position speed or torque In the we T Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or trapezoidal mode The trapezoidal mode is possible only if your Advanced r Commutation method Trapezoidal Sinusoidal m CANbus Baud rate EA default he Drive Info E Set change axis ID HAW z Setup Drive operatig PAV default Detect 125 Kbps Power supply 250 Kbps 500 Kbps 800 Kbps Current limit s m Protections I Over current M Control error Motor current ET a for more than bo s Position error 180 des z for more than F s Kd 5
43. ly benefit from a key advantage of Technosoft intelligent motors their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controller A demo version of EasyMotion Studio with EasySetUp part fully functional can be downloaded free of charge from Technosoft web page TML_LIB v2 0 part no 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 intelligent motors 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 intelligent motors 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 intelligent motors using TML LIB S7 motion control library The TML_LIB_S7 library is lEC61131 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 intelligent motors using TML LIB CJ1 motion control library for PCs The TML LIB CJ1 libr
44. motor phase currents The correspondence with the motor currents in A is 2 x lpeak Current A lt 65520 x Current IU 2 SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2007 52 IM23x MA Technical Reference where Ipeak is the intelligent motor peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup 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 intelligent motorn 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 1 1x Vde Voltage command V x Voltage command IU 65534 where Vdc is the intelligent motor power supply voltage expressed in V In case of brushless motors intelligent motorn 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 Voltage command V sle 32767 x Voltage command IU This correspondence is akso available for D
45. n SI x Motor Position IU 4x No encoder lines 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 6 13 Motor speed units 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 lU 4x No encoder _linesx T 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 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 Zei units for motor position are rad for a rotary motor m for a linear motor Technosoft 2007 55 IM23x MA Technical Reference 7 Memory Map The intelligent motor 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
46. n Studio including the fully functional version of EasySetUp can be downloaded free of charge from Technosoft web page On reguest 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 Started with EasySetUp Using EasySetUp you can quickly setup a intelligent motor for your application The intelligent motor can be directly connected with your PC via a serial RS 232 link any intelligent motor from a CANbus network where the PC is serially linked with one of the other intelligent motors The output of EasySetUp is a set of setup data which can be downloaded into the intelligent motor 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 intelligent motor commissioning EasySetUp works with setup data A setup contains all the information needed to configure and parameterize a Technosoft intelligent motor This information is preserved in the intelligent motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the intelligent motor and is used during runtime With EasySetUp it is also possible to retrieve the complete setup information from a intelligent motor previously prog
47. nds r Lel 0 ENDINIT executed command If you are using ee EasyMotion Studio run a TML 1 Shortcircuit program This includes execution D CANDLE error Su voltage of ENDINIT pee 8 Reload default Reload default Ready online AxisID 255 IBL2403 CAN Firmware F253A SetupID 0135 7 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 IM23x MA 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 intelligent motor 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 intelligent motor The procedure for modifying the TML interrupts is similar with that for the homing modes Technosoft 2007 49 IM23x MA Technical Reference 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 intelligent motors It is an ideal tool for quick implementation on PCs of motion control applica
48. ng ns 37 5 1 Using a CANopen Master for IM23x MA CANopen executions 37 5 1 1 DS 301 Communication Profile Overview 37 5 1 2 TechnoCAN Extension for IM23x MA CAN execution 38 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview 38 5 1 4 Checking Setup Data Consistency 38 5 2 Using the built in Motion Controller and TML 39 5 2 1 Technosoft Motion Language Overview rrea 39 5 2 2 Installing EasyMotion Studio EE 39 5 2 3 Getting Started with EasyMotion Studio 40 5 2 4 Creating an Image File with the Setup Data and the TML Program 46 5 9 Combining CANopen Jor other host with TML 47 5 3 1 Using TML Functions to Split Motion between Master and Drives 47 Le EXeculing Mk ieta llu 47 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio 47 5 3 4 Customizing the Homing Procedures for IM23x MA CAN executions 48 5 3 5 Customizing the Drive Reaction to Fault Conditions for IM23x MA CAN pz len EE 48 5 4 Using Motion Libraries for PC based Systems 49 5 5 Using Motion Libraries for PLC based Systems 49 6 Scaling factors sk
