Home

IDM680 Intelligent Drive - User Manual

1. 19 IDM680 8LI E m Intelligent Servo Drive Smo amp 835 25 SS or C rai TMLCAN I 222 Z 22 1 1 r5voc hem GND 122222222 21 s mu 10 802 ess sg SIN ILH1 eS SIN ins See zll Serial E Auto Ext ARERR R PE 5121862 BBE EE 19 98999 IN 121212 8 n Y UI DIU Lem lt 26mm gt 4 136 mm gt oocoooood aoooooooo J10 CAN Connector J9 Analog amp 24V Digital Connector Connector Figure 3 3 IDM680 8LI connectors layout Technosoft 2008 23 IDM680 Technical Reference SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector IDM680 8RI RS Intelligent Servo Drive s 9 TMLCAN CET ds Dau eg 329 10 80 16 8 2 2 Z z z Auto Ext ale SEBEBEB B
2. 21 SEE cri je 21 3 2 Connectors and Connection 22 3 2 1 COMME CIOS Layouts niria toi ob p rebum e Oto ioa iip re 22 3 2 2 Identification Labels cer orit reet a 26 3 2 3 Motor amp Supply J2 Connector eee 27 3 2 4 Feedback J13 Connector 0 680 8 37 3 2 5 Feedback J13 Connector IDM680 8LL 43 3 2 6 Feedback J13 Connector 0 680 8 47 3 2 7 Feedback J13 Connector IDM680 8BI 50 3 2 8 Analog amp Digital J9 Connector 52 3 2 9 Serial Communication J4 Connector 61 3 2 10 CAN Communication J10 Connector 62 3 2 11 Connectors Type and Mating Connectors 65 33 DIP Switch Settings 65 Technosoft 2008 V IDM680 Technical Reference 3 4 LED 68 9 FiIFSLPOWer UB E 68 4 Step 2 Drive Setup
3. IDM680 Intelligent Intelligent Drives Servo Drive Technical Reference Technosoft 2008 TECHNOSOFT IDM680 Technical Reference P091 048 IDM680 UM 0408 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 IDM680 family of intelligent servo drives including the following products IDM680 8EI IDM680 8LI IDM680 8RI IDM680 8BI In order to operate the IDM680 drives you need to pass through 3 steps a Step 1 Hardware installation Step 2 Dr
4. 69 41 Installing 5 5 69 4 2 Getting Started with EasySetUp 69 4 2 1 Establish communication sss 70 4 2 2 Setup drive motor n 71 4 2 3 Download setup data to drive motor sss 72 4 2 4 Evaluate drive motor behaviour optional 73 4 3 Changing the drive Axis ID 73 4 4 Setting CANbus rate and factor group scaling factors 74 4 5 Creating an Image File with the Setup Data 76 5 Step 3 Motion Programming J 77 5 1 Using a CANopen Master asssssssssssssssssssssssae 77 5 1 1 DS 301 Communication Profile 77 5 1 2 TechnoCAN Extension 78 5 1 3 DSP 402 and Manufacturer Specific Device Profile Overview 78 5 1 4 Checking Setup Data Consistency 78 5 2 Using the built
5. PBR d where C Corie is the overall capacitance on the motor supply external drive i e U2 RpR lt BRAKE 2 3 to limit the average current below the drive nominal current Inom 8A t RBR gt BR X td 2 where is the time interval between 2 brakes case of repetitive moves 2 PgR xt U 4 tobe rated for an average power Pay BR d anda peak power PpEAK MAX tcYCLE RBR Remarks 2 1 If Umax gt BRAKE the braking power Pag must be reduced by increasing either t the IPEAK 2xPpR time to decelerate or Cex the external capacitance on the motor supply 2 P t U 2 If BR g e BRAKE tCYCLE X INOM 2 or 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 K DURING OPERATION Technosoft 2008 36 IDM680 Technical Reference 3 2 4 Feedback J13 Connector IDM680 8EI Pin Name on the Type Function Comments Drive cover A1 Positive for differential encoder for single ended encoder 1 2 B1 Positive B for differential encoder or B for single ended encoder 3 5 Vpc O 5 Vpc Supply generated internally H3 CK Positive Hall 3 input for differential Hall or Hall 3 for single ended Hall Positive Clock output signal for differential 51 encoder H1 DT Positive Hall 1 f
6. a 114 6 13 6 DC brushed motor with quadrature encoder on load and tacho on motor 114 6 13 7 DC brushed motor with absolute SSI encoder on load amp tacho on motor 114 6 13 8 DC brushed motor with tacho on motor 115 6 13 9 Stepper motor open loop control No feedback device or incremental encoder on load no tht eere tb Ehre lk c ne E Ee teda Dro radar 115 6 13 10 Stepper motor closed loop control Incremental encoder on motor 115 he Memory 116 Technosoft 2008 IX IDM680 Technical Reference 1 Safety information Read carefully the information presented in this chapter before carrying out the drive installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive can lead to personal injury or material damage Only qualified personnel may install setup operate and maintain the drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating drives The following safety symbols are used in this manual WARNING SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO
7. e Opto isolated e 24V Positive limit switch input On active level stops motion in positive direction e 24V General purpose input In 4 if limit switches are 7 IN4 LSP IN 4 disabled Read high 1 logic when 24VPLC applied on IN4 LSP pin e Opto isolated e Programmable polarity active level Technosoft 2008 52 IDM680 Technical Reference INS LSN IN 5 24V Negative limit switch input On active level stops motion in negative direction 24V General purpose input In 5 if limit switches are disabled Read high 1 logic when 24VPLC are applied on IN5 LSN pin Opto isolated Programmable polarity active level 9 26 OVPLC Ground terminal for all opto isolated I O 10 Vioc Logic supply voltage as applied on J2 pin 7 11 RESET RESET pin connect to 24VPLC to reset the drive 12 INO B2 D IN 0 24V general purpose input In 0 Read high 1 logic when 24VPLC are applied on IN0 B2 D pin RS 422 differential B 5V single ended B input when external reference is 2 master encoder RS 422 differential Dir 5V single ended Dir input when external reference is Pulse amp Direction Compatible RS 422 5V and 24V single ended 13 IN1 A2 P IN 1 24V general purpose input In 1 Read high 1 logic when 24VPLC are applied on 1 2 pin RS 422 differential 5V single ended A input when external referenc
8. le J10 CAN Connector J9 Analog amp 24V Dig Connector Connector Figure 3 4 IDM680 8RI connectors layout Technosoft 2008 24 IDM680 Technical Reference SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector H IDM680 8BI A Intelligent Servo Drive 2 o x 2 H pe gt amp Norm aaa 38 F i TMLCAN gt Z Z 22 21212191 CAN 171 AE Ip HE DB ID Bit1 55 5 3858 H1 DT H1 DT mmo 5 Serial Auto Ext Ame 2593 oz SS MR lt 26mm gt 5 0000000 p a OQ ood aooooooo Connector Connector Figure 3 5 IDM680 8BI connectors layout Technosoft 2008 25 IDM680 Technical Reference 3 2 2 Identification Labels lt Manufacturer Drive Name IDM680 8E Article Number 048 002 103 ast Serial Number Figure 3 6 2 680 8 Identification Label CD lt Manufacturer Driv
9. EasySetUp rotary to rotary transmission with ratio 1 1 Technosoft 2008 6 IDM680 Technical Reference Motor LINEAR MOTOR Incremental quadrature encoder Hall sensors Figure 2 4 Brushless DC linear motor Position speed torque control Hall sensors and quadrature encoder on motor 5 Position speed or torque control of a brushless AC rotary motor with an absolute SSI encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IDM680 8EI SSI absolute encoder Figure 2 5 Brushless AC rotary motor Position speed torque control SSI encoder on motor 6 Position speed or torque control of a DC brushed rotary motor with an incremental quadrature encoder on its shaft Scaling factors take into account the transmission 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 IDM680 8EI Incremental quadrature encoder Motion c
10. 24 e Opto isolated e Short circuit protected e 24 V General purpose output Out 3 When Out 3 is commanded low 0 logic OUT3 pin is set to 25 OUT3 OUT 3 24VPLC e Opto isolated e Short circuit protected case SHIELD Shield Connected to frame THE CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Remarks 3 The 24V opto isolated 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 0 and In 1 accept both TTL 5V and 24V signals and are not opto isolated These inputs are referenced to the drive logic ground GND Technosoft 2008 54 IDM680 Technical Reference J9 Analog amp Digital I O Connector IDM680 8xl 24VPLC _ RESET g gt IN6 EN 59 IN2 28 _IN3 ee _IN4 LSP INS LSN _IN0 B2ID 2 INTIAZIP _INO B2 D IN1 A2 P 24V GND 2 OUTO 5 OAD 2 gt s amp 28 n gg o 8 Eum _OUTA ER 160 max OAD Green and 24VPLC iion 24VPLC Red LEDs 2
11. In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup 4 2 3 Download setup data to drive motor Download to Press the Download to Drive Motor button Drive Motor to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data Technosoft 2008 72 IDM680 Technical Reference 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
12. Technosoft 2008 100 IDM680 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 6 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 2 Load _ Acceleration SI xLoad Acceleration U 4 encoder lines where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 7 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in Sl units is Load Acceleration Sl x Load _ Acceleration IU 2 _ bits resolution _ 2 where No bits resolution is the SSI encoder resolution in bits per revolution T is the slow loop sampling period expressed in s You can read this value in th
13. 25 25 Single turn Multi turn Software selectable Counting direction Single turn 19 DATA resolution bit Multi turn and single turn 31 Technosoft 2008 17 IDM680 Technical Reference Analog Inputs Min Typ Max Units Differential voltage range 10 V Common mode voltage range Referenced to GND 12 0 1 0 50 V Input impedance Differential 40 KQ Common mode impedance Referenced to GND 20 KQ Resolution 12 bits Integral linearity 0036 FS Offset error Common mode voltage 0 10 V 0 2 0 5 FS Gain error Common mode voltage 0 10 V 10 12 FS Bandwidth 3dB Depending on software settings 1 5 kHz RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection Human Body Model 15 kV CAN Bus All voltages referenced to CAN_GND Min Typ Max Units Standards compliance CAN Bus 2 0B error active ISO 11898 2 a transmission Ine Measured at 1MHz 9 120 15 Bit rate Depending on software settings 125K 1M Baud Bit rate 125kbps 250kbps 64 Number of network nodes Bit rate 500kbps 50 Bit rate 1Mbps 32 ESD Protection Human Body Model 15 kV Supply Outputs Min Typ Max Units 5 Voc voltage Current sourced 350 mA 48 5 5 2 V Techno
14. 6 3 11 Stepper motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load Acceleration Sl x Motor Acceleration IU 4 encoder _ lines x Tr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 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 ZAR x Motor _ Jerk IU 4xNo encoder lines x Tr x T Encoder accuracy Motor _ Jerk IU Trx T For linear motors Load _ Jerk Sl where 1 SI units for acceleration are rad s for rotary movement m s for linear movement SI units for jerk rad s for a rotary movement m s for a linear movement Techno
15. TechnoCAN Extension In order to take full advantage of the powerful Technosoft Motion Language TML built into the IDM680 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 network using EastSetUp 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 IDM680 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 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 IDM680 drive contains th
16. 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 IDM680 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 axis ID is initialized at power on using the following algorithm a Ifa valid setup table exists with the value read from it This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with DIP switch 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 Ifthere 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 2008 73 IDM680 Technical Ref
17. 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 IDM680 8EI Incremental quadrature encoder Figure 2 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor Position speed or torque control of a brushless AC linear motor with an incremental quadrature encoder The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Nominal values cover all cases Higher values are possible in specific configurations For details contact Technosoft 1 2kHz cover all cases Higher values equal with torque loop update frequency are possible with quadrature encoders 3 For higher ambient temperatures contact Technosoft to get derating information t Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2008 5 IDM680 Technical Reference Motor LINEAR MOTOR Incremental quadrature encoder Figure 2 2
18. synchronization object periodically The service is unconfirmed The IDM680 supports both SYNC consumer and producer e Time Stamp Object TIME The Time Stamp Object is not supported by the IDM680 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 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 IDM680 is a NMT slave in a CANopen network Technosoft 2008 77 IDM680 Technical Reference 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 IDM680 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
19. the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data Technosoft 2008 87 IDM680 Technical Reference 5 3 4 Customizing the Homing Procedures The IDM680 supports all homing modes defined in DSP 402 device profile If needed any of these homing modes can be customized In order to do this you need to select the Homing Modes from your EasyMotion Studio application and in the right side to set as User defined one of the Homing procedures Following this operation the selected procedure will occur under Homing Modes in a subtree with the name HomeX where X is the homing number of the selected EasyMotion Studio Untitled 248 x Project Application Communication View Control Panel Window Help D c d amp EN Ee r 9 9 5 ara XI ENS is LL Motionstatue 122 prvel0 SRH Status Register High 15 Fault 15 Axis is ON 15 Enable input is inactive 14 In Cam 14 Event set has occured 14 Command error 12 In Gear 10 Motion is completed 13 Under voltage EJ Untitled Homing Modes Untitled Application 1 home Home1 Move negative until the limit switch is reached Reverse and stop at first 8 Default S Setup index pulse C User defined M Motion 2 2 Move pos
20. where 1 SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 115 IDM680 Technical Reference No_encoder_lines is the motor encoder number of lines revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 7 Memory Map IDM680 has 2 types of memory available for user applications 4Kx16 SRAM and 8Kx16 serial E ROM The SRAM memory is mapped in the address range 9000h to 9FFFh It can be used to download and run a TML program to save real time data acquisitions and to keep the cam tables during run time The E ROM is mapped in the address range 4000h to 5FFFh It is used to keep in a non volatile memory the TML programs the cam tables and the drive setup information Remark EasyMotion Studio handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application TML Programs Technosoft 2008 4000h E ROM memory for TML programs Cam tables Setup information 5FFFh Reserved Data acquisitions 9000h and SRAM memory cam tables at runtime 9FFFh Figure 7 1 IDM680 Memory Map 116 IDM680 Technical Reference TECHNOS OFT
21. 8EI Tacho SSI absolute encoder Technosoft 2008 8 IDM680 Technical Reference Figure 2 9 DC brushed rotary motor Position speed torque control Absolute encoder on load plus tachometer on motor 10 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 lU units refer to the motor Motor IDM680 8EI Figure 2 10 No position or speed feedback Open loop control motor position or speed 11 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 IDM680 8EI Incremental quadrature encoder Figure 2 11 Encoder on load Closed loop control load position open loop control motor speed 12 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 IDM680 8EI Increme
22. Brushless AC linear motor Position speed torque control Quadrature encoder on motor 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 otor IDM680 8EI Incremental quadrature encoder Hall Figure 2 3 Brushless DC rotary motor Position speed torque control Hall sensors and quadrature encoder on motor 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 units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motion commands can be referred to the motor by setting
23. C User defined home18 Home 19 Stop at home switch high low transition If home input is high move Detaut UE negative else move positive and reverse after home input low high transition C User defined 20 Home 20 Stop at home switch low high transition home input is low move Default el regia positive else move negative and reverse after home input high low transition C User defined Reload default Reload default Reload default e Ready Offline 105640 8 CANopen SetupID 0519 If you click the procedure 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 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 Technosoft 2008 88 IDM680 Technical Reference drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the TML interrupts is similar with that for the homing modes 5 4 Using Motion Libraries for PC
24. For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is For rotary motors Load Position SI Em PPP x Motor _ Position IU 4 encoder _ lines x Tr Encoder accuracy Motor Position IU For linear motors Load Position SI 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 a Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 2 Brushless motor with sine cosine encoder on motor The internal position units are interpolated encoder counts The correspondence with the load position in SI units is For rotary motors Load Position SI x Motor _ Position IU 4 _ periods x Interpolation x Tr For linear motors 151 units for position rad for rotary movement for linear movement Technosoft 2008 90 IDM680 Technical Reference Encoder accuracy A or Position IU Load Position SI Interpolation x Tr where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the inte
25. PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION INDICATES AREAS SENSITIVE TO ELECTROSTATIC CAUTION DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1 1 Warnings THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE WARNING ELECTRICAL SHOCKS DO NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON TO AVOID ELECTRIC ARCING AND HAZARDS NEVER WARNING CONNECT DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON Technosoft 2008 1 IDM680 Technical Reference WARNING THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION N WARNING DURING DRIVE OPERATION THE CONTROLLED MOTOR WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions CAUTION THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT CAUTION THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS WHICH MAY BE DAMAGED INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT To prevent electrostatic damage avoid contact with insulating materials such as synthetic fabrics or plastic surfaces In order to di
26. Serial RS 232 connection Remarks 1 Use a 9 wire standard 1 to 1 non inverting shielded cable preferable with metallic or metallized shells casings 2 On IDM680 drive the electrical ground GND and the earth shield are isolated Technosoft 2008 61 IDM680 Technical Reference 3 2 9 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 IDM680 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 IDS supplies before inserting removing the RS 232 serial connector CAUTION WHILE THE DRIVE IS POWERED ON THIS OPERATION DO NOT CONNECT DISCONNECT THE RS 232 CABLE CAN DAMAGE THE DRIVE 3 2 10 CAN Communication J10 Connector Function CAN L CAN Bus negative line negative during dominant bit CAN GND Reference ground for LO and CAN V signals SHLD Shield Connected to frame CAN H CAN Bus positive line positive during dominant bit Not connected CAN_V 24 isolated supply input THE CANBUS CONNECTOR SIGNALS ARE ELECTRO CAUTION STATICALLY SENSITIVE AND SHALL BE HANDLED ONLY IN AN
27. based Systems A TML Library for PC is a collection of high level functions allowing you to control from a PC a network of Technosoft intelligent drives It is an ideal tool for quick implementation on PCs of motion control applications with Technosoft products With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about drive motor status check and modify its setup 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 PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications wi
28. bositioryuniiS 109 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 109 6 12 2 Brushless motor with sine cosine encoder on motor 110 6 12 3 Brushless motor with absolute SSI BiSS encoder on motor 110 6 12 4 Brushless motor with linear Hall signals 110 6 12 5 Brushless motor with resolver 111 6 12 6 DC brushed motor with quadrature encoder on load and tacho on motor 111 6 12 7 DC brushed motor with absolute SSI encoder on load amp tacho on motor 111 6 12 8 Stepper motor open loop control No feedback device 111 6 12 9 Stepper motor open loop control Incremental encoder on load 112 6 12 10 Stepper motor closed loop control Incremental encoder on motor 112 6 13 Motor speed nn 112 6 13 1 Brushless DC brushed motor with quadrature encoder on motor 112 Technosoft 2008 VIII IDM680 Technical Reference 6 13 2 Brushless motor with sine cosine encoder on 112 6 13 3 Brushless motor with absolute SSI BiSS encoder on motor 113 6 13 4 Brushless motor with linear Hall signals 113 6 13 5 Brushless motor with resolver
29. loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is 2 Load Speed rad s x Load Speed lU 4xNo encoder _ lines x T where No_encoder_lines is the rotary encoder number of lines per revolution SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 97 IDM680 Technical Reference Tr transmission ratio between the motor displacement rad and load displacement rad or m T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 11 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 ___ gt _ SpeedllU 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
30. one via motion commands sent between axes e Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group e Synchronize all the axes from a network In order to program a motion using TML you need EasyMotion Studio software platform 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 Technosoft 2008 79 IDM680 Technical Reference license serial number in the menu command Help Enter registration info you can transform the demo version into a fully functional version 5 2 3 Getting Started with EasyMotion Studio Using EasyMotion Studio you can quickly do the setup and the motion programming of a Technosoft a drive according wit
31. over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors Load Acceleration SI x Motor _ Acceleration U 4xNo encoder _ lines x Tr x T For linear motors Encoder _ accurac Motor Load Acceleration Sl Trx T Acceleration IU 1 SI units for speed are rad s for a rotary movement m s for a linear movement 2 SI units for acceleration are rad s for a rotary movement m s for a linear movement Technosoft 2008 98 IDM680 Technical Reference 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 2 Brushless motor with sine cosine encoder on motor The internal acceleration units are interpolated encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors Load Acceleration SI EN x Motor Acceleration lU 4xEnc periods x In
32. r Guide p Guideline assistant Database Setup Data zs Step 1 Select your motor from a database If your motor Pittman Previous does not exist any aes proceed through all the Stej nest steps in order to define your motor and sensors ahy Next data In either case use the tests from the next steps to Motor Download tol lt lt the motor and sensors parameters and 3441_ 023_ 1 Ps Drive Motor trape operation CANE Save to User Database Delete Save Bau Motor data 206 rm El Test Phase Connections Pops Peak current 3 6 D Number of Pole Save As Torque constant 0 025 NwA gt homer o Eee 95 jose ENS Phase resistance motor drive Ps hms te k Phese indidiance ner aie m E Identify Resistance and Inductance Motor inertia po kgm 2E 7 Motor inertia is unknown Spee Phase connection Star C Delta Motor sensors Incremental No of lines rev m gt Test Connections Detect Number of Lines encoder Hall sensors Hall configuration 2 X Test Connections Detect Hall Configuration k Temperature Transmission to load Kd filt Transmission type Rotary to rotary Motor displacement of f rot C Rotary to linear corresponds on load to po A Online AxisID 255 IDM680 8EI Firmware FS00B 10 0564
33. system altitude m final system altitude m motor current during deceleration motor phase resistance ta time to decelerate s Tr total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jy and the load inertia 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 Tr will become friction force measured N Remark If the above computation of can t be done due to missing data a good starting value for the capacitor can be 10 000 uF 100V Option 2 Connect a brake resistor Rsa 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 87V 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 but can help reducing the brake resistor size Brake resistor selection The brake resistor value must be chosen to respect the following conditions 1 to limit the maximum current below the drive peak current Ipeak 16 5A 2 tosustain the required braking power Technosoft 2008 35 IDM680 Technical Reference 1 2 2 5 C UNAX
34. tele m amauta dead pe apt abel nh kz 103 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 103 6 4 2 Brushless motor with sine cosine encoder on 104 6 4 3 Brushless motor with absolute SSI BiSS encoder on motor 104 6 4 4 Brushless motor with linear Hall signals 105 6 4 5 Brushless motor with resolver a 105 6 4 6 DC brushed motor with quadrature encoder on load and tacho on motor 106 6 4 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 106 6 4 8 Stepper motor open loop control No feedback device 106 6 4 9 Stepper motor open loop control Incremental encoder on load 107 6 4 10 Stepper motor closed loop control Incremental encoder on motor 107 65Z C ment nitS opo Renee ee Need 107 6 6 Voltage command units a assssssssssssssssssssse 107 6 7 Voltage measurement units a 108 6 8 TS RI NE EET Tm 108 6 9 Drive temperature n tees one dao entr eph enia dais ds 108 6 10 Master position units 109 6 11 Mast r speed units 109 6 12 Motor
35. 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 Technosoft 2008 86 IDM680 Technical Reference 5 3 Combining CANopen with TML Due to its embedded motion controller an IDM680 offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming features which arise when combining TML programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming part no P091 063 CANopen UM xxxx manual All features presented below require usage of EasyMotion Studio as TML programming tool Remark If you don t use the advanced features presented below you don t need EasyMotion Studio In this case the IDM680 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 fun
36. the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The motion component contains the motion sequences to do These are described via a TML Technosoft Motion Language program which is executed by the drives motors built in motion controller 5 2 3 1 Create a new project EasyMotion Studio starts with an empty window from where you can create a new project or open a previously created one Technosoft 2008 80 IDM680 Technical Reference EasyMotion Studio ioj xj Project Communication View Help D amp amp aa eb Eso 89 TECHN 0 S O F T Online AxisID 255 Firmware 500 When you start a new project EasyMotion Studio automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 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 for example SSI encoder in
37. 06 IDM680 Technical Reference 6 4 9 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 51 SN x Load Jerk IU 4xNo encoder _ lines x T where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 10 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 oak x Motor _ Jerk lU 4xNo encoder _ lines x Tr x where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2x Ipeak 65520 where Ipeak is the drive peak current expressed in A You can read this value in the
38. 110 IDM680 Technical Reference The internal motor position units counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor position in SI units is Motor Position SI EXPE x Motor Position IU resolution where resolution is the motor position resolution 6 12 5 Brushless motor with resolver The internal motor position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 4096 counts per turn The correspondence with the motor position in SI units is Motor Position SI x Motor _ Position lU resolution where resolution is the motor position resolution 6 12 6 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not computed 6 12 7 DC brushed motor with absolute SSI encoder on load amp tacho on motor The motor position is not computed 6 12 8 Stepper motor open loop control No feedback device The internal motor position units are motor usteps The correspondence with the motor position in SI units is 2 Motor _ Position SI x Motor _ Position U No ustepsxNo steps where No steps is the number of motor steps per revolution No usteps is the number of micro
39. 4VPLC 24V OVPLC 0 5A OVPLC 0VPLC VLOG 10V Tach MWaseasasssabssosecas Ref 10V Ref uyapay SHIELD Connected to case Figure 3 30 J9 Analogue amp Digital I O connections Technosoft 2008 55 IDM680 Technical Reference 3 2 8 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 b If the analogue signal source is differential and the signal source ground is isolated from the drive GND use a 3 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 2 wire connects the signal minus to the drive negative input and 3 wire connects the source ground to the drive GND c 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 d 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 sh
40. 8 A 1100 250 600 mV Off state leakage current 1 0 1 1 Fpwm 20 kHz 12 50 uH Motor inductance Fewm 20 kHz Vyor 48 V 200 uH Fpwm 20 kHz 80 V 400 uH 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 t 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 Pulse Direction Master Encoder Inputs Min Typ Max Units IN Leave IN disconnected TTL CMOS open collector Single Ended mode compliance IN Leave IN disconnected 24V referenced to GND Differential Mode Compliance d INe NE tirer for full RS 422complanes TIA EIA 422 Logic LOW 7 0 1 2 IN Logic HIGH 18 5 12 IN Logic LOW 7 0 46 IN Logic HGH 54 24 30 Input voltage t V Absolute maximum surge duration 1s 12 32 Differential input hysteresis 0 1 02 04 7 Common mode range differential input mode 12 30 12 IN 1 Input impedance IN 0 77 kQ Differential impedance 1 5 Technosoft 2008 15 IDM680 Tech
41. Connected to case Figure 3 19 J13 Single ended open collector encoder and Hall connection Technosoft 2008 38 IDM680 Technical Reference J13 Feedback Connector IDM680 8EI Differential encoder RS 422 DSP Controller 000 70 1 5V SHIELD Connected to case Figure 3 20 J13 Differential RS 422 encoder connection Remark For long gt 10 meters encoder lines add 1200 termination resistors close to the drive Technosoft 2008 39 IDM680 Technical Reference IDM680 8EI 413 Feedback Connector Differential Hall RS 422 DSP Controller SHIELD Connected to case Figure 3 21 J13 Differential RS 422 Hall connection Remark For long gt 10 meters Hall lines add 1200 termination resistors close to the drive Technosoft 2008 40 IDM680 Technical Reference J13 Feedback Connector IDM680 8EI Differential SSI Encoder RS 422 DSP Controller 2 Connected to case Figure 3 22 J13 Differential RS 422 SSI encoder connection Remarks 1 For long gt 10 meters SSI encoder lines add 1200 termination resistors close to the drive Technosoft 2008 41 IDM680 Technical Reference J13 Feedback Connector Motor thermal sensor connection IDM680 8xl DSP Controller SHIELD 22 T Connected to case PTC NTC Figure 3 23 J13 Motor ther
42. Drive Info dialogue which can be opened from the Drive Setup Current A x Current U 6 6 Voltage command units The internal vollage command units refer to the voltages applied on the motor The significance of the voltage commands well as the scaling factors depend on the motor type and control method used Technosoft 2008 107 IDM680 Technical Reference In case of brushless motors driven in sinusoidal mode a field oriented vector control is performed The voltage command is the amplitude of the sinusoidal phase voltages In this case the correspondence with the motor phase voltages in SI units i e V is 1 1 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 1 units i e V is Voltage command V ae x Voltage command IU 32767 This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vyor supply voltage The correspondence with the supply voltage in V is Voltage _ measured V x Voltage _ measured l
43. ESD PROTECTED ENVIRONMENT Remarks a The CAN network requires two 1200 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 IDM680 circuits system ground GND IO ground OVPLC and Earth Therefore the CAN network requires a separate supply Technosoft 2008 62 IDM680 Technical Reference 3 2 10 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 When total CAN bus length is below 5 meters it is possible to use a standard phone straight through cable with parallel wires When total CAN bus length is over 40 meters it is mandatory to use shielded twisted cables Connect the cable shield to J10 pin 5 SHLD Whenever possible use daisy chain links between the CAN nodes Avoid using stubs A stub is a T connection where a derivation is taken from the main bus When stubs can t be avoided keep them as short as possible For 1 Mbit s worst case the maximum stub length must be below 0 3 meters The 120Q termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive J10 CAN Connector IDM680 8EI To Previou
44. Enabled after power on Active low C Active low Feedf d Kd um 22251 Saa Start mode ilter 0 1 Current used of n Move till aligned with phase 4 x nominal current Tune amp Test C Direct using Hall sensors Time to align on phases fi s 7 4 4 Setting CANbus rate and factor group scaling factors The IDM680 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 By pressing the CANopen Settings button you can choose the initial values after power on for the CANopen factor group settings The factor group settings describe the scaling factors for position speed acceleration and time objects In the factor group dialogue you can select the units to use when writing to these objects or reading th
45. Figure 3 32 J9 5V Pulse amp Direction connection Remarks 1 When using 5 V Pulse amp Direction connection leave Pins 4 INO B2 D and 5 IN1 AZ P open 2 When IN1 A2 P is used as PULSE input in Pulse amp Direction motion mode on each rising edge the reference or feedback is incremented decremented 3 When IN0 B2 D is used as DIRECTION input in Pulse amp Direction motion mode the reference or feedback is incremented if this pin is pulled low Technosoft 2008 57 IDM680 Technical Reference J9 Analog amp Digital I O Connector IDM680 8xl Differential RS 422 Pulse amp Direction connection PULSE Generator IN1 A2 P H I z IN1 A2 P 1K_ 5V O 4 ig High speed 8MHz 780R 1 5V Differential RS 422 Direction Generator 1K_ 5V p High speed 8MHz INO B2 D d Differential RS 422 GND DSP Controller 780R 1 5V Connected to case Figure 3 33 J9 Differential RS 422 Pulse amp Direction connection Remark For long gt 10 meters encoder lines add termination resistors 1200 close to the drive J9 Analog amp Digital I O Connector IDM680 8xI Second Encoder single ended High speed 8MHz DSP Controller Connected to case other drives similar inputs Figu
46. IDM680 Technical Reference 3 2 5 Feedback J13 Connector IDM680 8LI Pin Name on the Drive cover 5 COS LH2 Type Function Comments 5 Voc Supply generated internally 1 2 OutB CK Positive Clock output signal for differential EnDat protocol 3 OutA DT Positive Data input output signal for differential EnDat protocol Positive Cosine input of the sine cosine encoder Linear Hall 2 input SIN LH1 Positive Sine input of the sine cosine encoder Linear Hall 1 input Therm Analog input from motor thermal sensor Z1 Positive Z for differential encoder or Z for single ended encoder Z1 Negative Z for differential encoder LH3 Linear Hall 3 input signal res Reserved GND Ground of the 5 Vpc supply OutB CK Negative Clock output signal for differential EnDat protocol OutA DT Negative Data input output signal for differential EnDat protocol COS Negative Cosine input of the sine cosine encoder SIN Negative Sine input of the sine cosine encoder SHIELD Shield Connected to frame Can capture the master position and also the motor position if an incremental or absolute sine cosine encoder is used Technosoft 2008 43 IDM680 Technical Reference J13 Feedback Connector IDM680 8LI Linear Hall connection DSP Controller SHIELD Y Connected to case Fi
47. 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 O C V Drive temperature 65520 Sensor _ gain V C Sensor _ gain V C where Technosoft 2008 108 IDM680 Technical Reference Sensor_gain is the temperature sensor Sensor_output_0 C is the temperature sensor output at 0 You can read these values in the Drive Info dialogue which can be opened from the Drive Setup 6 10 Master position units When the master position is sent via a communication channel or via pulse amp direction signals the master position units depend on the type of position sensor present on the m
48. Interpolation x Tr x T For linear motors Encoder _ accuracy Motor _ Speed IU Load Speed S Interpolation x Tr x T where SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 94 IDM680 Technical Reference Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 3 Brushless motor with absolute SSI BISS encoder on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary The correspondence with the load speed in SI units is 2x m Load _ Speed SI bits resolution Tr T Motor Speed IU where No bits resolution is the SSI BiSS encoder resolution in bits per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advan
49. M Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive A software file is a text file that can be read with any text editor lt 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 using the EEPROM Programmer tool which comes with EasySetUp but may also be installed separately The EEPROM Programmer was specifically designed for repetitive fast and easy programming of sw files into the Technosoft drives during production Technosoft 2008 76 IDM680 Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master The IDM680 drive supports the CiA draft standard DS 301 v4 02 CANopen Application Layer and Communication Profile It also conforms with the CiA draft standard propo
50. OTOR Currents Info Connected to case 1 coil per phase Figure 3 13 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 IDM680 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 Supply output Technosoft 2008 31 IDM680 Technical Reference 1 2 coils per phase in parallel connection 1 2 1 A2 1 2 1 B2 Step MOTOR Figure 3 14 J2 Connection of a 2 phase motor with 2 coils per phase in parallel 2 coils per phase in series connection 1 1 A2 A2 1 B1 B2 B2 Step MOTOR Figure 3 15 J2 Connection of a 2 phase motor with 2 coils per phase in series 1 coil per phase Technosoft 2008 Step MOTOR 3 phases Figure 3 16 J2 Connection of a 3 phase motor 32 IDM680 Technical Reference 3 2 3 1 Recommendations for Motor Wiring a Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters If this situation cannot be avoided use a shielded cable for the motor wires Connect the cable shield to the IDM680 earth shield pin Leave the other end disconnected b The parasitic capacitance between the m
51. SI units and load displacement in SI units 1 SI units for position are rad for a rotary movement m for a linear movement Technosoft 2008 93 IDM680 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 counts slow loop sampling period The correspondence with the load speed in SI units is 2x1 F t tors Load Speed SI Motor Speed IU a ae pad _Speed Sl 4xNo encoder linesx Trx T Speed lU For linear motors Load Speed SI RON Motor _ Speed IU rx where No_encoder_lines is the rotary encoder number of lines per revolution Encoder_accuracy is the linear encoder accuracy i e distance in 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 Brushless motor with sine cosine encoder on motor The internal speed units are interpolated encoder counts slow loop sampling period The correspondence with the load speed in 1 units is For rotary motors Load _ Speed SI cz NOR x Motor _ Speed lU 4 _ periods x
52. _ Position U 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 Brushless motor with sine cosine encoder on motor The internal motor position units are interpolated encoder counts The correspondence with the motor position in 1 units is For rotary motors Motor Position SI Eu xMotor _ Position IU 4xEnc periods x Interpolation For linear motors Encoder accuracy x Motor Position IU Motor _ 51 Interpolation where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder_accuracy is the linear encoder accuracy in for one sine cosine period 6 12 3 Brushless motor with absolute SSI BiSS encoder on motor The internal motor position units are encoder counts The motor is rotary The correspondence with the motor position in SI units is Motor Position SI _2 _ 2 _ bits _ resolution where No bits resolution is the SSI BiSS encoder resolution in bits per revolution 6 12 4 Brushless motor with linear Hall signals SI units for motor position are rad for rotary motor m for a linear motor Technosoft 2008
53. a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program Implement on your master the TML commands you need to send to the drives motors using one of the supported communication channels The implementation must be done according with Technosoft communication protocols 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 E x Setup Communication View Dc BH a5 5189 VE Ch WO S OS E T Upload from Drive Motor Online AxisID 255 Firmware 500 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
54. age Absolute maximum values continuous 0 100 Absolute maximum values surge 1 0 5 105 V duration 10ms Idle 0 5 1 5 mA Operating 16 5 A Supply current Absolute maximum values surge 100 A duration lt 10ms Supply Input isolated Measured between 24 Vg and OVpic Min Typ Max Units Nominal values 8 24 30 Supply voltage Absolute maximum values surge SE 3 3 100 32 V duration 10ms All inputs and outputs disconnected 20 30 mA Supply current All inputs tied to 24 all outputs Sourcing simultaneously their nominal 700 1000 mA current into external load s Isolation voltage rating Between 0Vp c and GND 200 Vnus CAN Bus Supply Input isolated Measured between CAN V and CAN GND Min Typ Max Units Nominal values 8 24 30 Supply voltage Absolute maximum values surge pply g g 75 32 V duration lt 10ms CAN Bus idle 12 25 mA Supply current CAN Bus operating at 1Mbit s 60 180 mA Isolation voltage rating Between CAN_GND and drive GND 200 Vnus Motor Outputs All voltages referenced to GND Min Typ Max Units Motor output current Continuous operation 8 8 Anus Motor output current peak 16 5 16 5 A Short circuit protection threshold 26 25 29 Technosoft 2008 14 IDM680 Technical Reference Short circuit protection delay 12 15 uS On state voltage drop Output current
55. aster axis When the master position is an encoder the correspondence with the international standard SI units is 2x Tr Master _ position rad FENG encoder lines 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 2 Master speed rad s Master speed IU 290984 l 4xNo encoder linesxT SpeedllU 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 et x Motor _ Position IU 4xNo encoder lines 191 units for motor position are rad for a rotary motor m for a linear motor Technosoft 2008 109 IDM680 Technical Reference For linear motors Motor _ Position SI Encoder _ accuracy x Motor
56. brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed SI 4096 Tacho gain x Motor _ Speed U 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 9 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 2 Motor _ Speed Sl x Motor Speed IU No ustepsxNo _ steps x T where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 13 10 Stepper motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is Motor Speed SI x Motor Speed lU 4xNo_ encoder _ lines x T
57. ced dialogue which can be opened from the Drive Setup 6 2 4 Brushless motor with linear Hall signals The internal speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load speed in SI units is Load Speed SI x Motor _ Speed lU resolution x Tr x T where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 95 IDM680 Technical Reference 6 2 5 Brushless motor with resolver The internal speed units are counts slow loop sampling period The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 4096 counts per turn The correspondence with the load speed SI units is Load Speed SI 2 xMotor _Speed lU resolution x Tr x T where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI
58. cremental encoder Technosoft 2008 81 IDM680 Technical Reference al X 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 2008 82 IDM680 Technical Reference EasyMotion Studio Untitled loj x Project Application Communication View ControlPanel Window Help Dac EB IBS FOO 5e 8 Ig Project Untitled Application Application General Information Setup M Motion Application ID Homing Modes e Functions m Interrupts CAM Tables Axis number 255 Memory Settings Drive 10 80 8 Product ID P048 002 E103 Firmware ID F500B Setup ID 0564 E2ROM 8 Kwards RAM 4 words Motor 3441 E023 R1 Type Brushless Rotary Sensors Load Position Not present Motor Position Incremental Encoder Motor Speed Not present Online AxisID 255 IDM680 8EI Firmware 25008 SetupID 0564 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 infor
59. ctions 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 Apart from the standard modes of operation of DSP 402 the IDM680 offers others like electronic gearing electronic camming external modes with analogue or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in EasyMotion Studio and are included in the information stored in the EEPROM together with the setup data and the TML programs functions Remark The cam tables are included in the sw file generated with EasyMotion Studio Therefore
60. current limitation Technosoft 2008 33 IDM680 Technical Reference ALWAYS PROVIDE EXTERNAL 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 3 Recommendations for Supply Wiring 1 Use short thick wires between the IDM680 and the motor power supply If the wires are longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 1 000 pF rated at an appropriate voltage right on the terminals of the IDM680 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 IDM680 earth shield pin to a good quality earth point The IDM680 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 IDM680 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 voltage during braking During abrupt motion brakes or reversals the regenerative ener
61. 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 Technosoft 2008 70 IDM680 Technical Reference 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 and select your drive type The selection continues with the motor technology for example brushless or brushed and type of feedback device for example lncremental encoder SSI encoder Technosoft 2008 71 IDM680 Technical Reference The selection opens 2 setup dialogues for Motor Setup 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 Setup Communication View Control Panel Window Help D z amp peu EET Brushless Motor Setup Edit View
62. e Advanced dialogue which can be opened from the Drive Setup 6 3 8 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 1 units is Analogue _ Input _ Range 4096 x Tacho _ gain x Tr x T Load Acceleration SI x Motor _ Acceleration U where 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement Technosoft 2008 101 IDM680 Technical Reference 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 9 Stepper motor open loop control No feedback device The internal acceleration units are motor usteps slow loop sampling period The correspondence with the load acceleration in SI units is 2 Load Acceleration Sl x Motor _ Acceleration U ustepsxNo _ steps x Tr x where No_steps is the
63. e Name IDM680 8LI Article Number 048 002 101 ast lt amp Serial Number Figure 3 7 IDM680 8LI Identification Label CD Manufacturer Drive Name IDM680 8RI Article Number 48 002 102 28224 lt amp Serial Number Figure 3 8 IDM680 8RI Identification Label CD Manufacturer Drive Name IDM680 8BI Article Number Po48 002 E104 lt amp Serial Number Figure 3 9 IDM680 8BI Identification Label Technosoft 2008 26 IDM680 Technical Reference 3 2 3 Motor amp Supply J2 Connector Function Brushless motor or step motor 3 phase Phase Step motor 2 phase Phase A DC brush motor positive terminal Brushless motor or step motor 3 phase Phase B Step motor 2 phase Phase A DC brush motor negative terminal Brushless motor or step motor 3 phase Phase C Step motor 2 phase Phase B DC brush motor not connected Brake output for external brake resistor only when the drive is used with brushless or DC brushed motors Step motor 2 phase Phase B DC brush motor not connected Earth connection Positive terminal of the motor supply 12 to 80 Vpc Positive terminal of the logic supply 12 to 48 Voc Negative terminal of the and V og external power supplies Rema
64. e is 2 master encoder RS 422 differential Puls 5V single ended Puls input when external reference is Pulse amp Direction or Compatible RS 422 5V and 24V single ended 14 Ref 15 Ref AD5 Analogue position speed or torque reference input 10 V differential 12 bit resolution 16 Tach 17 Tach AD2 Analogue speed feedback tachometer input 10 V differential 12 bit resolution 18 GND Ground terminal for all non isolated I O 20 OUT4 ER OUT 4 24 V Error output seen as Out 4 When Out 4 is commanded low 0 logic OUT4 ER pin is set to 24VPLC and lights the red led Opto isolated Short circuit protected 21 OUT5 RD OUT 5 24 V Ready output seen as Out 5 When Out 5 is commanded low 0 logic OUT5 RD pin is set to 24VPLC and lights the green LED Opto isolated Short circuit protected Technosoft 2008 53 IDM680 Technical Reference e 24 V General purpose output Out 0 When Out 0 is commanded low 0 logic OUTO pin is set to 22 OUTO OUT 0 24 e Opto isolated e Short circuit protected e 24 V General purpose output Out 1 When Out 1 is commanded low 0 logic OUT1 pin is set to 23 OUT1 OUT 1 24VPLC e Opto isolated e Short circuit protected e 24 V General purpose output Out 2 When Out 2 is commanded low 0 logic OUT2 pin is set to 24 OUT2 OUT 2
65. e 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 Technosoft 2008 78 IDM680 Technical Reference 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 Setvarious 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
66. em You can either choose one of the standard units defined in the CANopen standard DSP 402 or define your own unit Technosoft 2008 74 IDM680 Technical Reference Drive Setup u Guideline assistant Control mode External reference Previous Next Position C No Yes Setup Speed Analogue Incremental Encoder Cancel Automatically activated after Power Help Step 1 Inthe Control mode gt gt group box select what do you want to control position speed or torque In the lt lt Commutation method gt gt group box choose sinusoidal or Torque trapezoidal mode The trapezoidal mode is possible only if your m TUM Commutation method z Advanced C Trapezidal sinusoidal Motor CANbus Baud rate Fw default settings Drive Info Set change axis ID uw Setup Protections Detect Over current Motor current 35 s for than joo s zi 1 Control error p Current controller Position error gt 51 4 rad for more than B s 0 Control error Ki 0 558 Tune amp Test Speed error gt 22 rad s z for more than 3 F Motor over temperature Speed controller Kp ss 73 Intearal limit n E v 12 s Over current 25 x for 30 s 7 sz External brake resistor Tune amp Test Connected Activate if power s
67. ened from the Drive Setup 6 2 8 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 1 units is Analogue _ Input _ Range Load Speed Sl 4096 x Tacho _ gain x Tr Motor _ Speed U 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 9 Stepper motor open loop control No feedback device The internal speed units are motor usteps slow loop sampling period The correspondence with the load speed in SI units is 2 Load _ Speed Sl Motor _SpeedjlU No steps 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 10 Stepper motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow
68. erence Drive Setup Guideline assistant Control External reference Previous Next Position No Yes Setup Stepl Inthe Control mode gt gt group box select what do Speed Analogue Incremental Encoder _ Cancel you want to control position speed or torque In the Automatically activated after Power On lt lt Commutation method gt gt group box choose sinusoidal or Torque __ trapezoidal mode The trapezoidal mode is possible only if your Ommutauon z __ Advanced Sinusoidal Motor CANbus Baud rate row default x CANopen settings Drive Info Set change axis ID now x Drive operation parameters Protections Power supply 24 v Detect V Over current Current limit Pp a s Motor curent gt 3 6 z iom Control error Current controller Position error 21 4 rad 0 Control error Ki 0 658 Tune amp Test Speed error gt 22 rad s z for more than 3 Motor over temperature External brake resistor Tune amp Test Connected Activate if power supply gt 155 F Position controller r Inputs polarity Kp 16 83 Integral limit 17 x x Enable Limit switch Limit switch Ki D 8415 D C Active high Disabled after power on Active high Active high Active low
69. g the family of TML_LIB motion libraries Technosoft 2008 3 IDM680 Technical Reference For all motion programming options the IDM680 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 IDM680 8El Absolute SSI encoder interface RS 422 differential IDM680 8EI Absolute BiSS sensor mode encoder interface RS 422 differential IDM680 8BI Linear Hall sensors interface 4Vp p IDM680 8LI Incremental or absolute sine cosine encoder 1Vp p IDM680 8LI Resolver interface IDM680 8RI 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 e
70. gure 3 24 J13 Linear Hall sensor connection Remark Motor thermal sensor connection is presented in Figure 3 23 Technosoft 2008 44 IDM680 Technical Reference J13 Feedback Connector IDM680 8LI SinCos Encoder DSP Controller SHIELD Y Connected to case Figure 3 25 J13 Incremental sine cosine encoder connection Technosoft 2008 45 IDM680 Technical Reference J13 Feedback Connector IDM680 8LI EnDAT Encoder DSP Controller SHIELD Connected to case Figure 3 26 J13 Absolute sine cosine encoder connection with EnDat communication protocol Technosoft 2008 46 IDM680 Technical Reference 3 2 6 Feedback 413 Connector IDM680 8RI Name on the Function Comments Drive cover 5 Vpc Supply generated internally Positive Clock output signal for differential SSI encoder Positive Data signal for differential SSI encoder Positive Cosine input from the resolver Positive Sine input from the resolver Analog input from motor thermal sensor Reserved RI OO N gt Reserved Positive Excitation output signal to the resolver Negative Excitation output signal to the resolver Ground of the 5 Vpc supply Negative Clock output signal for differential SSI encoder Negative Data signal for differential SSI encoder COS Negative Cosine i
71. gy 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 92V 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 gt 5 M Cprive UMAX i UNOM where Umax 92V is the over voltage protection limit Corive 200 uF is the drive internal capacitance Unom 80V is nominal motor supply voltage Technosoft 2008 34 IDM680 Technical Reference the overall energy flowing back to the supply in Joules In case of a rotary motor and load Ev can be computed with the formula tao EM Pix JL oM my mi 9 hinitial hfinal 3I Rpntg e Tr Kinetic energy Potential energy Copper losses Friction losses where total rotor inertia kgm2 J total load inertia as seen at motor shaft after transmission kgm Wm motor angular speed before deceleration rad s Mm motor mass kg when motor is moving in a non horizontal plane Imm load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s initial
72. h absolute SSI BiSS encoder on motor 91 6 1 4 Brushless motor with linear Hall signals 91 6 1 5 Brushless motor with resolver a 92 6 1 6 DC brushed motor with quadrature encoder on load and tacho on motor 92 6 1 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 92 6 1 8 Stepper motor open loop control No feedback device 92 6 1 9 Stepper motor closed loop control Incremental encoder on motor 93 6 1 10 Stepper motor open loop control Incremental encoder on load 93 027 Speed BP 94 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 94 6 2 2 Brushless motor with sine cosine encoder on motor 94 6 2 3 Brushless motor with absolute SSI BiSS encoder on motor 95 6 2 4 Brushless motor with linear Hall signals 95 6 2 5 Brushless motor with resolver a a 96 6 2 6 DC brushed motor with quadrature encoder on load and tacho on motor 96 6 2 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 96 6 2 8 DC brushed motor with tacho on mot
73. h can be opened from the Drive Setup 6 13 2 Brushless motor with sine cosine encoder on motor The internal motor speed units are interpolated encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 112 IDM680 Technical Reference Motor Speed SI 8 x Motor _ Speed IU 4xEnc periods x Interpolation x T For linear motors Encoder accuracy Motor _ Speed lU Motor Speed SI n Interpolation x T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 13 3 Brushless motor with absolute SSI BISS encoder on motor The internal motor speed units are encoder counts slow loop sampling period The motor is rotary The correspondence with the motor speed in SI units is 2xm Motor _ Speed S gt No biis resolution T Mo
74. h the load position in SI units is 151 units for position rad for rotary movement for linear movement Technosoft 2008 92 IDM680 Technical Reference Load _ Position SI 8 Motor _ Position IU No _ usteps x No _ steps x Tr where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 9 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 2xmn 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 10 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 7 xLoad Position lU 4xNo encoder lines where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in
75. h your application needs The drive can be directly connected with your PC via a serial RS 232 link drive from a CANbus network where the PC is serially linked with one of the other drives The output of 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 Analternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the drives motors from the network All data exchanges are done with the drive motor having the same address as the selected application In the second case all the applications have the same axis number The setup component contains all the information needed to configure and parameterize a Technosoft drive This information is preserved in the drive motor EEPROM in
76. ield connected to the drive I O connector frame Leave both shields unconnected on the signal source side e If the signal source output voltage is larger than 10V use a 3 resistor differential divider located near the IDM680 I O connector Choose the divider resistances as low as possible close to the signal source output current limit to minimize the noise 49 Analog amp Digital I O Connector IDM680 8xl 24V Pulse amp Direction connection J9 PULSE Generator 5V _ High speed 8MHz DIRECTION Switch DSP Controller ps 1 Connected to case Figure 3 31 J9 24 V Pulse amp Direction connection Technosoft 2008 56 IDM680 Technical Reference Remarks 1 When using 24 V Pulse amp Direction connection leave Pins 12 IN0 B2 D and 13 IN1 A2 P open 2 When 1 1 2 is used as PULSE input in Pulse amp Direction motion mode on each falling edge the reference or feedback is incremented decremented 3 When IN0 B2 D is used as DIRECTION input in Pulse amp Direction motion mode the reference or feedback is incremented if this pin is pulled high IDM680 8xl J9 Analog amp Digital I O Connector 5V Pulse amp Direction connection PULSE Generator 5V High speed 10MHz d E 5V o o DIRECTION N Switch a Connected to case
77. in Motion Controller and _ 79 5 2 1 Technosoft Motion Language Overview 79 2 2 2 Installing EasyMotion oet 79 5 2 3 Getting Started with EasyMotion Studio 80 5 2 4 Creating an Image File with the Setup Data and the TML Program 86 5 9 Combining CANopen with 87 5 3 1 Using TML Functions to Split Motion between Master and Drives 87 5 3 2 Executing TML m 87 5 3 3 Loading Automatically Cam Tables Defined EasyMotion Studio 87 5 3 4 Customizing the Homing Procedures a 88 5 3 5 Customizing the Drive Reaction to Fault Conditions 88 5 4 Using Motion Libraries for PC based Systems 89 5 5 Using Motion Libraries for PLC based Systems 89 6 Scaling Factors 90 Technosoft 2008 VI IDM680 Technical Reference 6 1 a cote pais ated 90 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 90 6 1 2 Brushless motor with sine cosine encoder on motor 90 6 1 3 Brushless motor wit
78. ing 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 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 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 OOooo Using EasyMotion Studio for TML programming you can really distribute the intelligence between the master and the drives in complex multi axis applications reducing both the development time and the overall communication requirements For example instead of trying to command each movement of an axis you can program the drives using TML to execute complex motion tasks and inform the master when these tasks are done Thus for each axis control the master job may be reduced at calling TML functions stored in the drive EEPROM with possibility to abort their execution if needed and waiting for a message which confirms the TML functions execution Apart from a CANopen master the IDM680 drives can also be controlled from a PC or PLC usin
79. ion DIPswitch and LEDs Screws M4 25 mm lt Min 1 07 TON sm m T 000 o Motor Power supply and Feedback cables Figure 3 1 Recommended mounting of IDM680 in a cabinet Technosoft 2008 21 IDM680 Technical Reference 3 2 Connectors and Connection Diagrams 3 2 1 Connectors Layout SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector igo IDM680 8EI HE Intelligent Servo Drive Samo SE E 88 98 z TMLCAN 523222222 Ate prem lag o 1D Bit4 522232432 1 HE B1 0 82 oss HDT H H1 DT _ Serial 5 Auto Ext E elt 2 1 iss U m Y T lt 26mm gt 136 mm gt 410 CAN Connector J9 Analog amp 24V Digital I O Connector Connector Figure 3 2 IDM680 8EI connectors layout Technosoft 2008 22 IDM680 Technical Reference SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector
80. ion 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 in CANopen communication 33 1 34 2 Technosoft 2008 67 IDM680 Technical Reference 200 8 255 31 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 con
81. ith 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 Technosoft 2008 65 IDM680 Technical Reference Remark All switches are sampled at power up and the drive is configured accordingly 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 Bit0 OFF OFF OFF OFF OFF 255 OFF OFF OFF OFF ON 1 OFF OFF OFF ON OFF 2 OFF OFF OFF ON ON 3 OFF OFF ON OFF OFF 4 OFF OFF ON OFF ON 5 OFF OFF ON ON OFF 6 OFF OFF ON ON ON 7 OFF ON OFF OFF OFF 8 OFF ON OFF OFF ON 9 OFF ON OFF ON OFF 10 OFF ON OFF ON ON 11 OFF ON ON OFF OFF 12 OFF ON ON OFF ON 13 OFF ON ON ON OFF 14 OFF ON ON ON ON 15 ON OFF OFF OFF OFF 16 ON OFF OFF OFF ON 17 ON OFF OFF ON OFF 18 ON OFF OFF ON ON 19 ON OFF ON OFF OFF 20 ON OFF ON OFF ON 21 ON OFF ON ON OFF 22 ON OFF ON ON ON 23 ON ON OFF OFF OFF 24 ON ON OFF OFF ON 25 ON ON OFF ON OFF 26 ON ON OFF ON ON 27 ON ON ON OFF OFF 28 ON ON ON OFF ON 29 ON ON ON ON OFF 30 ON ON ON ON ON 31 Technosoft 2008 66 IDM680 Technical Reference Technosoft drive
82. ith your PC via a serial RS 232 link drive from a CANbus network where the PC is serially linked with one of the other drives The output of EasySetUp is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use EasySetUp includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning EasySetUp works with setup data A setup contains all the information needed to configure and parameterize a Technosoft drive This information is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed Note that with EasySetUp you do only your drive motor commissioning For motion programming you have the following options 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 2008 69 IDM680 Technical Reference called from applications written in C C Visual Basic Delphi Pascal LabVIEW If your host is a PLC TML_LIB offers
83. itive until the limit switch is reached Reverse and stop at first Default index pulse C User defined Functions home3 Home 3 Stop at first index pulse after home switch high low transition If home input amp Default Interrupts is high move negative else move positive and reverse after home input low high transition C User defined CAM Tables home4 Home 4 Stop at first index pulse after home switch low high transition If home input Default is low move positive else move negative and reverse after home input high low transition User defined Detautt C User defined homes Home B Stop at first index pulse after home switch low high transition If home input Default is low move positive else move negative and reverse after home input high low transition User defined home Home 7 Moving negative stop at first index pulse after home switch active region Default lends high low transition If home input is high move negative else move positive and C User defined homes Home 8 Moving positive stop at first index pulse after home switch active region 9 Default starts low high transition If home input is low move positive else move negative and C User defined home9 Home 9 Moving negative stop at first index pulse after home switch active region Default starts low high transition Move positive and reverse after home input high low transition User defined Ihome10 Home 10 Moving positive
84. ive setup using Technosoft EasySetUp software for drive commissioning Step 3 Motion programming using one of the options ACANOpen master Q The drive built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software LIB motion library for PCs Windows or Linux LIB motion library for PLCs distributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in TML This manual covers Step 1 in detail It describes the IDM680 hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the drive internal units For detailed information regarding the next steps refer to the related documentation Notational Conventions This document uses the following conventions TML Technosoft Motion Language SI units International standard units meter for length seconds for time etc IU units Internal units of the drive IDM680 all products described in this manual Technosoft 2008 IDM680 Technical Reference 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 outpu
85. mal sensor connection 3 2 4 4 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 A with A B with B Z with Z H1 DT with H1 DT H2 with H2 H3 CK with H3 CK Use another twisted pair for the 5V supply and GND Keep the ground connection between an encoder and the IDM680 8EI even if the encoder supply is not provided by the drive When using shielded cable connect the cable shield to the earth at the encoder side Leave the shield unconnected at the IDS side Never use the shield as a conductor caring a signal for example as a ground line This situation can lead to a worse behavior than a non shielded cable Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the earth potential at only one end This point could be either the IDM680 8EI using the earth shield pin s or the encoder motor Do not connect the shield at both ends If the IDM680 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5 and GND lines The capacitor value can be 1 10 pF rated at 6 3V Technosoft 2008 42
86. mation 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 RS 232 and COM1 with a drive having axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically Technosoft 2008 83 IDM680 Technical Reference 5 2 3 3 Setup drive motor In the project window left side select S Setup to access the setup data for your application D xj Ig Project Ex Untitled Untitled Application 5 M Motion 1 Homing Modes Define Load Functions Interrupts CAM Tables m Save As View Modify s gt Download to m Open bera ert Drive Motor J Load from a previous version from Drive Motor Press View Modify button This opens 2 setup dialogues for Motor Set
87. mode see 120 Q Technosoft 2008 16 IDM680 Technical Reference Input Frequency 0 8 MHz ESD Protection Human Body Model 2 kV SSI Encoder Interface Min Typ Max Units Diff tial mod li CLOCK rangs For full RS422 compliance see TIA EIA 422 Differential 500 differential load 2 0 2 5 5 0 CLOCK Output voltage V Common mode referenced to GND 2 3 2 5 2 7 CLOCK frequency Software selectable 400 0 1500 100 kHz increment DATA Input hysteresis Differential mode 0 1 0 2 0 5 V Referenced to GND 7 12 DATA Input common mode range V Absolute maximum surge duration lt 1s 25 25 Binary Gray DATA format Software selectable Single turn Multi turn Counting direction Total resolution 30 bit DATA resolution Single turn 15 bit Multi turn 15 bit BiSS Encoder Interface Applicable to IDM680 8BI Min Typ Max Units Diff tial mod li CLOCK DATA U ee For full RS422 compliance see TIA EIA 422 Differential 500 differential load 2 0 2 5 5 0 CLOCK Output voltage V Common mode referenced to GND 2 3 2 5 2 7 CLOCK frequency Software selectable 2500 1100 kHz increment DATA Input hysteresis Differential mode 0 1 0 2 0 5 V Referenced to GND 7 12 V DATA Input common mode range Absolute maximum surge duration lt 1s
88. n the Advanced dialogue which can be opened from the Drive Setup 6 4 5 Brushless motor with resolver The internal jerk units are counts slow loop sampling The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 4096 counts per turn The correspondence with the load jerk in SI units is Load 51 lt x Motor _ Jerk IU resolution x Tr x where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 1 SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2008 105 IDM680 Technical Reference 6 4 6 DC brushed motor with quadrature encoder load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is Load 51 zo x Load Jerk IU 4 encoder _ lines x T where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Adva
89. nate function Comments 24VPLC e 24 V power supply terminal for all opto isolated I O e 24V Enable input read as In 6 On inactive level disables the drive operation similarly to AXISOFF command power stage is turned off Read high 1 2 IN6 EN IN 6 l logic when 24VPLC are applied on IN6 EN pin e Opto isolated e Programmable polarity active level e 24V General purpose input In 2 Read high 1 logic when 24VPLC are applied on IN2 HOME pin 3 IN2 HOME IN 2 l e 24V Home input in homing sequences Can be set to capture on transitions both motor and master position e Opto isolated e RS 422 differential B 24V single ended B input when external reference is 2 master encoder e RS 422 differential Dir 24V single ended Dir input 4 INO B2 D IN O when external reference is Pulse amp Direction e 24V General purpose input In 0 Read low 0 logic when 24VPLC are applied on IN0 B2 D pin e Compatible RS 422 and 24V single ended e RS 422 differential A 24V single ended A input when external reference is 2 master encoder e RS 422 differential Puls 24V single ended Puls 5 IN1 A2 P IN 1 input when external reference is Pulse amp Direction e 24V General purpose input In 1 Read low 0 logic when 24VPLC are applied on IN1 A2 P pin Compatible RS 422 and 24V single ended e 24 General purpose input In 3 Read high 1 logic 6 IN3 IN 3 when 24VPLC applied IN3
90. nced dialogue which can be opened from the Drive Setup 6 4 7 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is 2x7 Load _ Jerk Sl bits resolution 12 xLoad Jerk lU where No bits resolution is the SSI encoder resolution in bits per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 8 Stepper motor open loop control No feedback device The internal jerk units are motor steps slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI x Motor _ Jerk IU No _ usteps x No _ steps x Tr x T where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2008 1
91. ncoder pulse amp direction 6 digital outputs opto isolated 24V PNP type 80 160 mA short circuit protected 4 general purpose 2 for Ready and Error 2 differential analog inputs 10 V for reference and feedback Compact design 136 x 95 x 26 mm RS 232 serial communication up to 115kbaud CAN bus 2 0 2 0B up to 1Mbit s opto isolated with selectable communication protocol CANopen compatible with CiA standards 05301 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 Technosoft 2008 4 IDM680 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 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 2 3 1 IDM680 8EI 1 Position speed or torque control of a brushless AC rotary motor with an incremental quadrature encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load
92. nections 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 2008 68 IDM680 Technical Reference 4 Step 2 Drive Setup 4 1 Installing EasySetUp EasySetUp is PC software platform for the setup of the Technosoft drives It can be downloaded free of charge from Technosoft web page EasySetUp comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates EasySetUp includes a firmware programmer through which you can update your drive firmware to the latest revision EasySetUp can be installed independently or together with EasyMotion Studio platform for motion programming using TML You will need EasyMotion Studio only if you plan to use the advance features presented in Section 5 3 Combining CANopen 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 w
93. nical Reference Single ended mode 0 1 MHz Input frequency Differential mode 0 8 MHz ESD protection Human body model 2 kV 24 V Digital Outputs opto isolated All voltages referenced to OVa c Min Typ Max Units Logic HIGH 24 Vac 24 Voc 22 23 24 5 Output voltage Extemal load 3300 V t Absolute maximum surge duration lt 1s 0 5 35 Logic HIGH 24 lt 2 V all outputs RT 80 mA except OUT5 RD and ER Logic HIGH 24 Vac lt 2 V outputs Output current 160 mA OUT5 RD OUT4 ER Logic LOW leakage crt 0 05 0 2 mA t Absolute maximum surge duration lt 1s 350 350 mA Linear Hall Applicable to IDM680 8LI Min Typ Max Units Linear Hall Voltage excursion 4 4 5 Linear Hall Input voltage 0 25 45 v Input impedance 47 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 15 16 V Differential mode compliance For full RS422 compliance see j TIA EIA 422 Input hysteresis Differential mode 0 1 0 2 0 5 V Referenced to GND 7 12 Input common mode range V Absolute maximum surge duration 1s 25 25 Single ended mode 47 Input impedance Differential
94. nput from the resolver SIN Negative Sine input from the resolver SHIELD Shield Connected to frame 1 IDM680 8RI includes an SSI encoder interface This is reserved for future developments For motor sensor configurations with SSI encoders use IDM680 8EI For dual loop operation with resolver on motor and SSI encoder load contact Technosoft Technosoft 2008 47 IDM680 Technical Reference IDM680 8RI J13 Feedback Connector Resolver connection DSP Controller SHIELD Y Connected to case COSINE RESOLVER Resolver coupling ratio 7 0 5 2 Figure 3 27 J13 Resolver connection Technosoft 2008 48 IDM680 Technical Reference IDM680 8RI J13 Feedback Connector Differential SSI Encoder RS 422 DSP Controller Connected to case SHIELD Figure 3 28 J13 Differential RS 422 SSI encoder connection Technosoft 2008 49 IDM680 Technical Reference 3 2 7 Feedback 413 Connector IDM680 8BI Pin Name on the Type Function Comments Drive cover A1 Positive for differential encoder for single ended encoder 1 2 B1 Positive B for differential encoder or B for single ended encoder 3 5 Vpc Supply generated internally Positive 3 input for differential 3 for single ended Positive Clock output signal for differential BISS SSI encode
95. ntal quadrature encoder Technosoft 2008 9 IDM680 Technical Reference Figure 2 12 Encoder on motor shaft Closed loop control motor position speed or torque 2 3 2 IDM680 8LI 1 Position speed or torque control of a brushless AC rotary motor with linear Hall signals Motor IDM680 8LI Linear Hall Figure 2 13 Brushless AC rotary motor with linear Hall signals Position speed torque control The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor 2 Position speed or torque control of a brushless AC rotary motor with an incremental sine cosine encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IDM680 8LI Sin Cos incremental encoder Figure 2 14 Br
96. number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 10 Stepper motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary to rotary transmission 2 Load Acceleration SI xLoad Acceleration IU 4xNo encoder lines x For rotary to linear transmission Load_ Acceleration m s2 T2 where 1 SI units for acceleration are rad s for rotary movement m s for linear movement Technosoft 2008 102 IDM680 Technical Reference 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
97. olution is the motor position resolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 13 6 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 7 DC brushed motor with absolute SSI encoder on load amp tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed SI 4096 x Tacho gain x Motor Speed lU where SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 114 IDM680 Technical Reference 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 8 DC
98. ommands expressed in IU units refer to the motor Motor IDM680 8BI BiSS absolute encoder Figure 2 18 Brushless AC rotary motor Position speed torque control BiSS encoder on motor 2 4 IDM680 Dimensions The next figure presents the IDM680 drives dimensions Technosoft 2008 12 IDM680 Technical Reference 136 5 354 44 5 1 752 95 3 74 ig a 4 2 mm 0 165 Figure 2 19 IDM680 drives dimensions 2 5 Electrical Specifications All parameters measured under the following conditions unless otherwise noted Tamb 0 40 Vioc 24 Vpc V24 VPLC 24 Vpc CAN_V 24 Vpc 80Vpc Load current Supplies start up shutdown sequence Logic Supply Input Measured between 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 Supply current 12V 350 400 mA 24 V 150 250 mA Technosoft 2008 13 IDM680 Technical Reference 48 V 80 150 mA Motor Supply Input Measured between and GND Min Typ Max Units Nominal values including ripple amp braking 12 80 V induced over voltage up to 25 pe Supply volt
99. ommands can be referred to the motor by setting EasySetUp rotary to rotary transmission with ratio 1 1 Technosoft 2008 7 IDM680 Technical Reference Figure 2 6 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 7 Speed or torque control of 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 IDM680 8EI Tacho Figure 2 7 DC brushed rotary motor Speed torque control Tachometer on motor 8 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 IDM680 8EI Tacho Incremental quadrature encoder Figure 2 8 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor 9 Load position control using an absolute SSI encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load Motor IDM680
100. or 97 6 2 9 Stepper motor open loop control No feedback device 97 6 2 10 Stepper motor open loop control Incremental encoder on load 97 6 2 11 Stepper motor closed loop control Incremental encoder on motor 98 6 3 Acceleration UniS ental aoe ned 98 6 3 1 Brushless DC brushed motor with quadrature encoder on motor 98 6 3 2 Brushless motor with sine cosine encoder on motor 99 6 3 3 Brushless motor with absolute SSI BiSS encoder on motor 99 6 3 4 Brushless motor with linear Hall signals 100 6 3 5 Brushless motor with resolver a 100 6 3 6 DC brushed motor with quadrature encoder on load and tacho on motor 101 6 3 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 101 6 3 8 DC brushed motor with tacho on motor 101 6 3 9 Stepper motor open loop control No feedback device 102 6 3 10 Stepper motor open loop control Incremental encoder on load 102 Technosoft 2008 VII IDM680 Technical Reference 6 3 11 Stepper motor closed loop control Incremental encoder on motor 103 6 4 Jerk UNS nt ides
101. or differential Hall or Hall 1 for single ended Hall Positive Data signal for differential SSI encoder Therm Analog input from motor thermal sensor 21 Positive Z for differential encoder Z for single ended encoder Z1 Negative Z for differential encoder H2 Positive Hall 2 for differential Hall or Hall 2 for single ended Hall 2 Negative Hall 2 for differential Hall A1 Negative A for differential encoder B1 Negative B for differential encoder GND Ground of the encoder supply H3 CK Negative Hall 3 input for differential Hall Negative Clock output signal for differential 551 encoder H1 DT Negative Hall 1 for differential Hall Negative Data signal for differential SSI encoder SHIELD Shield Connected to frame CHECK CURRENT CONSUMPTION FROM 5VDC SUPPLY CAUTION BYPASSING THE MAXIMUM ALLOWED CURRENT MIGHT LEAD TO DRIVE MALFUNCTION THE FEEDBACK CONNECTOR SIGNALS ARE CAUTION ELECTROSTATICALLY SENSITIVE AND SHALL HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Technosoft 2008 37 IDM680 Technical Reference IDM680 8EI J13 Feedback Connector Single ended open collector encoders DSP Controller SHIELD Connected to case J13 Feedback Connector IDM680 8EI Single ended open collector Hall H1 DT H3 CK SHIELD DSP Controller Y
102. otor 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 IDM680 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 Agood shielding can be obtained if the motor wires are running inside a metallic cable guide 3 2 3 2 Recommendations for Power Supply On Off Switch and Wiring a If motor supply Vor 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 17 and NOT at the output i e between the supply and drive IDM680 8xl Figure 3 17 J2 Motor supply connection Recommended in rush current limitation b When the above solution is not possible as in the case of uninterruptible power supplies or batteries accumulators connect an external capacitor of minimum 470 between the switch and the drive to reduce the slew rate rising slope of the motor supply voltage Uninterruptible IDM680 8xl Power Switch Supply Figure 3 18 J2 Motor supply connection Alternative in rush
103. r H1 DT Positive Hall 1 for differential Hall or Hall 1 for single ended Hall Positive Data signal for differential BISS SSI encoder Therm Analog input from motor thermal sensor Z1 Positive Z for differential encoder or Z for single ended encoder 1 Z1 Negative Z for differential encoder Positive Hall 2 for differential Hall or Hall 2 for single ended Hall ee H2 Negative Hall 2 for differential Hall 1 Negative for differential encoder 1 Negative B for differential encoder GND Ground of the encoder supply H3 CK Negative Hall 3 input for differential Hall Negative Clock output signal for differential BISS encoder H1 DT Negative Hall 1 for differential Hall Negative Data signal for differential BiSS encoder SHIELD Shield Connected to frame Technosoft 2008 50 IDM680 Technical Reference J13 Feedback Connector IDM680 8BI Differential BISS Encoder RS 422 DSP Controller Connected to case Figure 3 29 J13 Differential RS 422 BiSS encoder connection Remarks 1 For long gt 10 meters BiSS encoder lines add 1200 termination resistors close to the drive 2 For BiSS encoders that need more than 5Vpc the supply voltage should be provided from an external source Technosoft 2008 51 IDM680 Technical Reference 3 2 8 Analog amp Digital I O J9 Connector Name on the Drlvecover Function Alter
104. r assistance see Note Ask questions about product operation or report suspected problems see Note Make suggestions about or report errors in Contact Technosoft at World Wide Web http www technosoftmotion com World Wide Web http www technosoftmotion com Email contact technosoftmotion com Fax 41 32 732 55 04 Email hotline technosoftmotion com documentation Mail Technosoft SA Buchaux 38 CH 2022 Bevaix NE Switzerland Technosoft 2008 IDM680 Technical Reference This page is empty Technosoft 2008 IV IDM680 Technical Reference Contents Read This First errore ei cn cna e se nennt kae ene nec nra 1e Safety INTOFMALION 1 1 1 2 ln frr 2 2 Product Overview u ERR u 3 MEME icones asas 3 2 2 Key u L u TSS S S usu ue 4 2 3 Supported Motor Sensor Configurations 5 2 3 1 E 5 2 352 MOB OBEN 10 2 313 DMOO cT 11 2 34 IDMPS0 BBlc uu 12 2 4 IDM680 Dimensions Sees 12 2 5 Electrical Specifications 13 3 Step 1 Hardware Installation
105. re 3 34 J9 Second encoder single ended connection Technosoft 2008 58 IDM680 Technical Reference 1 680 8 J9 Analog amp Digital I O Connector Second Encoder differential RS 422 IN1 A2 P DSP Controller EUR PER Ei IN0 B2 D GND SHIELD 4 Master Figure 3 35 J9 Second encoder differential RS 422 connection n Connected lo case To other drive similar inputs Remark 1 Forlong gt 10 meters encoder lines add termination resistors 1200 close to the drive 2 The master encoder may be supplied with 5Vpc from one of the drives See connector J13 for details Technosoft 2008 59 IDM680 Technical Reference Motor phases IDM680 8EI Master MOTOR Master Motor phases IDM680 8EI Slave Figure 3 36 J9 Master Slave connection using second encoder input Technosoft 2008 60 IDM680 Technical Reference 3 2 9 Serial Communication 44 Connector Function RS 232 Data Transmission RS 232 Data Reception Ground 1 4 6 7 8 C Not Connected 9 Optional supply for handheld terminal internally generated J4 RS 232 Connector IDM680 8xI RS 232 Connection DSP Controller SHIELD 9 23 a 2 9 8 55 S j 0 5 9 3 03020 ig E gt 99 0706 W Bea Figure 3 37 J4
106. read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 4 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is Load Acceleration Sl ea x Motor Acceleration lU resolution x Tr x T where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 5 Brushless motor with resolver The internal acceleration units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 4096 counts per turn The correspondence with the load acceleration in SI units is Load Acceleration Sl 208 Motor _ Acceleration IU resolution x Tr x T where resolution is the motor position resolution 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement
107. rge 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 TML LIB LabVIEW v2 0 part no P091 040 LABVIEW v20 UM xxxx explains how to program in LabVIEW a motion application for the Technosoft intelligent drives using TML LIB Labview v2 0 motion control library for PCs The TML Lib LabVIEW includes over 40 ready to run examples TML LIB S7 part no P091 040 S7 UM xxxx explains how to program in a PLC Siemens series S7 300 or S7 400 a motion application for the Technosoft intelligent drives using TML LIB S7 motion control library The TML LIB S7 library is IEC61131 3 compatible TML LIB CJ1 part no P091 040 CJ1 UM xxxx explains how to program a PLC Omron series CJ1 a motion application for the Technosoft intelligent drives using TML LIB CJ1 motion control library for PCs The TML LIB CJ1 library is IEC61131 3 compatible TechnoCAN part no P091 063 TechnoCAN UM xxxx presents TechnoCAN protocol an extension of the CANopen communication profile used for TML commands Technosoft 2008 IDM680 Technical Reference If you Need Assistance If you want to Visit Technosoft online Receive general information o
108. rk The stepper connections are not present on IDM680 8LI IDM680 8RI and IDM680 8BI On thes drives the J2 pins 1 2 3 and 4 are named Technosoft 2008 27 IDM680 Technical Reference 2 Motor amp Supply Connector IDM680 8xl Supplies Connection 4 phase Inverter T ar 97 E 1 Connected to case VMOT DSP Controller Figure 3 10 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 IDM680 This feature may facilitate avoiding ground loops It is recommended that Earth be connected to GND at only one point preferably close to the supply output Technosoft 2008 28 IDM680 Technical Reference J2 Motor amp Supply Connector IDM680 8xl Brushless Motor Connection 3 phase Inverter Currents Info ae Rerake Optional Connected to case Figure 3 11 J2 Brushless motor connection Technosoft 2008 29 IDM680 Technical Reference J2 Motor amp Supply Connector IDM680 8El DC Brushed Motor Connection 3 phase Inverter Q1 Connected to case Figure 3 12 J2 DC brushed motor connection Technosoft 2008 30 IDM680 Technical Reference 2 Motor amp Supply Connector IDM680 8El Step Motor Connection 4 phase Inverter A A B B Step M
109. rogramming This automatically activates the Motion Wizard 2101 x N AA I lp S8 D 0 gf i TA To te 16 be doge Untitled Application S Setup M Homing Modes Functions 1 Interrupts CAM Tables Technosoft 2008 85 IDM680 Technical Reference The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate the corresponding TML instructions Therefore with Motion Wizard you can develop motion programs using almost all the TML instructions without needing to learn them A TML program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures The TML program may also include cam tables used for electronic camming applications When activated Motion Wizard adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated TML instructions are automatically generated 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 Sa
110. rpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 3 Brushless motor with absolute SSI BISS encoder on motor The internal position units are encoder counts The motor is rotary The correspondence with the load position in SI units is Load Position SI x Motor _ Position IU 2 _ bits _resolution x Tr where No bits resolution is the SSI BiSS encoder resolution in bits per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 4 Brushless motor with linear Hall signals The internal position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load position in SI units is Load Position SI xMotor Position U resolution x Tr where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 1 SI units for position are rad for a rotary movement m for a linear movement Technosoft 2008 91 IDM680 Technical Reference 6 1 5 B
111. rushless motor with resolver The internal position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 4096 counts per turn The correspondence with the load position in 1 units is Load Position SI x Motor _Position IU resolution x Tr where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 6 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position rad x Load Position lU 4 _ encoder _ lines where No_encoder_lines is the encoder number of lines per revolution 6 1 7 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 2x7 Load Position SI Siar Biss x Load Position lU 2 where No bits resolution is the SSI encoder resolution in bits per revolution 6 1 8 Stepper motor open loop control No feedback device The internal position units are motor usteps The correspondence wit
112. s Node max 30cm Optical isolation DSP Controller CAN transceiver SHIELD To Next Node Figure 3 38 J10 CAN Connector Technosoft 2008 63 IDM680 Technical Reference 1 680 8 AXISID 1 120 5 0 25W IDM680 8xl AXISID 2 x c l v IDM680 8xl AXISID 7 3 120R PC 5 0 25W Host Address 3 IDM680 8xl AXISID 127 Figure 3 39 Multiple Axis CAN network Technosoft 2008 64 IDM680 Technical Reference 3 2 11 Connectors Type and Mating Connectors Connector Function Mating connector Motor amp supply Phoenix Contact MC 1 5 8 STF 3 5 Serial generic 9 pin Sub D male CAN generic 9 pin Sub D female Feedback generic 15 pin High Density Sub D male Analog amp 24 V digital O generic 26 pin High Density Sub D male The mating connector accepts wires of 0 14 1 5 mm AWG35 AWG16 3 3 DIP Switch Settings z ZOS29Sr2 52200952060 2 lt Figure 3 40 SW1 DIP Switch e Position 1 FU Norm ON Enable Firmware Update OFF Normal operation e Position 2 TMLCAN The drive communicates via CAN using TMLCAN protocol CAN 2 0B OFF The drive communicates via CAN using CANopen protocol CAN 2 0A 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 ON Sets the drive in AUTORUN mode only w
