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IDM240 / IDM 640 Intelligent Drives - User Manual

1. C No Yes Setup Analogue C Incremental Encoder Cancel Automatically activated after Power On Help r Commutation method Trapezoidal Sinusoidal Motor m CANbus Baud rate rw default CANopen settings Drive Info m Drive operation parameters Power supply 2 v Detect Current limit 2 a z r Current controller Kp o Ki 0 658 Tune amp Test r Speed controller m Protections IV Over current IV Control error Jv Control error Speed error gt Motor current gt 3 6 A x for mi Position error gt s 14 rad Motor over temperature 2 raas z for more than 3 z Feedforward Speed Tune amp Test Kd 112 2 Kd filter u B3 ba M I2 Kp 199 73 Integral limit n w Dvor curent ps a sz p Lt s Ki 2372 z r External brake resistor Tune amp Test Connected Activate if power supply gt 55 y Y r Position controller m Inputs polarity Kp 16 83 Integral limit 7 x x Enable Limit switch Limit switch Ki 08415 zz EU Active high Disabled after power on Active high Active high Active low Enabled after power on C Active low C Active low m Start mode Move till aligned with phase A C Direct using Hall sensors Current used of nominal current 5 zl Time to align on phases fi s 4 4 Setting CANbus rate The IDMx
2. Positive Hall 3 for differential Hall or Hall 3 for single ended Hall H3 A2 CK Second encoder positive A for differential encoder or A for single ended encoder Positive Hall 1 for differential Hall or Hall 1 for single ended Hall 2 Second encoder positive B for differential encoder or B for single ended encoder Analog input from motor thermal sensor Positive Z for differential encoder or Z for single ended encoder 6 Negative Z for differential encoder Positive Hall 2 for differential Hall or Hall 2 for single ended Hall 5 Second encoder positive Z for differential encoder or Z for single ended encoder Negative Hall 2 for differential Hall Second encoder negative Z for differential encoder Negative A for differential encoder B1 Negative B for differential encoder GND Ground ofthe encoder supply Negative Hall 3 for differential Hall H3 A2 CK Second encoder negative A for differential encoder Negative Hall 1 for differential Hall H1 B2 DT Second encoder negative B for differential encoder SHIELD Shield CHECK CURRENT CONSUMPTION FROM 5VDC SUPPLY CAUTION BYPASSING THE MAXIMUM ALLOWED CURRENT MIGHT LEAD TO DRIVE MALFUNCTION 23 In application configurations without any encoder feedback this input may be used as a general purpose input In application configurations without any Hall or second encoder feedback this input may be used as
3. EE inl x mI 1 PLUG IN DRIVES 2 OPEN FRAME DRIVES 3 CLOSED FRAME DRIVES IBL2401 CAN gt 4 INTELLIGENT MOTORS gt IBL2401 CANOPEN gt 5 OTHER IBL2401 RS232 5 IBL2403 CAN gt IBL2403 CANOPEN IBL2403 RS232 IDM240 SEI CAN ld 2 PHASE STEPPER IDM640 8EI CAN gt SPHASE STEPPER IDM640 8EI CANOPEN BRUSHED MOTOR gt i IDM680 8BI CAN CANOPEN BRUSHLESSLINEAR MOTOR gt Upload from 3 IDM680 8EI CAN CANOPEN gt 5 gt Incremental Encoder Drive Motor IDM680 8LI CAM CAMOPEN SSI Encoder IDM680 8RI CAN CANOPEN gt Online AxisID 255 Firmware FOODI Z Technosoft 2010 59 IDMx40 Technical Reference The selection continues with the motor technology for example brushless or brushed and type of feedback device for example Incremental encoder The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft drive plus several predefined control panels customized for the product selected EasySetUp Untitled _ ioj xj 5e E n m Motor Setup i x x Guide r Guideline assistant r Database Technosoft Drive Previous does not exist in any database proceed through all the next steps in order to define your motor and sensors Next data In either case use the tests from the next steps to Motor Setup verily detect the motor and sensors parameters and mn 72 operation Cance
4. IDM240 5EI IDM640 8EI Lee C HREN S8 Fat Intelligent Servo Drive Intelligent Drives Technical Reference Technosoft 2010 TECHNOSOFT IDM240 5EI IDM640 8El Technical Reference P091 048 051 IDM UM 0210 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com Read This First Whilst Technosoft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from Technosoft S A The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the IDMx40 family of intelligent servo drives including the following products IDM240 5EI p n P051 001 E002 Universal Drive for Brushless DC and step motors IDM640 8EI p n P048 001 E101 Universal Drive for
5. Min Typ Max Units Mounting direction no restriction Mounting surface Fixing screws Flatness 0 1 mm Material Thermally conductive ex metal Screw head washer diameter 5 5 M3 M4 8 mm Tightening torque 1 3 Nm Environmental amp Mechanical Characteristics Min Typ Max Units Length x Width x Height 136 x 95 x 26 mm Size Without counterpart connectors 5 35 x 3 74 x 1 02 inch Weight 0 28 Kg Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to IEC60529 UL508 IP20 Logic Supply Input Measured between V oc and GND Min Typ Max Units Nominal values including ripple 12 24 48 Voc Absolute maximum values continuous 8 51 Voc Supply voltage Absolute maximum values surge 100 60 V duration lt 10ms Viog 12V 350 400 mA Supply current Viog 24 V 150 250 mA Vioc 48 V 80 150 mA ESD Protection Human Body Model 25 30 kV Technosoft 2010 11 IDMx40 Technical Reference Motor Supply Input Measured between Vyor and GND Min Typ Max Units Nominal values including ripple amp braking 12 48 V induced over voltage up to 25 pe Supply voltage IDM240 5EI Absolute maximum values continuous 0 63 Voc Absolute maximum values surge t 0 5 65 V durat
6. 5 7 5 Input current Logic HIGH 4 10 20 mA Logic LOW 0 1 Input frequency 5 KHz Minimum pulse width 150 nS 24 V Digital Outputs opto isolated All voltages referenced to OVa c Min Typ Max Units Logic HIGH 24 Vac 24 Voc 22 23 245 Output voltage Extemal load 330 V t Absolute maximum surge duration lt 1s 05 35 Logic HIGH 24 Vac Vout 2 V 80 mA Output current Logic LOW leakage crt 0 05 02 mA t Absolute maximum surge duration lt 1s 350 350 mA ESD Protection Human Body Model 16 kV 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 1 TIA EIA 422 Input hysteresis Differential mode 10 1 1 02 10 5 V Referenced to GND 7 12 Input common mode range 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 42 kV Technosoft 2010 14 IDMx40 Technical Reference Analog Inputs Min Typ Max Units Differential voltage range 9 5 1
7. Technosoft 2010 70 IDMx40 Technical Reference 5 2 3 8 Setup drive motor In the project window left side select S Setup to access the setup data for your application lO xl Project Ex Untitled Untitled Application s M Motion fn Homing Modes Define Load Functions G Interrupts Ra CAM Tables CES WD x Download to Drive Motor Load from a previous version Upload from Drive Motor Press View Modify button This opens 2 setup dialogues for Motor Setup and for Drive Setup same like on EasySetUp through which you can configure and parameterize a Technosoft drive In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Doeniiad to ai Drive Motor Press the Download to Drive Motor button to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup Technosoft 2010 71 IDMx40 Technical Reference data is copied into the
8. Stepper motor open loop control Incremental encoder on load 89 6 12 5 Stepper motor closed loop control Incremental encoder on motor 89 Technosoft 2010 VI IDMx40 Technical Reference ri 6 13 Motor speed units cca oet En e era a Enea ac oett oen rer ats 89 6 13 1 Brushless DC brushed motor with quadrature encoder on motor 89 6 13 2 DC brushed motor with quadrature encoder on load and tacho on motor 90 6 13 3 DC brushed motor with tacho on motor eeseeeeeeeeennee 90 6 13 4 Stepper motor open loop control No feedback device or incremental encoder on load 52x re p ted tee een dr a ite gs 90 6 13 5 Stepper motor closed loop control Incremental encoder on motor 91 Memory MaD erama ma ineunte teneat ebenn ptu Sbeu pt m ananin Spurs t uibau pir li ivp NR RE NUR UE 92 Technosoft 2010 VII IDMx40 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 authorizatio
9. TEELE r CANbus Baud rate F w default w Setup r Protections Detect IF Over current Motor current gt 3 6 a for more than joo s x IV Control error p Current controller Position error gt fat 4 rad 7 for more than E s x Kp o Jv Gontrol error Ki 0 658 Tune amp Test Speed error gt 2 rad s z for more than 3 z FF Motor over temperature r Speed controller M eren mit fs v l2t Kp Integral limit E od ver current Ps se for 5 s Ki 8372 External brake resistor Tune amp Test Connected Activate if power supply gt 55 v z r Position controller m Inputs polarity Kp fi 6 83 Integral limit 7 s x Enable Limit switch Limit switch Ki 08415 p eA Active high Disabled after power on Active high Active high Feedforward Active low Enabled after power on C Active low C Active low Kd 112 2 o Speed ESTE Lm r Start mode ilter 0 1 Current used Z of z haer Move till aligned with phase A ism pee 2 J Tune amp Test Direct using Hall sensors Time to align on phases h 5 4 5 Creating an Image File with the Setup Data Once you have validated your setup you can create with the menu command Setup Create EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive A software file is a text file that ca
10. 12 to 48 Vpc GND Negative terminal of the Vyor and V og external power supplies 23 IDMx40 Technical Reference J2 Motor amp Supply Connector IDMx40 Supplies Connection 4 phase Inverter Q3 Q1 Q7 Loa sb HL A ofl Al ot Connected I to case im o VMOT t 12 48V re IDM240 5EI A 12 80V 77 IDM640 8EI a Figure 3 7 J2 Supplies connection 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 IDMx40 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 2010 24 IDMx40 Technical Reference J2 Motor amp Supply Connector IDMx40 Brushless Motor Connection 3 phase Inverter RBRAKE Optional Connected to case 7 Figure 3 8 J2 Brushless motor connection Technosoft 2010 25 IDMx40 Technical Reference J2 Motor amp Supply Connector IDMx40 DC Brushed Motor Connection 3 phase Inverter i LE Shield m oe Connected to case 7 Figure 3 9 J2 DC brushed motor connection Technosoft 2010 26 IDMx40 Technical Reference J2 Motor amp Supply Connector IDMx40 Step Motor Conn
11. 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 4096 x Tacho gain Motor _ Speed Sl 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 6 13 4 Stepper motor open loop control No feedback device or incremental encoder on load The internal motor speed units are motor usteps slow loop sampling period The correspondence with the motor speed in SI units is K SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 90 IDMx40 Technical Reference Motor SpeedjSI 27 7 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 6 13 5 Stepper motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling perio
12. or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor e LINEAR MOTOR Incremental quadrature encoder Figure 2 2 Brushless AC linear motor Position speed torque control Quadrature encoder on motor 3 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 Incremental quadrature encoder Hall 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 transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI
13. 10V 1 Ref ro E i 4 SHIELD if Connected 3 3V to case Figure 3 24 J9 Analogue amp Digital I O connections Technosoft 2010 44 IDMx40 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 1 wire connects the live signal to the drive positive input 2 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 17 wire connects the signal plus to the drive positive input 2 wire connects the signal minus to the drive negative input and 3 wire connects the source ground to the drive GND If the analogue signal source is differential and the signal source ground is common with the drive GND use a 2 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 2 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 outpu