49. nt motor reguires creating and downloading a TML Technosoft Motion Language program into the intelligent motor 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 e ML 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 intelligent motors 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 includin
50. o a predefined template The TML program is compiled and downloaded to the intelligent motor 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 intelligent motors 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 8 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 intelligent motor 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 intelligent motor see paragraph 4 5 15 The customization of the interrupt service routines and homing routines is available only for IM23x MA CAN executions 16 Optional for the IM23x MA CANopem executions Technosoft 2007 47 IM23x MA Technical Reference 5 3 Combining CANopen or other host with TML Du
51. pplication General Infor S Setup ured T M Motion Application ID ffr Homing Modes PE 8 Bi Functions DO Interrupts i CAM Tables Axis number 255 sl Memory Settings Drive IM232 MA Product ID P042 001 E203 Firmware ID FYOOI Setup ID 010E E2ROM 8 Kwords RAM 1 Kwords Motor 11232 el Type Brushless Rotary upov vonage SI EU gt Online AxisID 255 IM232 MA Firmware F252B SetupID 010E a 5 2 3 2 Step 2 Establish communication If you have a intelligent motor 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 intelligent motor motor and the connections Power on the intelligent motor 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 intelligent motor 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 intelligent motor having axis ID 2
52. priate voltage right on the terminals of the IM23x MA 3 2 9 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 supply voltage depending on the power supply characteristics If the voltage bypasses the Umax value the intelligent motor over voltage protection is triggered and the intelligent motor 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 Technosoft 2007 23 IM23x MA Technical Reference where Eu can EM where 2xE S M Cprive NOM C gt fe Umax H 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 Cprive is the intelligent motor 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 Em the overall energy flowing back to the supply in Joules In case of a rotary motor and load be computed with the formula tqo 29M Jp Jaw my mi g hinitial final Sli Renta 7
53. rammed Note that with EasySetUp you do only your intelligent motor motor commissioning For motion programming you have the following options Use a CANopen master for IM23x MA CANopen executions Use EasyMotion Studio to create and download a TML program into the intelligent motor motor memory Technosoft 2007 30 IM23x MA Technical Reference Use one of the TML LIB motion libraries to control the intelligent motors motors from your host master If your host is a PC TML_LIB offers a collection of high 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 intelligent motors motors using one of the supported communication channels The implementation must be done according with Technosoft communication protocols Combine TML programming at intelligent motor 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 intelligent motor motor EasySetup laj o X Setup Communication View Help Da kis 5 9955 xui sl S New
54. rdware Installation 3 1 Mounting 4 x 5 2 M5 d u O fo Gte rat 38 1 ega de U aa 472x472 57 2 X572 Figure 3 1 Panel cut out Technosoft 2007 14 IM23x MA Technical Reference The IM23x MA intelligent motor was designed to be cooled by natural convection It can be mounted horizontally or vertically see Figure 3 1 Leave at least 15mm between the intelligent motor and surrounding walls intelligent motors to allow for free air circulation Technosoft 2007 15 IM23x MA Technical Reference 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout J2 Connector J1 Connector Drecunosorr 2003 baaa EE pet 3 J3 Connector Figure 3 2 IM23x MA v1 1 intelligent motor drawing J1 Connector J3 Connector J2 Connector Figure 3 3 IM23x MA v2 0 intelligent motor drawing Technosoft 2007 16 IM23x MA Technical Reference 3 2 2 Identification Labels Tecunosorr Manufacturer Drive Name mezwe JII Article Number gt Peromeas amsa lt Serial Number Figure 3 4 IM232 MA Identification Label Tecunosorr Manufacturer Drive Name mexwa caveri IU Article Number gt Pe2omezis agra lt Serial Number Figure 3 5 IM232 MA CANopen Identification Label CP Tecunosorr Manufacturer Drive Name iesva Ill Article Number PoeonexS agra lt
55. riables Help of the EasySetUp software describes how to use EasySetUp to quickly setup any Technosoft intelligent motor for your application using only 2 dialogues The output of EasySetUp is a set of setup data that can be downloaded into the intelligent motor EEPROM or saved on a PC file At power on the intelligent motor is initialized with the setup data read from its EEPROM With EasySetUp it is also possible to retrieve the complete setup information from a intelligent motor previously programmed EasySetUp includes a firmware programmer with allows Technosoft 2007 IV IM23x MA Technical Reference you to update your intelligent motor 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 intelligent motors 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 intelligent motor motor setup and a Motion 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 ful