113. s 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 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 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 applicat
114. sal DSP 402 v2 0 CANopen Device Profile for Drives and Motion Control For details see CANopen Programming manual part no P091 063 1DM680 UM xxxx 5 1 1 DS 301 Communication Profile Overview The IDM680 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 IDM680 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
115. same commands expressed in IU units refer to the motor Motor IDM680 8LI Sin Cos absolute encoder EnDat Figure 2 16 Brushless AC rotary motor Position speed torque control EnDat absolute sine cosine encoder on motor 2 3 3 IDM680 8RI 1 Position speed or torque control of a brushless AC rotary motor with a resolver on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Technosoft 2008 11 IDM680 Technical Reference Motor IDM680 8RI Resolver Figure 2 17 Brushless AC rotary motor Position speed torque control Resolver on motor 2 3 4 IDM680 8BI 1 Position speed or torque control of a brushless AC rotary motor with an absolute BiSS encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same c
116. scharge static electricity build up place the drive on a grounded conductive surface and also ground yourself Technosoft 2008 2 IDM680 Technical Reference 2 Product Overview 2 1 Introduction The IDM680 drives are the new members of the IDM family of fully digital intelligent servo drives Based on the latest DSP technology they offer unprecedented performance combined with a communication interface Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the IDM680 drives accept as position feedback incremental encoders quadrature or sine cosine absolute encoders SSI for brushless DC brushed motors BiSS or sine cosine with EnDat for brushless AC motors linear Halls signals and resolver for brushless motors 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 IDM680 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 Changing the motion modes and or the motion parameters Executing hom
117. soft 2008 18 IDM680 Technical Reference 5 available current 400 500 mA Other Min Typ Max Units Operating temperature 0 40 Dimensions Length x Width x Height 136x95x26 mm Weight 0 30 kg Frame Insulation voltage withstand GND to SHIELD connected to frame 250 V Storage temperature Not powered 40 85 C Humidily Non condensing 0 90 RH Altitude Referenced to sea level 0 4000 m Dust amp humidity protection According to IEC 60925 IP20 1 Differential input impedance is gt 1 5 full RS 422 compliance 1200 termination resistors must be connected across the differential pairs as close as possible to the drive input pins 2 FS stands for Full Scale T Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability Technosoft 2008 19 IDM680 Technical Reference This page is empty Technosoft 2008 20 IDM680 Technical Reference 3 Step 1 Hardware Installation 3 1 Mounting The IDM680 drive was designed to be cooled by natural convection It be mounted horizontally with label upwards or vertically inside a cabinet see Figure 3 1 with motor wires going down In both cases leave at least 25mm between the drive and surrounding walls drives to allow for free air circulat
118. soft 2008 103 IDM680 Technical Reference No_encoder_lines is the rotary encoder number of lines per revolution Encoder_accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 2 Brushless motor with sine cosine encoder on motor The internal jerk units are interpolated encoder counts slow loop sampling period The correspondence with the load jerk in 1 units is For rotary motors Load Jerk gj 2 gt lt Motor 4xEnc periods x Interpolation x Tr x T Encoder accuracy For linear motors Load _ Jerk Sl x Motor _ Jerk IU Interpolation x Tr x T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation 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 Dri
119. steps per step You can read change this value in the Drive Setup dialogue from EasySetUp SI units for motor position rad for a rotary motor m for a linear motor Technosoft 2008 111 IDM680 Technical Reference 6 12 9 Stepper motor open loop control Incremental encoder load In open loop control configurations with incremental encoder on load the motor position is not computed 6 12 10 Stepper motor closed loop control Incremental encoder on motor The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is Motor Position SI 2 xMotor Position lU 4xNo encoder lines where No encoder lines is the motor encoder number of lines per revolution 6 13 Motor speed units 6 13 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors Motor Speed SI 208 Motor _ Speed IU 4 encoder _ lines x T For linear motors Motor _ Speed SI Encoder accuracy x Motor _ Speed U 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 whic
120. stop at first index pulse after home switch active Default region ends high low transition Move positive Reverse if the positive limit switch is C User defined home11 Home 11 Moving positive stop at first index pulse after home switch active Default region ends high low transition If home input is high move positive else move negative and User defined Ihome12 Home 12 Moving negative stop at first index pulse after home switch active Detaut region starts low high transition If home input is low move negative else move positive User defined home5 Home 5 Stop at first index pulse after home switch low high transition If home input is low move positive else move negative and reverse after home input high low transition Ihome13 Home 13 Moving positive stop at first index pulse after home switch active Default region starts low high transition Move negative and reverse after home input high low User defined home14 14 Moving negative stop at first index pulse after home switch active Default region ends high low transition Move negative Reverse if the negative limit switch is C User defined 17 Home 17 Move negative until the limit switch is reached Reverse and stop at limit e Default switch transition C User defined home18 Home 18 Move positive until the limit switch is reached Reverse and stop at imt S Default switch transition
121. t 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 IDM680 UM xxxx explains how to program the Technosoft intelligent drives using CANopen protocol and describes the associated object dictionary for the DS 301 communication profile and the DSP 402 device profile Help of the EasyMotion Studio software describes how to use the EasyMotion Studio to create motion programs using in Technosoft Motion Language TML EasyMotion Studio platform includes EasySetUp for the drive motor setup and a Motion Wizard for the motion programming The Motion 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 cha
122. terpolation x Tr x T For linear motors Encoder accuracy Load Acceleration SI Motor Acceleration IU Interpolation x Tr x T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation 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 3 Brushless motor with absolute SSI BISS encoder on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary The correspondence with the load acceleration in SI units is 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement Technosoft 2008 99 IDM680 Technical Reference Load _ Acceleration SI No bi d Motor Acceleration IU 2 _ its _ resolution x TET where No bits resolution is the SSI BiSS encoder resolution in bits per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can
123. th Technosoft products With the TML Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a TML Motion Library for PLC you can focus on the main aspects of your PLC application while the motion programming part can be reduced to calling the appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed using the guidelines described in the PLC standards so they can be used on any developmemnt platform that is IEC 61136 compliant All Technosoft s TML Motion Libraries for PLC are provided with EasySetUp Technosoft 2008 89 IDM680 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 SI In order to easily identify them each internal unit has been named after its associated signal
124. tor Speed lU where No bits resolution is the SSI BiSS encoder resolution in bits per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 13 4 Brushless motor with linear Hall signals The internal motor speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor speed in SI units is Motor Speed SI 7 Z xMotor Speed lU resolution x T SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2008 113 IDM680 Technical Reference where resolution is the motor position resolution 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 Brushless motor with resolver The internal motor speed units are counts slow loop sampling period The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 4096 counts per turn The correspondence with the motor speed in 51 units is Motor Speed SI 2 Z _ Motor _ Speed IU resolution x T where res
125. 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 6 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2 Load _ 1 xLoad Speed lU 4xNo encoder _ lines x T where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 7 DC brushed motor with absolute SSI encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2x7 Load Speed Sl bits resolution T x Load _ SpeedjlU where No_bits_resolution is the SSI encoder resolution in bits per revolution SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2008 96 IDM680 Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be op
126. up and for Drive Setup same like on EasySetUp through which you can configure and parameterize a Technosoft drive In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Technosoft 2008 84 IDM680 Technical Reference Tenet to io Py Drive Motor Press the Download to Drive Motor button to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor To summarize you can define or change the setup 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 p
127. upply gt 55 v Position controller m Inputs polarity Kp 6 83 Integral limit fi 7 x X Enable Limit switch Limit switch Ki 085 p C Active high Disabled after power on Active high Active high Feedforward Active low Enabled after power on C Active low Active low Kd 1122 Speed Sas m Start mo Current used of karter Move till aligned with phase goer ai 4 x J Tune amp Test C Direct using Hall sensors Time to align on phases fi s Speed factors 1 CANopen Factor Group x Factor numerator 1 Position units deg Details Factor divisor Speed units rom Details Dimension index n L NM Acceleration units T Details Notation index 73 Time units User defined Details Factor numerator 65535 99998 Factor divisor 192000 Help In the last case it is your responsibility to set the factor numerator and divisor as well as its dimension and notation index The factor group settings are stored in the setup table By default the drive uses its internal units The correspondence between the drive internal units and the SI units is presented in chapter 6 Scaling Factors Technosoft 2008 75 IDM680 Technical Reference 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 EEPRO
128. ushless AC rotary motor Position speed torque control Sine cosine incremental encoder on motor 3 Position speed or torque control of a brushless AC linear motor with an incremental sine cosine encoder The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into Motion commands can be referred to the motor by setting EasySetUp rotary to rotary transmission with ratio 1 1 Technosoft 2008 10 IDM680 Technical Reference account the transmission ratio between motor and load 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 lU units refer to the motor LINEAR MOTOR Incremental Sin Cos encoder Figure 2 15 Brushless AC linear motor Position speed torque control Sine cosine incremental encoder on motor 4 Position speed or torque control of a brushless AC rotary motor with an EnDat absolute sine cosine encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the
129. ve Setup 6 4 3 Brushless motor with absolute SSI BiSS encoder on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary The correspondence with the load jerk in SI units is 2 Load Jerk SI No bits resolution Tr 3 Motor _ Jerk IU where No bits resolution is the SSI BiSS encoder resolution in bits per revolution SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2008 104 IDM680 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 s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 4 Brushless motor with linear Hall signals The internal jerk units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is Load Jerk Si xMotor resolution x Tr x T where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value i
130. ve 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 TML program execution is started For learning how to send TML commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all

IDM680 Intelligent Drive - User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents