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TMC-3D Multi-Axis Motion Controller

1. DIP Switch position 3 4 5 6 7 Axis ID ID Bit4 ID ID Bit2 ID Bit1 ID BitO OFF OFF OFF OFF OFF 255 OFF OFF OFF OFF ON 1 OFF OFF OFF ON OFF 2 OFF OFF OFF ON ON 3 OFF OFF ON OFF OFF 4 OFF OFF ON OFF ON 5 OFF OFF ON ON OFF 6 OFF OFF ON ON ON 7 OFF ON OFF OFF OFF 8 OFF ON OFF OFF ON 9 OFF ON OFF ON OFF 10 OFF ON OFF ON ON 11 OFF ON ON OFF OFF 12 OFF ON ON OFF ON 13 OFF ON ON ON OFF 14 OFF ON ON ON ON 15 ON OFF OFF OFF OFF 16 ON OFF OFF OFF ON 17 ON OFF OFF ON OFF 18 ON OFF OFF ON ON 19 ON OFF ON OFF OFF 20 ON OFF ON OFF ON 21 ON OFF ON ON OFF 22 ON OFF ON ON ON 23 ON ON OFF OFF OFF 24 ON ON OFF OFF ON 25 ON ON OFF ON OFF 26 ON ON OFF ON ON 27 ON ON ON OFF OFF 28 ON ON ON OFF ON 29 ON ON ON ON OFF 30 ON ON ON ON ON 31 Technosoft 2008 48 Technosoft motion controllers and drives motors can be set with axis ID values from 1 to 255 TMC3D Technical Reference 3 4 LED Indicators LED Color Function Lit after power on when the drive initialization ends Turned off when an error occurs Turned on when the power stage error signal is generated or when OUT4 is set low 3 5 First Power Up In order to setup the TMC 3D for your application you need to communicate with it The easiest way is via an RS 232 serial link between your PC and the TMC 3D Therefore before the first power up check the following
2. 30 ECHNOSOFT Motion Controller and Drive Motion Controllers Technical Reference Technosoft 2008 TECHNOSOFT TMC 3D Technical Reference P091 048 TMC3D UM 0708 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland 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 TMC 3D a multi axis motion controller with embeded digital drive In order to operate the TMC 3D you need to pass through the following steps Step 1 Hardware installation Step 2 Motion controller setup using Technosoft EasyMotion Studio softwar
3. Download to Drive Motor Press the Download to Drive Motor button to download your setup data in the motion controller EEPROM memory in the setup table From now on at each power on the setup data is copied into the motion controller RAM memory which is used during runtime Remark The setup data becomes active after drive reset or when the power supply is cycled Technosoft 2008 56 TMC3D Technical Reference 4 9 Evaluate the behaviour of motion controller drive part 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 10 Creating an Image File with the Setup Data Once you have validated the embeded drive setup you can use the Application Create EEPROM Programmer File Setup menu command to generate a software file with extension sw with all the setup data The software file provides a convenient way to automate the programming of TMC 3D The software file is a text file that can be read with any text editor It contains blocks of data separated by an empty raw Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit valu
4. Motor inertia kgm 2E 7 gt Motor inertia is unknown Phase connection Star C Delta Motor sensors Hee No of lines rev lines Test Connections Detect Number of Lines encoder Hall sensors Hall configuration 2 Test Connections Detect Hall Configuration Sensor type T Temperature NIC Transmission to load Transmission type Rotary to rotary Motor displacement of 1 tot E Rotary to linear corresponds on load to 1 tot Online AxisID2 30 Firmware F700A SetupID 0581 7 In the Motor Setup dialog 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 dialog you can configure and parameterize the drive part of the motion controller for your application In each dialog 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 dialog with OK to keep all the changes regarding the motor and the drive setup 4 6 Changing the Axis ID of the Motion Controller The axis ID of an TMC 3D drive can be set in 2 ways Hardware according with the DIP switch selection in the range 1 to 31 or 255 see 3 3
5. 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 6 2 1 2 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 6 2 2 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph Error Reference source not found 6 3 Advanced features The TMC 3D offers many advance management features for the multi axis application All features presented below require usage of EasyMotion Studio as TML programming tool 6 3 1 Error handling The TMC 3D has a powerful and highly customizable error handling mechanism Each slave can be programmed from the Motion Controller application in order to rep
6. aer 49 S First POWSFUD aA EEE AEE 49 Technosoft 2008 Il TMC3D Technical Reference 4 Step 2 Motion Controller SG rrura 50 4 1 Installing EasyMotion Studio EAO 50 4 2 Getting Started with EasyMotion 50 4 3 Establish dala iaia aA 51 4 4 Motion Controller Application 52 4 5 Embeded Drive Setup xir suerte case cues Re ERR EXE FEBR PER RES 53 4 6 Changing the Axis ID of the Motion 54 4422 Setting ataa aT Tata 55 4 8 Download Setup Data to 56 4 9 Evaluate the behaviour of motion controller drive part optional 57 4 10 Creating an Image File with the Setup 57 5 Step 3 Slave Axes Setup BANAN 57 6 Step 4 Motion Programming rrun 60 6 1 Multi axis GOOIOUTSIOO rss 60 6 2 Generate coordinated multi axis 62 6 2 1 Coordinated multi axis modes and application management 62 6 2 2 Creating an Image File with the Setup Data and the TML Program 64 6 3 Advanced 64 Ha BAS ulea lala aia E 64 6 3 2 Using TML Functions to Split Motion between Mot
7. final system altitude m motor current during deceleration Rp motor phase resistance ty time to decelerate s total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jm and the load inertia J will be replaced by the motor mass and the load mass measured in kg the angular speed Wy will become linear speed measured in m s and the friction torque will become friction force measured in Remark If the above computation of Ey can t be done due to missing data a good starting value for the capacitor can be 10 000 uF 100V Option 2 Connect a brake resistor Hag between pin 4 and 8 of the Motor amp Supply connector J2 and activate the drive braking circuit from EasySetUp when motor supply voltage exceeds 87V This option is not available when the TMC 3D is used with a step motor Remark This option can be combined with an external capacitor whose value is not enough to absorb the entire regenerative energy but can help reducing the brake resistor size Brake resistor selection The brake resistor value must be chosen to respect the following conditions 1 to limit the maximum current below the TMC 3D peak current Ipeak 16 5A 2 to sustain the required braking power Technosoft 2008 30 TMC3D Technical Reference 1 2 2 5 CUyax Ubrake
8. Power supply connections and their voltage levels Motor connections Serial cable connections DIE switch positions all shall be OFF not pressed EasyMotion Studio is installed on the PC which is serially connected with the drive see chapter Step 2 Motion Controller Setup Technosoft 2008 49 TMC3D Technical Reference 4 Step 2 Motion Controller Setup 4 1 Installing EasyMotion Studio EasyMotion Studio is a PC software platform for the setup and motion programming of the Technosoft motion controllers drives EasyMotion Studio includes EasySetUp for the drive motor setup and a Motion Wizard for the motion programming The Motion Wizard provides a simple graphical way of creating motion programs written in Technosoft Motion Language TML A demo version of EasyMotion Studio can be downloaded free of charge from Technosoft web page EasyMotion Studio 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 EasyMotion Studio package includes a firmware programmer through which you can update your drive firmware to the latest revision On request EasyMotion Studio 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 The demo version of EasyMotion Studio can be
9. Min Typ Max Units Nominal values 8 24 30 Voc Supply voltage Absolute maximum values surge ee t 100 32 V duration 10ms All inputs and outputs disconnected 20 30 mA Supply current All inputs tied to 24 all outputs Sourcing simultaneously their nominal 700 1000 mA current into external load s Isolation voltage rating Between and GND 200 Vnus CAN Bus Supply Input isolated Measured between CAN MK and Min Typ Max Units Nominal values 8 24 30 Voc Supply voltage Absolute maximum values surge t 75 32 V duration lt 10ms CAN Bus idle 12 25 mA Supply current CAN Bus operating at 1Mbit s 60 180 mA Isolation voltage rating Between CAN GND and drive GND 200 Vnus Motor Outputs Technosoft 2008 12 TMC3D Technical Reference All voltages referenced to GND Min Typ Max Units Motor output current Continuous operation 8 8 Arms Motor output current peak 16 5 16 5 A Short circuit protection threshold 26 25 29 Short circuit protection delay 12 15 uS On state voltage drop Output current 8 1100 250 600 Off state leakage current 1 0 1 1 mA Fpwm 20 kHz Vyor 12 V 50 uH Motor inductance 20 kHz 48 V 200 uH Fpwm 20 kHz Vmor 80 V 400 uH 24 V
10. Technosoft 2008 25 TMC3D Technical Reference J2 Motor amp Supply Connector 3D Step Motor Connection 4 phase Inverter Currents Info Connected to case 1 coil per phase Figure 3 7 J2 Step motor connection 2 phase motor with 1 coil per phase Remark The EARTH signal is connected internally to the metal case and to all SHIELD signals It is completely insulated from all electric signals of TMC 3D this feature may facilitate avoiding ground loops It is recommended that Earth be connected to GND at only one point preferably close to the Vmor supply output Technosoft 2008 26 TMC3D Technical Reference A1 2 coils per phase in parallel connection A1 A2 A1 A2 B1 B2 B1 B2 Step MOTOR Figure 3 8 J2 Connection of a 2 phase motor with 2 coils per phase in parallel Technosoft 2008 2 coils per phase in series connection A1 A1 A2 A2 B1 B1 B2 B2 Step MOTOR Figure 3 9 J2 Connection of a 2 phase motor with 2 coils per phase in series TMC3D Technical Reference 3 2 3 1 Recommendations for Motor Wiring 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 TMC 3D earth shield pin Leave the other end disconnected b The parasitic capacitance between the
11. 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 1 SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2008 75 TMC3D Technical Reference 7 3 7 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 2 Load Acceleration SI x Load _ Acceleration IU 4xNo encoder linesx T For rotary to linear transmission 21 Encoder accuracy xLoad Acceleration IU Load Acceleration m s T where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advan
12. 1 2 pin RS 422 differential 5V single ended A input when external reference is 274 master encoder RS 422 differential Puls 5V single ended Puls input when external reference is Pulse amp Direction or Compatible RS 422 5V and 24V single ended 14 Ref 15 Ref ADS Analogue position speed or torque reference input 10 V differential 12 bit resolution 16 Tach 17 Tach AD2 Analogue speed feedback tachometer input 10 V differential 12 bit resolution 18 GND Ground terminal for all non isolated I O 20 OUT4 ER OUT 4 24 V Error output seen as Out 4 When Out 4 is commanded low 0 logic OUTA ER is set to 24VPLC and lights the red led Opto isolated Short circuit protected 21 OUT5 RD OUT 5 24 V Ready output seen as Out 5 When Out 5 is commanded low 0 logic 5 RD pin is set to 24VPLC and lights the green LED Opto isolated Short circuit protected Technosoft 2008 39 TMC3D Technical Reference e 24 V General purpose output Out 0 When Out 0 is commanded low 0 logic OUTO pin is set to 22 OUTO OUT 0 24VPLC e Opto isolated Short circuit protected e 24 V General purpose output Out 1 When Out 1 is commanded low 0 logic OUT1 pin is set to 23 OUT1 OUT 1 24VPLC e Opto isolated Short circuit protected e 24 V General pur
13. PBR where Corive is the overall capacitance on the motor supply external drive i e U2 2 PBR 3 to limit the average current below the TMC 3D nominal current Inom 8A P t gt BR X td 2 tcvcLE where is the time interval between 2 brakes in case of repetitive moves 2 PgR xt U 4 to be rated for an average power Pay BR d anda peak power MAX tCYCLE RBR Remarks 2 1 If Umax gt BRAKE the braking power Pag must be reduced by increasing either t the IPEAK 2xPBR time to decelerate or the external capacitance on the motor supply 2 P t U 2 If BR d X INOM BR or tcycie the time interval between braking cycles must be increased either the braking power must be reduced see Remark 1 THE BRAKE RESISTOR MAY HAVE HOT SURFACES SIS DURING OPERATION Technosoft 2008 31 TMC3D Technical Reference 3 2 4 Feedback J13 Connector TMC 3D Pin Name on the Type Function Comments Drive cover 1 Positive A for differential encoder or A for single ended encoder 1 2 1 Positive B for differential encoder or B for single ended encoder 3 5 Voc 5 Vpc Supply generated internally H3 CK Positive Hall 3 input for differential Hall or Hall 3 for single ended Hall Positive Clock output signal for differential 551 encoder H1 DT Positive Hall 1 for differen
14. You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 7 11 4 DC brushed motor with absolute SSI encoder on load amp tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range 4096 Tacho gain Motor 51 x Motor Speedq IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 7 11 5 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed SI 4096 x Tacho gain x Motor Speed IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 84 TMC3D Technical Reference 7 11 6 Stepper motor open loop control No feedback device or incremental encoder on load The internal motor
15. where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 7 11 2 Brushless motor with absolute SSI encoder on motor The internal motor speed units are encoder counts slow loop sampling period The motor is rotary The correspondence with the motor speed in SI units is 2 Motor 51 bits resolution x Motor 5 where No bits resolution is the SSI BiSS encoder resolution in bits 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 SI units for motor speed are rad s for a rotary motor m s for a linear motor x SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 83 TMC3D Technical Reference 7 11 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed IU 4096 Tacho gain Motor Speed SI where Analogue Input Range is the range of the drive analogue input for feedback expressed in V
16. Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2 65520 where 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 7 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 79 TMC3D 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 1 1x Vdc 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 mae x Voltage command IU 32767 This correspondence is also available for DC brushed motors which have the voltage command internal units as the brushless mo
17. which be opened from the Drive Setup 7 2 7 Stepper motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is Load Speedlrad s xLoad Speed U 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 7 2 8 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 SUR x Motor Speed IU 4xNo encoder linesx Tr x T where No encoder lines is the motor encoder number of lines per revolution SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 72 TMC3D Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened fr
18. 1 Multi axis configuration When the commissioning for all the slave applications is finished the multi axis application can be configured The multi axis configuration is done from the Motion Controller Application Back in the Motion Controller application go to the A Axis Selection component Inside the Available section you will find the Slaves Applications Notice that the Motion Controller Application is also listed since the motion controller itself can be one of the slaves From all the available applications a maximum number of eight can be configured as slaves of the motion controller A drive motor is consider to be a slave when the associated application is moved to the Selected field You can use the arrows to move the applications between Available field and Selected field EasyMotion Studio Untitled 10 xj Project Application Communication View Control Panel Window DS bi EEE eika al af X te Ems Eee xi ezz SSR Slave Status Register Position nz ra Slave A Slave BI Ere MS Project E ioj x E Untitled 2 B8 3g Motion Controller Axis Selection Axis Selection S Setup Ej M Motion fi Homing Modes Functions Selected Available 1 Interrupts Motion Controller Untitled Ap plication 1 CAM Tables Untitled Application 1 Untitled Application 2 Untitled Application 3 gt lt gt Move Do
19. 10 p OF EE m T 000 o Motor Power supply and Feedback cables Figure 3 1 Recommended mounting of TMC 3D in a cabinet Technosoft 2008 19 TMC3D Technical Reference 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector TMC 3D Multi Axis Motion Controller 5 5 ateratea ooooo moooooooo 0000 0000 Connector Connector Figure 3 2 TMC 3D connectors layout Technosoft 2008 20 TMC3D Technical Reference 3 2 2 Identification Labels CD recunosorr 4 Manufacturer Drive Name Article Number 048 002 301 as124 Serial Number Figure 3 3 TMC 3D Identification Label Technosoft 2008 21 TMC3D Technical Reference 3 2 3 Motor amp Supply J2 Connector Function Brushless motor or step motor 3 phase Phase A Step motor 2 phase Phase A DC brush motor positive terminal Brushless motor or step motor 3 phase Phase B Step motor 2 phase Phase A DC brush motor negative terminal Brushless motor or step motor 3 phase Phase C Step motor 2 phase Phase B DC brush motor not connected Brake output for external brake resistor only
20. 24 770R GND dT bo o ea 5076 24VPLC 3 3V 5 OO deek 8 gt Em OUT max AE LL S Dam 8 24VPLC O 933v 5 25 ie dX g ega OUTS RD i 1 E Green and OVPLC i 24VPLC Red LEDs 24VPLCO i 24VPLC 24VPLC 24 OVPLC wide PEN iL ovPLC OVPLC VLOG gt from pin 7 __ dai 10V Re i Tach MEER ERN F 3a8 1 5kHz roe E AN PE d e LAE Ea SHIELD 7 Connected J9 Analog amp Digital Connector TMC3D Figure 3 17 J9 Analogue amp Digital connections Technosoft 2008 41 TMC3D Technical Reference 3 2 5 1 Recommendations for Analogue Signals Wiring a If the analogue signal source is single ended use a 2 wire shielded cable as follows 15 wire connects the live signal to the drive positive input 274 wire connects the signal ground to the drive negative input If the analogue signal source is differential and the signal source ground is isolated from the drive GND use a 3 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 2 wire connects the signal minus to the drive negative input and 3 wire connects the source ground to the drive GND If the analogue signal source is differential and the signal source ground is common with the drive GND us
21. 35 Logic HIGH 24 Vac lt 2 V all outputs BUM 80 mA except OUT5 RD ER Logic HIGH 24 Va c lt 2 V outputs Output current 160 mA OUT5 RD OUT4 ER Logic LOW leakage crt 0 05 0 2 mA t Absolute maximum surge duration lt 1s 350 350 mA Encoder Hall Inputs Min Typ Max Units Single ended mode compliance Leave negative inputs disconnected TTL CMOS open collector Input threshold voltage Single ended mode 14 1 5 1 6 V Differential mode compliance For full RS422 compliance see TIA EIA 422 Input hysteresis Differential mode 10 1 102 10 5 V Referenced to GND 7 12 Input common mode range t V Absolute maximum surge duration 1s 25 25 Single ended mode 4 7 kQ Input impedance Differential mode see 120 Q Input Frequency 0 8 MHz ESD Protection Human Body Model 2 kV Technosoft 2008 14 TMC3D Technical Reference SSI Encoder Interface Min Typ Max Units eit Dee For full RS422 compliance see TIA EIA 422 CLOCK Output voltage Differential 500 differential load 2 0 2 5 5 0 Common mode referenced to GND 2 3 2 5 2 7 CLOCK frequency Software selectable 409 et Eb kHz DATA Input hysteresis Differential mode 0 1 0 2 0 5 V Referenced to GND 7 12 DATA Input common mod
22. 7 Scaling Factors Technosoft motion controllers 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 SI 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 7 1 Position units 7 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is For rotary motors Load Position SI 22 Motor Position IU 4xNo encoder lines Tr For linear motors Load Position SI eee x Motor _ Position IU r 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 15 units for position are rad for a rotary movement m for a linear movement Technosoft 2008 67 TMC3D Technical Reference 7 1 2 Brushless motor with absolute SSI encoder
23. ID of your motion controller drive 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 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 the Communication Setup dialog at Axis ID of drive motor connected to PC the option Autodetected 4 4 Motion Controller Application Press New button to open the New Project dialogue Set the axis number for motion controller application equal with your motion controller Axis ID The initial value proposed is 255 which is the default axis ID of the motion controllers and drives motors Press New button and select the product type Motion Controllers followed by product selection New Project x Step 1 Select axis number 2 7 Step 2 Define load setup data 1 PLUG IN DRIVES 2 OPEN FRAME DRIVES 3 CLOSED FRAME DRIVES 4 INTELLIGENT MOTORS 5 MOTION CONTROLLERS 5 OTHER 6 STARTER KITS 2 PHASE STEPPER A BRUSHED MOTOR b BRUSHLESS LINEAR
24. MOTOR gt BRUSHLESS ROTARY MOTOR gt Incremental Encoder SSI Encoder v E HN Ss OFT A Upload from Drive Motor Technosoft 2008 52 TMC3D Technical Reference The selection continues with the motor technology for example brushless or brushed and type of feedback device for example Incremental encoder SSI encoder EasyMotion Studio opens the Project window where on the left side you can see the structure of a project At beginning the new project is named Untitled and the first application is named Motion Controller The Motion Controller application has 3 components A Axis Selection S Setup and M Motion program EasyMotion Studio Untitled Project Application Communication View ControlPanel Window Help BSR GORA FOO ZZ ZE GGE fts Fault Slave A En D 4 In Cam 3 Not Configured 7 Not Configured E 42 In Gear Incompatible Firmware El 6 Incompatible Firmware Tol Pie E ig Project Application General Information Speed A Axis selection A rpm S Setup Application ID M Motion ir Homing Modes I Functions D Interrupts Axis number Memory Settings g CAM Tables Drive TMC 3D Product 10 P048 002 E301 Firmware ID F700A Setup ID 0581 E2ROM 8 Kwords 4 Kwords Motor 3441 E023 R1 Type Brushless
25. Rotary Sensors Load Position Not present Motor Position Incremental Encoder Motor Speed Not present Online AxisID2 TMC 3D Firmware F700A SetupID 0581 7 4 5 Embeded Drive Setup From the project tree select S Setup to access the setup data for drive part of TMC 3D Press the View Modify button it to open the setup dialogs Motor Setup and Drive Setup through which you can configure and parameterize the drive part of Technosoft motion controller Technosoft 2008 53 TMC3D Technical Reference 25 5 Project Application Communication View ControlPanel Window Help MEE al a XU KE 43 Drive Sta 4 slave ation Status Motion Controller r Guideline assistant Database A Axis Selection Step 1 Select your motor from a database If your motor E S Setup does not exist in any database proceed through all the E M Motion next steps in order to define your motor and sensors data In either case use the tests from the next steps to p Motor B Homing Modes verify detect the motor and sensors parameters and 3441 E023 R1 Functions operation DO Interrupts PS CAM Tables ZERK Z Save to User Database Delete Motor data NERE fi 15 E Test Phase Connections Peak current Se ze 4 Pole pairs 2 5 Torque constant o 025 Nm Phase resistance motor drive ohms gt y x Phase inductance motor drive 023 mH
26. can read this value in the Advanced dialogue which can be opened from the Drive Setup 7 2 5 DC brushed motor with tacho on motor When only a tachometer is mounted on the motor shaft the internal speed units are A D converter bits The correspondence with the load speed in SI units is Analogue Input Range Load 51 4096 x Tacho _ gain x Tr Motor 0 where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 71 TMC3D Technical Reference 7 2 6 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 Load Speed SI aietan Speed lU No ustepsxNo stepsxTrxT where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read 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
27. current Tune amp Test Direct using Hall sensors Time to align on phases fi s 7 4 7 Setting CANbus Rate The TMC 3D can work with the following rates on the CAN 125kHz 250kHz 500KHz 1MHz In the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm a Ifa 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 Technosoft 2008 55 TMC3D Technical Reference b 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 Ifthere is no CAN rate value set by a valid setup table with the firmware default value i e 500kHz Remark The same CAN baud rate must be set for motion controller and slave axes Drive Setup Guideline assistant Control mode p External reference Previous Next Position C No Yes Setup Step 1 Inthe Control mode group box select what do C Speed Analogue 7 Incremental Encoder 2 Cae Motor want to control position speed or torque In the Automatically activated after Power Help Commutation method group box choose sinusoidal or tr
28. device The internal motor position units are motor usteps The correspondence with the motor position in SI units is Motor Position SI 2 xMotor Position lU No ustepsxNo 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 7 10 6 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 7 10 7 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 Position lU 4xNo encoder lines where No encoder lines is the motor encoder number of lines per revolution SI units for motor position are rad for a rotary motor m for a linear motor Technosoft 2008 82 TMC3D Technical Reference 7 11 Motor speed units 7 11 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors Motor Speed SI Ak Motor _ Speed IU 4xNo encoder linesx T Encoder accuracy For linear motors Motor Speed SI Motor Speed lU
29. download and run a TML program to save real time data acquisitions and to keep the cam tables during run time The E ROM is mapped in the address range 4000h to 5FFFh It is used to keep in a non volatile memory the TML programs the cam tables and the drive setup information 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 TML Programs Technosoft 2008 4000h E ROM memory for TML programs Cam tables Setup information 5FFFh Reserved Data acquisitions 9000h and SRAM memory cam tables at runtime 9FFFh Figure 8 1 TMC 3D Memory Map 87 TMC3D Technical Reference This page is empty Technosoft 2008 88 TMC3D Technical Reference TECHNOSOFT
30. 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 SI units for speed are rad s for a rotary movement m s for a linear movement SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 70 TMC3D Technical Reference 7 2 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2 Load Speed SI xLoad 4xNo encoder linesx T where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 7 2 4 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2 Load Speed SI bits resolution xLoad Speed lU where No bits resolution is the SSI encoder resolution in bits per revolution T is the slow loop sampling period expressed in s You
31. 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 TMC 3D 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 pH C A good shielding can be obtained if the motor wires are running inside a metallic cable guide 3 2 3 2 Recommendations for Power Supply On Off Switch and Wiring a If motor supply is switched on abruptly the in rush start up current can reach very high values that can damage the drive In order to limit the in rush current it is preferable to use the inherent soft start provided by the power supplies when are turned on Therefore it is recommended to locate the switch for the motor supply at the INPUT of the power supply see Figure 3 10 and NOT at the output i e between the supply and drive Output Figure 3 10 J2 Motor supply connection Recommended in rush current limitation b When the above solution is not possible as in the case of uninterruptible power supplies or batteries accumulators connect an external capacitor of minimum 470 between the switch and the drive to reduce the slew rate rising slope of the motor supply voltage Uninterruptible Switch Figure 3 11 J2 Motor supply connection Alternative in rush current limit
32. s for a linear movement Technosoft 2008 73 TMC3D Technical Reference where No bits resolution is the SSI encoder resolution in bits 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 7 3 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load Acceleration SI EE xLoad Acceleration lU 4xNo encoder linesxT 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 7 3 4 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in Sl units is Load Acceleration Sl or xLoad Acceleration IU bits resolution where No bits resolution is the SSI encoder resolution in bits per revolution T is
33. speed units are motor slow loop sampling period The correspondence with the motor speed in SI units is 2 Motor _Speed Sl x Motor Speed IU No ustepsxNo steps x T where No steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp 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 7 11 7 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 edi xMotor Speed IU 4xNo encoder linesx T where No encoder lines is the motor encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup SI units for motor speed are rad s for rotary motor m s for a linear motor Technosoft 2008 85 TMC3D Technical Reference This page is empty Technosoft 2008 86 TMC3D Technical Reference 8 Memory Map TMC 3D has 2 types of memory available for user applications 4Kx16 SRAM and 8Kx16 serial E ROM The SRAM memory is mapped in the address range 9000h to 9FFFh It can be used to
34. usteps The correspondence with the load position in SI units is 2 Load Position SI x Motor _ Position IU No ustepsxNo stepsx Tr where No steps is the number of motor steps per revolution No usteps is the number of micro steps per step You can read change this value in the Drive Setup dialogue from EasyMotion Studio Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 7 1 6 Stepper motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units is 2 Load Position SI x Motor _ Position IU 4xNo encoder _ lines x where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 7 1 7 Stepper motor open loop control Incremental encoder on load The internal position units are load encoder counts The transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position SI 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 1 SI units for position are rad for a rotary movement m for a l
35. ARNING 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 Technosoft 2008 1 TMC3D Technical Reference THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION DURING DRIVE OPERATION THE CONTROLLED MOTOR WARNING WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions CAUTION THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT CAUTION gt gt gt 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 TMC3D Technical Reference 2 Product Overview 2 1 Introduction The TMC 3D multi axis motion controller incorporates in the same unit a multi axis motion controller and a fully digital intelligent servo drive Based on the latest DS
36. DIP Switch Settings Software any value between 1 and 255 stored in the setup table The axis ID is initialized at power on using the following algorithm a If a valid setup table exists with the value is 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 selection Technosoft 2008 54 TMC3D Technical Reference b If the setup table is invalid with the last value set with a valid setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with DIP Switch selection is no axis ID set by a valid setup table according with DIP switch selection Remark If an Axis ID was previously set by software and its value is not anymore known you can find it by selecting in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected Apply this solution only if this drive is connected directly with your PC via an RS 232 link If this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Network Drive Setup Guideline assistant r Control mode p External reference Previous Next Position C No Yes Setup 1 Inthe lt lt Control mode group box select what do Speed Analogue Incremental Encoder Came you want to cont
37. Digital Inputs opto isolated voltages referenced to OVpic Min Typ Max Units Logic LOW 5 0 1 2 Input voltage Logic HIGH 8 24 30 V Absolute maximum surge duration lt 1s 30 80 Logic HIGH 2 5 10 15 MA Logic LOW 0 0 2 Input frequency 0 5 kHz OE Pulse LOW HIGH LOW 10 us Pulse HIGH LOW HIGH 100 us Pulse Direction Master Encoder Inputs Min Typ Max Units IN Leave IN disconnected TTL CMOS open collector Single Ended mode compliance IN Leave IN disconnected 24V referenced to GND Differential Mode Compliance GNOak TIA EIA 422 Input voltage Logic LOW 7 0 12 V IN Logic HIGH 1 8 5 12 IN Logic LOW 7 0 4 6 IN Logic HIGH 54 24 30 Absolute maximum surge duration 1s 12 32 Differential input hysteresis 10 1 102 0 4 Technosoft 2008 13 TMC3D Technical Reference 7 Common mode range differential input mode 12 30 12 IN 1 Input impedance IN 0 77 Differential impedance 15 Single ended mode 0 1 MHz Input frequency Differential mode 0 8 MHz ESD protection Human body model 2 kV 24 V Digital Outputs opto isolated All voltages referenced to OVa c Min Typ Max Units Logic HIGH 24 Vac 24 Voc 22 23 24 5 Output voltage Extemal load 3300 V t Absolute maximum surge duration lt 1s 0 5
38. P technology they offer unprecedented performance Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the TMC 3D drives accept as position feedback quadrature incremental encoders absolute encoders SSI for brushless or DC brushed motors The TMC 3D can control up to 8 axes at a time The slave drives can perform multi axis coordinated position control speed or torque control and work in multi axis configurations Thanks to the embedded multi axis motion controller the TMC 3D combines multi axis controller with drive in a single compact unit and is capable to execute complex motions without requiring intervention of an external host device Using the high level Technosoft Motion Language TML the following operations can be executed directly at motion controller level Setting multi axis motion modes Linear Interpolation on 2 or 3 axes Vector Mode with Tangent Axis Setting various motion modes on all slaves position profiles speed profiles etc Changing the motion modes and or the motion parameters Executing homing sequences on all slaves Powerful mechanism of error handling with the possibility of saving the errors that occurs on the slaves the EZROM memory Controlling program flow through Oooo D Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limi
39. a Always connect both positive and negative signals when the encoder or the Hall sensors are differential and provides them Use one twisted pair for each differential group of signals as follows A with A B with B Z with Z H1 DT with H1 DT H2 with H2 H3 CK with H3 CK Use another twisted pair for the 5V supply and GND Keep the ground connection between an encoder and the TMC 3D even if the encoder supply is not provided by the drive When using shielded cable connect the cable shield to the earth at the encoder side Leave the shield unconnected at the IDS 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 Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the earth potential at only one end This point could be either the TMC 3D using the earth shield pin s or the encoder motor Do not connect the shield at both ends If the TMC 3D 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 uF rated at 6 3V Technosoft 2008 37 TMC3D Technical Reference 3 2 5 Analog amp Digital I O J9 Connector Name on t
40. ansmission 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 EO EA LINEAR MOTOR Incremental quadrature encoder Hall sensors Figure 2 4 Brushless DC linear motor Position speed torque control Hall sensors and quadrature encoder on motor 5 Position speed or torque control of a brushless AC rotary motor with an absolute SSI encoder on its shaft The brushless motor is vector controlled like a permanent magnet Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2008 6 TMC3D Technical Reference synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor TMC 3D SSI absolute encoder Figure 2 5 Brushless AC rotary motor Position speed torque control SSI encoder on motor 6 Position speed or torque control of a DC brushed rotary motor with an incremental quadrature encoder on its shaft Scaling factors take into account the transmission r
41. apezoidal mode The trapezoidal mode is possible only if your C Torque r Commutation method gt Advanced C Trapezoidal Sinusoidal m CANbus Radiat default Drive Info Set change axis ID now Setup Drive operatig default r Protections 125 Kbps Power supply 250 Kbps Detect Over current 500 Kbps Motor current 85 a x for more than bo 5 Current limit ero bps Control error Current controller Position error gt n 4 raa x for more than 3 5 o Control error 1 052 Tune amp Test Speed error gt 2 71 for more than 3 71 Motor over temperature Speed controller Kp 146 6 Intearal limit E M d Ga ps s fr p hk s Ki EE External brake resistor Tune amp Test Connected Activate if power supply gt 87 E Position controller m Inputs polarity Kp 03 Integral limit fi Enable Limit switch Limit switch Ki 002249 EEE C Active high Disabled after power on Active high Active high z Feedforward Active low Enabled after power on C Active low C Active low Kd 0 0 Speed L errea Start mode ilter 10 1 Current used 2 of n SUN Move till aligned with phase BEE Tune amp Test C Direct using Hall sensors Time to align on phases fi s 7 4 8 Download Setup Data to EEPROM
42. are fully insulated from all other TMC 3D circuits system ground GND IO ground OVPLC and Earth Therefore the CAN network requires a separate supply Technosoft 2008 44 TMC3D Technical Reference 3 2 7 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 with CAN 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 below 5 meters it is possible to use a standard phone straight through cable with parallel wires c When total CAN bus length is over 40 meters it is mandatory to use shielded twisted cables Connect the cable shield to J10 pin 5 SHLD 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 The 1200 termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive J10 CAN Connector To Previous Node lt max 30cm 3 5 5 5 248801 8 Optical isolation SHIELD CAN transceiver To Next Node Figure 3 19 J10 CAN Connector Technosoft 2008 45 TMC3D Technical Refe
43. atio 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 TMC 3D Incremental quadrature encoder Figure 2 6 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 7 Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2008 7 TMC3D Technical Reference Incremental quadrature encoder Figure 2 7 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor 8 Load position control using an absolute SSI encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load Motor SSI absolute encoder Figure 2 8 DC brushed rotary motor Position speed torque control Absolute SSI encoder on load plus tachometer on motor Technosoft 2008 8 TMC3D Technical Reference 9 Open loop
44. ation Technosoft 2008 28 TMC3D Technical Reference ALWAYS PROVIDE AN EXTERNAL MEAN TO SWITCH WARNING OFF THE POWER SUPPLIES ALWAYS TURN OFF SUPPLIES BEFORE INSTALLING THE DRIVE ALWAYS LIMIT THE IN RUSH START UP CURRENT OF CAUTION THE MOTOR SUPPLY OTHERWISE IT CAN DAMAGE THE DRIVE 3 2 8 5 Recommendations for Supply Wiring 1 Use short thick wires between the TMC 3D 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 pF rated at an appropriate voltage right on the terminals of the TMC 3D When the same motor power supply is used for multiple drives do a star connection centered electrically around the supply outputs Connect each drive to the common motor supply using separate wires for plus and return Always connect the TMC 3D earth shield pin to a good quality earth point The TMC 3D generates electromagnetic disturbances when it s case is not grounded Use a short and thick connection from the earth pin of the drive to the earth point Whenever possible mount the TMC 3D drive on a metallic surface connected to earth For mechanical fixing use good quality plated screws that won t oxidize during the expected lifetime 3 2 34 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the m
45. ced dialogue which can be opened from the Drive Setup 7 3 8 Stepper motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load Acceleration Sl e x Motor Acceleration IU 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 1 SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2008 76 TMC3D Technical Reference 7 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 7 4 1 Brushless DC brushed motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is 2 For rotary motors Load _ 51 x Motor Jerk IU 4xNo encoder _linesx Tr x T For linear motors Load _ Jerk Sl GE xMotor _ Jerk IU Trx T where No encoder
46. chnosoft motion controllers drives have Homing procedures and if needed any of these homing modes can be customized In order to do this you need to select the Homing Modes from your application tree and in the right side choose User defined for one of the Homing procedures Following this operation the selected procedure will be listed under Homing Modes in a sub tree with the name HomeX where X is the number of the selected homing EasyMotion Studio Untitled Project Commurcabon yew Goti Peel window pep OSE 6 OOk FOO bra Event set has occured M Command error 2 in Gear Motion is completed 13 Under voltage EE United barez 5 setup Project C User defined and stop at let User defined top tint Ready 10540 81 CANopen 619 Technosoft 2008 65 TMC3D Technical Reference If you select the HomeX procedure on the right side you ll see the TML code implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged Further the TMC 3D can command the execution of a specific homing for every application In this way for example the TMC 3D can put the machine in the starting position 6 3 4 Customizing the Drive Reaction to Fault Conditions Similarly to the homing modes the default service routines for the TML interrupts can be c
47. configuration through Motor Setup and Drive Setup dialogs section 4 5 Embeded Drive Setup Axis ID configuration section 4 6 Changing the Axis ID of the Motion Controller download setup data in EEPROM section 4 8 Download Setup Data to Technosoft 2008 58 TMC3D Technical Reference EasyMotion Studio Untitled Project Application Communication View Control Panel Window Help Dc 4 1 SZ d Fault Axis i 15 Enable input is inactive ini x Motion Controller Application General Information Application 1 S Setup lication ID Motion DO Homing Modes Functions DO Interrupts Axis number 255 x Memory Settings g CAM Tables Drive IDM640 8El Product ID P048 001 E101 Firmware ID FOOO Setup ID 0105 E2ROM 8 Kwords RAM 31 Kwords Motor Type Brushless Rotary Sensors Load Position Not present Motor Position Incremental Encoder Motor Speed Not present Ready Online AxisID255 640 Firmware FOODI SetupID 0105 4 The slaves setup data can be stored in individual software files similar with the one generated for motion controller section 4 10 Creating an Image File with the Setup Data allowing easy programming of the drives motor outside of EasyMotion Studio environment Technosoft 2008 59 TMC3D Technical Reference 6 Step 4 Motion Programming 6
48. control of a 2 or 3 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor TMC 3D Figure 2 9 No position or speed feedback Open loop control motor position or speed 10 Closed loop control of load position using an encoder on load combined with open loop control of a 2 phase step motor in speed with speed reference provided by the position controller The motion commands in both SI and IU units refer to the load Motor TMC 3D Incremental quadrature encoder Figure 2 70 Encoder on load Closed loop control load position open loop control motor speed 11 Closed loop control of a 2 phase step motor in position speed or torque Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Technosoft 2008 9 TMC3D Technical Reference Motor Incremental quadrature encoder Figure 2 81 Encoder on motor shaft Closed loop control motor position speed or torque Technosoft 2008 10 TMC3D Technical Reference 2 4 TMC 3D Dimensions Th
49. dy Online AxisID 255 TMC 3D Firmware F700A SetupID 0581 a The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate TML code When activated Motion Wizard adds a set of toolbar buttons in the project window just below the title The Motion Wizard provides a fast way to develop complex TML programs Each button opens a dialog where the user can set specific parameters Based on these parameters the Wizard will generate the TML code The generated TML instructions are not a simple text included in a file but a motion object Therefore the output of the Motion Wizard is 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 Technosoft 2008 63 TMC3D Technical Reference e Save and reuse a complete motion program or parts of it in other applications e Add delete move copy insert enable or disable one or more motion objects e Group several motion objects and work with bigger objects that perform more complex functions After the TML code has been generated the user can test it by running the application press the Run button At this point the following operations are performed ATML program is created by inserting the motion objects into a predefined template TML program is compiled and downloaded to the TMC 3D
50. e Figure 3 12 J13 Single ended open collector encoder and Hall connection Technosoft 2008 33 TMC3D Technical Reference J13 Feedback Connector Differential encoder RS 422 5 5 o a 1 l 0 1 5V mm M Connected to case Figure 3 13 J13 Differential RS 422 encoder connection Remark For long gt 10 meters encoder lines add 1200 termination resistors close to TMC 3D Technosoft 2008 34 TMC3D Technical Reference J13 Feedback Connector Differential Hall RS 422 DSP Controller SHIELD Connected to case Figure 3 14 J13 Differential RS 422 Hall connection Remark For long gt 10 meters Hall lines add 1200 termination resistors close to TMC 3D Technosoft 2008 35 TMC3D Technical Reference 413 Feedback Connector Differential SSI Encoder RS 422 DSP Controller Connected to case Figure 3 15 J13 Differential RS 422 SSI encoder connection Remarks 1 For long gt 10 meters SSI encoder lines add 1200 termination resistors close to TMC 3D Technosoft 2008 36 TMC3D Technical Reference J13 Feedback Connector Motor thermal sensor connection DSP Controller SHIELD 2 TP Connected to case PTC NTC Figure 3 16 J13 Motor thermal sensor connection 3 2 41 Recommendations for Feedback Devices Wiring
51. e a 2 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 274 wire connects the signal minus to the drive negative input For all of the above cases connect the cable shield to the drive I O connector frame and leave the other shield end unconnected to the signal source To further increase the noise protection use a double shielded cable with inner shield connected to drive GND and outer shield connected to the drive I O connector frame Leave both shields unconnected on the signal source side If the signal source output voltage is larger than 10V use a 3 resistor differential divider located near the TMC 3D 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 42 TMC3D Technical Reference 3 2 6 Serial Communication J4 Connector Function RS 232 Data Transmission RS 232 Data Reception Ground 1 4 6 7 8 Not Connected 9 Optional supply for handheld terminal internally generated J4 RS 232 Connector RS 232 Connection Transceiver DSP Controller SHIELD RS 232 serial cable 1 to 1 male female Figure 3 18 J4 Serial RS 232 connection Remarks 1 Use a 9 wire standard 1 to 1 non inverting shielded cable preferable with metallic or metallized shells casings 2 On TMC 3D drive the electrical grou
52. e for motion controller commissioning Step 3 Slave setup if any Step 4 Motion programming using one of the options The multi axis motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software LIB motion library for PCs Windows or Linux A distributed control approach which combines the above options like for example the motion controller calling motion functions programmed on the drives in TML This manual covers Step 1 in detail It describes the TMC 3D hardware including the technical data connectors and 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 units International standard units meter for length seconds for time etc IU units Internal units of the drive Technosoft 2008 TMC3D Technical Reference Related Documentation 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 motion controller drive setup and a Motion Wizard for the motio
53. e next figure presents the TMC 3D drives dimensions 136 mm 5 354 a 4 2 mm 0 165 Figure 2 9 TMC 3D drives dimensions 2 5 Electrical Specifications All parameters measured under the following conditions unless otherwise noted 44 5 mm 1 752 95 mm 3 74 0 40 C Vioc 24 Voc V24 VPLC 24 CAN 24 Voc 80Vpc Load current Supplies start up shutdown sequence any Logic Supply Input Measured between GND Min Typ Max Units Supply voltage Nominal values including ripple 12 24 48 Voc Absolute maximum values continuous 8 51 Voc Technosoft 2008 11 TMC3D Technical Reference Absolute maximum values surge 100 60 V duration 10ms Vioc 12V 350 400 mA Supply current Viog 24 150 250 mA 48 V 80 150 mA Motor Supply Input Measured between Vmor and GND Min Typ Max Units Nominal values including ripple amp braking 12 80 V induced over voltage up to 25 pe Supply voltage Absolute maximum values continuous 0 100 Voc Absolute maximum values surge 0 5 105 V duration lt 10ms Idle 0 5 1 5 mA Operating 16 5 A Supply current Absolute maximum values surge t 100 A duration lt 10ms VO Supply Input isolated Measured between 24 Vg and
54. e range t V Absolute maximum surge duration lt 1s 25 25 Binary Gray DATA format Software selectable Single turn Multi turn Counting direction Total resolution 30 bit DATA resolution Single turn 15 bit Multi turn 15 bit Analog Inputs Min Typ Max Units Differential voltage range 10 V Common mode voltage range Referenced to GND 12 M 0 50 V Input impedance Differential 40 KQ Common mode impedance Referenced to GND 20 KQ Resolution 12 bits Integral linearity 0 036 FS Offset error Common mode voltage 0 10 V 0 2 0 5 FS Gain error Common mode voltage 0 10 V 10 12 FS Bandwidth 3dB Depending on software settings 1 5 kHz Technosoft 2008 15 TMC3D Technical Reference RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection Human Body Model 15 kV CAN Bus All voltages referenced to CAN_GND Min Typ Max Units CAN Bus 2 0B error active Standards compliance ISO 11898 2 2727 Medezia Measured at 1MHz 9 120 150 Bit rate Depending on software settings 125 1 Baud Bit rate 125kbps 250kbps 64 Number of network nodes Bit rate 500kbps 50 Bit rate 1Mbps 32 ESD Protection Human Body Model 15 kV Supply Outputs Min Typ Max Units 5 Voc voltage Curre
55. ed from the Drive Setup 7 10 Motor position units 7 10 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position SI units is For rotary motors Motor Position SI x Motor _ Position IU 4xNo encoder lines For linear motors Motor Position SI Encoder accuracy Motor _ Position 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 7 10 2 Brushless motor with absolute SSI encoder on motor The internal motor position units are encoder counts The motor is rotary The correspondence with the motor position in SI units is 2 Motor _ 5 ONG bits resolution x Motor _ Position IU where No bits resolution is the SSI encoder resolution in bits per revolution 191 units for motor position are rad for a rotary motor m for a linear motor f SI units for motor position are rad for a rotary motor m for a linear motor Technosoft 2008 81 TMC3D Technical Reference 7 10 3 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not computed 7 10 4 DC brushed motor with absolute SSI encoder on load and tacho on motor The motor position is not computed 7 10 5 Stepper motor open loop control No feedback
56. eedback 72 7 2 7 Stepper motor open loop control Incremental encoder on load 72 7 2 8 Stepper motor closed loop control Incremental encoder on motor 72 7 3 AA eei al deia EU aA 73 7 3 1 Brushless DC brushed motor with quadrature encoder on motor 73 7 3 2 Brushless motor with absolute SSI encoder on 73 7 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 74 7 3 4 DC brushed motor with absolute SSI encoder on load and tacho on motor 74 7 3 5 DC brushed motor with tacho on motor rss 75 7 3 6 Stepper motor open loop control No feedback device 75 7 3 7 Stepper motor open loop control Incremental encoder on 76 7 3 8 Stepper motor closed loop control Incremental encoder on motor 76 TAs e aI sn e De bao MP NM RU aM I D 77 7 4 1 Brushless DC brushed motor with quadrature encoder on motor 7T 7 4 2 Brushless motor with absolute SSI encoder on motor 77 7 4 3 DC brushed motor with quadrature encoder on load and tacho on motor 78 7 4 4 DC brushed motor with absolute SSI encoder on load tacho on motor 78 7 4 5 Stepper motor open loop control No feedback 78 7 4 6 Stepper motor open loop control Incremental enc
57. es 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 host PC or PLC using the TML LIB functions for writing data into the drive EEPROM Using the EEPROM Programmer tool which comes with EasyMotion Studio 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 Slave Axes Setup Each axis from the multi axis system requires a separate application with Setup and Motion information Use the Application New command to add the slave applications in motion controller project Set the Axis ID for the slave equal with your intelligent drive motor Axis ID Press New button and select the product type followed by product motor technology and feedback type Remark Each CAN network node must have a unique Axis ID The mechanism of setting the Axis ID for the intelligent drives is identical with the one used for TMC 3D section 4 6 Changing the Axis ID of the Motion Controller Technosoft 2008 57 TMC3D Technical Reference Ready joe re Fame 7 0 0581 The commissioning of slave drives motors implies the same procedure as for the embeded drive in motion controller motor and drive
58. fferential Absolute SSI encoder interface RS 422 differential Digital I Os 6 inputs 24V opto isolated common I O ground 2 general purpose 2 for limit switches 2 for Reset and Enable emergency shutdown 2 inputs 24V compatible shared with second encoder pulse amp direction 6 digital outputs opto isolated 24V PNP type 80 160 mA short circuit protected 4 general purpose 2 for Ready and Error 2 differential analog inputs 10 V for reference and feedback Compact design 136 x 95 x 26 mm RS 232 serial communication up to 115kbaud CAN bus 2 0B up to 1Mbit s opto isolated using TMLCAN communication protocol compatible with all Technosoft drives with CANbus interface Motor temperature sensor interface 4Kx16 SRAM for data acquisitions and 8Kx16 E ROM for setup data and TML programs 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 8Arms Peak output current 16 5 Logic power supply 12 48 VDC Motor power supply 12 80 VDC Minimal load inductance 50uH 12V 200 uH 48 V 330 uH 80V Operating ambient temperature 0 40 C 1 Nominal values cover all cases Higher values are possible in specific configurations For details contact Technosoft 2 A 1 2kHz cover all cases Higher values equal with torque loop update frequency are possible with quadrature encoders 3 For highe
59. he Drive cover Function Alternate function Comments 1 19 24VPLC 24 V power supply terminal for all opto isolated IO e 24V Enable input read as In 6 On inactive level disables the drive operation similarly to AXISOFF command power stage is turned off Read high 1 2 ING EN IN 6 logic when 24VPLC are applied 6 Opto isolated Programmable polarity active level 24V General purpose input In 2 Read high 1 logic when 24VPLC are applied on 2 3 2 2 24V Home input in homing sequences be set to capture on transitions both motor and master position Opto isolated RS 422 differential B 24V single ended B input when external reference is 274 master encoder RS 422 differential Dir 24V single ended Dir input 4 INO B2 D IN O when external reference is Pulse amp Direction e 24V General purpose input In 0 Read low 0 logic when 24VPLC are applied on INO B2 D pin e Compatible RS 422 and 24V single ended RS 422 differential A 24V single ended A input when external reference is 274 master encoder RS 422 differential Puls 24V single ended Puls 5 IN1 A2 P IN 1 input when external reference is Pulse amp Direction 24V General purpose input In 1 Read low 0 logic when 24VPLC are applied on IN1 A2 P pin e Compatible RS 422 and 24V single ended e 24V General purpose i
60. inear movement Technosoft 2008 69 TMC3D Technical Reference 7 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 7 2 1 Brushless DC brushed motor with quadrature encoder on motor The internal speed units are encoder counts slow loop sampling period The correspondence with the load speed in SI units is For rotary motors Load Speed Sl UN Motor Speed IU 4xNo encoder linesx TrxT Encoder accuracy x Motor Speed IU For linear motors Load Speed SI TrxT where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which be opened from the Drive Setup 7 2 2 Brushless motor with absolute SSI encoder on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary The correspondence with the load speed in SI units is 2x1 Load Speed SI 5No_bits resolution x Motor _ Speed IU where No bits resolution is the SSI encoder resolution in bits per revolution Tr transmission ratio between the motor displacement
61. ion Controller and slaves axes 65 6 3 3 Customizing the Homing Procedures ss 65 6 3 4 Customizing the Drive Reaction to Fault 66 6 4 Using Motion Libraries for PC based 66 7 Scaling ECCE CCCII ITTILL 67 T ME ie e ATI c 67 7 1 1 Brushless DC brushed motor with quadrature encoder on motor 67 7 1 2 Brushless motor with absolute SSI encoder on motor 68 7 1 3 DC brushed motor with quadrature encoder on load and tacho on motor 68 7 1 4 DC brushed motor with absolute 55 encoder on load and tacho on motor 68 7 1 5 Stepper motor open loop control No feedback 69 Technosoft 2008 IV TMC3D Technical Reference 7 1 6 Stepper motor closed loop control Incremental encoder on motor 69 7 1 7 Stepper motor open loop control Incremental encoder on 69 fu AGORRIA 70 7 2 1 Brushless DC brushed motor with quadrature encoder on motor 70 7 2 2 Brushless motor with absolute SSI encoder on 70 7 2 3 DC brushed motor with quadrature encoder on load and tacho on motor 71 7 2 4 DC brushed motor with absolute SSI encoder on load and tacho on motor 71 7 2 5 brushed motor with tacho on motor rss 71 7 2 6 Stepper motor open loop control No f
62. k device or incremental encoder on load iie rr e er be a RR e eR eie ete ran 85 7 11 7 Stepper motor closed loop control Incremental encoder on motor 85 Memory Ai aA 87 Technosoft 2008 VI TMC3D Technical Reference 1 Safety information Read carefully the information presented in this chapter before carrying out the drive installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive can lead to personal injury or material damage Only qualified personnel may install setup operate and maintain the drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating drives The following safety symbols are used in this manual WARNING SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION gt gt gt INDICATES AREAS SENSITIVE ELECTROSTATIC CAUTION DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1 1 Warnings THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE W
63. 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 7 4 2 Brushless motor with absolute SSI encoder on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary The correspondence with the load jerk in SI units is 2 Load Jerk SI resolution 7 73 x Motor _ Jerk IU where No bits resolution is the SSI encoder resolution in bits 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 dialog which can be opened from the Drive Setup 1 SI units for jerk are rad s for a rotary movement m s for a linear movement f SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2008 77 TMC3D Technical Reference 7 4 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to
64. n SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialog which can be opened from the Drive Setup SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2008 78 TMC3D Technical Reference 7 4 6 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 EO Jerk IU 4xNo encoder linesx 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 dialog which can be opened from the Drive Setup 7 4 7 Stepper motor closed loop control Incremental encoder on motor The internal jerk units are motor encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI POOR xMotor _ Jerk IU 4xNo encoder linesx Tr x T where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialog which can be opened from the Drive Setup 7 5
65. n programming The Motion Wizard provides a simple graphical way of creating motion programs and automatically generates all the TML instructions With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives their capability store and execute complex motions applications without requiring an external host device 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 motion controllers intelligent drives using TML LIB v2 0 motion control library for PCs The TML lib includes ready to run examples that can be executed on Windows or Linux x86 and x64 TML LIB LabVIEW v2 0 part no P091 040 LABVIEW v20 UM xxxx explains how to program LabVIEW application for the Technosoft motion controllers intelligent drives using TML LIB Labview v2 0 motion control library for PCs The TML Lib LabVIEW includes over 40 ready to run examples 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 operation or repo
66. nd GND and the earth shield are isolated Technosoft 2008 43 TMC3D Technical Reference 3 2 6 1 Recommendations for RS 232 Wiring a If you build the serial cable you can use a 3 wire shield cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 5 of Sub D 9 must be included inside the shield like the RxD and TxD signals b Do not rely on an earthed PC to provide the TMC 3D earth connection The TMC 3D must be earthed through a separate circuit Most communication problems are caused by the lack of such connection c Always power off all the IDS supplies before inserting removing the RS 232 serial connector DO NOT CONNECT DISCONNECT THE RS 232 CABLE CAUTION WHILE THE TMC 3D IS POWERED ON THIS OPERATION CAN DAMAGE THE TMC 3D 3 2 7 CAN Communication J10 Connector Function CAN_L CAN Bus negative line negative during dominant bit CAN_GND Reference ground for LO and CAN_V signals SHLD Shield Connected to frame CAN_H CAN Bus positive line positive during dominant bit n c Not connected CAN_V 24 isolated supply input THE CANBUS CONNECTOR SIGNALS ELECTRO CAUTION STATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Remarks a CAN network requires two 1200 termination resistors even for short cables These resistors are not included on the TMC 3D b All 4 CAN signals
67. nput In 3 Read high 1 logic 6 IN3 IN 3 when 24VPLC are applied on IN3 pin Opto isolated e 24V Positive limit switch input On active level stops motion in positive direction 24V General purpose input In 4 if limit switches are 7 INA LSP 4 1 disabled Read high 1 logic when 24VPLC applied on IN4 LSP Opto isolated Programmable polarity active level Technosoft 2008 38 TMC3D Technical Reference INS LSN IN 5 24V Negative limit switch input On active level stops motion in negative direction 24V General purpose input In 5 if limit switches are disabled Read high 1 logic when 24VPLC are applied on IN5 LSN pin Opto isolated Programmable polarity active level 9 26 OVPLC Ground terminal for all opto isolated I O 10 Vioc Logic supply voltage as applied on J2 pin 7 11 RESET RESET pin connect to 24VPLC to reset the drive 12 INO B2 D IN 0 24V general purpose input In 0 Read high 1 logic when 24VPLC are applied on INO B2 D pin RS 422 differential B 5V single ended B input when external reference is 274 master encoder RS 422 differential Dir 5V single ended Dir input when external reference is Pulse amp Direction Compatible RS 422 5V and 24V single ended 13 IN1 A2 P IN 1 24V general purpose input In 1 Read high 1 logic when 24VPLC are applied on
68. nt sourced 350 mA 48 5 5 2 V 5 Vpc available current 400 500 mA Other Min Typ Max Units Operating temperature 0 40 Dimensions Length x Width x Height 136 x 95 x 26 mm Weight 0 30 kg Frame Insulation voltage withstand GND to SHIELD connected to frame 250 V Storage temperature Not powered 40 85 C Humidity Non condensing 0 90 RH Altitude Referenced to sea level 0 4000 m Dust amp humidity protection According to IEC 60925 IP20 Technosoft 2008 16 TMC3D Technical Reference 1 Differential input impedance is 21 5KQ For full RS 422 compliance 1200 termination resistors must be connected across the differential pairs as close as possible to the drive input pins FS 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 Technosoft 2008 17 TMC3D Technical Reference This page is empty Technosoft 2008 18 TMC3D Technical Reference 3 Step 1 Hardware Installation 3 1 Mounting The TMC3D was designed to be cooled by natural convection It can be mounted horizontally with label upwards or vertically inside a cabinet see Figure 3 1 with motor wires going down In both cases leave at least 2bmm between the drive and surrounding walls drives to allow for free air circulation DIPswitch and LEDs Screws M4 25 mm HK Min
69. oder on load 79 7 4 7 Stepper motor closed loop control Incremental encoder on motor 79 9 ela eau A AUNAK 79 7 6 Voltage command AAO 79 7 7 Voltage measurement UD ea 80 459 WATS cecal est aaa 80 7 9 Drive temperature units rss 81 7 10 Motor position AUE 81 7 10 1 Brushless DC brushed motor with quadrature encoder on motor 81 Technosoft 2008 V TMC3D Technical Reference 7 10 2 Brushless motor with absolute SSI encoder on motor 81 7 10 3 DC brushed motor with quadrature encoder on load and tacho on motor 82 7 10 4 DC brushed motor with absolute SSI encoder on load and tacho on motor 82 7 10 5 Stepper motor open loop control No feedback device 82 7 10 6 Stepper motor open loop control Incremental encoder on load 82 7 10 7 Stepper motor closed loop control Incremental encoder on motor 82 7 11 Motor speed AUKE 83 7 11 1 Brushless DC brushed motor with quadrature encoder on motor 83 7 11 2 Brushless motor with absolute SSI encoder on motor 83 7 11 3 DC brushed motor with quadrature encoder on load and tacho on motor 84 7 11 4 DC brushed motor with absolute SSI encoder on load amp tacho on motor 84 7 11 5 DC brushed motor with tacho on 84 7 11 6 Stepper motor open loop control No feedbac
70. om the Drive Setup 7 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 7 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors Load Acceleration Sl e xMotor Acceleration IU 4xNo encoder linesxTrxT For linear motors Encoder y Motor Load Acceleration Sl Tr xT 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 7 3 2 Brushless motor with absolute SSI encoder on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary The correspondence with the load acceleration in SI units is Load Acceleration SI No bit 2 5 x Motor _ Acceleration IU _ bits resolution 1 SI units for acceleration are rad s for a rotary movement m
71. on motor The internal position units are encoder counts The motor is rotary The correspondence with the load position in SI units is Load Position SI gt ____ x Motor _ Position IU 2 bits resolution x Tr where No bits resolution is the SSI encoder resolution in bits per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 7 1 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position rad xLoad Position lU 4xNo encoder lines where No encoder lines is the encoder number of lines per revolution 7 1 4 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position SI bits resolution xLoad Position lU where No bits resolution is the SSI encoder resolution in bits per revolution SI units for position are rad for a rotary movement m for a linear movement Technosoft 2008 68 TMC3D Technical Reference 7 1 5 Stepper motor open loop control No feedback device The internal position units are motor
72. ort in case of a specific error All the slave applications have their own mechanism of reacting in case of an error i e short circuit under voltage control error etc but this is not enough In a multi axis application the motion controller needs to take proper action for all the nodes even they don not have any errors in case one node fails The Motion Controller can program each slave to report what errors can affect the good functioning of the machine For example in a 2D cutting machine if the X axis for some reason can t follow the commanded trajectory anymore then the Motion Controller Technosoft 2008 64 TMC3D Technical Reference must stop the Y axis also In order for him to do so it must configure the X and the Y axes to report if a Control Error occurs 6 3 2 Using TML Functions to Split Motion between Motion Controller and slaves axes With Technosoft intelligent drives you can really distribute the intelligence between the Motion Controller and the slave 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 Motion Controller when these are done Thus the Motion Controller task may be reduced to call TML functions with possibility to abort their execution stored in the drives EEPROM and wait for drive to report the finalization of the TML functions 6 3 3 Customizing the Homing Procedures All Te
73. otor EO Incremental quadrature encoder LINEAR MOTOR Figure 2 2 Brushless AC linear motor Position speed torque control Quadrature encoder on motor Motion commands be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2008 5 TMC3D Technical Reference Position speed or torque control of a brushless DC rotary motor with digital Hall sensors and an incremental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor TMC 3D S D ZO zk E Gbe Incremental quadrature encoder Hall di Ei NE Figure 2 3 Brushless DC rotary motor Position speed torque control Hall sensors and quadrature encoder on motor 4 Position speed or torque control of a brushless DC linear motor with digital Hall sensors and an incremental quadrature encoder The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages Scaling factors take into account the tr
74. otor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses 92V the TMC 3D over voltage protection is triggered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2xE C2 2 Cprive UMAX 5 UNOM where 7 92V is the over voltage protection limit Corive 200 uF is the drive internal capacitance Unom 80V is nominal motor supply voltage Technosoft 2008 29 TMC3D Technical Reference the overall energy flowing back to the supply in Joules In case of a rotary motor andload Ey can be computed with the formula tao EM 5 M bou my g hinitia 3l Rpntg ZN Te 2 Kinetic energy Potential energy Copper losses Friction losses where Jm total rotor inertia J total load inertia as seen at motor shaft after transmission kgm Du motor angular speed before deceleration rad s Mm motor mass kg when motor is moving a non horizontal plane Im load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s initial system altitude m
75. pose output Out 2 When Out 2 is commanded low 0 logic OUT2 pin is set to 24 OUT2 OUT 2 24VPLC e Opto isolated Short circuit protected e 24 V General purpose output Out 3 When Out 3 is commanded low 0 logic OUTS pin is set to 25 OUT3 OUT 3 24VPLC e Opto isolated Short circuit protected case SHIELD Shield Connected to frame THE CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Remarks 3 The 24V opto isolated signals are referenced to the isolated ground OVPLC which shall be common to all the devices sharing these signals 4 The 24V opto isolated inputs have a typical threshold of 8 Volts therefore will not accept TTL levels 5 The isolated 24VPLC supply is required only for operation of the outputs Hence if your application uses only opto isolated inputs the 24VPLC supply connection is not necessary 6 The inputs In 0 and In 1 accept both TTL 5V and 24V signals and are not opto isolated These inputs are referenced to the drive logic ground GND Technosoft 2008 40 TMC3D Technical Reference 24VPLC RESET 2 NGEN i 3 3V ga GE E 2K5 22 IN3 i gt iE NOU EE 2 1 GO _ INA LSP i o INSILSN Bow c Im i OVPLC i 1K_ 5V IN0 B2 D i IN1 A2 P iL N IN0 B2 D i EA IN1 A2 P me dreak speed 8MHz y
76. r ambient temperatures contact Technosoft to get derating information Technosoft 2008 4 TMC3D Technical Reference 2 3 Supported Motor Sensor Configurations The drive part of TMC 3D supports the following configurations 1 Position speed or torque control of a brushless AC rotary motor with an incremental quadrature encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor TMC 3D Incremental quadrature encoder Figure 2 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor 2 Position speed or torque control of a brushless AC linear motor with an incremental quadrature encoder The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor M
77. rence AXISID 1 120R 596 0 25W a 2 120R PC 5 0 25W Host Address 3 AXISID 255 Figure 3 20 Multiple Axis CAN network 46 TMC3D Technical Reference Technosoft 2008 3 2 8 Connectors Type and Mating Connectors Connector Function Mating connector Motor amp supply Phoenix Contact MC 1 5 8 STF 3 5 Serial generic 9 pin Sub D male CAN generic 9 pin Sub D female Feedback generic 15 pin High Density Sub D male Analog amp 24 V digital O generic 26 pin High Density Sub D male The mating connector accepts wires of 0 14 1 5 mm AWG35 AWG16 3 3 DIP Switch Settings FU Norm Reserved D BitO Auto Ext Figure 3 21 SW1 DIP Switch e Position 1 FU Norm ON Enable Firmware Update OFF Normal operation e Position 2 Reserved e Positions 3 7 ID Bitx Axis ID switches The drive axis address number is set according with Table 3 1 e Position 8 Auto Ext Sets the drive in AUTORUN mode After power on the drive automatically executes a TML program from its internal E ROM OFF Sets the drive in External slave mode After power on the drive waits for commands from an external device Remark All switches are sampled at power up and the drive is configured accordingly Technosoft 2008 47 TMC3D Technical Reference Table 3 1 Axis ID Address configuration
78. rol position speed or torque In the Automatically activated after Power lt lt Commutation method group box choose sinusoidal C Torque trapezoidal mode The trapezoidal mode is possible only if your Ad 7 Commutation method 21 CC Sinusoidal Motor CANbus Baud rate row default Drive Info Set change axis ID now Setup Drive operation parameters Protections Power supply 24 v 7 Detect Over current ive D h sz Motor current 86 a 7 for m Control error Current controller Position error gt 21 4 rad x for o Control error Ki 1 052 Tune amp Test Speed error gt 2 rad s 71 for more than 3 z EEE Motor over temperature i Kp Integral limit n 7 71 EEEa EST z E fo Eo Ki 114 66 External brake resistor Tune amp Test Connected Activate if power supply gt 87 v 71 Position controller Inputs polarity Kp Integral limit x x di Ge switch Limit switch i 012248 ive i ive Active high Ki 002249 0 Active high Disabled after power on Active high gl latuz Active low Enabled after power on C Active low Active low Feedforward Kd 0 Speed SE r Start mode ilter 10 1 C t used 2 of GUE Move till aligned with phase Ae p nominal
79. rotary The correspondence with the load jerk in SI units is Load Jerk SI ZO xLoad _ Jerk IU 4xNo encoder linesx T where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialog which can be opened from the Drive Setup 7 4 4 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is 2 Load Jerk SI No bits resolution 72 xLoad Jerk lU where No bits resolution is the SSI encoder resolution in bits per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialog which can be opened from the Drive Setup 7 4 5 Stepper motor open loop control No feedback device The internal jerk units are motor 5 slow loop sampling period The correspondence with the load jerk SI units is Load Jerk SI GE xMotor _ Jerk IU No ustepsxNo steps x Tr x T where No_steps is the number of motor steps per revolution No ysteps is the number of microsteps per step You can read change this value in the Drive Setup dialog from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement i
80. rpolation and or the Vector Mode wizards e Linear Interpolation Linear Interpolation allows the generation of complex 2D or 3D paths using linear segments The master generates the reference for each projection and sends the position commands as PVT position velocity and time points e Vector Mode Vector Mode allows the generation of 2D profiles that need to combine linear segments with circular ones It also has the possibility to control a third axis which will remain tangent to the trajectory This is useful for example in cutting applications The master generates the reference for each projection and sends the position commands as PVT position velocity and time points e Error handling The motion controller has a powerful mechanism of detecting and handling the errors that may occur in the system e The TMC3D can program the slaves to report error situations The user can configure at initialization time which errors will be reported by the slaves e The TMC 3D can monitor the slaves presence in the CAN network through the Slave Guarding functionality When the Slave Guarding is activated the motion controller periodically interrogates the slaves drives motors and monitors their answers A node failure error is triggered if a slave fails to respond back to the master within one slave guarding period The Slave Guarding is configurable by the user In case of a slave error or node failure the TMC 3D can trigger a TML interrup
81. rt suspected Fax 41 32 732 55 04 problems Email hotline technosoftmotion com Make suggestions about Mail Technosoft SA or report errors in documentation Buchaux 38 CH 2022 Bevaix NE Switzerland Technosoft 2008 II TMC3D Technical Reference Contents Read This Fi M 1 Safety information GEO 1 Aldaia EAEE 1 123 J i bee dais e ca d e e 2 SO ada Ue SS UO Le 3 aidea a aa 3 225 Key LAE 4 2 3 Supported Motor Sensor Configurations 5 2 4 Sula EE 11 2 5 Blecirical SpecifiGdllOliS AAA 11 3 Step 1 Hardware Installation zn 19 A evi jer 19 3 2 Connectors and Connection 20 3 221 COMME CIONS oec ate a eerta tef tu em Sat 20 3 2 2 Identification Labels mnene a E e 21 3 2 3 Motor amp Supply J2 22 3 2 4 Feedback J13 Connector 3 2 2 32 3 2 5 Analog amp Digital J9 Connector 38 3 2 6 Serial Communication Connector rrura 43 3 2 7 Communication J10 44 3 2 8 Connectors and Mating Connectors 47 dik DIPSSWwilchi ASTO 47 o4 LED Indicat rs
82. soft drives 8 drives are configured in a Motion Controller application Slaves A B C D E F G H and 2 drives are independent axes Because in this configuration all the group IDs are occupied with the axes controlled by the motion controller then the independent axes must be configured to belong to group 0 with the REMGRID command example REMGRID 1 2 3 4 5 6 7 8 remove all groups Technosoft 2008 61 TMC3D Technical Reference 6 2 Generate coordinated multi axis profiles The TMC 3D motion controller can coordinate up to 8 axes including itself connected together in a CAN network Taking advantage of the intelligence embedded in all the Technosoft drives the TMC 3D can either generate complex 2D 3D trajectories or coordinate various single axis trajectories inside a distributed controlled network It employs an efficient synchronization mechanism that insures the internal clock of each drive remains synchronous to the Motion Controller In case of the 2D 3D trajectories instead of sending the position information at each position control loop the TMC 3D sends PVT Position Velocity Time points at predefined time intervals minimizing the traffic on the CAN network Based on the received PVT points the slaves reconstruct the desired trajectory performing a 3 order interpolation between the points 6 2 1 Coordinated multi axis modes and application management The 2D 3D trajectories can be generated using the Linear Inte
83. t and execute application specific TML code The TML interrupt can be enabled disabled by the user e Program flow control A new type of multi axis events was added in order to maintain a high level of synchronization between the master and the slaves in the multi axis application Technosoft 2008 62 TMC3D Technical Reference e Machine setup The TMC 3D can command different homing procedures on each slave in order to find the machine home start position The homing procedures are TML function with application specific TML code which can be different for each slave The routines are created for each slave application and downloaded in the EEPROM memory of the slave during commissioning During operation the TMC 3D commands the execution of these routines 6 2 1 1 Motion programming In the project window left side select M Motion for motion programming This automatically activates the Motion Wizard EasyMotion Studio Untitled 5 xi Project Application Communication View Control Panel Window Help Li eee al af xu b S B HEE EE EO E Ee re inaction E FONAK 0 16 2 2 ot E Untitled E E Motion Controller A Axis Selection e S Setup J Homing Modes T Functions x 1 Interrupts BO CAM Tables p Untitled Application 1 Untitled Application 2 Untitled Application 43 Rea
84. t 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 4 3 Establish communication EasyMotion Studio starts with an empty window from where you can create a New project or Open previously created project which was saved on your PC When you start a new project EasyMotion Studio automatically creates a first application Additional applications for the slave axes can be added later EasyMotion Studio E nl Project Communication View Help Dc 4 dal d did IZ SIE mig EGON Oss 0 Online AxisID 2 Firmware F700A Before selecting one of the above options you need to establish the communication with the motion controller or the drive you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup the motion controller and do 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 Technosoft 2008 51 TMC3D Technical Reference the text Online plus the axis
85. t switch or capture inputs etc Waits for programmed multi axis events to occur Handling of digital 1 and analogue input signals Executing arithmetic and logic operations Performing data transfers between motion controller and slaves Synchronizing all the axes from the network Ooo Using EasyMotion Studio for TML programming you can develop complex multi axis applications reducing both the development time and the overall communication requirements For example you can command a movement of a slave and with the help of the multi axis events the slave will inform the master when the task is done The TMC 3D can also be controlled from a PC using the family of TML_LIB motion libraries For all motion programming options the TMC 3D commissioning for your application is done using EasyMotion Studio Technosoft 2008 3 TMC3D Technical Reference 2 2 Key Features Built in multi axis motion controller and digital drive for control of brushless DC brushless AC DC brushed and step motors Position speed or torque control Programmable with high level TML motion language Various motion programming modes Linear Interpolation on 2 or 3 axes Vector Mode with the possibility of adding a third tangent axis Position profiles with trapezoidal or S curve speed shape External analogue or digital reference 35 Homing modes Incremental encoder and digital Hall sensors interfaces 5V single ended open collector or RS 422 di
86. 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 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement Technosoft 2008 74 TMC3D Technical Reference 7 3 5 DC brushed motor with tacho on motor When only a tachometer is mounted on the motor shaft the internal acceleration units are A D converter bits slow loop sampling period The correspondence with the load acceleration in SI units is Analogue Input Range Load Acceleration SI 4096 Tacho _ gain x Tr x T x Motor _ Acceleration IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 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 Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 7 3 6 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 2 4 Load Acceleration SI xMotor Acceleration lU ustepsxNo stepsxTrxT
87. tial Hall or Hall 1 for single ended Hall Positive Data signal for differential SSI encoder Therm Analog input from motor thermal sensor 41 Positive Z for differential encoder 2 for single ended encoder 1 Z1 Negative Z for differential encoder H2 Positive Hall 2 for differential Hall or Hall 2 for single ended Hall SO H2 Negative Hall 2 for differential Hall 1 Negative A for differential encoder B1 Negative B for differential encoder GND Ground of the encoder supply H3 CK Negative Hall 3 input for differential Hall Negative Clock output signal for differential 551 encoder H1 DT Negative Hall 1 for differential Hall Negative Data signal for differential 551 encoder SHIELD Shield Connected to frame CHECK CURRENT CONSUMPTION FROM 5VDC SUPPLY CAUTION BYPASSING THE MAXIMUM ALLOWED CURRENT MIGHT LEAD TO DRIVE MALFUNCTION THE FEEDBACK CONNECTOR SIGNALS ARE CAUTION ELECTROSTATICALLY SENSITIVE AND SHALL HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Technosoft 2008 32 TMC3D Technical Reference 413 Feedback Connector TMC 3D Single ended open collector encoders DSP Controller SHIELD Connected to case J13 Feedback Connector TMC 3D Single ended open collector Hall 5 H1 DT H3 CK SHIELD DSP Controller Y Connected 3 3V to cas
88. tors driven in trapezoidal mode 7 7 Voltage measurement units The internal voltage measurement units refer to the drive Vyor supply voltage 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 7 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is Time s T x Time IU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU Technosoft 2008 80 TMC3D Technical Reference 7 9 Drive temperature units The motion controller includes a temperature sensor The correspondence with the temperature in C is 3 V x DriveTemperature IU Sensor output _0 C V Drive temperature C 65520 x Sensor gain V C Sensor gain V where Sensor gain is the temperature sensor gain Sensor output 09 is the temperature sensor output at 0 C You can read these values in the Drive Info dialogue which can be open
89. transformed into a fully functional version by introducing the license serial number in the menu command Help Enter registration info 4 2 Getting Started with EasyMotion Studio Using EasyMotion Studio you can quickly configure the multi axis system setup each slave axis and program the motion sequences for your application The TMC 3D can be directly connected with your PC via a serial RS 232 link CANbus network where the PC is serially linked with one of the slave drives EasyMotion Studio works with projects A project can contain one or several motion controller applications and several slave applications The motion controller application contains the description of the multi axis system the multi axis configuration data the setup configuration for the embeded drive and the motion sequences which implement the functionality of the multi axis application The motion controller application has 3 components Axis Selection describes the multi axis system Setup embeded drive configuration and Motion program The slave applications describe the setup 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 multi axis system 2 An alternate configuration set of parameters for the same axis Technosoft 2008 50 TMC3D Technical Reference In the firs
90. ustomized 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 6 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 motion controller drive via any of its supported channels RS 232 CAN bus send motion commands get automatically or on request information about motion controller drive 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 41 50 it can be included in an application developed in C C C Visual Basic Delphi Pascal or Labview Using a TML Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done Technosoft 2008 66 TMC3D Technical Reference
91. when the drive is used with brushless or DC brushed motors Step motor 2 phase Phase B DC brush motor not connected Earth connection Positive terminal of the motor supply 12 to 80 Vpc Positive terminal of the logic supply 12 to 48 Vpc Technosoft 2008 Negative terminal of the and GN og external power supplies 22 TMC3D Technical Reference J2 Motor amp Supply Connector Supplies Connection 4 phase Inverter Qt Q7 o I Y Connected to case Figure 3 4 J2 Supplies connection TMC 3D DSP Controller Remark The EARTH signal is connected internally to the metal case and to all SHIELD signals It is completely insulated from all electric signals of TMC 3D This feature may facilitate avoiding ground loops It is recommended that Earth be connected to GND at only one point preferably close to the Vyor supply output Technosoft 2008 23 TMC3D Technical Reference J2 Motor amp Supply Connector TMC 3D Brushless Motor Connection 3 phase Inverter Currents Info H Optional Connected to case Y Figure 3 5 J2 Brushless motor connection Technosoft 2008 24 TMC3D Technical Reference 2 Motor amp Supply Connector TMC3D DC Brushed Motor Connection 3 phase Inverter L Shield Connected to case Figure 3 6 J2 DC brushed motor connection
92. wn Move Up Ready Online 10255 TMC 3D Firmware F700A SetupID 0581 d The slaves of the motion controller are symbolically named A B C D E F G H Once the an application is moved to the Selected field it will be addressed with his corresponding alias When an application is selected as one of the slaves the motion controller will modify its group ID according to the slave position i e Slave A group ID 1 Slave group ID 2 Slave H group ID 8 The motion controller will exclusively use group messages to send commands to the slaves Technosoft 2008 60 TMC3D Technical Reference Remark By default all Technosoft drives motors belong to group 1 If the multi axis machine requires independent axes i e not controlled by TMC 3D then the user must reconfigure them to become part of group 0 or other available group The group information can be changed with TML instructions GROUPID or REMGRID The GROUPID and REMGRID can be executed from TML application or sent by a host device Example 1 Network configuration 6 Technosoft drives 4 drives are configured in a Motion Controller application Slaves A B C D and 2 drives are independent axes The 2 stand alone drives need to be configured to one of the group IDs 5 6 7 or 8 Using the example GROUPID 7 Not doing this would mean that they will receive the same messages as Slave A Example 2 Network configuration 10 Techno

TMC-3D Multi-Axis Motion Controller

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