56. s ID of intelligent motor motor connected to PC the option Autodetected 4 2 2 Setup intelligent motor motor Press New button and select your intelligent motor type Technosoft 2007 32 IM23x MA Technical Reference The selection continues with the type of the intelligent motor for example the IM232 MA CANopen The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft intelligent motor plus several predefined control panels customized for the product selected Technosoft 2007 33 IM23x MA Technical Reference EasySetUp Untitled 101 xi Setun Cammunication Heu Control Panel Window belo D Drive Setup f xj r Guide BO AEA EE Setup X m Guideline assistant This dialogue presents the motor data and its sensors Previous In Transmission to load select the transmission type and the ratio by setting the correspondance between the motor and load displacements m232 z izi Save to User Database Delete Nomnat cum S Test Phase Connections Peak current az A Pole pairs E Detect Number of Pole Pairs Torque constant b 063 Nm a z Phase resistance motor drive bz Ohms Y tify Resistance a tance E EIT ETO 5 05 n gt m Identify Resistance and Inductance Motor inertia ris Jar E 7 JE Motor inertia is unknown Phase connection Stay Delta m
57. s interface e 1 5K x 16 internal SRAM memory 1 Optional for IM23x MA CANopen executions Available only for IM23x MA CANopen executions Available only for IM23x MA CAN executions Technosoft 2007 6 IM23x MA Technical Reference 57 e 8K x 16 E ROM to store TML programs and data e Nominal PWM switching frequency 20 kHz e Logic and Motor power supply 12 48VDc e Operating ambient temperature 0 40 C e Hardware Protections e All I Os are ESD protected 2 3 IM23x MA Dimensions H 4x9 52 O FW 5 gei D 38 1 0025 Z Q O d i 6 35505 Ji ele 30 Hamme Dech KN EEE O Geza E e 2 O j 4 H t u ke O O IM23X MA Ju 472x472 IM232 1M233 T L 122 142 TP 57 2x57 2 20 6 All dimensions in mm Figure 2 1 IM23x MA intelligent motor dimensions Technosoft 2007 7 IM23x MA Technical Reference 2 4 Electrical Specifications All parameters were measured under the following conditions unless otherwise specified Tamb 25 C logic supply Vioc 24Vpc motor supply Vuor 48Voc Supplies start up shutdown sequence any Shaft torque 0 22Nm IM232 MA 0 31Nm IM233 MA shaft speed 4000rpm Logic Supply Input Measured between Vioc and GND Min Typ Max Units Nominal values 12 24 48 Voc t i i 0 55 V Supply voltage Absolute maximum values continuous DC Absolute maximum values s
58. scribes the IM23x MA hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the intelligent motor internal units For detailed information regarding the next steps refer to the related documentation Notational Conventions This document uses the following conventions e TML Technosoft Motion Language e Sl units International standard units meter for length seconds for time etc s U units Internal units of the intelligent motor e IM23x MA all products described in this manual e IM23x MA CANopen all CANopen executions from IM23x MA family e IM23x MA CAN IM23x MA 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 Il 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 va
59. tact with insulating materials such as synthetic fabrics or plastic surfaces In order to discharge static electricity build up place the intelligent motor on a grounded conductive surface and also ground yourself 2 Product Overview 2 1 Introduction The IM23x MA is a family of fully digital intelligent brushless motors based on the latest DSP technology and they offer unprecedented intelligent motor performance combined with an embedded motion controller All intelligent motors perform position speed or torque control and work in either single multi axis or stand alone configurations Thanks to the embedded motion controller the IM23x MA intelligent motors combine controller intelligent motor and PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller Using the high level Technosoft Motion Language TML the following operations can be executed directly at intelligent motor level Technosoft 2007 4 IM23x MA Technical Reference Setting various motion modes profiles PVT PT electronic gearing or camming etc Changing the motion modes and or the motion parameters Executing homing sequences Oooo Controlling the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or c
60. tion error gt 80 deg Tifom s z Kp 1 328 M Control error Ki 0 1606 Tune amp Test Speed eror gt E O em z for more than B z Motor over temperature r Speed controller E STE E z Iv 12 i rn Dee er Wem ps A x me oz r External brake resistor Tune amp Test Connected Actyate if power supply gt 128 V M r Position controller rm Inputs polarity Kp 77 91 Integral limit fio z z Enable Limit switch Limit switch Ki 3895 p ERA Active high Enabled after power on Active high Active high Feedforward C Active low Disabled after power on Active low Active low Kd 519 4 b Speed SES ES m Start mode ilter 10 1 Ci t used Z of e kaka Move dig een EEA 24 d Tune Test C Direct using Hall sensors Time to align on phases fi s lt The axis ID of an IM23x MA intelligent motor can be set software any value between 1 and 255 stored in the setup table The axis ID is initialized at power on using the following algorithm a If a valid setup table exists with the value read from it This value can be an axis number 1 to 255 Technosoft 2007 35 IM23x MA Technical Reference 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 intelligent motor axis ID was previously set by software and its value is not anymore known you can find it by se
