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IPS110 Intelligent Minidrive - User Manual

1. EE c M m L 22 86 mm 0 9 EN 7 0 mm 26 5 mm 1 043 gt 1 7027 id d Ec Axis ID NEE b iq Dm TE SIT IL solder joints HUS e da D Sry By m m ol GEO mol OO H SUE E Al Is su xj aS NIS TI VMor mcs ZE ENCA nl A b Vwor TO T ENCB kann ry Dh e felt DIZ e pio gs A LR Sb nn Puls 3 D vi amp Eppe m Pas ee OO me Dir E m LZ x LA B hun Dir d d b es el E d GND made GOO 1035 Sin LSP CAPI S n sie ed GND IOR36 Cos LSN CAPI2 GE Son maag Ae b 5V Reference ME EE Bis AT b Tx232 IV Feedback pus PZO dr Rx232 IN bidie CAN_H sa IE e L e Reset imn MIL CAN L EE j ER B Eam N e LIT min oS TIT EN es A Saad JP1 Auto Ext JP2 FU Norm Figure 3 2 IPS110 connectors layout Technosoft 2008 14 IPS110 Technical Reference 3 2 2 Identification Labels tecunosort Manufacturer Drive Name gt Ps110 BAU Article Number gt po45 001 c001 824 Serial Number Figure 3 3 IPS110 RS232 Identification Label tecunosort Manufacturer Drive Name gt rstto BAM Article Number Slam ARM Serial Number Figure 3 4 IPS110 CAN Identification Label recunosorr le Manufacturer Drive Name gt st1o Mill Article Number
2. 13 421 Qonneclors EayOLlb s e tue ed Geb x deir e cul te e ter Ea iR eR UA 13 3 2 2 Identification Labels 15 3 2 3 JA Connector pinoutuisn dnenv adsense 16 3 2 4 J2 Connector pinOUt aa 17 3 2 5 Supply connection 18 3 2 6 Motor connections cta d E E cu UM de t o e e b Re gs 20 3 2 7 Feedback connections a E E 22 3 2 8 Digital VO connections zurea E AR SA N SR peek ern ER ot rd Ree Rudd EEN 24 3 2 9 Analog lniptits cerinecliEn arte rte a aia airi 27 3 2 10 Serial RS 232 Communication connections 28 3 2 11 CAN Communication connection rss 29 3 2 12 Connectors Type and Mating Connectors rss 31 3 3 Jumper and solder joints configuration 32 AA leg Sa Aa EEAO 36 4 STEP 2 Drive SEHIP AAO 37 Technosoft 2008 Il IPS110 Technical Reference 41 installing BasySew daaa aaa 37 4 2 Getting Started with EasySetUp eea 37 4 2 1 Establish communication AE 38 A2 2 Setup Be E EE 39 4 2 3 Download setup data to drive motor 41 4 2 4 Evaluate drive motor behaviour optional ssseeeeeseeeeeeeeneseereerrerresssseeee 41 4 3 Changing the drive Axis SEE 41 4 4 Setting CAND
3. 1 1x Vde Voltage command V 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 Voltage command V wae 32767 x Voltage command IU This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode 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 GE x Voltage measured IU 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 Time lU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opene
4. OPEN LOOP gt 3 CLOSED FRAME DRIVES IP5110 R5232 gt BRUSHED MOTOR 4 INTELLIGENT MOTORS gt ISCM4805 CAN A 5 OTHER gt ISCM4805 CANOPEN ISCM8005 CAN A ISCM8005 CANOPEN PIM2401 CAN PIM2401 CANOPEN PIM2403 CAN A PIM2403 CANOPEN TECHNO SOET The selection continues with the motor technology for example 2 phase closed loop and type of feedback device Incremental encoder Technosoft 2008 39 IPS110 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 SS loj x Setup Communication View Control Panel Window Help EE Drive Setup be L Guide Step Motor and Load Setup j axi Setur Guideline assistant Database um US ns Drive E you v Previous does not exist in any database proceed through all the next steps in order to define your motor and sensors SE Down Next data In either case use the tests from the next steps to otor Setup Drive verify detect the motor and sensors parameters and P530 258 004 E 9 s v CANE operation barca A Baur ZI Save to User Database Delete Help St Drive Motor data Power Nominal current fi f a Test Phase Connections 1 Curren Peak cu
5. b Use a 9 wire standard 1 to 1 non inverting shielded cable preferable with metallic or metallized shells casings A CAUTION DO NOT CONNECT DISCONNECT THE RS 232 CABLE WHILE THE DRIVE IS POWERED ON THIS OPERATION CAN DAMAGE THE DRIVE Technosoft 2008 28 IPS110 Technical Reference 3 2 11 CAN Communication connection CAN connection IPS110 v1 0 To Previous Node MotionChip CAN transceiver To Next Node Figure 3 16 CAN connection THE CANBUS CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE THE IPS110 SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Remarks 1 The CAN network requires two 1200 termination resistors even for short cables These resistors are not included on the drive 2 Both CAN signals are NOT insulated from all other IPS110 circuits 3 CAN signals CAN H and CAN pins of J2 connector are not connected pins on the IPS110 drive execution P045 001 E001 3 2 11 1 Recommendations for CAN 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 When total CAN bus length is over 40 meters it is mandatory to use shielded twisted cables Connect the cable shield to earth shield c When using a printed circuit b
6. gt lposs oo1 e112 4834 e Serial Number Figure 3 5 IPS110 CANopen Identification Label Technosoft 2008 15 IPS110 Technical Reference 3 2 3 J1 Connector pinout Pin name Function Alternate function Comments Positive terminal of the motor supply 12 to 45 Voc Technosoft 2008 Positive terminal of the motor supply 12 to 45 Voc Phase A for step motors Motor for DC brush motors Phase A for step motors Motor for DC brush motors Phase B for step motors Motor for DC brush motors Phase B for step motors Motor for DC brush motors Ground Ground Positive terminal of the logic supply 5 Voc RS 232 Data Transmission RS 232 Data Reception RESET signal connect to GND to reset the board 16 IPS110 Technical Reference 3 2 4 J2 Connector pinout Pin name Function Alternate function Comments 1 Encoder A signal 2 Encoder B signal 3 Puls e Positive and negative terminals of IN 38 PULSE 4 Puls IN 38 input are RS 422 compatible PULSE e Can be used as PULSE input in Pulse amp Direction motion mode 5 Dir l e Positive and negative terminals of IN 37 DIR input Dir IN 37 are RS 422 compatible DIR e Can be used as DIRECTION input in Pulse amp Direction motion mode 7 110435 Sin 10435 e 10 35 digital VO TTL compatible Bee LEREN GAPI e Sin 3 3V analog input for Li
7. 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 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 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 2xm Load Acceleration SI x Motor Acceleration IU 4xNo encoder linesx Trx 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 2 Stepper motor open loop control No feedback device The internal acceleration units are motor usteps slow loop sampling period The correspondence with the load acceleration in SI units is Load Acceleration Sl ER S NE x Motor Acceleration IU No ustepsxNo 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 c
8. 10436 Cos LSN CAPI2 E g ES o c o Figure 3 13 Digital outputs connection Remarks 1 10 35 and 10436 must be programmed as outputs for this operating mode 2 10435 Sin in LSP in and CAPI in lines are shared also the 10436 Cos in LSN in and CAPI2 in lines are shared You cannot use these lines simultaneously as analog input and digital input output Technosoft 2008 26 IPS110 Technical Reference 3 2 9 Analog Inputs connection Analog Inputs IPS110 v1 0 J2 FEEDBACK REFERENCE MotionChip Figure 3 14 Analog Inputs connection 3 2 9 1 Recommendations for Analogue Signals Wiring a Use a shielded cable as follows inner wire connects the live signal to the drive analog input shield connects the signal ground to the drive GND b If the signal source output voltage is out of the range 0 3 3V use a 2 resistor differential divider located near the IPS110 I O connector Choose the divider resistances as low as possible close to the signal source output current limit to minimize the noise Technosoft 2008 27 IPS110 Technical Reference 3 2 10 Serial RS 232 Communication connections RS 232 Serial Connection IPS110v1 0 5V Q RS 232 Transceiver MotionChip Figure 3 15 Serial RS 232 connection 3 2 10 1 Recommendations for RS 232 Wiring a Always power off all the IPS110 supplies before inserting removing the RS 232 serial connector
9. Copperlosses Friction losses Ju 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 non horizontal plane g gravitational acceleration i e 9 8 m s hinitiar initial system altitude m tinal final system altitude m Im motor current during deceleration Arus phase Rp motor phase resistance CO ta time to decelerate s TE total friction torque as seen at motor shaft Nm includes load and transmission Technosoft 2008 19 IPS110 Technical Reference 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 TE will become friction force measured in N Remark If the above computation of Em can t be done due to missing data a good starting value for the capacitor can be 10 000 uF 100V 3 2 6 Motor connections Step motor connection IPS110 4 phase Inverter Currents Info 1 coil per phase x MotionChip Al 2 coils per phase coils per phase in parallel in series connection connection Figure 3 7 J1 Step motor connection A A2 A1 A2
10. ID of the drive Axis ID seen in CANopen communication 33 1 34 2 200 8 255 31 Technosoft 2008 35 IPS110 Technical Reference 3 4 First Power Up In order to setup the drive for your application you need to communicate with it The easiest way is via an RS 232 serial link between your PC and the drive Therefore before the first power up check the following Power supply connections and their voltage levels Motor connections Serial cable connections Axis ID solder joints configuration EasySetUp is installed on the PC which is serially connected with the drive see chapter Step 2 Drive Setup Technosoft 2008 36 IPS110 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 includin
11. 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 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 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 Technosoft 2008 l IPS110 Technical Reference 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 pr
12. _ Position SI 2x Motor _ Position IU 4xNo encoder lines where No encoder lines is the rotary encoder number of lines per revolution 6 11 2 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 28s units for motor position are rad for a rotary motor m for a linear motor Technosoft 2008 65 IPS110 Technical Reference Motor Position S1 2 7 xmotor _ Position IU No steps No steps 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 6 11 3 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 11 4 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 Motor Position SI 2 Motor _ Position U 4xNo encoder lines where No encoder lines is the motor encoder number of lines per revolution 6 12 Motor speed units 6 12 1 DC brushed motor with quadrature encoder on motor Encoder accuracy For linear motors Motor Speed SI x Motor Speed lU where No encoder lines is the rotary enco
13. 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 Optional for the IPS110 CANopen execution Technosoft 2008 3 IPS110 Technical Reference Apart from a CANopen master the IPS110 drives can also be controlled from a PC or PLC using the family of TML_LIB motion libraries For all motion programming options the IPS110 commissioning for your application is done using EasySetUp 2 2 Key Features e Digital drives for control of brushed DC and step motors with built in motion controller and high level TML motion language e Position speed or torque control e Various motion programming modes Position profiles with trapezoidal or S curve speed shape Position Velocity Time PVT 3 order interpolation Position Time PT 1 order interpolation Electronic gearing and camming External analogue or digital reference 33 Homing modes e Dual incremental encoder interface 5V single ended or open collector e Pulse amp direction interface 5V or 24V single ended open collector or RS 422 differential for external master digital reference e Linear Halls sensor interface e Digital I Os 2 digital input output lines TTL compatible shared with 2 analog inputs 0 3 3V RESET input 2 Limit Switches LSP and LSN e RS 232 serial communication up t
14. ee AE E E SE 57 6 1 1 DC brushed motor with quadrature encoder on motor 57 6 1 2 Stepper motor open loop control No feedback device 57 Technosoft 2008 IV IPS110 Technical Reference 6 1 3 Stepper motor closed loop control Incremental encoder on motor 58 6 1 4 Stepper motor open loop control Incremental encoder on load 58 Bee eia ara 58 6 2 1 DC brushed motor with quadrature encoder on motor 58 6 2 2 Stepper motor open loop control No feedback device ee 59 6 2 3 Stepper motor open loop control Incremental encoder on load 59 6 2 4 Stepper motor closed loop control Incremental encoder on motor 59 613 GEORGE UO UNS SE AA kea 60 6 3 1 DC brushed motor with quadrature encoder on motor 60 6 3 2 Stepper motor open loop control No feedback device 60 6 3 3 Stepper motor open loop control Incremental encoder on load 61 6 3 4 Stepper motor closed loop control Incremental encoder on motor 61 0X7 AEN 1 EO GE 62 6 4 1 DC brushed motor with quadrature encoder on motor 62 6 4 2 Stepper motor open loop control No feedback device ee 62 6 4 3 Stepper motor open loop control Incremental encoder on load 63 6 4 4 Stepper
15. 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 m The customization of the interrupt service routines and homing routines is available only forIPS110 CAN executions 13 Optional for the IPS110 CANopen execution Technosoft 2008 54 IPS110 Technical Reference 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 the Homing Procedures for IPS110 CAN executions The IPS110 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 E nj xj Project Application Communication View Control Panel Window Help Dr b d PIE be dud da
16. motor closed loop control Incremental encoder on motor 63 5 5 Guren WINS ds Ed ad ceti e ae mea Ge ed emus 63 6 6 Voltage command units 63 6 7 Voltage measurement units 64 68 Time UNIE EE EE DE er e ee ita br eta iaa 64 6 9 Master position units cordato e eate ai CI RR Me o ERA fetes 64 6 10 Master speed NUA 65 6 11 Motor position units eere m ot t I ERE SIRE ARE RT IER MERE S IO ae CIE Ula 65 6 11 1 DC brushed motor with quadrature encoder on motor 65 6 11 2 Stepper motor open loop control No feedback device 65 6 11 3 Stepper motor open loop control Incremental encoder on load 66 6 11 4 Stepper motor closed loop control Incremental encoder on motor 66 6 12 Motor speed KN alea 66 6 12 1 DC brushed motor with quadrature encoder on motor 66 6 12 2 Stepper motor open loop control No feedback device or incremental encoder ea Bla EE 67 6 12 3 Stepper motor closed loop control Incremental encoder on motor 67 To Memory Map EAEAN 68 Technosoft 2008 V IPS110 Technical Reference Technosoft 2008 VI IPS110 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 pr
17. pitch 0 635 x 0 635 mm 2 54 mm pitch 31 IPS110 Technical Reference 3 3 Jumper and solder joints configuration JP1 JP2 Figure 3 18 Jumpers JP1 and JP2 and solder joints o JP1 Auto Ext H SHORT IPS110 in Autorun stand alone mode After reset automatically executes a program from the internal E ROM e OPEN IPS110 in External slave mode After reset waits for commands from an external device o JP2 FU Norm e SHORT Enable firmware update e OPEN Normal operation o 1D5 1D0 Axis ID solder joints These solder joints are sampled during power up and the Axis ID is configured accordingly See Table 3 1 Table 3 1 Axis ID configuration Axis ID solder joints ID5 ID4 ID3 ID2 ID1 IDO Axis ID OPEN OPEN OPEN OPEN OPEN OPEN 255 OPEN OPEN OPEN OPEN OPEN SHORT 62 OPEN OPEN OPEN OPEN SHORT OPEN 61 OPEN OPEN OPEN OPEN SHORT SHORT 60 O Technosoft 2008 32 IPS110 Technical Reference Axis ID solder joints ID5 ID4 ID3 ID2 ID1 IDO Axis ID OPEN OPEN OPEN SHORT OPEN OPEN 59 OPEN OPEN OPEN SHORT OPEN SHORT 58 OPEN OPEN OPEN SHORT SHORT OPEN 57 OPEN OPEN OPEN SHORT SHORT SHORT 56 OPEN OPEN SHORT OPEN OPEN OPEN 55 OPEN OPEN SHORT OPEN OPEN SHORT 54 OPEN OPEN SHORT OPEN SHORT OPEN 53 OPEN OPEN SHORT OPEN SHORT SHORT 52 OPEN OPEN SH
18. refer to the load while the same commands expressed in IU units refer to the motor Motor Incremental quadrature encoder Figure 2 4 Encoder on motor shaft Closed loop control motor position speed or torque Technosoft 2008 6 IPS110 Technical Reference 2 4 IPS110 Dimensions The next figure presents the IPS110 drives dimensions Y Er co M P3 22 86 mm 0 9 EN 7 0 mm 26 5 mm 1043 gt 0276 dde EC gf Im Qo E a o ma vlg T ua A d aar 7 b e 2 A BE puni Y sg os Hum D b AMEN b E TNT E a o h eo To h h yo ha ES ER NO oo Y Figure 2 5 IPS110 drives dimensions Technosoft 2008 7 IPS110 Technical Reference 2 5 Electrical Specifications All parameters measured under the following conditions unless otherwise noted Tam 0 40 C logic supply Viog 5 Vic motor supply Vyor 24 Voc Supplies start up shutdown sequence any Load current 0 5 Arms External DC bus capacitor located 10cm from J1 Logic Supply Input Measured between V oc and GND Min Typ Max Units Nominal values 4 8 5 5 2 Voc Supply voltage t Ab
19. 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 EasyMotion Studio Du Mel 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 drive motor axis ID The initial value proposed is Technosoft 2008 48 IPS110 Technical Reference 255 which is the default axis ID of the drives having all the axis ID switches OFF see 4 3 Changing the drive Axis ID Press New button and select your drive type Depending on the product chosen the selection may continue with the motor technology for example 2 phase Stepper closed loop and the type of feedback device Incremental encoder EasyMotion Studio nl x Project Communication View Da d amp e 3 b de un r did al o XC ERES S AKI at New Project xl Step 1 Select axis number 255 e L Step 2 Define load setup data IPS110 CAN 1P5110 CAN CANOPEN IP5110 R5232 2 PHASE STEPPER CLOSED LOOP Increment
20. transparent to the user Remark EasyMotion Studio handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application Technosoft 2008 69 IPS110 Technical Reference This page is empty Technosoft 2008 70 IPS110 Technical Reference TECHNOSOFT
21. 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 16 The customization of the interrupt service routines and homing routines is available only for IPS110 CAN executions A Optional for IPS110 CANopen execution Technosoft 2008 53 IPS110 Technical Reference 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 IPS110 offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming features which arise when combining TML programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming part no P091 063 CANopen UM xxxx manual All features presented below require usage of EasyMotion Studio as TML programming tool Remark If you dont use the advanced features presented below you dont need EasyMotion Studio In this case the IPS110 is treated like a standard CANopen dri
22. 5 001 E002 Minidrive for Step and Brushed DC motors Standard execution using Technosoft TMLCAN protocol on CANbus IPS110 CANopen p n P045 001 E012 Minidrive for Step and Brushed DC motors using CANopen protocol on CANbus In order to operate the IPS110 drives you need to pass through 3 steps Q Step 1 Hardware installation Q Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning Q Step 3 Motion programming using one of the options a ACANopen master Q The drive built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software Q ATML LIB motion library for PCs Windows or Linux A TML LIB motion library for PLCs Q Adistributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in TML D Technosoft 2008 l IPS110 Technical Reference This manual covers Step 1 in detail It describes the IPS110 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 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 SI u
23. 55 IPS110 CAN Firmware FOOSK SetupIDO11F 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 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 Technosoft 2008 50 IPS110 Technical Reference 5 2 3 3 Setup drive motor In the project window left side select S Setup to access the setup data for your application ESTE IS Project Bs Untitled Untitled Application S Side M Motion DO Homing Mod
24. AS OUTPUT PINS IN WHEN USING PINS 7 J2 AND 8 J2 AS INPUTS DO NOT ORDER TO AVOID POSSIBLE DRIVE DAMAGE THE VO CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE THE IPS110 SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT 3 2 8 2 Pulse amp Direction Inputs connection Pulse amp Direction IPS110 v1 0 connection rusa a EN COMpatible dea Puls Gaie IN 38 PULSE H enerator _ ferri inni ciiam i a a Puls E o c Dir 2 l IN 37 DIR DIRECTION Dir Switch EN compatible signal Figure 3 12 Pulse amp Direction Inputs connection Remarks 1 When IN 38 PULSE is used as PULSE input in Pulse amp Direction motion mode on each rising edge the reference or feedback is incremented decremented 2 When IN 37 DIR is used as DIRECTION input in Pulse amp Direction motion mode the reference or feedback is incremented if this pin is pulled low Technosoft 2008 25 IPS110 Technical Reference 3 Use one twisted pair for each differential group of signals as follows Puls with Puls and Dir with Dir Also connect the GND between the IPS110 and the P amp D generator WHEN USING THE 10 35 10436 AS INPUTS DO NOT CAUTION PROGRAM THEM AS OUTPUT PINS IN ORDER TO AVOID POSSIBLE DRIVE DAMAGE 3 2 8 3 Digital outputs connection Digital Outputs IPS110 v1 0 J2 3 3V 0 LOAD max 2 5mA 3 3V 0435 Sin LSP CAPI LOAD max 2 5mA 3 3V
25. B1 B2 B1 B2 Technosoft 2008 20 IPS110 Technical Reference DC motor connection IPS110 4 phase Inverter Currents Info MotionChip Figure 3 8 J2 DC brushed motor connection 3 2 6 1 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 IPS110 GND pin Leave the other end disconnected b 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 IPS110 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 uH C A good shielding can be obtained if the motor wires are running inside a metallic cable guide Technosoft 2008 21 IPS110 Technical Reference 3 2 7 Feedback connections Encoder Connection IPS110v1 0 MotionChip Figure 3 9 Single ended open collector encoder connection Technosoft 2008 22 IPS110 Technical Reference IPS110 v1 0 Master Motor phases moTorR Master VW TE Analog Inputs IPS110 v1 0 3 3V0 33V Slave ve 100K 100K 470R FEEDBACK REFERENCE Motion
26. Chip MOTOR Slave Motor phases Figure 3 10 Master Slave connection using second encoder input Technosoft 2008 23 IPS110 Technical Reference 3 2 7 1 Recommendations for Feedback Devices Wiring a Keep the ground connection between an encoder and the IPS110 even if the encoder supply is not provided by the drive When using shielded cable connect the cable shield to the GND at the IPS110 side Leave the shield unconnected at the encoder side Never use the shield as a conductor caring a signal for example as a ground line This situation can lead to a worse behavior than a non shielded cable b Always use shielded cables to avoid capacitive coupled noise when using cable lengths over 1 meter Connect the cable shield to the earth potential at only one end This point could be either the IPS110 using the GND pin or the encoder motor Do not connect the shield at both ends 3 2 8 Digital I O connections 3 2 8 1 5V Digital Inputs connection Digital Inputs IPS110 v1 0 J2 3 3V L 10 35 Sin LSP CAPI 10 35 in out E g o c 2 o z Figure 3 11 5V Digital Inputs connection Remark 10 35 Sin in LSP in and CAPI in lines are shared also the 10436 Cos in LSN in and CAPI2 in lines are shared You cannot use these lines simultaneously as analog input and digital input output Technosoft 2008 24 IPS110 Technical Reference CAUTION PROGRAM THE 10 35 AND 10436
27. EN SHORT SHORT SHORT OPEN 17 SHORT OPEN SHORT SHORT SHORT SHORT 16 SHORT SHORT OPEN OPEN OPEN OPEN 15 SHORT SHORT OPEN OPEN OPEN SHORT 14 SHORT SHORT OPEN OPEN SHORT OPEN 13 SHORT SHORT OPEN OPEN SHORT SHORT 12 SHORT SHORT OPEN SHORT OPEN OPEN 11 SHORT SHORT OPEN SHORT OPEN SHORT 10 SHORT SHORT OPEN SHORT SHORT OPEN 9 SHORT SHORT OPEN SHORT SHORT SHORT 8 SHORT SHORT SHORT OPEN OPEN OPEN 7 SHORT SHORT SHORT OPEN OPEN SHORT 6 SHORT SHORT SHORT OPEN SHORT OPEN 5 SHORT SHORT SHORT OPEN SHORT SHORT 4 SHORT SHORT SHORT SHORT OPEN OPEN 3 SHORT SHORT SHORT SHORT OPEN SHORT 2 SHORT SHORT SHORT SHORT SHORT OPEN 1 Technosoft drives can be set with axis ID values from 1 to 255 In CANopen protocol the maximum axis number is 127 When CANopen protocol is used the CAN communication sees the drives axis ID modulo 128 The correspondence is given in Table 3 1 In order to avoid having multiple devices with the same Axis ID do not use in the same CANopen network drives having the same Axis ID in modulo 128 Put in other words the difference between any two Axis ID values should not be 128 Remark The Axis ID modulo 128 applies only for CAN communication with CANopen protocol The serial communication and the TMLCAN protocol use the complete axis ID value Technosoft 2008 34 IPS110 Technical Reference Table 3 1 Axis ID modulo 128 seen in CANopen communication Real axis ID of the drive Axis
28. HE 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 gt PP THE DRIVE CONTAINS ELECTROSTATICALLY 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 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 Technosoft 2008 2 IPS110 Technical Reference 2 Product Overview 2 1 Introduction The IPS110 is a family of intelligent stepper minidrive based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller Suitable for control of brushed DC and step motors the IPS110 drives accept as position feedback incremental encoders quadrature 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 IPS110 drives combine controller drive and PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion cont
29. ID seen in CANopen communication 129 1 130 2 140 12 200 72 255 127 When CANopen protocol is selected the drives can also communicate using TechnoCAN protocol an extension of the CANopen The TechnoCAN protocol is used to get send TML commands TechnoCAN protocol can coexist with CANopen protocol on the same physical network because it uses ID areas not covered by CANopen TechnoCAN protocol offers the possibility to inspect the status of ALL Technosoft drives connected on a CANopen network This operation is done using EasySetUp or EasyMotion Studio and a single RS 232 link with any of the drives from the CANopen network The inspection data acquisition can be done while the main application is running In TechnoCAN protocol the maximum axis number is 31 When TML commands are exchanged using TechnoCAN protocol the CAN communication sees the drives axis ID modulo 32 The correspondence is given in Table 3 2 In order to avoid having multiple devices with the same Axis ID do not use TechnoCAN in a CANopen network with drives having the same Axis ID in modulo 32 Put in other words the difference between any two Axis ID values should not be a multiple of 32 Note that this restriction applies only when EasySetUp or EasyMotion Studio are used for inspection debugging During normal CANopen operation the modulo 32 restriction do not apply Table 3 2 Axis ID modulo 32 seen in TechnoCAN communication Real axis
30. IPS110 Version 1 0 TECHNOS OFT Intelligent Stepper Minidrive for Step and i febr pe d Intelligent Stepper Minidrive Technical Reference Technosoft 2008 TECHNOSOFT IPS110 v1 0 Technical Reference P091 045 1P5110 UM 0808 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com 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 IPS110 family of intelligent servo drives version 1 0 including the following products IPS110 RS232 p n P045 001 E001 Minidrive for Step and Brushed DC motors IPS110 CAN p n P04
31. No encoder lines x Tr where No_encoder_lines is the encoder number of lines per revolution 6 1 2 Stepper motor open loop control No feedback device The internal position units are motor usteps The correspondence with the load position in SI units is 2x7 Load Position SI x Motor _ Position IU No ustepsxNo 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 2 units for position are rad for a rotary movement m for a linear movement Technosoft 2008 57 IPS110 Technical Reference 6 1 3 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 Load Position SI GE 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 SI units 6 1 4 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 EE Load Positi
32. Nopen execution 15 The customization of the homing routines is available only for IPS110 CAN executions Technosoft 2008 46 IPS110 Technical Reference 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 fully 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 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 directly connected with your PC via a serial RS 232 link any drive from a CANbus network where the PC is serially linked with one of the other drives The output of the Eas
33. ORT SHORT OPEN OPEN 51 OPEN OPEN SHORT SHORT OPEN SHORT 50 OPEN OPEN SHORT SHORT SHORT OPEN 49 OPEN OPEN SHORT SHORT SHORT SHORT 48 OPEN SHORT OPEN OPEN OPEN OPEN 47 OPEN SHORT OPEN OPEN OPEN SHORT 46 OPEN SHORT OPEN OPEN SHORT OPEN 45 OPEN SHORT OPEN OPEN SHORT SHORT 44 OPEN SHORT OPEN SHORT OPEN OPEN 43 OPEN SHORT OPEN SHORT OPEN SHORT 42 OPEN SHORT OPEN SHORT SHORT OPEN 41 OPEN SHORT OPEN SHORT SHORT SHORT 40 OPEN SHORT SHORT OPEN OPEN OPEN 39 OPEN SHORT SHORT OPEN OPEN SHORT 38 OPEN SHORT SHORT OPEN SHORT OPEN 37 OPEN SHORT SHORT OPEN SHORT SHORT 36 OPEN SHORT SHORT SHORT OPEN OPEN 35 OPEN SHORT SHORT SHORT OPEN SHORT 34 OPEN SHORT SHORT SHORT SHORT OPEN 33 OPEN SHORT SHORT SHORT SHORT SHORT 32 SHORT OPEN OPEN OPEN OPEN OPEN 31 SHORT OPEN OPEN OPEN OPEN SHORT 30 SHORT OPEN OPEN OPEN SHORT OPEN 29 SHORT OPEN OPEN OPEN SHORT SHORT 28 SHORT OPEN OPEN SHORT OPEN OPEN 27 SHORT OPEN OPEN SHORT OPEN SHORT 26 SHORT OPEN OPEN SHORT SHORT OPEN 25 SHORT OPEN OPEN SHORT SHORT SHORT 24 O Technosoft 2008 33 IPS110 Technical Reference Axis ID solder joints ID5 ID4 ID3 ID2 ID1 IDO Axis ID SHORT OPEN SHORT OPEN OPEN OPEN 23 SHORT OPEN SHORT OPEN OPEN SHORT 22 SHORT OPEN SHORT OPEN SHORT OPEN 21 SHORT OPEN SHORT OPEN SHORT SHORT 20 SHORT OPEN SHORT SHORT OPEN OPEN 19 SHORT OPEN SHORT SHORT OPEN SHORT 18 SHORT OP
34. US rate 42 4 5 Creating an Image File with the Setup Data 43 5 Step 3 Motion Programming ns 44 5 1 Using a CANopen Master for IPS110 CANopen execution 44 5 1 1 DS 301 Communication Profile Overview 44 5 1 2 TechnoCAN Extension for IPS110 CAN executons rss 45 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview 45 5 1 4 Checking Setup Data Consistency iii 46 5 2 Using the built in Motion Controller and TME 46 5 2 1 Technosoft Motion Language Overview rrura 46 5 2 2 Installing EasyMotion Studio AAE 47 5 2 3 Getting Started with EasyMotion Studio 47 5 2 4 Creating an Image File with the Setup Data and the TML Program 53 5 9 Combining CANopen or other host with TM 54 5 3 1 Using TML Functions to Split Motion between Master and Drives 54 5 3 2 Executing TML programs iir e thee eter RR EM Ree bx Bets eee di 54 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio 54 5 3 4 Customizing the Homing Procedures for IPS110 CAN executions 55 5 3 5 Customizing the Drive Reaction to Fault Conditions for IPS110 CAN EXSCUMONS SA 55 5 4 Using Motion Libraries for PC based Systems 56 5 5 Using Motion Libraries for PLC based Systems 56 Gi Scaling FaClOES mee ese kend eri eke ek bct vod dnbie led ike ibd dd 57 6 15 es EE
35. a CANopen master e Use EasyMotion Studio to create and download a TML program into the drive motor memory e 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 high level motion functions which can be Technosoft 2008 37 IPS110 Technical Reference 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 e 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 e 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 E lul xl Setup Communication View Help Da bigar d d d Bk KEER m TE amp HONTOS Ko zr Uploed from Drive Motor Ready Onine AxisID1 Firmware FOOSK ZA Before selecting one of the above options you need to establish the communication with the drive you want to commission Use menu command Communicat
36. al Encoder 2 PHASE STEPPER OPEN LOOP BRUSHED MOTOR 2 OPEN FRAME DRIVES 3 CLOSED FRAME DRIVES vv vk pr INTELLIGENT MOTORS ISCM4805 CAN 5 OTHER ISCM4805 CANOPEN ISCM8005 CAN ISCM8005 CANOPEN F Il PIM2401 CAN PIM2401 CANOPEN PIM2403 CAN PIM2403 CANOPEN e e e vr A ss vj Upload from g Drive Motor 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 O Technosoft 2008 49 IPS110 Technical Reference EasyMotion Studio Untitled ioj xl Project Application Communication View Control Panel Window Help DEd ER ee di di al af X Ta AS EST mut PS PAE 00000 15 Enable inpu pr ommand e ag nie apple ation Application General Information nder volta Dver voltag E M Moti SE 3 qu A ias Application ID cy Functions Dver temp Qu Interrupts pt Ra CAM Tables Axis number 255 v Memory Settings ver current Drive IPS110 CAN SN limit Product ID P045 001 E002 SP limit Firmware ID FODSK osition wra Setup ID 011F erial comm E2ROM 8 Kwords ontrol erroi RAM 1 Kwords valid ser Motor P530 258 004 E9 s hort circuit ANbus erro Type Stepper Rotary 0 4 0 6 0 2 0 4 0 6 Sranicitinn timalmel Zez ziaz fimalmel Online AxisID 2
37. an be opened from the Drive Setup 28 SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 67 IPS110 Technical Reference 7 Memory Map The drive has 2 types of memory a 1 5Kx16 SRAM internal memory and an 8Kx16 serial EROM external memory Physical memory 4000h E ROM SPI Memory 5FBEh Internal SRAM Memory Program Memory PM Data Memory DM 8270h 0A70h Not used as Data Memory Program Memory for TML programs Not used as Program Memory Data Memory for data acquisition OFFFh 87FFh Figure 7 1 IPS110 Memory Map The SRAM memory is mapped both in the program space from 8270h to 87FFh and in the data space from A70h to FFFh 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 E ROM is seen as 8Kx16 program memory mapped in the address range 4000h to 5FBEh It offers the possibility to keep TML programs in a Non volatile memory Read and write accesses to the EROM locations as well as TML programs downloading and execution are done from the Technosoft 2008 68 IPS110 Technical Reference user s point of view similarly to those in the SRAM program memory The E ROM SPI serial access is completely
38. around the supply outputs Connect each drive to the common motor supply using separate wires for plus and return 3 2 5 2 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 drive over voltage protection is triggered and the drive power stage is disabled Technosoft 2008 18 IPS110 Technical Reference 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 where Em can EM where 2xEy 112 2 Umax Unom 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 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 1 tqo 5 OM Lom mm ML initial final 3I Rpptg SEM Te Kinetic energy Potential energy
39. aster 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 communication between the CANopen master with the drives e Process Data Object PDO 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 IPS110 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 e 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 IPS110 supports both SYNC consumer and producer e Time Stamp Object TIME The Time Stamp Object is not supported by the IPS110 device e 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 occu
40. ata 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 nix N A PN M0 amp 83 In DF AAT NIE 32 SESZ o E Man 1 1 Es Untitled Untitled Application S setup M Homing Modes fa Functions T DO Interrupts xX Ra CAM Tables e D Technosoft 2008 52 IPS110 Technical Reference 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 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 gen
41. d channels RS 232 CAN bus etc 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 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 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 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 directl
42. d from the Drive Setup For example if T 1ms one second 1000 IU 6 9 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 Technosoft 2008 64 IPS110 Technical Reference 2xT Master _ position rad EE TEE x Master _ position IU where No encoder lines is the master number of encoder lines per revolution 6 10 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 2xm Master speed rad s x Master speed lU 4xNo_ encoder _linesxT 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 6 11 Motor position units 6 11 1 DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in SI units is Motor
43. d setup data to drive motor L 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 is copied into the drive 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 To summarize you can define or change the setup data in the following ways e create a new setup data by going through the motor and drive dialogues e use setup data previously saved in the PC e 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 The axis ID of an IPS110 drive can be set in 2 ways Hardware H W according with the solder joints configuration in the range 1 to 31 or 255 see 3 3 Jumper and solder joint configuration 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 Ifa valid setup table exists with the value read from it This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with DIP switch s
44. der 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 Technosoft 2008 66 IPS110 Technical Reference 6 12 2 Stepper motor open loop control No feedback device or incremental encoder on load The internal motor speed units are motor usteps slow loop sampling period The correspondence with the motor speed in SI units is 2xm Motor Speed Sl x Motor Speed IU No ustepsxNo stepsxT 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 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 12 3 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 Motor Speed SI SCH x Motor Speed lU 4xNo encoder _ lines x T where No_encoder_lines is the motor encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which c
45. derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor Incremental quadrature encoder Figure 2 1 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 2 Open loop control of a 2 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 Figure 2 2 No position or speed feedback Open loop control motor position or speed 1 For higher ambient temperatures see the de rating information below Technosoft 2008 5 IPS110 Technical Reference 3 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 Incremental quadrature encoder Figure 2 3 Encoder on load Closed loop control load position open loop control motor speed 4 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
46. e 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 2 3 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 2x7 Load Speed rad s xLoad Speed lU 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 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 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 Load Speed SI SE xMotor _ SpeedilU 4xNo encoder linesxTrxT EO SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 59 IPS110 Technical Reference where No_encoder_lines
47. election 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 or can indicate that axis ID will be set according with DIP switch selection c If there is no axis ID set by a valid setup table according with the solder joints configuration 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 Technosoft 2008 41 IPS110 Technical Reference 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 Drive Setup x r Guideline assistant r Control mode p External reference Previous Next Position C No Yes Setup Step 1 Inthe Control mode gt gt group box select what do a C Speed Analogue 7 Incremental Encoder Cae you want to control position speed or torque In the Automatically activated after Power On Commutation method gt gt group box choose sinusoidal or Torque T E EO Hep trapezoidal mode The trapezoidal mode is possible only if your Lommutation me Advanced Trapezoid Sinusoidal Motor CANbus Ba
48. ental 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 SH x Motor _ Jerk lU 4xNo encoder _ lines x 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 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 2x Ipeak 65520 where Ipeak 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 Technosoft 2008 63 IPS110 Technical Reference 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
49. erated 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 ATML 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
50. es Define Load Functions DO Interrupts Ra CAM Tables Download to Drive Motor Load from a previous version Upload from m 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 Technosoft 2008 51 IPS110 Technical Reference SEE to Mal Drive Motor Press the Download to Drive 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 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 drive motor To summarize you can define or change the setup d
51. g 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 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 any 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 e Use
52. 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 24 i SI units for acceleration are rad s for a rotary movement m s for a linear movement 25 SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2008 60 IPS110 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 6 3 3 Stepper motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary to rotary transmission 2x7 Load Acceleration Sl xLoad Acceleration IU 4xNo encoder linesxT For rotary to linear transmission Encoder accuracy Load Acceleration m s 5 T xLoad Acceleration IU 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 4 Stepper
53. ialized 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 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 S00kHz Technosoft 2008 42 IPS110 Technical Reference Drive Setup x r Guideline assistant r Control mode p External reference K Next Position C No Yes Setup Step 1 Inthe lt lt Control mode gt gt group box select what do C Speed Analogue 7 Incremental Encoder EE you want to control position speed or torque In the ei Automatically activated after Power On Help lt lt Commutation methods group box choose sinusoidal or eu trapezoidal mode The trapezoidal mode is possible only if your m Commutation method z Advanced Trapezoid Sinusoidal Previous PK r CANbus Baud rate row default x CANopen settings __ Diivelnfo Set change axis ID How El Setup r Protections Detect IV Over current Motor current gt 3 6 a he for more than bo s v IV Control error Current controller Position error gt D I f
54. ion 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 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 Technosoft 2008 38 IPS110 Technical Reference 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 COM1 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 Press New button Setup Communication View Help DEulelrseBHKTEEE ELS A 1P5110 CAN A 2 PHASE STEPPER CLOSEDLOOP gt Incremental Encoder 2 OPEN FRAME DRIVES IPS110 CAN CANOPEN 2 PHASE STEPPER
55. l d GZ IZ E 1 Motion Statusf 2 prive 1093 Drive Status eg Ig Project E E Rf Untitled Homing Modes E Untitled Application Homing Set actual position as home position S Setup Homing1 Move negative until the limit switch is reached Reverse E M Motion and stop at first index pulse Homing Modes Homing2 Move positive until the limit switch is reached Reverse fh Functions and stop at first index pulse fy Interrupts Homing3 Stop at first index pulse after home switch high low amp CAM Tables transition If home input is high move negative else move positive Select Reload default and reverse after home input low high transition Homing4 Stop at first index pulse after home switch low high transition If home input is low move positive else move negative Select Reload default 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 Select Reload default and reverse after home input low high transition Homing6 Stop at first index pulse after home switch low high transition H home input is low move negative else move positive Select Reload default 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 Rel
56. 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 ZO x Motor Acceleration 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 26 e e SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2008 61 IPS110 Technical Reference 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 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 SC x Motor _ Jerk IU 4xNo encoder _lines x Tr 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 fr
57. mpliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection Human Body Model 100 pF 1 5 KQ 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 CAN Bus 2 0B error active Standards compliance 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 100 pF 1 5 KO 15 KV Technosoft 2008 10 IPS110 Technical Reference Others Min Typ Max Units Operating 0 40 C Temperature Storage not powered 40 85 C Operating 0 90 RH Humidity Non condensing Storage 0 100 RH Altitude pressure Altitude referenced to sea level 4 Km Ambient Pressure 0 64 0 9 1 4 0 atm Dimensions Length x Width x Height 50 x 26 5 x 11 5 mm Weight 50 g ES stands for Full Scale T Stresses beyond those 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 I Ta b m ll 100 100 0 7000 0 40 75 Talc SS Him Figure 2 6 De rating with ambient temperature Figure 2 7 De rating with alti
58. nd 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 simultaneously on the same physical CAN bus without disturbing each other 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview The IPS110 supports the following CIA DSP402 v2 0 modes of operation e Profile position mode e Profile velocity mode e Homing mode e Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined e External reference modes position speed or torque e Electronic gearing position mode e Electronic camming position model m Optional for IPS110 CANopen execution Technosoft 2008 45 IPS110 Technical Reference 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 IPS110 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
59. near Hall sensor e Limit Switch Positive TTL compatible e CAPI Encoder Z signal TTL compatible 8 110436 Cos 10436 e 10435 digital VO TTL compatible Gia deta e Cos 3 3V analog input for Linear Hall sensor e Limit Switch Negative TTL compatible e CAPI2 Second encoder index TTL compatible 9 Reference AD5 0 3 3 V analog input May be used as analog position speed or torque reference 10 Feedback AD2 0 3 3 V analog input May be used as analog position or speed feedback from a tachometer 11 GAN H VO CAN Bus positive line positive during dominant bit Not connected on the no CAN execution of the IPS110 drive P045 001 E001 12 CAN L VO CAN Bus negative line negative during dominant bit Not connected on the no CAN execution of the IPS110 drive P045 001 E001 Technosoft 2008 17 IPS110 Technical Reference 3 2 5 Supply connection Power supply connection IPS110 v1 0 MotionChip Figure 3 6 J1 Supplies connection 3 2 5 1 Recommendations for Supply Wiring 1 Use short thick wires between the IPS110 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 1 000 UF rated at an appropriate voltage right on the terminals of the IPS110 2 When the same motor power supply is used for multiple drives do a star connection centered electrically
60. nits International standard units meter for length seconds for time etc IU units Internal units of the drive IPS110 all products described in this manual IPS110 CANopen the CANopen execution from IDM family IPS110 CAN IPS110 CAN standard executions Related Documentation Help of the EasySetUp software describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogues The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file 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 Wizard for the motion programming The Motion
61. o 115kbaud e CAN bus 2 0A 2 0B up to 1Mbit s with selectable communication protocol z CANopen compatible with CiA standards DS301 and DSP402 TMLCAN compatible with all Technosoft drives with CANbus interface e 1 5Kx16 SRAM for data acquisitions and 8Kx16 E ROM for setup data and TML programs Hardware Axis ID selection solder joints Nominal PWM switching frequency 20 kHz Nominal update frequency for torque loop 10 kHz Update frequency for speed position loop 1 10 kHz Continuous output current 0 5 Arms Peak output current 1A Logic power supply 5 VDC 1 Optional for the IPS110 CANopen execution 2 Available only for the IPS110 CANopen execution 3 Nominal values cover all cases Higher values are possible in specific configurations For details contact Technosoft 4 d 1 2kHz cover all cases Higher values equal with torque loop update frequency are possible with quadrature encoders Technosoft 2008 4 IPS110 Technical Reference e Motor power supply 12745 VDC e Minimal load inductance 25uH 12V 100 uH 45 V e Operating ambient temperature 0 40 C 2 3 Supported Motor Sensor Configurations 1 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
62. o 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 from 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 Technosoft 2008 43 IPS110 Technical Reference 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 5 Step 3 Motion Programming 5 1 Using a CANopen Master for IPS110 CANopen execution The IPS110 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 IPS110 drive accepts the following basic services and types of communication objects of the CANopen communication profile DS 301 v4 02 e Service Data Object SDO Service Data Objects SDOs are used by CANopen m
63. oad default low high transition Reverse also if the positive limit switch is T Select T Select Reload default EasyMotion Studio run a TML 1 Short circuit Online AxisID 255 IDM240 5EI Firmware FOOOI SetupiD 0104 Z 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 IPS110 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 Technosoft 2008 55 IPS110 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 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 supporte
64. oard PCB motherboard based on FR 4 material build the CAN network using a pair of 12mil 0 012 tracks spaced 8 to 10mils 0 008 0 010 apart placed over a local ground plane microstrip which extends at least 1mm left and right to the tracks Technosoft 2008 29 IPS110 Technical Reference d 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 maximum stub length must be below 0 3 meters e The 1200 termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive IPS110 AXISID 1 120R 5 0 25W IPS110 AXISID 2 L Lmax IPS110 AXISID 3 120R PC 5 0 25W Host Address 3 IPS110 AXISID CAN_GND 127 255 Figure 3 17 Multiple Axis CAN network 12 The maximum value of the AXISID is 127 for the IPS110 CANopen execution and 255 for IPS110 CAN executions Technosoft 2008 30 IPS110 Technical Reference 3 2 12 Connectors Type and Mating Connectors Mating connector On board connector Manufacturer and part number FISCHER ELEKTRONIK BL 5 12 Connector Technosoft 2008 Manufacturer and part number Precision female FISCHER socket ELEKTRONIK SL 1 053 012 G Standard square pin header 2 54 mm
65. 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 5 2 1 Technosoft Motion Language Overview Programming motion directly on a Technosoft drive requires to create and download a TML Technosoft Motion Language program into the drive memory The TML allows you to e Set various motion modes profiles PVT PT electronic gearing or camming etc e Change the motion modes and or the motion parameters e Execute homing sequences e Control the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur e Handle digital VO and analogue input signals e Execute arithmetic and logic operations e Perform data transfers between axes e Control motion of an axis from another one via motion commands sent between axes e Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group e Synchronize all the axes from a network In order to program a motion using TML you need EasyMotion Studio software platform e Optional for the IPS110 CA
66. ogram 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 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 product Fax 41 32 732 55 04 operation or report suspected problems see Note Email hotline technosoftmotion com Make suggestions about Mail Technosoft SA or report errors in Buchaux 38 documentation see Note CH 2022 Bevaix NE Switzerland Technosoft 2008 Il IPS110 Technical Reference Contents GRIICHEN l 1 Safety INfOrMatiOn NNN 1 dedo EH 1 beraa s Ve RE EA N N N N IG 2 2 GA dala Ua AS ALL GANE 3 2 1 aldeeta ai PE 3 212 EE 4 2 3 Supported Motor Sensor Configurations 5 2 4 AIRS eae Indi oe ode ras aaa 7 2 5 Electrical Specifications rn nnnerennen nnna 8 3 Step 1 Hardware Installation rruna 13 3A ASU PAE 13 3 2 Connectors and Connection Diagrams
67. om the Drive Setup 6 4 2 Stepper motor open loop control No feedback device The internal jerk units are motor usteps slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI GE x Motor _ Jerk IU No ustepsxNo steps x Tr xT 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 zi SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2008 62 IPS110 Technical Reference 6 4 3 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 Jerk SI ae Load Jerk IU 4xNo encoder _ lines x 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 4 4 Stepper motor closed loop control Increm
68. on SI x Load Position IU 4xNo encoder lines 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 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 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 Load Speed SI cad x Motor Speed 4xNo encoder _lines x Tr x T where No_encoder_lines is the encoder number of lines per revolution al SI units for position are rad for a rotary movement m for a linear movement Ga SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 58 IPS110 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 6 2 2 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 Sl units is 2xm Load Speed SI x Motor Speed lU No ustepsxNo stepsxTrxT where No steps is the number of motor steps per revolution No usteps is th
69. otect 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 manual SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT WARNING CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT CAUTION DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION INDICATES AREAS SENSITIVE TO ELECTROSTATIC CAUTION DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT gt gt gt 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 DRIVE WHILE THE POWER SUPPLIES ARE ON gt gt Technosoft 2008 1 IPS110 Technical Reference THE DRIVE MAY HAVE HOT SURFACES DURING N SG LE OPERATION DURING DRIVE OPERATION THE CONTROLLED MOTOR WARNING WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions CAUTION T
70. r the drive will not transmit further emergency objects Technosoft 2008 44 IPS110 Technical Reference e 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 drive can be initialized started monitored reset or stopped The IPS110 is a NMT slave in a CANopen network e 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 e 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 IPS110 Node Guarding including Life Guarding and Heartbeat e 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 IPS110 CAN executions In order to take full advantage of the powerful Technosoft Motion Language TML built into the IPS110 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 a
71. rad d for more than E s 7 Kp o Jv Control error Ki 0 558 Tune amp Test Speed error gt E rags 7 for more than 3 7 FH ver temperature Speed controller Kp f 73 Integral limit mo E z M dd GEN ps fa d me p f s Ki 9 972 External brake resistor Tune amp Test IT Connected Activate if power supply gt E v y r Position controller r Inputs polarity Kp 16 83 Integral limit 17 x dro B bed SE rop GO Ki Wang 415 p Active high Disabled after power on Active high Active high Ka acceleration Ze Active low Enabled after power on C Active low C Active low 0 Feedf d um Ek T7 Speed r Start mode ilter 10 1 Current used Z of r bd Move till aligned with phase A 34 nominal current Tune amp Test C Direct using Hall sensors Time to align on phases fi s v 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 t
72. roller Using the high level Technosoft Motion Language TML the following operations can be executed directly at drive level Q Setting various motion modes profiles PVT PT electronic gearing or camming etc Changing the motion modes and or the motion parameters a Q Executing homing sequences Q Controlling the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analogue input signals Executing arithmetic and logic operations Performing data transfers between axes Controlling motion of an axis from another one via motion commands sent between axes D D D OLD Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Q 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
73. rrent E A v Dou Cure No motor steps rev fico k Torque constant o1 75 Nm p D Phase resistance motor drive 8 8 hms sy E Identify Resistance and Inductance l ezz Phase inductance motor drive 20 mH x 5 Motor inertia 0 0000012 Jarr zl I Motor inertia is unknown E Motor sensors SE No of lines rev 500 lines 7 __ Test Connections Connections Detect Number of Lines SO Sensor ype I Motor temperature Nc PIC k r Transmission to load K Transmission type Rotary to rotary Motor displacement of fi rot v Kd filt C Rotary to linear corresponds on load to fi rot v I Semnicitinn timalmnel Brnnieitinn fimalmel Online AxisID 1 IP5110 CAN Firmware FOOSK SetupID O11F 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 setup dialogue with OK to keep all the changes regarding the motor and the drive setup Technosoft 2008 40 IPS110 Technical Reference 4 2 3 Downloa
74. solute maximum values continuous 0 5 5 2 Voc Supply current Normal operation 180 250 mA Motor Supply Input Measured between Vmor and GND Min Typ Max Units Operating voltages including ripple amp 12 45 V braking induced over voltage GO Supply voltage IPS110 Absolute maximum values continuous 0 48 Voc Absolute maximum values surge t 0 5 50 V duration lt 10mS e DC bus capacitor connected between DC bus capacitor value Vwor and GND 220 uF DC bus capacitor location Mn M from DC bus capacitor to 0 10 20 cm Motor Outputs All voltages referenced to GND Min Typ Max Units Motor output current Continuous operation 0 5 Anus Motor output current peak 1 A Short circuit protection threshold Programmable Short circuit protection delay Programmable On state voltage drop Output current 0 5A gt 0 6 V Off state leakage current 1 0 1 1 mA Fpwu 20kHz Vuot 12V 50 uH Motor inductance Fewm 20kHz Vwuor ADM 200 uH Technosoft 2008 IPS110 Technical Reference 5V Digital Inputs All voltages referenced to GND Min Typ Max Units Logic LOW 0 8 Input voltage Logic HIGH 2 z 5 V t Absolute maximum surge duration lt 1S 5 6 Logic HIGH Internal pull up to 5V 0 0 0 10435 10436 Logic LOW 90 PULS DIR Logic HIGH Internal p
75. tude T At altitudes over 1 000m current and power rating are reduced due to thermal dissipation efficiency at higher altitudes See Figure 2 7 De rating with altitude Inom the nominal current Stand alone operation vertical mounting Technosoft 2008 11 IPS110 Technical Reference em Vour I Vuor 90 60 0 40 100 f kHz 0 40 100 f kHz Figure 2 8 Current De rating with PWM Figure 2 9 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 t s 0 40 100 f kHz 0 0 5 los f VA Figure 2 10 Power De rating with PWM Figure 2 11 Over current diagram frequency 1 Vour the output voltage Vuor the motor supply voltage 1 Puoy the nominal power Technosoft 2008 12 IPS110 Technical Reference 3 Step 1 Hardware Installation 3 1 Mounting The IPS110 drive was designed to be cooled by natural convection It shall be mounted horizontally on a printed circuit board tarer yy err T T T T Figure 3 1 Recommended mounting of IPS110 on a printed circuit board 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout Technosoft 2008 13 IPS110 Technical Reference
76. ud rate row default x CANopen settings Drive Info Set change axis ID Hw v Setup Drive operation parameters r Protections Power supply 2 v z Detect IV Over current Current limit Pp a s 5 Motor current gt 3 6 a for m v Control error m Current controller scie nci is 21 4 rad DEO DA Kp o b Control error Ki 0 658 Tune amp Test Speed error gt 22 rad s 7 for more than 3 7 CE ZEE Motor over temperature r Speed controller v ce aa 72 serende F v v 121 i ER regem en Overcurent 25 a zi o x K 972 r External brake resistor Tune amp Test I Connected Activate if power supply gt 55 v 7 r Position controller r Inputs polarity Kp fi 6 83 Integral limit fi 7 v Enable Limit switch Limit switch Ki 08415 p mar Active high Disabled after power on Active high Active high Feedforward Active low Enabled after power on C Active low C Active low Kd 1112 2 o Speed Kd filter 0 1 Folat mode Current used Z of P Move till aligned with phase A nominal current 34 x 7 Tune amp Test C Direct using Hall sensors Time to align on phases fi s 4 4 Setting CANbus rate The IPS110 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 init
77. ull up to 5V 0 0 0 p Input current ENCA ENCB c RESET Logic LOW 1000 Logic HIGH 1500 PULS DIR Logic LOW 700 Input frequency 0 5 MHz Minimum pulse width 150 nS ESD Protection Human Body Model 100 pF 1 5 KO 2 KV 3 3V Digital Outputs All voltages referenced to GND Min Typ Max Units Logic LOW 0 0 4 Output voltage V Logic HIGH 2 4 3 3 Output current 4 4 mA Output impedance 470 Q ESD Protection Human Body Model 100 pF 1 5 KQ 2 KV Encoder Inputs Min Typ Max Units Standards compliance Differential RS422 Low level input current Internal 1 kQ pull ups to 5 Vpc 5 6 mA Input frequency 2 5 MHz Input hysteresis 0 1 0 2 0 5 V Technosoft 2008 IPS110 Technical Reference Encoder 2 Inputs Min Typ Max Units Standards compliance TTL CMOS open collector Input frequency 20 KHz Input threshold voltage In single ended mode TTL CMOS 1 65 V open collector Input hysteresis 0 1 0 2 0 5 V Analog Inputs Referenced to GND Min Typ Max Units Voltage range 0 3 3 V Input impedance 50 KO Resolution 10 bits Differential linearity Guaranteed 10 bit no missing codes 0 09 FS Offset error 0 1 10 2 FS Gain error 2 16 FS Bandwidth 3dB 20 KHz ESD Protection Human Body Model 100 pF 1 5 KQ 2 KV RS 232 Min Typ Max Units Standards co
78. ve 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 a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio The IPS110 CAN executions 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
79. y 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 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 2008 56 IPS110 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 Sl 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 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 2x7 Load Position SI x Motor _ Position IU 4x
80. yMotion 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 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 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 Technosoft 2008 47 IPS110 Technical Reference The motion component contains the motion sequences

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