14. 2 140 12 200 72 255 127 When CANopen protocol is selected the drives can also communicate using TechnoCAN protocol an extension of the CANopen The TechnoCAN protocol is used to get send TML commands TechnoCAN protocol can coexist with CANopen protocol on the same physical network because it uses ID areas not covered by CANopen TechnoCAN protocol offers the possibility to inspect the status of ALL Technosoft drives connected on a CANopen network This operation is done using EasySetUp or EasyMotion Studio and a single RS 232 link with any of the drives from the CANopen network The inspection data acquisition can be done while the main application is running In TechnoCAN protocol the maximum axis number is 31 When TML commands are exchanged using TechnoCAN protocol the CAN communication sees the drives axis ID modulo 32 The correspondence is given in Table 3 3 In order to avoid having multiple devices with the same Axis ID do not use TechnoCAN in a CANopen network with drives having the same Axis ID in modulo 32 Put in other words the difference between any two Axis ID values should not be a multiple of 32 Note that this restriction applies only when EasySetUp or EasyMotion Studio are used for inspection debugging During normal CANopen operation the modulo 32 restriction do not apply Table 3 3 Axis ID modulo 32 seen in TechnoCAN communication Real axis ID of the drive Axis ID seen
15. 2 4 1 Recommendations for Feedback Devices Wiring a Always connect both positive and negative signals when the encoder or the Hall sensors are differential and provides them Use one twisted pair for each differential group of signals as follows A1 with A1 B1 with B1 Z1 with Z1 H1 B2 DT with H1 B2 DT H2 Z2 with H2 Z2 H3 A2 CK with H3 A2 CK Use another twisted pair for the 5V supply and GND Keep the ground connection between an encoder and the IDMx40 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 IDMx40 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 IDMx4O using the earth shield pin s or the encoder motor Do not connect the shield at both ends If the IDMx40 SV 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 2010 41 IDMx40 Te
16. 36 in The mounting distances D D and D see Figure 3 1 should permit to connect the cables to the drive at least the screw driver height Technosoft 2010 Required wiring distance D gt 120mm 4 72 in D gt 100mm 3 93 in D gt 25mm 2 36 in 20 IDMx40 Technical Reference 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout J2 Motor amp Supply Connector J13A Feedback Connector SW1 DIP Switch IDM640 8El Intelligent Servo Drive 8 8 E E Hi TEN 8 HUBZDT ties 382 L UU y gt A 00000000 O We o0999009 C XA woooooooos N7 O soon O Connector Figure 3 2 IDM240 5EI and IDM640 8EI connectors layout Technosoft 2010 21 IDMx40 Technical Reference 3 2 2 Identification Labels tecunosort 4 Manufacturer Drive Name inw240 set MIMIN Article Number Po51 001 002 ast Serial Number Figure 3 3 IDM240 5EI Identification Label i tecunosort lt Manufacturer Drive Name iweao set HEUTE Article Number gt P048 001 101 4824 lt Serial Number Figure 3 4 IDM6
17. 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 Technosoft 2010 93 IDMx40 Technical Reference TECHNOSOFT
18. 6 13 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors Motor Speed SI Zum x Motor Speed IU 4xNo encoder linesxT Es SI units for motor position are rad for a rotary motor m for a linear motor 48 SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 89 IDMx40 Technical Reference Encoder For linear motors Motor Speed SI US x Motor Speed 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 T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 13 2 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed SI 4096 x Tacho gain x Motor _Speed lU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 13 3
19. Brushless DC and step motors Standard execution using Technosoft TMLCAN protocol on CANbus IDM640 8EI CANopen BL p n P048 001 E111 Servo Drive for Brushless and DC motors using CANopen protocol on CANbus IDM640 8EI CANopen ST p n P048 001 E112 Servo Drive for Step motors using CANopen protocol on CANbus In order to operate the IDMx40 drives you need to pass through 3 steps Q Step 1 Hardware installation Q Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning Q Step 3 Motion programming using one of the options Q A CANopen master Q The drive built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software Q ATML LIB motion library for PCs Windows or Linux A TML LIB motion library for PLCs Q Adistributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in TML D Technosoft 2010 l IDMx40 Technical Reference This manual covers Step 1 in detail It describes the IDMx40 hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the drive internal units For detailed information regarding the next steps refer to the related documentation Notational C
20. 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 All voltages referenced to GND Min Typ Max Units Motor output current IDM240 5EI Continuous operation 5 5 Arms Motor output current IDM640 8EI Continuous operation 8 8 Arms Motor output current peak 16 5 16 5 A Short circuit protection threshold 20 22 24 A Short circuit protection delay 10 20 40 uS On state voltage drop Output current 8 A 900 200 350 mV Off state leakage current 1 0 1 1 mA FPwM 20 kHz Vwor 12V 50 uH Motor inductance Fpwm 20 kHz Vmor 48 V 200 uH Fpwm 20 kHz Vyor 80 V IDM640 8El 400 uH ESD Protection Human Body Model 25 25 kV 24 V Digital Inputs opto isolated All 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 Input current mA Logic LOW 0 0 2 Input frequency 0 5 kHz Pulse LOW HIGH LOW 10 us Minimum pulse width Pulse HIGH LOW HIGH 100 us ESD Protection Human Body Model 8 10 kV Technosoft 2010 13 IDMx40 Technical Reference 5 V Digital Inputs opto isolated All voltages referenced to OVpic Min Typ Max Units Input voltage Logic LOW 0 5 0 0 8 V Logic HIGH 24 5 5 5 Absolute maximum surge duration 1S
21. MAY BE DAMAGED BY CAUTION INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT gt gt D 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 2010 2 IDMx40 Technical Reference 2 Product Overview 2 1 Introduction The IDMx40 is a family of fully digital intelligent servo drives based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the IDMx4O drives accept as position feedback incremental encoders quadrature All drives perform position speed or torque control and work in either single multi axis or stand alone configurations Thanks to the embedded motion controller the IDMx40 drives combine controller drive and PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller Using the high level Technosoft Motion Language TML the following operations can be executed directly at drive level Q Setting various motion modes profiles PVT PT electronic gearing or camming etc
22. 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 drives can be set with axis ID values from 1 to 255 In CANopen protocol the maximum axis number is 127 When CANopen protocol is used the CAN communication sees the drives axis ID modulo 128 The correspondence is given in Table 3 2 In order to avoid having multiple devices with the same Axis ID do not use in the same CANopen Technosoft 2010 54 IDMx40 Technical Reference network drives having the same Axis ID in modulo 128 Put in other words the difference between any two Axis ID values should not be 128 Remark The Axis ID modulo 128 applies only for CAN communication with CANopen protocol The serial communication and the TMLCAN protocol use the complete axis ID value Table 3 2 Axis ID modulo 128 seen in CANopen communication Real axis ID of the drive Axis ID seen in CANopen communication 129 1 130
23. Online AxisID 255 Firmware FOOOI Before selecting one of the above options you need to establish the communication with the drive you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive and do the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established EasySetUp displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a Technosoft 2010 58 IDMx40 Technical Reference communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasySetUp tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected 4 2 2 Setup drive motor Press New button
24. SI units is 3 SI units for speed are rad s for a rotary movement m s for a linear movement d SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2010 79 IDMx40 Technical Reference Analogue Input Range Load Speed Sl 4096 x Tacho _ gain x Tr x Motor Speed lU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 2 4 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 2xmn Load Speed SI x Motor Speed lU No _ usteps x No _ steps x Tr x T where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 5 Stepper motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow loop sampling period
25. Stepper motor open loop control No feedback device 78 Technosoft 2010 V IDMx40 Technical Reference 6 1 4 Stepper motor closed loop control Incremental encoder on motor 78 6 1 5 Stepper motor open loop control Incremental encoder on load 78 D Speed utsian me paite mal ctetu mud EET SES ci ad cie Dao AD aru DU D 79 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 79 6 2 2 DC brushed motor with quadrature encoder on load and tacho on motor 79 6 2 3 DC brushed motor with tacho on motor cccccccesssesecceeesescaeeeeeeeeeeeeeeseeea 79 6 2 4 Stepper motor open loop control No feedback device ss 80 6 2 5 Stepper motor open loop control Incremental encoder on load 80 6 2 6 Stepper motor closed loop control Incremental encoder on motor 81 6 9 Acceleration units ctn uuu 81 6 3 1 Brushless DC brushed motor with quadrature encoder on motor 81 6 3 2 DC brushed motor with quadrature encoder on load and tacho on motor 82 6 3 3 DC brushed motor with tacho on motor ccccccceseeesecceeeeeseaeeeeeeeeeeeeeeeaees 82 6 3 4 Stepper motor open loop control No feedback device 82 6 3 5 Stepper motor open loop control Incremental encoder on load 83 6 3 6 Stepper motor closed loop control Incremen
26. Vpc isolated supply input CAN Bus positive line positive during dominant bit see Notes CAN Bus negative line negative during dominant bit see Notes Reference ground for CAN L CAN H and CAN V signals THE CANBUS CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Remarks a The CAN network requires two 120Q termination resistors even for short cables These resistors are not included on the drive b All 4 CAN signals are fully insulated from all other IDMx40 circuits system ground GND IO ground OVPLC and Earth Therefore the CAN network requires a separate supply Technosoft 2010 50 IDMx40 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 H with CAN L and the other pair for CAN V with CAN GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter J10 J11 CAN Connectors IDMx40 To Previous Node CAN_GND Optical isolation DSP Controller CAN transceiver CAN_GND To Next Node Figure 3 30 J10 CAN Connector 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
27. as PULSE input in Pulse amp Direction motion mode 14 Ref AD5 10 V differential analog input May be used as analog position speed or torque reference 15 Ref 16 Tach AD2 10 V differential analog input May be used as analog Technosoft 2010 42 IDMx40 Technical Reference E position or speed feedback from a tachometer 17 Tech Internally filtered 3 4 KHz 18 GND E Ground of the 5 Vpc power supply output 19 24 VPLC 24 V power supply for all opto isolated I O 20 OUT 12 ER OUT 12 24 V compatible output Opto isolated ERROR TML instruction ROUT 12 force this pin to 24 V and set light to the red LED 21 OUT 25 RD OUT 25 24 V compatible output Opto isolated READY TML instruction ROUT 25 force this pin to 24 V and set light to the green LED 22 OUT 28 OUT 28 24 V compatible output Opto isolated TML instruction ROUT 28 force this pin to 24 V 23 OUT 29 OUT 29 24 V compatible output Opto isolated TML instruction ROUT 29 force this pin to 24 V 24 OUT 30 OUT 30 24 V compatible output Opto isolated TML instruction ROUT 30 force this pin to 24 V 25 OUT 31 OUT 31 24 V compatible output Opto isolated TML instruction ROUT 31 force this pin to 24 V 26 OVPLC 24 V power supply for all opto isolated I O case SHIELD Shield THE I O CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENV
28. between axes e Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group e Synchronize all the axes from a network In order to program a motion using TML you need EasyMotion Studio software platform xd Optional for the IDM640 CANopen execution i Optional for the IDM640 CANopen execution The customization of the homing routines is available only for IDMx40 CAN executions Technosoft 2010 66 IDMx40 Technical Reference 5 2 2 Installing EasyMotion Studio EasyMotion Studio is an integrated development environment for the setup and motion programming of Technosoft intelligent drives It comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates A demo version of EasyMotion Studio including the fully functional version of EasySetUp can be downloaded free of charge from Technosoft web page EasyMotion Studio is delivered on a CD Once you have started the installation package follow its indications After installation use the update via internet tool to check for the latest updates Alternately you can first install the demo version and then purchase a license By introducing the license serial number in the menu command Help Enter registration info you can transform the demo version into a fully functional version 5 2 3 Gett
29. correspondence with the load position in SI units is For rotary motors Load Position SI ER x Motor _ Position IU 4xNo encoder lines x Tr For linear motors Load Position SI x Motor _ Position IU Encoder accuracy 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 6 1 2 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is Load Positionirad ____2 xLoad Position lU 4xNo encoder lines where No encoder lines is the encoder number of lines per revolution Vel units for position are rad for a rotary movement m for a linear movement Technosoft 2010 77 IDMx40 Technical Reference 6 1 3 Stepper motor open loop control No feedback device The internal position units are motor usteps The correspondence with the load position in SI units is 2x7 Load Position SI x Motor _ Position IU No ustepsxNo stepsx Tr where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue
30. in CANopen communication 33 1 34 2 200 8 255 31 Technosoft 2010 55 IDMx40 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 drive for your application you need to communicate with it The easiest way is via an RS 232 serial link between your PC and the drive Therefore before the first power up check the following Power supply connections and their voltage levels Motor connections Serial cable connections DIP switch positions all shall be OFF not pressed EasySetUp is installed on the PC which is serially connected with the drive see chapter Step 2 Drive Setup Technosoft 2010 56 IDMx40 Technical Reference 4 Step 2 Drive Setup 4 1 Installing EasySetUp EasySetUp is a PC software platform for the setup of the Technosoft drives It can be downloaded free of charge from Technosoft web page EasySetUp comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates EasySetUp includes a firmware programmer through which you can update your drive firmware to the latest revision EasySetUp can be installed independently or together with EasyMotion Studio platform for motion programming
31. it is mandatory to use shielded twisted cables Connect the cable shield to earth shield 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 Technosoft 2010 51 IDMx40 Technical Reference 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 IDMx40 AXISID 1 120R 596 0 25W IDMx40 AXISID 2 L Lmax IDMx40 AXISID 3 pem 120R PC 5 0 25W Host Address 3 IDMx40 AXISID 127 255 Figure 3 31 Multiple Axis CAN network 4 The maximum value of the AXISID is 127 for the IDM640 CANopen execution and 255 for IDMx40 CAN executions Technosoft 2010 52 IDMx40 Technical Reference 3 2 8 Connectors Type and Mating Connectors Connector Function Mating connector J2 Motor amp supply Phoenix Contact MC 1 5 8 STF 3 5 J4 Serial generic 9 pin Sub D male J10 amp J11 CAN generic RJ11 4 4 phone plug J13 Feedback generic 15 pin High Density Sub D male J9 Analog amp 24 V digital I O generic 26 pin High Density Sub D male 1 The mating connector accepts wires of 0 14 1 5 mm AWG28 AWG16 3 3 DIP Switch Setting E 5 Eg 3 S8zosrg Sezsosrege omooo
32. plane Im load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s hinitiay initial system altitude m tinal final system altitude m Im motor current during deceleration Arms phase Rp motor phase resistance C ta time to decelerate s Te 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 Tp will become friction force measured in N Remark If the above computation of E 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 Rg between pin 4 and pin 8 of the Motor amp Supply connector J2 and activate the drive braking circuit from EasySetUp when motor supply voltage exceeds Uggake 55V IDM240 87V IDM640 This option is not available when the drive 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 Em 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
33. shield pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 100nF If very long cables hundreds of meters are used this condition may not be met In this case add series inductors between the IDMx40 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 8 2 Recommendations for Power Supply On Off Switch and Wiring a If motor supply Vmor 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 14 and NOT at the output i e between the supply and drive IDMx4O 6 J2 8 Figure 3 14 J2 Motor supply connection Recommended in rush current limitation 1 Output 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 470pF between the switch and the drive to reduce the slew rate rising slope of the motor supply voltage Uninterru
34. the IDMx40 Technosoft has developed an extension to CANopen called TechnoCAN through which TML commands can be exchanged with the drives Thanks to TechnoCAN you can inspect or reprogram any of the Technosoft drives from a CANopen network using EastSetUp or EasyMotion Studio and an RS 232 link between your PC and anyone of the drives TechnoCAN uses only identifiers outside of the range used by the default by the CANopen predefined connection set as defined by CiA DS301 v4 02 Thus TechnoCAN protocol and CANopen protocol can co exist and communicate simultaneously on the same physical CAN bus without disturbing each other 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview The IDMx40 supports the following CIA DSP402 v2 0 modes of operation e Profile position mode e Profile velocity mode e Homing mode e Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined e External reference modes position speed or torque e Electronic gearing position mode e Electronic camming position mode 35 Optional for IDM640 CANopen execution dd Optional for IDM640 CANopen execution Technosoft 2010 65 IDMx40 Technical Reference 5 1 4 Checking Setup Data Consistency During the configuration phase a CANopen master can quickly verify using the checksum objects and a reference sw file see 4 5 and 5 2 4 for details whether the non volatile EEPROM memory of an IDMx40 dr
35. the cam tables can be loaded in the following ways a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in EasyMotion Studio and are included in the information stored in the EEPROM together with the setup data and the TML programs functions a The customization of the interrupt service routines and homing routines is available only forlDMx40 CAN executions 33 Optional for the IDM640 CANopen execution Technosoft 2010 74 IDMx40 Technical Reference Remark The cam tables are included in the sw file generated with EasyMotion Studio Therefore the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing the Homing Procedures for IDMx40 CAN executions The IDMx40 supports all homing modes defined in DSP 402 device profile If needed any of these homing modes can be customized In order to do this you need to select the Homing Modes from your EasyMotion Studio application and in the right side to set as User defined one of the Homing procedures Following this operation the select
36. units or derivatives refer to the load while the same commands expressed in IU units refer to the motor i Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Available only for the IDMx40 CAN executions Technosoft 2010 6 IDMx40 Technical Reference Motor y 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 DC brushed rotary motor with an incremental quadrature encoder on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor Incremental quadrature encoder Figure 2 5 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 6 Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for 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 T
37. using TML You will need EasyMotion Studio only if you plan to use the advance features presented in Section 5 3 Combining CANopen or other host with TML A demo version of EasyMotion Studio including the fully functional version of EasySetUp can be downloaded free of charge from Technosoft web page On request EasySetUp can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting Started with EasySetUp Using EasySetUp you can quickly setup a drive for your application The drive can be directly connected with your PC via a serial RS 232 link any drive from a CANbus network where the PC is serially linked with one of the other drives The output of EasySetUp is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use EasySetUp includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning EasySetUp works with setup data A setup contains all the information needed to configure and parameterize a Technosoft drive This information is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With EasySetUp it is also possible to retrieve t
38. 0 10 5 V Common mode voltage range Referenced to GND 12 0 10 50 V i Differential Tach input 60 KO Input impedance Differential Ref input 44 KO Referenced to GND Tach input 30 KO Common mode impedance Referenced to GND Ref input 44 KO Resolution 10 bits Diferential linearity 0 09 FS Offset error Common mode voltage 0 10 V 10 1 10 3 96 FS Gain error Common mode voltage 0 10 V 1 05 1 FS Ref input depending on software settings 5 kHz Bandwidth 3dB Tach input 3 4 kHz 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 RS 485 Min Typ Max Units Standards compliance TIA EIA 485 C Recommended transmission line Measured at 1MHz 90 120 150 Q impedance F i 11520 Bit rate Depending on software settings 9600 0 Baud Number of network nodes Depending on software settings 64 ESD Protection Human Body Model 15 KV Technosoft 2010 15 IDMx40 Technical Reference CAN Bus All voltages referenced to CAN GND Min Typ Max Units Physical layer Standards compliance I8011898 2 Transport layer Standards compliance CAN Bus v2 0 B Dn Tansmission ine Measured at 1MHz 9 120 15 lo Bit rate Depending on software settings 125K 1M Baud 1Mbps 40m austengtn For other speeds see CIA DR 303 1 Bit rate 12
39. 2 When IN 38 P5V is used as PULSE input in Pulse amp Direction motion mode on each rising edge the reference or feedback is incremented decremented 3 When IN 37 D5V is used as DIRECTION input in Pulse amp Direction motion mode the reference or feedback is incremented if this pin is pulled low Technosoft 2010 46 IDMx40 Technical Reference 3 2 6 Serial Communication J4 Connector Pin Name Type Function 1 485A I O RS 485 line A positive during stop bit 2 TxD O RS 232 Data Transmission N C Not Connected GND Ground RS 485 line B negative during stop bit OJo A N C Not Connected N N C Not Connected Supply for RS 485 terminator and or supply for handheld terminal internally generated co J4 RS 232 RS 485 Connector IDMx40 RS 232 Connection E DSP Controller SHIELD RS 232 serial cable 1 to 1 male female Gaga 2345675 Figure 3 27 J4 Serial RS 232 connection Technosoft 2010 47 IDMx40 Technical Reference J4 RS 232 RS 485 Connector IDMx40 RS 485 Connection du 2 z c o o a a 123456768 Figure 3 28 J4 Serial RS 485 connection Remarks 1 The RS485 serial communication is available only on the CAN executions 2 Use a 9 wire standard 1 to 1 non inverting shielded cable preferable with metallic or metallized shells casings 3 On IDMXx40 drive the electrical ground
40. 3 DIP Switch SettingS fe 53 O43 BED Indicators ars ner axe a e UA SENS UD A QU AAENEEEXSAE UA UIN URS 56 35 First POWer Upee eene pic HOA Dd tet DUE SOLA OM nen HESS D ote DU HEU set des ES 56 4 Step 2 Drive Setup sese rera nndis o sere ru rna gk gu xo aa Po an cua ia aia Rada ge 57 4 1 Installing EasyselljD suoi petite tee teu Peru PE e Pepe Rope Pe E Ro e Peg etd e tege te Pe Pope oc 57 Technosoft 2010 IV IDMx40 Technical Reference 4 2 Getting Started with EasySetUp eee eeeeeecceeesssss 57 4 2 1 Establish communication sss 58 4 2 2 Setup drive motor ssssssssssssssssssssssseeeeeneeenenem eene 59 4 2 3 Download setup data to drive motor sss 61 4 2 4 Evaluate drive motor behaviour optional sseeseessssss 61 4 3 Changing the drive Axis ID 24d aid nao a ibit e eg odo efe ato te 61 4 4 Setting CANbus rate irrito eie ica duet aude ieu toes 62 4 5 Creating an Image File with the Setup Data ssssss 63 5 Step 3 Motion Programming ceeeeeeeeeeeeeeeee nenne 64 5 1 Using a CANopen Master for IDM640 CANopen execution 64 5 1 1 DS 301 Communication Profile Overview eeeeeseene 64 5 1 2 TechnoCAN Extension for IDMx40 CAN executions eeessssse 65 5 1 3 DSP 402 and Manufacturer Specific Device Pro
41. 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 RS 485 serial communication CAN bus 2 0A 2 0B up to 1Mbit s opto isolated with selectable communication protocol 7 CANopen compatible with CiA standards D8301 and DSP402 TMLCAN 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 1 Optional for the IDM640 CANopen execution 2 Available only for the IDMx40 CAN executions 3 Available only for the IDM640 CANopen execution Technosoft 2010 4 IDMx40 Technical Reference 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 5A 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 2 3 Supported Motor Sensor Configurations The IDMx40 drives support 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 volt
42. 40 8EI CAN execution Identification Label C recunosorr 4 Manufacturer Drive Name inweao set MIHINI Article Number gt Po48 001 Et11 ast Serial Number Figure 3 5 IDM640 8EI CANopen execution for Brushless and DC motors with incremental encoder Identification Label tecunosort 4 Manufacturer Drive Name inwe4o 8E IMIJI Article Number gt Po4 amp 001 Et12 astzs Serial Number Figure 3 6 IDM640 8EI CANopen execution for Step motors with incremental encoder Identification Label Technosoft 2010 22 IDMx40 Technical Reference 3 2 3 Motor amp Supply J2 Connector Function 1 Al A Brushless motor or step motor 3 phase Phase A Step motor 2 phase Phase A DC brush motor positive terminal 2 B A Brushless motor or step motor 3 phase Phase B Step motor 2 phase Phase A DC brush motor negative terminal 3 C B Brushless motor or step motor 3 phase Phase C Step motor 2 phase Phase B DC brush motor not connected 4 BR B Brake output for external brake resistor only when the drive is used with brushless or DC brushed motors Step motor 2 phase Phase B DC brush motor not connected Earth Earth connection Vwor Positive terminal of the motor supply 12 to 80 Vpc NIO Oi Co Technosoft 2010 Vioc Positive terminal of the logic supply
43. 40 drives can work with the following rates on the CAN 125kHz 250kHz 500KHz 1MHz In the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm If a valid setup table exists with the CAN rate value read from it This can be any of the supported rates or can indicate to use the firmware default F W default value which is 500kHz If the setup table is invalid with the last CAN rate value set with a valid setup table This can be any of the supported rates or can indicate to use the firmware default F W default value If there is no CAN rate value set by a valid setup table with the firmware default value i e 500kHz Technosoft 2010 62 IDMx40 Technical Reference Drive Setup r External reference r Guideline assistant r Control mode Previous Next Position C No Yes Setup E Step 1 In the Control mode gt gt group box select what do C Speed Analogue C Incremental Encoder ance you want to control position speed or torque In the o Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or trapezoidal mode The trapezoidal mode is possible only if your r Commutation method C Trapezoidal Advanced Drive Info E CANopen settings Sinusoidal Set change axis ID now
44. 48 Vpc IDM240 5EI or 80 Vpc IDM640 8EI Supplies start up shutdown sequence any Load current 5 Arms IDM240 5EI or 8 Arms IDM640 8EI Operating Conditions Min Typ Max Units Ambient temperature 0 40 C Case temperature Mounted on metallic surface 0 60 C Ambient humidity Non condensing 0 90 Rh 3 Altitude referenced to sea level 0 71 4 Km Altitude pressure Ambient Pressure 0 64 0 9 1 4 0 atm ESD capability see electrical characteristics Storage Conditions Min Typ Max Units Ambient temperature 40 85 C Ambient humidity Non condensing 0 100 Rh Altitude referenced to sea level 0 1 4 Km Altitude pressure 09 Ambient Pressure 0 64 1 4 0 atm ESD capability Stand alone 8 kV Original packaging 15 kV 1 Applicable to stand alone operation Operating temperature can be extended up to 80 C with reduced current and power ratings See Figure 2 14 De rating with ambient temperature Applicable when mounted on metallic surface Operating temperature can be extended up to 80 C with reduced current and power ratings See 2 15 De rating with case temperature 3 At altitudes over 1 000m current and power rating are reduced due to thermal dissipation efficiency at higher altitudes See 2 16 De rating with altitude Technosoft 2010 10 IDMx40 Technical Reference Mechanical Mounting
45. 5kbps 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 Current sourced 350 mA 4 75 5 5 25 V 350 mA 5 Vpc available current 1 Differential input impedance is 21 5KQ For full RS 422 compliance 120Q termination resistors must be connected across the differential pairs as close as possible to the drive input pins ES stands for Full Scale T Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability Technosoft 2010 16 IDMx40 Technical Reference V os 100 0 40 80Ta C Figure 2 12 De rating with ambient temperature 18 V us 0 1000 4000 H m Figure 2 14 De rating with altitude VI SER 100 0 50 80 Tc C Figure 2 13 De rating with case temperature U tss 75 0 20 75 f kHz Figure 2 15 Current De rating with with PWM frequency CAUTION For PWM frequencies less than 20kHz correlate the PWM frequency with the motor parameters in order to avoid possible motor damage inom the nominal current 18 Stand alone operation vertical mounting 19 Fixed on metallic surface vertical mounting Temperature is measured at the contact
46. 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vyor supply voltage The correspondence with the supply voltage in V is Voltage measured V Soon eee Sian x Voltage measured IU 65520 where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is Time s T x Time IU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU 6 9 Drive temperature units The drive includes a temperature sensor The correspondence with the temperature in C is 3 V x DriveTemperature IU Sensor output 0 C V Drive temperature C 65520 x Sensor _ gain V C Sensor gain V C where Sensor gain is the temperature sensor gain Sensor output 0 C is the temperature sensor output at 0 C You can read these values in the Drive Info dialogue which can be opened from the Drive Setup 6 10 Master position units When the master position is sent via a c
47. Changing the motion modes and or the motion parameters a Q Executing homing sequences Q Controlling the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analogue input signals Executing arithmetic and logic operations Performing data transfers between axes Controlling motion of an axis from another one via motion commands sent between axes D OC OLD Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Q Synchronizing all the axes from a network Using EasyMotion Studio for TML programming you can really distribute the intelligence between the master and the drives in complex multi axis applications reducing both the development time and the overall communication requirements For example instead of trying to command each movement of an axis you can program the drives using TML to execute complex motion tasks and inform the master when these tasks are done Thus for each axis control the master job may be reduced at calling TML functions stored in the drive EEPROM with possibility 1 Optional for the IDM640 CANopen execution Available only for the IDMx40 CAN executions Technosoft 2010 3
48. GND and the earth shield are isolated Technosoft 2010 48 IDMx40 Technical Reference IDMx40 i 120R AXISID21 5 0 25W IDMx40 AXISID 2 PC Host Address 255 RS 232 RS 485 Adapter IDMx40 120R AXISID 254 5 0 25W Figure 3 29 Multiple Axis RS 485 Network connection Remark 1 For the PC parameter Host Address can have values between 1 and 255 and this value must be different from parameter Axis ID for IDMs in the network For example if the Host Address is set to 255 then none of the IDMs in the network can have Axis ID set to 255 2 The PC can be placed in any position in the network Technosoft 2010 49 IDMx40 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 IDMx40 earth connection The drive must be earthed through a separate circuit Most communication problems are caused by the lack of such connection c Always power off all the IDMx40 supplies before inserting removing the RS 232 serial connector DO NOT CONNECT DISCONNECT THE RS 232 CABLE CAUTION WHILE THE DRIVE IS POWERED ON THIS OPERATION CAN DAMAGE THE DRIVE 3 2 7 CAN Communication J10 Connector Function 24 Vpc optional 5
49. IDMx40 Technical Reference to abort their execution if needed and waiting for a message which confirms the TML functions execution Apart from a CANopen master the IDMx40 drives can also be controlled from a PC or PLC using the family of TML LIB motion libraries For all motion programming options the IDMx40 commissioning for your application is done using EasySetUp 2 2 Key Features Digital drives for control of brushless DC brushless AC DC brushed and step motors with built in motion controller and high level TML motion language Position speed or torque control Various motion programming modes Position profiles with trapezoidal or S curve speed shape Position Velocity Time PVT 3 order interpolation Position Time PT 1 order interpolation Electronic gearing and camming External analogue or digital reference 33 Homing modes Incremental encoder and digital Hall sensors interfaces 5V single ended open collector or RS 422 differential Second incremental encoder pulse amp direction interface 5V or 24V single ended open collector or RS 422 differential for external master digital reference 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 5V compatible shared with second encoder pulse amp direction 6 digital outputs opto isolated 24V PNP type 80 160 mA short circuit protected
50. IRONMENT Remarks 3 The 24V opto isolated I O 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 37 D and IN 38 P accept both TTL 5V and 24V signals and are opto isolated These inputs are referenced to the drive logic ground GND Technosoft 2010 43 IDMx40 Technical Reference J9 Analog amp 24V Digital I O Connector IDMx40 24VPLC RESET INIHG EN i 3 3V IN 36 i 2K5 uo gt O 3 _IN 39 i D gt Be _ IN 2 LSP nn ite a ga IN 24LSN i A O7 O m MP eese soo IN 37 DIR KS IN 38 PULSE 5 3 3V ___IN 38 P5V jm 3 2 re BEES H wp oy T i LDF i High speed 5KHz ia OUTEZS j 24VPLC o o 3 3V 5 AD S K ii fmi emm o ee o 0360 BR BN p c 22 SAD OUT 31 i 24VPLC o o 3 3V 9 9 g L EN AR C C7 dieeeeu o QAD i K 5 Lens Yq comme ES d 7 LOAD OUT 25 RD T a a i Green and PAORA 24VPLC i Red LEDs 24VPLC zv 0VPLC i 59 ovre WRLC i E ovPLC OVPLC i Power logic output GND i ER PA 0 3 3V VOV ET ESSERE i d F 3dB 3 4KHz as Ref o i Le 0 3 3V
51. LIB S7 library is IEC61131 3 compatible TML LIB CJ1 part no P091 040 CJ1 UM xxxx explains how to program a PLC Omron series CJ1 a motion application for the Technosoft intelligent drives using TML LIB CJ1 motion control library The TML LIB CJ1 library is IEC61131 3 compatible TML LIB X20 part no P091 040 X20 UM xxxx explains how to program a PLC B amp R series X20 a motion application for the Technosoft intelligent drives using TML LIB X20 motion control library The TML LIB X20 library is IEC61131 3 compatible TechnoCAN part no P091 063 TechnoCAN UM xxxx presents TechnoCAN protocol an extension of the CANopen communication profile used for TML commands If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoftmotion com Receive general information World Wide Web http www technosoftmotion com or assistance Email contact technosoftmotion com Ask questions about product Fax 41 32 732 55 04 operation or report suspected problems Email hotline technosoftmotion com Make suggestions about Mail Technosoft SA or report errors in Buchaux 38 documentation CH 2022 Bevaix NE Switzerland Technosoft 2010 III IDMx40 Technical Reference Contents Read This First iseis HD l PEE Abr 1 Wilt IIo eer H 1 da VOBIS icit o Coni ORIS R CO RU A NM MD MU M aa DELE ELA EI 2 2 Pr
52. M xxxx 5 1 1 DS 301 Communication Profile Overview The IDMx40 drive accepts the following basic services and types of communication objects of the CANopen communication profile DS 301 v4 02 e Service Data Object SDO Service Data Objects SDOs are used by CANopen master to access any object from the drive s Object Dictionary Both expedited and segmented SDO transfers are supported see DS301 v4 02 for details SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master with the drives e Process Data Object PDO Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The IDMx40 accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set according with the application needs using the dynamic PDO mapping This operation can be done during the drive configuration phase using SDOs e Synchronization Object SYNC The SYNC message provides the basic network clock as the SYNC producer broadcasts the synchronization object periodically The service is unconfirmed The IDMx40 supports both SYNC consumer and producer e Time Stamp Object
53. TIME The Time Stamp Object is not supported by the IDMx40 device e Emergency Object EMCY Emergency objects are triggered by the occurrence of a drive internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the drive will not transmit further emergency objects Technosoft 2010 64 IDMx40 Technical Reference e Network Management Objects NMT The Network Management is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services the drive can be initialized started monitored reset or stopped The IDMx40 is a NMT slave in a CANopen network e Module Control Services through these unconfirmed services the NMT master controls the state of the drive The following services are implemented Start Remote Node Stop Remote Node Enter Pre Operational Reset Node Reset Communication e Error Control Services through these services the NMT master detects failures in a CAN based network Both error control services defined by DS301 v4 02 are supported by the IDMx40 Node Guarding including Life Guarding and Heartbeat e Bootup Service through this service the drive indicates that it has been properly initialized and is ready to receive commands from a master 5 1 2 TechnoCAN Extension for IDMx40 CAN executions In order to take full advantage of the powerful Technosoft Motion Language TML built into
54. The transmission is rotary to rotary The correspondence with the load speed in SI units is 2x7 Load Speed rad s xLoad Speedq IU 4xNo encoder linesx T where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Technosoft 2010 80 IDMx40 Technical Reference 6 2 6 Stepper motor closed loop control Incremental encoder on motor The internal speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is Load Speed SI 2 xMotor Speed IU 4xNo encoder linesx Trx T where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are enco
55. a general purpose input Technosoft 2010 33 IDMx40 Technical Reference THE FEEDBACK CONNECTOR SIGNALS ARE CAUTION ELECTROSTATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT J13A Feedback Connector Single ended open collector encoders IDMx40 DSP Controller n Connected to case Figure 3 16 J13A Single ended open collector encoder connection Technosoft 2010 34 IDMx40 Technical Reference J13A Feedback Connector Differential encoder RS 422 1 Q o c o O A o a SHIELD Pm E Connected to case Figure 3 17 J13A Differential RS 422 encoder connection Remark For noisy electromagnetic environments or long encoder lines add 120Q termination resistors between the positive and negative line close to the drive For details see RS 422 standard Technosoft 2010 35 IDMx40 Technical Reference J13A Feedback Connector Second Encoder differential RS 422 DSP Controller SHIELD nr Connected tocase Nee To Master encoder inputs Figure 3 18 J13A Second encoder differential RS 422 connection Remarks 1 For long encoder lines add 1200 termination resistors close to the drive For details see RS 422 standard 2 Connect the 5Vpc just to one IDMx40 drive on the master or slave Technosoft 2010 36 IDMx40 Technical Reference J13A Feedback Connecto
56. acho Figure 2 6 DC brushed rotary motor Speed torque control Tachometer on motor Technosoft 2010 7 IDMx40 Technical Reference 7 Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load Motor Incremental quadrature encoder Figure 2 7 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor Open loop control of a 2 or 3 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor Figure 2 8 No position or speed feedback Open loop control motor position or speed 9 Closed loop control of load position using an encoder on load combined with open loop control of a 2 phase step motor in speed with speed reference provided by the position controller The motion commands in both SI and IU units refer to the load Motor Incremental quadrature encoder Figure 2 9 Encoder on load Closed loop control load position open loop control motor speed 1 3 phase step motor configuration i
57. ages 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 BRUSHLESS MOTOR 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 i Nominal values cover all cases Higher values are possible in specific configurations For details contact Technosoft 2 i 1 2kHz cover all cases Higher values equal with torque loop update frequency are possible with quadrature encoders 3 s For higher ambient temperatures contact Technosoft to get de rating information li Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 5 Available only for the IDMx40 CAN executions Technosoft 2010 5 IDMx40 Technical Reference motion commands for position speed and acceleration expressed in SI units
58. al All features presented below require usage of EasyMotion Studio as TML programming tool Remark If you don t use the advanced features presented below you don t need EasyMotion Studio In this case the IDMx4O is treated like a standard CANopen drive whose setup is done using EasySetUp 5 3 1 Using TML Functions to Split Motion between Master and Drives With Technosoft intelligent drives you can really distribute the intelligence between a CANopen master and the drives in complex multi axis applications Instead of trying to command each step of an axis movement you can program the drives using TML to execute complex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling TML functions with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the TML functions execution 5 3 2 Executing TML programs The distributed control concept can go on step further You may prepare and download into a drive a complete TML program including functions homing procedures etc The TML program execution can be started by simply writing a value in a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio The IDMx40 CAN executions offers others motion modes like electronic gearing electronic camming external modes with analogue or digital reference etc When electronic camming is used
59. al current units refer to the motor phase currents The correspondence with the motor currents in A is 2x peak 65520 where lpeak is the drive peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Current A x Current IU 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control method used In case of brushless motors driven in sinusoidal mode a field oriented vector control is performed The voltage command is the amplitude of the sinusoidal phase voltages In this case the correspondence with the motor phase voltages in SI units i e V is 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 Vdc 32767 Voltage command V x Voltage command IU Technosoft 2010 86 IDMx40 Technical Reference This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode
60. area between the IDMx40 and the heat sink Technosoft 2010 17 IDMx40 Technical Reference Vour I Vuor 92 75 0 20 75 f kHz Figure 2 16 Output Voltage De rating with PWM frequency t s IDM240 4El 80 Lou 25A lax 16 5A Ft 1000 A s t 3 6s 60 40 20 0 4 d 8 12 161 A Figure 2 18 Over current diagram for IDM240 20 your the output voltage Vor the motor supply voltage 21 Prom the nominal power Technosoft 2010 18 0 20 75 f kHz Figure 2 17 Power De rating with PWM frequency i t s IDM640 8EI 80 lou 8A 1 716 5A Ft 3000 A s t 11s 60 40 9 4 81 12 16 hax A Figure 2 19 Over current diagram for IDM640 IDMx40 Technical Reference 3 Step 1 Hardware Installation 3 1 Mounting Cooling Requirement The IDMx40 drive was designed to be cooled by natural convection It can be mounted horizontally with label upwards inside a cabinet see Figure 3 1 with motor wires going down CABINET Figure 3 1 Recommended mounting of IDMx40 in a cabinet IDMx40 Technical Reference Technosoft 2010 Leave the distance D4 D and D3 between the drive and surrounding walls drives to allow for free air circulation Wiring Requirement Required cooling distance D gt 25mm 1 in D gt 60mm 2 36 in Ds gt 25mm 2
61. below the drive peak current Ipeak 16 5A Rap gt UMAX IPEAK 2 to sustain the required braking power Technosoft 2010 31 IDMx40 Technical Reference 1 2 2 EM 5 CU max Uprake PBR i d where C Cext Corive is the overall capacitance on the motor supply external drive i e U2 RBR BRAKE 2x PBR 3 to limit the average current below the drive nominal current Inom 5A IDM240 8A IDM640 P t RBR gt BR X td 2 tcYcLE lt Nom where tcycLe is the time interval between 2 brakes in case of repetitive moves PgR xt Uy BR d and a peak power PpEAK ZMAX 4 to be rated for an average power Pay tCYCLE RBR Remarks U2 1 If UMAX gt BRAKE the braking power Pag must be reduced by increasing either ty the IPEAK 2x PBR time to decelerate or Cex the external capacitance on the motor supply 2 PBR xt U 2 If BR g x BRAKE CYCLE X INOM 2x PBR or tcycre 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 eese s DURING OPERATION Technosoft 2010 32 IDMx40 Technical Reference 3 2 4 Feedback J13A Connector Name on the 2 Function Comments Drive cover A1 Positive A for differential encoder or A for single ended encoder 23 B1 Positive B for differential encoder or B for single ended encoder 5 Voc 5 Voc Supply generated internally
62. chnical Reference 3 2 5 Analog amp Digital I O J9 Connector Pin Name on the TML Typ Function Alternate function Comments Drive cover name e 1 24 VPLC 24 V power supply terminal for all opto isolated I O 2 IN 16 EN IN 16 I 24 V compatible input Opto isolated ENABLE Connect to 24 V to disable the PWM outputs 3 IN 36 IN 36 l 24 V compatible input Opto isolated 4 IN 37 D IN 37 ii 24 V compatible input Opto isolated Shared with pin DIR 12 IN 37 D5V Can be used as DIRECTION input in Pulse amp Direction motion mode 5 IN 38 P IN 38 1 24 V compatible input Opto isolated Shared with pin PULSE 13 INZ38 P5V Can be used as PULSE input in Pulse amp Direction motion mode 6 IN 39 IN 39 24 V compatible input Opto isolated 7 IN 2 LSP IN 2 1 24 V compatible input Opto isolated LSP Positive limit switch 8 IN 24 LSN IN 24 1 24 V compatible input Opto isolated LSN Negative limit switch 9 OVPLC l 24 V power supply terminal for all opto isolated I O 10 Vioc O Viog Logic supply voltage as applied on J2 pin 7 11 RESET I RESET pin connect to 24 V for reset the board 12 INZ37 D5 V IN 37 I 5 V compatible input Opto isolated Shared with pin 4 DIR IN 37 D Can be used as DIRECTION input in Pulse amp Direction motion mode 13 IN 38 P5 V IN 38 1 5 V compatible input Opto isolated Shared with pin 5 PULSE IN 38 P Can be used
63. d The correspondence with the load speed in SI units is Motor Speed SI ZAE x Motor _ Speed IU 4xNo encoder _lines xT 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 Technosoft 2010 91 IDMx40 Technical Reference 7 Memory Map IDMx40 has 2 types of memory a 32Kx16 zero wait state SRAM and an 8Kx8 serial E ROM SRAM Data 8800h Data memory for data acquisition Not used as Data memory SRAM Program 8270h Not used as Program memory Program memory for TML programs FFFFh TML Program E2ROM 4000h E2ROM Program memory 5FFFh 6000h 8K x 8 serial SPI E2ROM Not available 7FFFh 8000h SRAM Data memory SRAM Program memory Figure 7 1 IDMx40 Memory Map The SRAM memory is mapped both in the program space and in the data space within the address range 8000h to OFFFFh The data memory can be used for real time data acquisition and to temporarily save variables during a TML program execution The program space can be Technosoft 2010 IDMx40 Technical Reference used to download and execute TML programs It is the user s choice to decide how to split the 32 K SRAM into data and program memory The E ROM is seen as 4 Kx16 program memory mapped in the address range 4000h to
64. d adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated TML instructions are automatically generated Note that the TML instructions generated are not a simple text included in a file but a motion object Therefore with Motion Wizard you define your motion program as a collection of motion objects The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications Add delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Wizard button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are done automatically ATML program is created by inserting your motion objects into a predefined template The TML program is compiled and downloaded to the drive motor The TML program execution is started For learning how to send TML commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact con
65. der counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors Load Acceleration Sl prc xMotor Acceleration IU 4xNo encoder linesxTrxT For linear motors Encoder _ accurac yx Motor Load Acceleration SI Trx T 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 3 SI units for speed are rad s for a rotary movement m s for a linear movement 39 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement Technosoft 2010 81 IDMx40 Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 2 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 Sl RD xLoad Acceleration IU 4xNo encoder linesx T where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling peri
66. drive motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor To summarize you can define or change the setup data of an application in the following ways Create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 5 2 3 4 Program motion In the project window left side select M Motion for motion programming This automatically activates the Motion Wizard iBixi ASM WD amp 8 D BD x GW Tr fe S 18 32 o By msc g eet SOR ute 0 Man Untitled Application m S Setup M f Homing Modes ei Functions fs Interrupts Ra CAM Tables 5 H SN The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate the corresponding TML instructions Therefore with Motion Wizard you can develop motion programs using almost all the TML instructions without needing to learn them A TML program includes a main section followed by the Technosoft 2010 72 IDMx40 Technical Reference subroutines used functions interrupt service routines and homing procedures The TML program may also include cam tables used for electronic camming applications When activated Motion Wizar
67. ection 4 phase Inverter A A B B Step MOTOR Currents Info Connected to case 1 coil per phase Figure 3 10 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 IDMx40 8EI 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 2010 27 IDMx40 Technical Reference A1 2 coils per phase in parallel connection A1 A2 A1 A2 B1 B2 B1 B2 Step MOTOR Figure 3 11 J2 Connection of a 2 phase motor with 2 coils per phase in parallel 2 coils per phase in series connection A1 A1 A2 A2 B1 B1 B2 B2 Step MOTOR Figure 3 12 J2 Connection of a 2 phase motor with 2 coils per phase in series 1 coil per phase Step MOTOR 3 phases Figure 3 13 J2 Connection of a 3 phase motor e Available only for IDMx40 CAN executions Technosoft 2010 28 IDMx40 Technical Reference 3 2 3 1 Recommendations for Motor Wiring 8 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 IDMx40 earth
68. ed procedure will occur under Homing Modes in a subtree with the name HomeX where X is the number of the selected homing lO xl Project Application Communication View Control Panel Window Help 5 Os S GORE FOO f usmx zm tz E Untitled Application HomingO Set actual position as home position S Setup Homing1 Move negative until the limit switch is reached Reverse Ej M Motion and stop at first index pulse Homing Modes Homing2 Move positive until the limit switch is reached Reverse fh Functions and stop at first index pulse fh Interrupts Homing3 Stop at first index pulse after home switch high low amp CAM Tables transition If home input is high move negative else move positive Select Reload default and reverse after home input low high transition Homing4 Stop at first index pulse after home switch low high transition If home input is low move positive else move negative T Select Reload default and reverse after home input high low transition HomingS Stop at first index pulse after home switch high low transition If home input is high move positive else move negative Select Reload default and reverse after home input low high transition Homing6 Stop at first index pulse after home switch low high transition If home input is low move negative else move positive I Select Reload default and reverse after home input high low transition Homing Moving negative stop at first index pulse after home swi
69. file Overview 65 5 1 4 Checking Setup Data Consistency ssssse 66 5 2 Using the built in Motion Controller and TML 66 5 2 1 Technosoft Motion Language Overview sssseen 66 5 2 2 Installing EasyMotion Studio eti eater ck teu E RE Pneu 67 5 2 3 Getting Started with EasyMotion Studio seeseeeee 67 5 2 4 Creating an Image File with the Setup Data and the TML Program 73 5 3 Combining CANopen or other host with TML sssssss 74 5 3 1 Using TML Functions to Split Motion between Master and Drives 74 5 3 2 Executing TML programs t eset epis e ets bob te a eate dos 74 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio 74 5 3 4 Customizing the Homing Procedures for IDMx40 CAN executions 75 5 3 5 Customizing the Drive Reaction to Fault Conditions for IDMx40 CAN cele eC Om 75 5 4 Using Motion Libraries for PC based Systems susussss 76 5 5 Using Motion Libraries for PLC based Systems 76 6 Scaling Factors TETTE TIT IT 77 6 1 POSON Units os re rn a eee ee 77 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 77 6 1 2 DC brushed motor with quadrature encoder on load and tacho on motor 77 6 1 3
70. form 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 and automatically generates all the TML instructions With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controller A demo version of EasyMotion Studio with EasySetUp part fully functional can be downloaded free of charge from Technosoft web page TML LIB v2 0 part no P091 040 v20 UM xxxx explains how to program in C C C Visual Basic or Delphi Pascal a motion application for the Technosoft intelligent drives using TML LIB v2 0 motion control library for PCs The TML lib includes ready to run examples that can be executed on Windows or Linux x86 and x64 Technosoft 2010 ll IDMx40 Technical Reference TML LIB LabVIEW v2 0 part no P091 040 LABVIEW v20 UM xxxx explains how to program in LabVIEW a motion application for the Technosoft intelligent drives using TML LIB Labview v2 0 motion control library for PCs The TML Lib LabVIEW includes over 40 ready to run examples TML LIB S7 part no P091 040 S7 UM xxxx explains how to program in a PLC Siemens series S7 300 or S7 400 a motion application for the Technosoft intelligent drives using TML LIB S7 motion control library The TML
71. from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 4 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 2xm Load Position SI x Motor _ Position IU 4xNo encoder lines x Tr where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 5 Stepper motor open loop control Incremental encoder on load The internal position units are load encoder counts The transmission is rotary to rotary The correspondence with the load position in SI units is Load Position SI 2 xLoad 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 P SI units for position are rad for a rotary movement m for a linear movement Technosoft 2010 78 IDMx40 Technical Reference 6 2 Speed units The internal speed units are internal position units slow loop sampling period i e the position variation over one slow loop sampling period 6 2 1 Brushless DC brushed motor with quadrature encoder on motor The internal speed units are encoder count
72. he TML Motion Library functions you can communicate with a drive motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc The TML Motion Library can work under a Windows or Linux operating system Implemented as a dll so it can be included in an application developed in C C Visual Basic Delphi Pascal or Labview Using a TML Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done All Technosoft s TML Motion Libraries for PCs are provided with EasySetUp 5 5 Using Motion Libraries for PLC based Systems A TML Motion Library for PLC is a collection of high level functions and function blocks allowing you to control from a PLC the Technosoft intelligent drives The motion control function blocks are developed in accordance with the PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications with Technosoft products With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters
73. he complete setup information from a drive previously programmed Note that with EasySetUp you do only your drive motor commissioning For motion programming you have the following options e Use a CANopen master e Use EasyMotion Studio to create and download a TML program into the drive motor memory e Use one of the TML_LIB motion libraries to control the drives motors from your host master If your host is a PC TML_LIB offers a collection of high level motion functions which can be Technosoft 2010 57 IDMx40 Technical Reference called from applications written in C C Visual Basic Delphi Pascal or LabVIEW If your host is a PLC TML LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program e Implement on your master the TML commands you need to send to the drives motors using one of the supported communication channels The implementation must be done according with Technosoft communication protocols e Combine TML programming at drive level with one of the other options see Section 5 3 4 2 1 Establish communication EasySetUp starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor EasySetUp E inl im xl setup Communication View Help Dg iS 690 Ek xui a S 2 TERN HEN KORS 0 p T Upload from Drive Motor
74. ing Started with EasyMotion Studio Using EasyMotion Studio you can quickly do the setup and the motion programming of a Technosoft a drive according with your application needs The drive can be directly connected with your PC via a serial RS 232 link any drive from a CANbus network where the PC is serially linked with one of the other drives The output of the EasyMotion Studio is a set of setup data and a motion program which can be downloaded to the drive motor EEPROM or saved on your PC for later use EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application EasyMotion Studio works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the drives motors from the network All data exchanges are done with the drive motor having the same address as the selected application In the second case all the applications have the same axis number The setup co
75. ion lt 10ms Nominal values including ripple amp braking 12 80 V induced over voltage up to 25 DE Supply voltage IDM640 8EI Absolute maximum values continuous 0 100 Voc Absolute maximum values surge 0 5 105 V duration lt 10ms Idle 15 4 mA Operating 16 5 A Absolute maximum values surge Supply current t 30 A duration lt 10ms In rush current surge Vioc748V lt 300 Ark wires 1m x 1 5mm lt 100 US fall time to 50 Drive Efficiency Puoron Pworon surrLy Fepwm 20KHz 88 92 ESD Protection Human Body Model 25 30 kV I O Supply Input isolated Measured between 24 Vpic and OVnc Min Typ Max Units Nominal values 8 24 30 Voc Supply voltage Absolute maximum values surge PPY g g 0 5 32 V duration lt 10ms All inputs and outputs disconnected 12 25 mA Supply current All inputs tied to 24 Vac all outputs Sourcing simultaneously their nominal 60 180 mA current into external load s Isolation voltage rating Between OVp c and GND 200 Vnus Technosoft 2010 12 IDMx40 Technical Reference CAN Bus Supply Input isolated Measured between CAN V and CAN GND Min Typ Max Units Nominal values 8 24 30 Voc Supply voltage Absolute maximum values surge KeK 1 t 0 5 32 V duration lt 10ms CAN
76. ive contains the right information If the checksum reported by the drive doesn t match with that computed from the sw file the CANopen master can download the entire sw file into the drive EEPROM using the communication objects for writing data into the drive EEPROM 5 2 Using the built in Motion Controller and TML One of the key advantages of the Technosoft drives is their capability to execute complex motions without requiring an external motion controller This is possible because Technosoft drives offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 Technosoft Motion Language Overview Programming motion directly on a Technosoft drive requires to create and download a TML Technosoft Motion Language program into the drive memory The TML allows you to e Set various motion modes profiles PVT PT electronic gearing or camming etc e Change the motion modes and or the motion parameters e Execute homing sequences e Control the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur e Handle digital I O and analogue input signals e Execute arithmetic and logic operations e Perform data transfers between axes e Control motion of an axis from another one via motion commands sent
77. l a Save to User Database Delete Help Nominal current e52 A Mm Test Phase Connections en Bau m Motor data Peak current pos B z Pole pairs 4 Curren Detect Number of Pole Pairs Torque constant fo 0355 Nm hd pee Phase resistance motor drive fo 8 Ohms z Phase inductance motor drive fi eA mH Hie Nees anes and ndane I S REN Motor inertia 48 kam 2 E 7 Motor inertia is unknown Phase connection Star Delta m Motor sensors k Incremental No of lines rev oo mes v Test Connections Detect Number of Lines encoder IV Hall sensors Hall configuration e x Test Connections Detect Hall Configuration Sensor type Yp h K Temperature NTC OPE f f f mn Fo 83 r Transmission to load Transmission type Rotary to rotary Motor displacement of fi rot Rotary to linear corresponds on load to f rot Online AxisID 255 IDM240 SEI Firmware FOOOI SetupID 0104 7 In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistan
78. mber of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 5 Stepper motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary to rotary transmission 2x7 Load Acceleration Sl xLoad Acceleration IU 4xNo encoder _ lines xT For rotary to linear transmission Load Acceleration m s Encoder accuracy xLoad Acceleration IU T where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 6 Stepper motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The tran
79. mponent contains all the information needed to configure and parameterize a Technosoft drive This information is preserved in the drive motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime Technosoft 2010 67 IDMx40 Technical Reference The motion component contains the motion sequences to do These are described via a TML Technosoft Motion Language program which is executed by the drives motors built in motion controller 5 2 3 1 Create a new project EasyMotion Studio starts with an empty window from where you can create a new project or open a previously created one EasyMotion Studio y kd When you start a new project EasyMotion Studio automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Technosoft 2010 68 IDMx40 Technical Reference New ER Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 255 which is the default axis ID of the drives having all the axis ID switches OFF see 3 3 DIP Switch Settings Press New button and select your drive type Depending on the product chosen the selection may continue with the motor technology for example brushless or brushed and the type of feedback device f
80. msg Sama m g 3 I o 5 o o ryeYaqagaaaag reoagagagg g OFF EH EH EN NN NN UN UN UN OFF EN EH EN NN NN UN UN UN ON ON 123458078 12 3 4 80 6 7 8 Figure 3 32 SW1 DIP Switch for CAN Figure 3 33 SW1 DIP Switch for CANopen executions executions e Position 1 FU Norm ON Enable Firmware Update OFF Normal operation e Position 2 485 232 CAN executions ON IDMx40 drive communicates in RS 485 mode OFF IDMx40 drive communicates in RS 232 mode 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 CAN executions ON Sets the drive in AUTORUN mode only with TMLCAN protocol 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 With CANopen protocol the drive is always in external mode independently of the switch position Remark All switches are sampled at power up and the drive is configured accordingly Technosoft 2010 53 IDMx40 Technical Reference Table 3 1 Axis ID Address configuration DIP Switch position 3 4 5 6 7 Axis ID ID Bit4 ID Bit3 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
81. n be read with any text editor It contains blocks of data separated by an empty raw Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit values maximum 4 hexadecimal digits Each raw contains a single data value When less then 4 hexadecimal digits are shown the value must be right justified For example 92 represent 0x0092 The sw file can be programmed into a drive from a CANopen master using the communication objects for writing data into the drive EEPROM from a host PC or PLC using the TML LIB functions for writing data into the drive EEPROM IDMx40 Technical Reference Technosoft 2010 63 using the EEPROM Programmer tool which comes with EasySetUp but may also be installed separately The EEPROM Programmer was specifically designed for repetitive fast and easy programming of sw files into the Technosoft drives during production 5 Step 3 Motion Programming 5 1 Using a CANopen Master for IDM640 CANopen execution The IDMx40 drive supports the CiA draft standard DS 301 v4 02 CANopen Application Layer and Communication Profile It also conforms with the CiA draft standard proposal DSP 402 v2 0 CANopen Device Profile for Drives and Motion Control For details see CANopen Programming manual part no P091 063 U
82. n to perform tasks such as transporting assembling installing commissioning and operating drives The following safety symbols are used in this manual SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT WARNING CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT CAUTION DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION INDICATES AREAS SENSITIVE TO ELECTROSTATIC CAUTION DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT gt gt gt 1 1 Warnings THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE WARNING ELECTRICAL SHOCKS DO NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON TO AVOID ELECTRIC ARCING AND HAZARDS NEVER WARNING CONNECT DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON gt gt Technosoft 2010 1 IDMx40 Technical Reference THE DRIVE MAY HAVE HOT SURFACES DURING MALE MD en OPERATION DURING DRIVE OPERATION THE CONTROLLED MOTOR WARNING WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY gt gt 1 2 Cautions THE POWER SUPPLIES CONNECTED TO THE DRIVE CAUTION MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT TROUBLESHOOTING AND SERVICING ARE PERMITTED CAUTION ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS WHICH
83. od expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 3 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 4096 x Tacho _ gain x Tr x T Load _ Acceleration SI 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 6 3 4 Stepper motor open loop control No feedback device The internal acceleration units are motor psteps slow loop sampling period The correspondence with the load acceleration in SI units is 40 SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2010 82 IDMx40 Technical Reference Load Acceleration SI EE SETS xMotor Acceleration lU No ustepsxNo stepsx Tr x T where No steps is the nu
84. oduct OVGIRVICW raa a rra araa aaraa aaa aaa raaraa aaa aiana iana aasia asiaa iis 3 2 1 Introduction nisiut cece ort dea oe p Lago e iac qu bep ou sa d toe pe equ ELERS 3 2 2 Key Features ER 4 2 3 Supported Motor Sensor Configurations ccccccccceeeeeeeeeeeeeeeeeeeeees 5 2 4 IDMX4O Dimensions anui rin e rnnt aec oma ere nen oc m arat eene 9 2 5 Electrical Specifications ccccccceececceeeeseeeeeeeeeeeeeeeeaeeseeeeeeeeeeenees 10 3 Step 1 Hardware Installation eeeeeeeeeeeeeeeeeeeee 19 35 MUMIN sias ideo de eee dol ep gos tet foc ngog is 19 3 2 Connectors and Connection Diagrams cceceeeeeeeeeeeeeeeeeeeeeeeeeeees 21 3 2 1 Connectors EayOUL ecco triti dott er orbi ea tag nita duae daoa 21 3 2 2 Identification Labels cccceccceeeeeeeeeeeeeeeeee cee eeeeseeeeeeeeeeeeseeeeeeeeeeeeeeeeeeees 22 3 2 3 Motor amp Supply J2 Connector ssssssssssss ee 23 3 2 4 Feedback J13A Connector ssssssssssssssseee eee 33 3 2 5 Analog amp Digital I O J9 Connector 00 eee cece eeeeeeneeeeeeeeeeeeeneeeaaaaes 42 3 2 6 Serial Communication J4 CONN COM cece cece cece eeeeeeeeeeeeeeeeeeeeeeeeeeeneeees 47 3 2 7 CAN Communication J10 Connector ceccceccceecceeeeeeeeeeeeeeeeeeeeeeeeeeeeees 50 3 2 8 Connectors Type and Mating Connectors eeseeeeee 53 3
85. ommunication channel or via pulse amp direction signals the master position units depend on the type of position sensor present on the master axis When the master position is an encoder the correspondence with the international standard SI units is Technosoft 2010 87 IDMx40 Technical Reference 2xTT Master position rad Aste encoder ines x Master _ position IU where No_encoder_lines is the master number of encoder lines per revolution 6 11 Master speed units The master speed is computed in internal units IU as master position units slow loop sampling period i e the master position variation over one position speed loop sampling period When the master position is an encoder the correspondence with the international standard SI units is 2xT Master speed rad s 4xNo encoder linesx T xMaster speed lU where No encoder lines is the master number of encoder lines per revolution T is the slave slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 Motor position units 6 12 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in SI units is For rotary motors Motor Position SI du x Motor _ Position IU 4xNo encoder lines For linear motors Motor Position SI Encoder acc
86. on f Homing Modes Functions iy Interrupts Ra CAM Tables Axis number 255 x Memory Settings Drive IDM240 5EI Product ID P051 001 E002 Firmware ID FOOO Setup ID 0104 E2ROM 8 Kwords RAM 31 Kwords Motor M172 Application ID Online AxisID 255 IDM240 5EI Firmware FOOOI SetupID 0104 7 5 2 3 2 Step 2 Establish communication If you have a drive motor connected with your PC now its time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established EasyMotion Studio displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasyMotion Studio tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically
87. onventions 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 IDMx40 all products described in this manual IDM640 CANopen the CANopen execution from IDM family IDMx40 CAN IDM240 CAN and IDM640 CAN standard executions Related Documentation Help of the EasySetUp software describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogues The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed EasySetUp includes a firmware programmer with allows you to update your drive firmware to the latest revision EasySetUp can be downloaded free of charge from Technosoft web page CANopen Programming part no P091 063 UM xxxx explains how to program the Technosoft intelligent drives using CANopen protocol and describes the associated object dictionary for the DS 301 communication profile and the DSP 402 device profile Help of the EasyMotion Studio software describes how to use the EasyMotion Studio to create motion programs using in Technosoft Motion Language TML EasyMotion Studio plat
88. or example incremental encoder EasyMotion Studio Project Communicatio Du bed amp ERES la xl OOF aX E x Step 1 Select axis number 255 z Step 2 Define load setup data 7 S 1 PLUG IN DRIVES gt 2 OPEN FRAME DRIVES 3 CLOSED FRAME DRIVES IBL2401 CAN gt 4 INTELLIGENT MOTORS gt IBL2401 CANOPEN 5 OTHER IBL2401 R5232 pgs IBL2403 CAN gt IBL2403 CANOPEN F ii IBL2403 R5232 IDM240 5EI CAN ld 2 PHASE STEPPER IDM640 8EI CAN gt 3PHASE STEPPER IDM640 8EI CANOPEN BRUSHED MOTOR IDM680 8BI CAN CANOPEM gt BRUSHLESS LINEAR MOTOR gt IDM680 8EI CAN CANOPEN gt RUSI OTARY MOTOR Incremental Encoder fes IDM680 8LI CAN_CANOPEN j SSI Encoder 5 IDM680 8RI CAN CANOPEM gt Upload from Drive Motor Ready Online AxisID 255 Firmware F000 A Click on your selection EasyMotion Studio opens the Project window where on the left side you can see the structure of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program Technosoft 2010 69 IDMx40 Technical Reference EasyMotion Studio Untitled E E ni xj Project Application Communication View Control Panel Window Help Du E EISE r Ool ala X 5525819 EDT 15 Ig Project c mE Application General Information Ej M Moti
89. ptible Power Supply Figure 3 15 J2 Motor supply connection Alternative in rush current limitation Technosoft 2010 29 IDMx40 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 IDMx40 and the motor power supply If the wires are longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 1 000 UF rated at an appropriate voltage right on the terminals of the IDMx40 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 IDMx40 earth shield pin to a good quality earth point The IDMx40 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 IDMx40 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 3 4 Recommendations to limit over vol
90. r Second Encoder single RS 422 H3 A2 CK DSP Controller i Connected to case A To Master encoder inputs Figure 3 19 J13A Second encoder single ended RS 422 connection Technosoft 2010 37 IDMx40 Technical Reference Motor phases IDMx40 Master MOTOR Master Motor phases IDMx40 Second Slave Encoder Figure 3 20 J13A Master Slave connection using second encoder input Technosoft 2010 38 IDMx40 Technical Reference J13A Feedback Connector IDMx40 Single ended open collector Hall 5VDC H1 B2 DT H2 Z2 H3 A2 CK SHIELD DSP Controller n Connected to case Figure 3 21 J13A Single ended open collector Hall connection Technosoft 2010 39 IDMx40 Technical Reference J13A Feedback Connector Differential Hall RS 422 H1 B2 DT 1 2 o c o O A o a T Connected to case SHIELD Figure 3 22 J13A Differential RS 422 Hall connection Remark For long Hall lines add 120Q termination resistors close to the drive For details see RS 422 standard Technosoft 2010 40 IDMx40 Technical Reference J13A Feedback Connector IDMx40 Motor thermal sensor connection J13A ias 3 3V L 1 Raux 1 DSP Controller SHIELD L Connected to case Figure 3 23 J13A Motor thermal sensor connection 3
91. read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a TML Motion Library for PLC you can focus on the main aspects of your PLC application while the motion programming part can be reduced to calling the appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed using the guidelines described in the PLC standards so they can be used on any developmemnt platform that is IEC 61136 compliant All Technosoft s TML Motion Libraries for PLC are provided with EasySetUp Technosoft 2010 76 IDMx40 Technical Reference 6 Scaling Factors Technosoft drives work with parameters and variables represented in the drive internal units IU These correspond to various signal types position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor This chapter presents the drive internal units and their relation with the international standard units Sl In order to easily identify them each internal unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The
92. s slow loop sampling period The correspondence with the load speed in SI units is 2xmn F t tors Load _ Speed SI Motor Speed IU SED ere Sag Speeds 4xNo encoder linesx Trx T Speed U Encoder accuracy TrxT For linear motors Load Speed SI x Motor Speed IU where No_encoder_lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 2 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 2xmn L I Load Speed IU pad peed 4xNo encoder linesx T pad Speed where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 3 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
93. s available only for the IDMx40 CAN versions Technosoft 2010 8 IDMx40 Technical Reference 10 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 Motor Incremental quadrature encoder Figure 2 10 Encoder on motor shaft Closed loop control motor position speed or torque 2 4 IDMx40 Dimensions The next figure presents the IDMx4O drives dimensions 26 mm lt 136 mm 5 354 gt 1 0247 i D N 8 E E E 5 N Y a t xl Has KT E S op d 5 j Tr gt 4 mm 0 157 Do x se We ae TT i i NOM o j i vC BD j i gt 50 n EL i 5 ES l AEN ILE To uo z S A Figure 2 11 IDMx40 drives dimensions 9 IDMx40 Technical Reference Technosoft 2010 2 5 Electrical Specifications All parameters measured under the following conditions unless otherwise noted z Tamb 0 40 C Vioc 24 Voce V24 VPLC 24 Vpc CAN V 24 Voc Vwor
94. smission is rotary to rotary The correspondence with the load acceleration in SI units is 41 SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2010 83 IDMx40 Technical Reference Load Acceleration SI xMotor Acceleration IU 4xNo encoder linesx Trx T where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 Jerk units The internal jerk units are internal position units slow loop sampling period i e the acceleration variation over one slow loop sampling period 6 4 1 Brushless DC brushed motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is For rotary motors Load Jerk Sl n x Motor _ Jerk IU 4xNo encoder _ lines x Tr xT Encoder _ accuracy For linear motors Load Jerk SIl Trx T x Motor Jerk 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
95. t which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup Technosoft 2010 60 IDMx40 Technical Reference 4 2 3 Download setup data to drive motor P24 Download to Press the Download to Drive Motor button Drive Motor to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to Save the setup data on your PC and use it in other applications To summarize you can define or change the setup data in the following ways e create a new setup data by going through the motor and drive dialogues e use setup data previously saved in the PC e upload setup data from a drive motor EEPROM memory 4 2 4 Evaluate drive motor behaviour optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior In case of errors like protections triggered use the Drive Status control panel to find the cause 4 3 Changing the drive Axis ID The axis ID of an IDMx40 drive can be set in 2 ways Hardware H W according with the DIP switch selection in the range 1 to 31 or 255 see 3 3 DIP Switch Settings Software any value between 1 and 255 stored in the setup table The a
96. t voltage is larger than 10V use a 3 resistor differential divider located near the IDMx40 I O connector Choose the divider resistances as low as possible close to the signal source output current limit to minimize the noise J9 Analog amp 24V Digital I O Connector IDMx40 24V Pulse amp Direction connection PULSE Generator i IN 37 DIR v al i T High speed 5KHz atl DIRECTION Switch DSP Controller 24VPLC i ovPLC Connected to case Figure 3 25 J9 24 V Pulse amp Direction connection Technosoft 2010 45 IDMx40 Technical Reference Remarks 1 When using 24 V Pulse amp Direction connection leave Pins 12 IN 37 D5V and 13 IN 38 P5V open 2 When IN 38 P5V is used as PULSE input in Pulse amp Direction motion mode on each falling edge the reference or feedback is incremented decremented 3 When IN 37 D5V is used as DIRECTION input in Pulse amp Direction motion mode the reference or feedback is incremented if this pin is pulled low IDMx40 J9 Analog amp 24V Digital I O Connector 5V Pulse amp Direction connection PULSE Generator DIRECTION Switch DSP Controller f Connected to case Figure 3 26 J9 5V Pulse amp Direction connection Remarks 1 When using 5 V Pulse amp Direction connection leave Pins 12 IN 37 D5V and 13 IN 38 P5V open
97. tage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses Umax the drive 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 C z 2 M Cprive Umax UNOM where Umax 63V IDM240 92V IDM640 is the over voltage protection limit Corive 100uF IDM240 200uF IDM640 is the drive internal capacitance Unom 48V IDM240 80V IDM640 is nominal motor supply voltage Technosoft 2010 30 IDMx40 Technical Reference Em 7 the overall energy flowing back to the supply in Joules In case of a rotary motor and load Ey can be computed with the formula tao EM Pix Jj oM my mi g hinitial final 3t Renta g E T Kinetic energy Potential energy Copper losses Friction losses where Ju total rotor inertia kgm J total load inertia as seen at motor shaft after transmission kgm y motor angular speed before deceleration rad s Mpu motor mass kg when motor is moving in a non horizontal
98. tal encoder on motor 83 OA Aene uliSsos renan den iid eds oi endete aine etas inu ind md ou alts 84 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 84 6 4 2 DC brushed motor with quadrature encoder on load and tacho on motor 84 6 4 3 Stepper motor open loop control No feedback device 85 6 4 4 Stepper motor open loop control Incremental encoder on load 85 6 4 5 Stepper motor closed loop control Incremental encoder on motor 86 6 5 QUITODIEUDITS sero eoe epo em rece ee tente renee ost EEEE een Phe pev Een UE EUER 86 6 0 Voltage command units eeecceciscceseciscsececisenee eniin nnnn 86 6 7 Voltage measurement UNIIS cccceeeseeeeeeeeeeeeeeeeeeeteeeeeeeteeeeeeneeeeees 87 6 8 THEO WANES ite o cautus a a Nel ee Roc 87 6 9 Drive temperature units issscecgescececesccauacausseeecescreuasaaeksnareaereassabaxeuaredscsnee 87 6 10 Master position Mis corso as ee deere ee ecto eee tie 87 GT Master Speed UNS iy xcs iusseuss sedtoxde sudden Sa reitero eri eee ere e eroe eei or ereere 88 6 12 Mator posttiOD Bills 225 aan a a AA eben 88 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 88 6 12 2 DC brushed motor with quadrature encoder on load and tacho on motor 88 6 12 3 Stepper motor open loop control No feedback device 89 6 12 4
99. tch active region ends high low transition If home input is high move negative else move positive and reverse after home input T Select Reload default low high transition Reverse also if the positive limit switch is T Select m Select 1 Short circuit Online AxisID 255 IDM240 5EI Firmware FOOOI SetupID 0104 7 If you click on the HomexX procedure on the right side you ll see the TML function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged 5 3 5 Customizing the Drive Reaction to Fault Conditions for IDMx40 CAN executions Similarly to the homing modes the default service routines for the TML interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the TML interrupts is similar with that for the homing modes Technosoft 2010 75 IDMx40 Technical Reference 5 4 Using Motion Libraries for PC based Systems A TML Library for PC is a collection of high level functions allowing you to control from a PC a network of Technosoft intelligent drives It is an ideal tool for quick implementation on PCs of motion control applications with Technosoft products With t
100. tents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 30 The customization of the interrupt service routines and homing routines is available only for IDMx40 CAN executions 3 Optional for IDM640 CANopen execution Technosoft 2010 73 IDMx40 Technical Reference 5 3 Combining CANopen or other host with TML Due to its embedded motion controller an IDMx40 offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming features which arise when combining TML programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming part no P091 063 CANopen UM xxxx manu
101. units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 2 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is d SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2010 84 IDMx40 Technical Reference Load Jerk SI Load Jerk 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 6 4 3 Stepper motor open loop control No feedback device The internal jerk units are motor yusteps slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI SER xMotor _ Jerk IU No ustepsxNo steps x Tr x T where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read 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 slo
102. uracy x 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 6 12 2 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not computed fgl units for motor position are rad for a rotary motor m for a linear motor Technosoft 2010 88 IDMx40 Technical Reference 6 12 3 Stepper motor open loop control No feedback device The internal motor position units are motor usteps The correspondence with the motor position in SI units is 2xmn Motor Position SI x Motor _ Position IU 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 6 12 4 Stepper motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 12 5 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 7 xMotor Position lU 4xNo encoder lines where No encoder lines is the motor encoder number of lines per revolution 6 13 Motor speed units
103. w loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 4 Stepper motor 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 AR xLoad_ Jerk IU 4xNo encoder linesx T where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup i SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2010 85 IDMx40 Technical Reference 6 4 5 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 EN Motor _ Jerk lU 4xNo encoder _linesx Tr x T where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The intern
104. xis ID is initialized at power on using the following algorithm a Ifa valid setup table exists with the value read from it This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with DIP switch selection b Ifthe setup table is invalid with the last value set with a valid setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with DIP switch selection C lf there is no axis ID set by a valid setup table according with DIP switch selection Remark If a drive axis ID was previously set by software and its value is not anymore known you can find it by selecting in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected Apply this solution only if this drive is connected directly with your PC via an RS 232 link If this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Network Technosoft 2010 61 IDMx40 Technical Reference Drive Setup r Guideline assistant Previous Next Step In the Control mode gt gt group box select what do you want to control position speed or torque In the Commutation method group box choose sinusoidal or trapezoidal mode The trapezoidal mode is possible only if your m r Control mode Position C Speed C Torque Advanced r External reference

IDM240 / IDM 640 Intelligent Drives - User Manual

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