61. tions with Technosoft products With the TML Motion Library functions you can communicate with a intelligent motor motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about intelligent motor motor status check and modify its setup parameters read inputs and set outputs etc The TML Motion Library can work under a Windows or Linux operating system Implemented as a dil so it can be included in 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 intelligent motors 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 intelligent motor motor via any of its supported channels send motion commands get automatically or
62. u to quickly develop test measure and analyze your motion application EasyMotion 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 intelligent motors motors from the network All data exchanges are done with the intelligent motor 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 intelligent motor This information is preserved in the intelligent motor motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the intelligent motor 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 intelligent motors 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 proje
63. udio Therefore the intelligent motors can check the cam presence in the intelligent motor EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing the Homing Procedures for IM23x MA CAN executions The IM23x MA 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 Modes from your EasyMotion Studio application and in the right side to set as User defined one 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 H nml xj Project Application Communication View Control Panel Window Help DG EB GRIE b dad didala d GIZZ 17589 S Untitled Homing Modes FE E Untitled Application HomingO Set actual position as home position T Select S Setup Homing1 Move negative until the limit switch is reached Reverse and stop at first index pulse Select E M Motion Homing2 Move positive until the limit switch is reached Reverse and stop at first index pulse Select Homing3 Stop at first index pulse after home switch high low transition If home input is high move negative else move positive and reverse after home input low high transition Homing4 Stop at first index pulse after home switch low high transttion If home input is low move
64. urge 0 5 65 duration lt 10mS Idle 80 mA Supply current Operating 120 mA ESD Rating 30 KV Motor Supply Input Measured between tVyor and GND Min Typ Max Units Nominal values 12 48 Voc Absolute maximum values continuous including ripple amp braking induced over 0 55 Voc Supply voltage voltage Absolute maximum values surge 0 5 65 V duration lt 10mS Idle 0 5 1 mA Supply current Operating 16 5 5 5 16 5 A ESD Rating 30 KV VO Supply Input All voltages referenced to GND_IO Min Typ Max Units Nominal values 12 24 Voc t i 30 30 V Supply voltage Absolute maximum values continuous DC Absolute maximum values surge 50 35 V duration lt 10mS Supply current Normal operation 100 150 mA Isolation voltage Between GND and GND lO 500 Vnus Technosoft 2007 8 IM23x MA Technical Reference CAN Bus Supply Input All voltages referenced to GND CAN Min Typ Max Units Nominal values 12 24 Voc t i i 30 30 V Supply voltage Absolute maximum values continuous DC Absolute maximum values surge 50 35 V duration lt 10mS Supply current Normal operation 40 80 mA Isolation voltage Between GND and GND lO 500 V Rus Digital Inputs 5V DEF ENCDIR All voltages referred to GND Min Typ Max Units Logic LOW 0 1 Input voltage Logic HIGH e
65. us IM232 MA CANopen p n P042 001 E213 Multi Axis Motor using CANopen protocol on CANbus IM233 MA CAN p n P042 001 E303 Multi Axis Motor Standard execution using Technosoft TMLCAN protocol on CANbus IM233 MA CANopen p n P042 001 E313 Multi Axis Motor using CANopen protocol on CANbus There are currently two versions revisions of the afore mentioned motors e M23x MA v1 1 e IM23x MA v2 0 Both versions are fully electrical mechanical and software compatible The changes between the two versions consist only in a different placement of the connectors on the backside of the motor In order to operate the IM23x MA intelligent motors you need to pass through 3 steps Q Step 1 Hardware installation Q Step 2 Drive setup using Technosoft EasySetUp software for intelligent motor commissioning U Step 3 Motion programming using one of the options U ACANopen master for the IM23x MA CANopen version Technosoft 2007 IH IM23x MA Technical Reference Q The intelligent motor built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software Q ATNML LIB motion library for PCs Windows or Linux U ATML LIB motion library for PLCs Q A distributed control approach which combines the above options like for example a host calling motion functions programmed on the intelligent motors in TML This manual covers Step 1 in detail It de

IM23x-MA Intelligent Motor - User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents