IS23x-MA Digital Stepper Motor
Contents
1. 1 IS232 48V 256 microsteps step 2 8 Amps 0 8 06 E v 5 E 90 4 E 0 2 0 T T 1 0 200 400 600 800 1000 Speed rpm Figure 4 1 1S232 MA Torque vs Speed diagram 1 6 15233 48V 256 microsteps step 2 8 Amps 1 2 Torque Nm o gt 0 200 400 600 800 1000 Speed rpm Figure 4 2 1S233 MA Torque vs Speed diagram Technosoft 2007 21 1523x MA Technical Reference 5 1S23x MA Dimensions 56 451 L amp 380 03 ENT d mil P 6 5108 8 Goo pre a 7 o 83 Ziz aD See Gea EO N dei Sa 22 Amor i d b m LO IG 1523 MA E inteligent Stepper Drivel E O recunosort C E 77 21 16 44046 37 5 aim 4 4 8 56 m 20 8 1 E IS232 18233 ss L 674 924 All dimensions in mm Figure 5 1 1S23x MA Dimensions 6 Mating Connectors Connector Manufacturer Phoenix Contact Part number MC1 5 3 STF 3 81 Details 3 pin screw terminal plug 3 81mm pitch Fischer Elektronik DS 09 L Sub D 9 pin male Molex Molex 22 01 3067 08 52 0123 6 pin housing Crimp pins The mating connector for J4 has 2 components housing and crimp pins Technosoft 2007 22 IS23x MA Technical Reference 7 Scaling factors 7 1 Supply DC bus2. IS23x MA TECHNOSOFT Version 1 0 Intelligent Step Motor Intelligent Motor Technical Reference Preliminary Technosoft 2007 TECHNOSOFT IS23x MA v1 0 Technical Reference P091 036 1523x MA UM 0507 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 About This Manual This book is a technical reference manual for the IS23x intelligent servo drive lt describes the IS23x operation and provides basic information needed to program the IS23x in the Technosoft Motion Language TML environment Both versions are fully electrical mechanical and software compatible The changes between the two versions consist only in a different placement of the connectors on the backside of the motor Except where clearly shown this manual applies to both versions Notational Conventions This document uses the following conventions e The Technosoft Motion Language will be referred to as TML e TML variables parameters or instructions are shown in special italic typeface Here is a sample SETIO 4 IN UPD Information about Cautions This book may contain cautions CAUTION This is an example of a caution statement A caution statement describes a situation that could potentially cause harm to you or to the IS23X intelligent servo drive unit Technosoft 2007 ll IS
3. Low pass filter MotionChip Figure 2 2 IS23x MA Analog input connection Technosoft 2007 11 IS23x MA Technical Reference 2 4 Digital I O connection Digital I O connection IS23x MA v1 0 J4 24V IO i A Optical a isolation LOAD GPO 6 md i OUT 14 50 mA max 5 24V 2 b ENABLE 3 2 25K LSP t Optical Za HE LSN gd deat 2 PEZ de y GNDIO R OUT H2 ga M Green LED a 3 3V Figure 2 3 1523x MA Digital I O connection Technosoft 2007 12 1523x MA Technical Reference 2 5 Supplies connections Power supply connection IS23x MA v1 0 E 2 LOG lt in oO 12 48Voc 6 GND 3 12 48VDC ie MOT 3 phase Inverter as il d al Figure 2 4 1S23x MA Power supply connection Technosoft 2007 13 IS23x MA Technical Reference 2 6 Serial RS 232 connection RS 232 Serial connection 1523x MA v1 0 RS 232 Transceiver MotionChip Figure 2 5 IS23x MA Serial RS 232 connection 2 7 CAN connection CAN connection 1S23x MA v1 0 To Previous Node CAN Optical transceiver Isolation MotionChip CANGND To Next Node Figure 2 6 IS23x MA CAN connection Technosoft 2007 14 IS23x MA Technical Reference IS232x MA AXISID 1 120R 5 0 25W IS232x MA AXISID 2 x E E v 15232x MA AXI
4. Typ Max Units Nominal values 12 48 Voc Absolute maximum values continuous including ripple amp braking induced 0 55 Voc Supply voltage over voltage Absolute maximum values surge 0 5 65 V duration lt 10mS Idle 0 5 1 mA Supply current Operating 0 2 8 A I O Supply Input All voltages referred to GND IO Min Typ Max Units Nominal values 12 24 Voc t i i 30 30 Vi Supply voltage Absolute maximum values continuous DC Absolute maximum values surge 50 35 V duration lt 10mS Supply current Normal operation 50 75 mA Isolation voltage Between GND and GND_IO 50 Vans O Technosoft 2007 17 IS23x MA Technical Reference CAN Bus Supply Input All voltages referred to GND CAN Min Typ Max Units Nominal values 12 24 Voc t i 30 30 Vi Supply voltage Absolute maximum values continuous DC Absolute maximum values surge 50 35 V duration lt 10mS Supply current Normal operation 40 80 mA Isolation voltage Between GND and GND_CAN 500 Vrms Isolated Digital Inputs ENABLE LSP LSN All voltages referred to GND_IO Min Typ Max Units Logic LOW 5 0 0 5 Input voltage Logic HIGH 12 24 Vioa V tl 42 65 Absolute maximum surge duration lt 1S B B Logic HIGH 4 10 25 Input current i mA Logic LOW 0 5 Input impedance Referred to GND IO 2 5 KQ Input frequency 0 5 KHz Pulse
5. 100pF 1 5 KQ 15 KV Input voltage RX232 input 25 25 V Output short circuit withstand TX232 output to GND Guaranteed CAN Bus All voltages referred to GND_CAN Min Typ Max Units Standards compliance CAN Bus 2 0B error active ISO 11898 2 eizera transmissioniline Measured at 1MHz 90 120 150 Q Bit rate Depending on software settings 125K 1M Baud Number of network nodes Depending on software settings 64 ESD Protection Human Body Model 15 KV Others Min Typ Max Units Operating temperature 0 40 C Weight IS232 MA 0 7 Kg 15233 MA 1 1 Storage temperature Not powered 40 85 C Humidity Not condensing 0 90 RH Technosoft 2007 19 IS23x MA Technical Reference Motor parameters 15232 15233 Units Step angle 1 8 1 8 x Step angle accuracy full step no load 5 5 Rated Voltage 2 3 3 2 Current Phase 2 8 2 8 Resistance Phase 0 83 1 13 Inductance Phase 2 2 3 6 mH Detent Torque 35 72 mNm Holding torque 1 01 1 89 Nm Rotor Inertia 276 480 g cm Weight 0 65 1 Kg 1 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 2007 20 IS23x MA Technical Reference 4 Torque Speed Diagrams
6. execution are done from the user s point of view similarly to those in the SRAM program memory The E ROM SPI serial access is completely transparent to the user Physical memory 4000h E ROM SPI Memory 5FBEh Internal SRAM Memory Program Memory PM Data Memory DM 8270h A70h Not used as Data Memory Program Memory for TML programs Not used as Program Memory Data Memory for data acquisition 87FFh FFFh Figure 8 1 1S23x Memory Map O Technosoft 2007 25 IS23x MA Technical Reference This page is empty Technosoft 2007 26 IS23x MA Technical Reference TECHNOS OFT
7. 23x MA Technical Reference Related Documentation from Technosoft MotionChip II TML Programming part no P091 055 MCII TML UM xxxx describes in detail TML basic concepts motion programming functional description of TML instructions for high level or low level motion programming communication channels and protocols Also give a detailed description of each TML instruction including syntax binary code and examples MotionChip II Configuration Setup part no P091 055 MCII STP UM xxxx describes the MotionChip operation and how to setup its registers and parameters starting from the user application data This is a technical reference manual for all the MotionChip II registers parameters and variables Help of the EasyMotion Studio software platform describes how to use the EasyMotion Studio the complete development platform for IS23x MA which support all new features added to revision H of firmware It includes motion system setup amp tuning wizard motion sequence programming wizard testing and debugging tools like data logging watch control panels on line viewers of TML registers parameters and variables etc Help of the IPM Motion Studio software platform describes how to use the IPM Motion Studio the complete development platform for IS23x MA It includes motion system setup amp tuning wizard motion sequence programming wizard testing and debugging tools like data logging watch control panels on li
8. SID 3 120R PC 5 0 25W Host Address 3 15232x MA AXISID 255 10 28V bak Figure 2 7 Multiple Axis CAN network Note1 The CAN network requires a 120 Ohm terminator This is not included on board Note2 CAN signals are isolated from other 1523x circuits Technosoft 2007 15 1S23x MA Technical Reference 2 8 Special connection Not Autorun Not Autorun connection IS23x MA v1 0 MotionChip DEFAULT Figure 2 8 Special connection Not Autorun At power on the Intelligent Motor automatically executes a TML program located in the E2ROM memory at address 0x4000 The special connection presented here can be used to stop the automatical execution of this TML program Technosoft 2007 16 IS23x MA Technical Reference 3 1523x MA Electrical Specifications Electrical characteristics All parameters measured under the following conditions unless otherwise noted Tamb 25 C logic supply Vlog 24Voc motor supply Vuor 24Voc Supplies start up shutdown sequence any Logic Supply Input All voltages referred to GND Min Typ Max Units Nominal values 12 24 48 Voc t i i 0 55 Vi Supply voltage Absolute maximum values continuous DC Absolute maximum values surge t 0 5 65 V duration lt 10mS Supply current Normal operation 200 350 mA Motor Supply Input All voltages referred to GND Min
9. Voltage Measurement Scaling The IS23x includes a supply DC bus voltage feedback In the TML environment the A D converted value of the supply DC bus voltage feedback can be read as the TML variable AD4 The scaling factor for the DC bus voltage measurement is Vero LV DC bus V mm 1 _ 65472 bits x AD4 bits where Vinm is the maximum measurable DC bus voltage this value is 60 74 V 65472 is the AD4 value for DC bus voltage Vinm Remark AD4 value is the result of a 10 bit A D conversion left shifted by 6 The 6 LSB of AD6 are always 0 If the A D conversion result varies by 1 LSB this translates into a variation of the AD4 value by 2 64 7 2 Motor Currents Scaling The IS23x measures motor currents through shunts placed in the lower legs of the inverter Only currents measured on phases A and B are connected to 2 A D inputs with a current gain factor of 0 1 V A The shunt from phase C is used only to sense a short circuit In applications with 3 phase AC motors the TML variables A and B provide the motor currents in phases A and B In applications with DC or brushless DC motors TML variable Q gives the motor current The scaling factor for the motor currents is 1 65 V 32704 bits x 0 27 V A 6 11 A 32704 bits Remark The A D conversion result has 10 bit resolution and is used left shifted by 6 The 6 LSB of TML currents are always 0 If the A D conversion result varies by 1 LSB this translates int
10. ge Measurement Scaling Motor Currents Scaling Motor Speed Scaling Motor Position Scaling Drive Temperature Scaling 8 Available Memory Areas oO GO CO o N 11 12 13 14 14 16 17 21 22 22 23 23 23 23 24 24 25 Technosoft 2007 VI IS23x MA Technical Reference 1 Key Features e Available in 2 motor lengths models 15232 and IS233 e Logic and Motor power supply 12 48VDC e 1 5Kx16 internal SRAM memory e 8Kx16 E ROM to store TML programs and data e RS232 interface up to 115kbps communication speed e Isolated CAN Bus 2 0B interface up to 1 Mbit s e 7 Isolated digital I Os 0 24V e 4 dedicated or general purpose inputs e ENABLE input configurable as general purpose e Limit Switch Positive input configurable as general purpose e Limit Switch Negative input configurable as general purpose e Not Autorun input e 1 general purpose output e 1 analog input 10 V e On board Ready LED e On board thermal sensor e Integrated Protections for over current over temperature i t control error e Operating ambient temperature 0 40 C Technosoft 2007 7 1S23x MA Technical Reference 2 I523x MA Connection Diagrams 2 1 Connectors Diagram J4 Connector Fu IS23 MA Intelligent Stepper Drive a CD Technosort J3 Connector J2 Connector Figure 2 1 1S23x MA drawing backward view Techno
11. ne viewers of TML registries parameters and variables etc Technosoft 2007 IV IS23x MA Technical Reference If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoftmotion com Receive general information World Wide Web http www technosoftmotion com or assistance see Note Email contact technosoftmotion com Ask questions about Fax 41 32 732 55 04 product operation or report Email hotline technosoftmotion com suspected problems see Note Make suggestions about or Mail Technosoft SA report errors in documentation see Note Buchaux 38 CH 2022 Bevaix NE Switzerland Note You need to register your IS23x system in order to get free assistance and support Use the License No of the IPM Motion Studio Technosoft 2007 V IS23x MA Technical Reference Contents 1 Key Features 2 IS23x MA Connection Diagrams 2 1 2 2 Connectors Diagram IS23x MA Connector pins description 2 2 1 J2 connector 2 2 2 J3 connector 2 2 3 J4 connector 2 3 2 4 2 5 2 6 2 7 2 8 1523x MA Electrical Specifications N On BB Analog inputs connection Digital I O connection Supplies connections Serial RS 232 connection CAN connection Special connection Not Autorun Torque Speed Diagrams 1523x MA Dimensions Mating Connectors Scaling factors 7 1 7 2 7 3 7 4 7 5 Supply DC bus Volta
12. o a variation of the TML current value by 2 64 Motor current A x TML current bits or Motor current A x TML current bits 7 3 Motor Speed Scaling In open loop operation the speed is expressed in micro steps speed loop sampling period The speed in steps s can be computed with the following formulas Technosoft 2007 23 IS23x MA Technical Reference 4 Speed micro steps s x Speed IU Ts_S 4 Ts SxNo usteps step The above relation refers to the following TML parameters and variables e CSPD the speed command for position or speed profiles e TSPD the target speed i e the speed reference computed by the reference generator e EREF the speed reference when external reference mode is set for speed control Speed steps s x speed IU Example If the speed loop sampling period is Ts_S 0 8 ms and the step motor control is done with 256 micro steps step a speed reference of 1024 micro steps Ts_S means 1024 256 steps 0 8 ms 4 steps 0 8 ms 5000 steps s 7 4 Motor Position Scaling In open loop operation the position is expressed in micro steps The position in steps can be computed with the following formula Position micro steps position IU 1 No usteps step Position steps x position micro steps The above relation refers to the following TML parameters and variables e CPOS the position command for position or speed profiles e TPOS the target p
13. osition i e the position reference computed by the reference generator e EREF the position reference when external reference mode is set for position control Example If a step motor has n_steps 200 steps rev and the step motor control is done with 256 micro steps step a position reference of 25600 micro steps means 25600 256 steps 100 steps 0 5 revolution 7 5 Drive Temperature Scaling The IS23x MA have built in temperature sensors TML variable AD7 gives the drive temperature The scaling factor is 3 31V Drive temperature C x AD7 bits 50 C 65472 bits x 0 01 V C Technosoft 2007 24 IS23x MA Technical Reference 8 Available Memory Areas The 1523x MA has 2 types of memory a 1 5Kx16 SRAM internal memory and an 8Kx16 serial E ROM external memory The SRAM memory is mapped both in the program space from 8270h to 87FFh and in the data space from A70h to FFFh The data memory can be used for real time data acquisition and to temporarily save variables during a TML program execution The program space can be used to download and execute TML programs It is the user s choice to decide how to split the 1 5 K SRAM into data and program memory The E ROM is seen as 8Kx16 program memory mapped in the address range 4000h to 5FBEh It offers the possibility to keep TML programs in a Non volatile memory Read and write accesses to the E ROM locations as well as TML programs downloading and
14. soft 2007 8 1S23x MA Technical Reference 2 2 IS23x MA Connector pins description 2 2 1 J2 connector Pin name TML name Type Function Alternate function Comments Motor supply 12Vmin 48Vmax Logic supply 24V typ 12V MIN EO 48Vmax Pin name Function Alternate function Comments REF Analog reference input 0 5 V Tx232 RS232 Transmit Rx232 RS232 Receive CANGND CAN Bus isolated ground GND CANHI CAN Bus Positive isolated referred to CANGND CANLO CAN Bus Negative isolated referred to CANGND VCAN CAN Bus isolated supply 24Vryp 12Vmin 36Vmax NAUTO Not Autorun Strap to GND and reset in order to stop automatical execution of TML program GO GO rd GOGO db GO D zk Technosoft 2007 9 1S23x MA Technical Reference 2 2 3 J4 connector Pin name TML name Function Alternate function Comments VIO Input output isolated supply GNDIO Input output isolated ground ENABLE IN 16 Enable digital input LSP IN 2 Limit switch P input isolated 0 24V referred to GNDIO LSN IN 24 Limit switch N input isolated 0 24V referred to GNDIO GPO OUT 14 General purpose output isolated PNP output from VIO O Technosoft 2007 10 IS23x MA Technical Reference 2 3 Analog inputs connection Analog Inputs 1S23x MA v1 0 Connection 10V 30K Lk
15. width 0 1 0 or 10 1 100 us Isolated Digital Outputs GPO All voltages referred to GND IO Min Typ Max Units Logic HIGH Output crt 50mA Vioc 3 Messi Output voltage V nge V Absolute maximum continuous 0 5 0 5V Logic HIGH Output voltage gt Vioc 3V 50 60 Output current Logic LOW leakage current 0 1 m Output voltage lt 0 5V or gt VLoc 0 5V Clamp diodes current P ge lt 100 100 Absolute maximum continuous Output frequency External load 1KQ to GND IO 0 5 KHz Pulse width 0 1 0 or 1 0 1 no external load 5Vpp 100 us Short circuit protection Yes Technosoft 2007 18 IS23x MA Technical Reference Analog Inputs REF All voltages referred to GND Min Typ Max Units Resolution 10 bits Differential linearity Guaranteed 10 bits no missing codes 0 09 FS Offset error 0 5 2 1 FS Gain error 0 5 3 FS Bandwidth 3dB 250 Hz Input voltage Operating range REF 10 10 V Input voltage Absolute Maximum REF 15 Vios y continuous Input impedance REF 30 KQ External potentiometer Recommended resistance 10 10 20 KQ RS 232 All voltages referred to GND Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud ESD Protection Human Body Model
Download Pdf Manuals
Related Search