Home

IDM680 Intelligent Drive with EtherCAT - User Manual

1. Setup Communication View Control Panel Window Help Deh 6O Ok X n ee lh S F e Drive Sq Brushless Motor Setup Edit View 5 m Guide p Guideline assistant Database Setup Data Step 1 Select your motor from a database If your motor E Previous does not exist in any database proceed through all the ns Step next steps in order to define your motor and sensors a youv Next data In either case use the tests from the next steps to Motor Download tol lt lt Co verify detect the motor and sensors parameters and 3441 E023 R1 E Drive Motor trape operation RH m CANE Ei Save to User Database Delete s Bau p Motor data ave ES r Drive ir KE a S Test Phase Connections RB Fows Peak current 3 6 A e GE nue Detect Number of Pole Pai Save s Torque constant pos 15 uma ZA etect Number of Pole Pairs p Phase resistance motor drive 2 63 Ohms 3 l EE ba lw sl Identity Resistance and Inductance Close Motor inertia 10 kgm 2E 7 TC Motor inertia is unknown Sg Phase connection Star C Delta p Motor sensors k Incremental No of lines rev bm ines x Test Connections Detect Number of Lines encoder F Hall sensors Hall configuration 2 X Test Connections Detect Hall Configuration r Positi i I Temperature ewe EPI K Transmission to load Kd filt Transmission type Rotary to rotary Motor di
2. lt D CABINET Figure 3 1 Recommended mounting of IDM680 in a cabinet Technosoft 2010 24 IDM680 ET Technical Reference Use the following distances D D2 D3 and D between the drive and surrounding walls drives to allow for free air circulation Table 3 1 Cooling Requirements Required cooling distance D gt 25mm 1 in D gt 60mm 2 4 in Ds gt 25mm 1 in D4 gt 25mm 1 in 3 2 Wiring Requirements The mounting distances D D and Ds see Figure 3 1 should permit to connect the cables to the drive at least the screw driver height Table 3 2 Wiring requirements Required wiring distance D gt 120mm 4 7 in D gt 100mm 4in D3 gt 25mm 1 in D no requirement Technosoft 2010 25 IDM680 ET Technical Reference 3 3 Connectors and Connection Diagrams 3 3 1 Connectors Layout SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector 13 38 0891 vezay 023 700 8 0d 140S0NH931 es 3 Q 95 mm 00000 26 mm J9 Analog amp 24V Digital UO Connector Connector Figure 3 2 IDM680 8EI ET connectors layout Technosoft 2010 26 IDM680 ET Technical Reference SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector ziqv 1023700 8 0d UMA
3. 15 2 5 5 Logic Supply Input ss 15 2 5 6 Motor Supply Input sise 15 2 5 7 VO Supply Input isolated NEE 15 2 9 8 Motor ee 16 2 5 9 24 V Digital Inputs opto isolated 16 2 5 10 Pulse Direction Master Encoder Inputs 2 0 0 s0esseeetteetteeteeeneeees 16 2 5 11 24 V Digital Outputs opto isolated usasse array oiagasiopalia E eebe be peg 17 29 12 Linear Halls eegen en AV Av SEENEN reins 17 2 5 13 SinCos Interface sis 18 2 5 14 Resolver Interface ss 18 2 5 15 Encoder Hall Inputs ss 18 2 5 16 SSI Encoderlotertace ses 19 Technosoft 2010 V IDM680 ET Technical Reference 20 17 DIOS Egeter fonte old banha ga 20 20 16 Analog ere 20 20 19 CE EE 20 2020 EE et 21 Z521 ee ee 21 29 22 Frame Case Ee e E 21 3 Step 1 Hardware Installation eeeaaeaaaa 24 3 1 Cooling een 24 93 2 Wiring RequirementsS cicucecnsscucncnccnoecnockenekoein 25 3 3 Connectors and Connection Dagrams 26 3 3 1 ent tee nn nement 26 3 3 2 ML WEE 30 3 3 3 Motor amp Supply J2 Connector 31 3 3 4 Feedback J13 Connector IDM680 8EI ET 41 3 3 5 Feedback J13 Connector IDM680 8LI ET 47 3 3 6 Feedback J13 Connector IDM680 8RI ET 51 3 3 7 Feedback J13 Connector IDM680
4. 626 FIMO UNIS EE 110 6 9 Drive temperature units AAA 110 6 10 Master DESEN ENEE ener anex ence cheb auavahanenstpherouenteeban 111 6 11 Master speed nitS bce ee eee dee 111 6 12 Motor Le Ill UNIS wel A OR SRP OR A ni ite 111 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 111 6 12 2 Brushless motor with sine cosine encoder on motor 112 6 12 3 Brushless motor with absolute SSI BiSS encoder on motor 112 6 12 4 Brushless motor with linear Hall signals ceeeeeeeeeeseeeeeeeeeeeeeeeeee 113 6 12 5 Brushless motor with resohyer reeeseereeeenereeeanereeea 113 6 12 6 DC brushed motor with quadrature encoder on load and tacho on motor 113 6 12 7 DC brushed motor with absolute SSI encoder on load amp tacho on motor 113 6 12 8 Stepper motor open loop control No feedback device 113 6 12 9 Stepper motor open loop control Incremental encoder on load 114 6 12 10 Stepper motor closed loop control Incremental encoder on motor 114 6 13 Motor speed BT EE 114 6 13 1 Brushless DC brushed motor with quadrature encoder on motor 114 6 13 2 Brushless motor with sine cosine encoder on motor 115 6 13 3 Brushless motor with absolute SSI BiSS encoder on motor 115 6 13 4 Brushless motor with linear Hall signals cceeeeeeeeeeetteeeeee
5. gt L 1BL2403 CANOPEN 1BL2403 R5232 TBL3605 CAN H 1BL3605 CANOPEN gt IBL3605 R5232 1DM240 SEI CAN IDM3000 CAN L L LW LW 1DM3000 CANOPEN 1DM640 BEI CAN 1DM640 SEI CANOPEN IDM680 8BI CAN_CANOPEN IDM680 8BI ET ETHERCAT Upload from Drive Motor IDM680 8EI CAN_CANOPEN EI ET ETHERCAT IDM680 8LI CAN_CANOPEN IDM680 8LI ET ETHERCAT IDM680 8RI CAN CANOPEN IDM680 8RI ET ETHERCAT 2 PHASE STEPPER 3 PHASE STEPPER BRUSHED MOTOR BRUSHLESS LINEAR MOTOR BRUSHLESS RO OTOR Click on your selection EasyMotion Studio opens the Project window where on the left side you can see the structure of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program O Technosoft 2010 85 IDM680 ET Technical Reference EasyMotion Studio Untitled Isi x Project Application Communication View Control Panel Window Help DES DORA ur O O ala vllt S a Application Application General Information etup M Motion Application ID BM Homing Modes pp Functions G Interrupts M cam Tables Axis number 255 x Memory Settings Drive IDM680 8EI ET Product ID P048 002 E203 Firmware ID F5054 Setup ID 0586 E2ROM 8 Kwords RAM 4 Kwords Motor Type Brushless Rotary Sensors Load Position Not present Ready offline IDM680
6. For rotary motors Motor Speed SI x Motor _ Speedf lU 4xNo_ encoder _linesx T Encoder ae racy Motor Speed IU For linear motors Motor Speed Sl where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup K SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 114 IDM680 ET Technical Reference 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 Motor _ Speed SI ae xMotor _ Speed lU 4x Enc periods x Interpolation x T For linear motors EE ia Speech Motor _ Speed SI 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 m for one sine cosine period Interpolation is the interpolation level inside an encoder period lts 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
7. PST ECHNOSOFT Intelligent Servo Drive with Intelligent Drives EtherCAT Technical Reference Technosoft 2010 TECHNOSOFT IDM680 ET Technical Reference P091 048 IDM680 ET UM 1110 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 ET family of intelligent servo drives including the following products IDM680 8EI ET IDM680 8LI ET IDM680 8RI ET IDM680 8BI ET In order to operate the IDM680 ET drives you need to pass through 3 steps Q Step 1 Hardware installation
8. 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 2xm Motor PositionflU 2No _ bits resolution where No bits resolution is the SSI BiSS encoder resolution in bits per revolution 39 SI units for motor position are rad for a rotary motor m for a linear motor Technosoft 2010 112 IDM680 ET Technical Reference 6 12 4 Brushless motor with linear Hall signals 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 2048 counts per turn The correspondence with the motor position in SI units is Motor _ Position Si 2 T x Motor Position lU 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 2 T Motor Posten 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 b
9. 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 in SI units is 2x7 Load Speed S x Motor _ Speed IU 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 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 Load _ Speed SI Em Load Speed lU 4xNo_ encoder _linesx T where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 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 transmiss
10. 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 2x7 Load _ Acceleration SI x Motor _ Acceleration IU No _ usteps xNo stepsxTrxT where No steps is the number of motor steps per revolution No steps 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 Sl units is For rotary to rotary transmission 2x7 Load Acceleration SI xLoad Acceleration IU 4x No encoder linesxT For rotary to linear transmission Load Acceleration m s SE xLoad Acceleration IU T where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy i
11. 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 Current A 65520 x Current IU where Ipeak is the drive peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control method used O Technosoft 2010 109 IDM680 ET 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 Voltage command V x Voltage command IU 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 corresponden
12. Figure 2 9 DC brushed rotary motor Position speed torque control Absolute SSI 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 IU units refer to the motor Motor IDM680 8EI ET 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 ET 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 O Technosoft 2010 9 IDM680 ET Technical Reference Motor IDM680 8EI ET Incremental quadrature encode
13. 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 2x7 Load Position SI x Load Position IU 4x No encoder lines where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 5 SI units for position are rad for a rotary movement m for a linear movement Technosoft 2010 95 IDM680 ET 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 2x7 For rotary motors Load Speed S x Motor Speed IU 4x No encoder linesxTrxT For linear motors Load Speed Sl mate x Motor SpeedflU 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 m between 2 pulses Tr transmission ratio between the m
14. C Where Technosoft 2010 110 IDM680 ET Technical Reference Sensor gain is the temperature sensor gain Sensor output OC is the temperature sensor output at 0 C You can read these values in the Drive Info dialogue which can be opened from the Drive Setup 6 10 Master position units When the master position is sent via a communication channel or via pulse amp direction signals the master position units depend on the type of position sensor present on the master axis When the master position is an encoder the correspondence with the international standard SI units is 2x TT Master _ position rad AxNo 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 2x7 Master speed rad s xMaster speed IU 4xNo encoder linesxT where No encoder lines is the master number of encoder lines per revolution T is the slave slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 Motor position units 6 12 1 Br
15. Technosoft Motion Language Overview 82 5 2 2 Installing EasyMotion Studios sn ner fn SEP dents tone nd iai 83 5 2 3 Getting Started with EasyMotion Studio 83 5 2 4 Creating an Image File with the Setup Data and the TML Program 89 5 3 Combining CoE with HME ssa E 90 5 3 1 Using TML Functions to Split Motion between Master and Drives 90 5 3 2 Exec ting TML Programs riai soar ease ner En ada dus tie 90 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio 90 5 3 4 Customizing the Homing Procedures aa 91 5 3 5 Customizing the Drive Reaction to Fault Condtons 91 6 Scaling Factors nanas 92 6 15 POSM N UNS ara aerea ia Ia ad EEE TETO UI EO NUA peida 92 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 92 6 1 2 Brushless motor with sine cosine encoder on motor 92 6 1 3 Brushless motor with absolute SSI BiSS encoder on motor 93 6 1 4 Brushless motor with linear Hall Signals 93 6 1 5 Brushless motor with resohyer 94 6 1 6 DC brushed motor with quadrature encoder on load and tacho on motor 94 6 1 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 94 6 1 8 Stepper motor open loop control No feedback device 00nnnnnon0000000nne 94 6 1 9 Stepper motor closed loop control Incremental encoder on motor 9
16. 2010 31 IDM680 ET Technical Reference J2 Motor amp Supply Connector IDM680 8xI ET Supplies Connection 7 Connected to case 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 ET This feature may facilitate avoiding ground loops It is recommended that Earth be connected to GND at only one point preferably close to the Vyor supply output O Technosoft 2010 32 IDM680 ET Technical Reference J2 Motor amp Supply Connector IDM680 8xI ET Brushless Motor Connection 3 phase Inverter 7 Connected to case Figure 3 11 J2 Brushless motor connection Technosoft 2010 33 IDM680 ET Technical Reference J2 Motor amp Supply Connector IDM680 8xI ET DC Brushed Motor Connection 3 phase Inverter pen mm mm Rerake Optional 7 Connected to case Figure 3 12 J2 DC brushed motor connection Technosoft 2010 34 IDM680 ET Technical Reference J2 Motor amp Supply Connector IDM680 8EI ET Step Motor Connection 4 phase Inverter S 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 t
17. 24V General purpose input In 4 if limit switches are 7 IN4 LSP IN 4 l disabled Read high 1 logic when 24VPLC are applied on IN4 LSP pin e Opto isolated e Programmable polarity active level Technosoft 2010 56 IDM680 ET 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 INS LSN pin Opto isolated Programmable polarity active level 9 26 OVPLC Ground terminal for all opto isolated 1 0 10 Vioc 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 O 24V general purpose input In 0 Read high 1 logic when 24VPLC are applied on INO B2 D pin RS 422 differential B 5V single ended B input when external reference is 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 IN1 A2 P pin RS 422 differential A 5V single ended A input when external reference is 2 master encoder RS 422 differential Puls 5V single ended Puls input when external reference is Pulse amp Direction o
18. 6 tecunosort Manufacturer Drive Name gt gue ss ert Article Number p048 002 E202 46124 lt Serial Number Figure 3 8 IDM680 8RI ET Identification Label recanosorr lt Manufacturer Drive Name mweso sB1 ET Article Number P048 002 E204 45124 lt Serial Number Figure 3 9 IDM680 8BI ET Identification Label Technosoft 2010 30 IDM680 ET Technical Reference 3 3 3 Motor amp Supply J2 Connector Table 3 3 Motor amp Supply Pinout Function Brushless motor or step motor 3 phase Phase A Step motor 2 phase Phase A DC brush motor positive terminal Brushless motor or step motor 3 phase Phase B Step motor 2 phase Phase A DC brush motor negative terminal Brushless motor or step motor 3 phase Phase C Step motor 2 phase Phase B DC brush motor not connected Brake output for external brake resistor only 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 Vic Positive terminal of the logic supply 12 to 48 Vic Negative terminal of the Vyor and VLog external power supplies Remark The stepper connections are not present on IDM680 8LI ET IDM680 8RI ET and IDM680 8BI ET On these drives the J2 pins 1 2 3 and 4 are named Technosoft
19. 8BI ET 54 3 3 8 Analog amp Digital UO J9 Connector 56 3 3 9 Serial Communication J4 Connector a 65 3 3 10 EtherCAT Communication J5 amp JpConnechors cee eeeeeetteeees 66 3 3 11 Connectors Type and Mating Connectors cece eeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 69 3 4 DIP Switch Sens tenis Sonic nn ni ee neue 69 do EE 72 3 60 First E EE 73 4 Step 2 Drive Setup nn scanner 74 4 4 installing Eer Sn to lo lat ls la a Sora dans fora 74 4 2 Getting Started with EasySetUp eee 74 4 2 1 Establish COMMUNICATION een A Mn Un nee nt ie 75 4 2 2 Setup driveimotor cece cece eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 76 4 2 3 Download setup data to drive motor 77 4 2 4 Evaluate drive motor behaviour optional 78 4 3 Changing the drive Axis EE 78 4 4 Setting factor group scaling factors VU 79 Technosoft 2010 VI IDM680 ET Technical Reference 4 5 Creating an Image File with the Setup Data 81 5 Step 3 Motion Programming ns 82 5 1 Using an Ether AT masters 82 5 1 1 Modes of Operation ii siesieeseeeaeeeaeeeaaeeaarea 82 5 1 2 Checking Setup Data Consistency ENEE 82 5 2 Using the built in Motion Controller and TML ii 82 5 2 1
20. IU units refer to the motor Technosoft 2010 11 IDM680 ET Technical Reference Motor IDM680 8LI ET 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 ET 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 Motor IDM680 8RI Resolver Figure 2 17 Brushless AC rotary motor Position speed torque control Resolver on motor 2 3 4 IDM680 8BI ET 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 Sl units or derivatives refer to the load while the same commands ex
21. 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 Sl units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IDM680 8EI ET 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 L Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2010 7 IDM680 ET Technical Reference Motor IDM
22. Over current 25 a gt for fao s x External brake resistor I Connected Activate if power supply gt 5 7 r Inputs polarity Enable Limit switch Limit switch Active high Disabled after power on Active high Active high Ze Active low Enabled after power on C Active low Active low r Start mode Move till aligned with phase A Direct using Hall sensors Current used of nominal current EI x Time to align on phases fi s gt 4 4 Setting factor group scaling factors 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 them You can either choose one of the standard units defined in the CiA 402 standard or define your own unit O Technosoft 2010 79 IDM680 ET Technical Reference Drive Setup 3 xj r Guideline assistant M Control mode External reference Previous Next Ze Position C No Yes Setup Step 1 Inthe lt lt Control made gt gt group box select what do a Speed Analogue Incremental Encoder Edi you want to control position speed or torque In the on IT Automatically activated after Power On Hel lt lt Commutation method gt gt group box ch
23. Q Step 2 Drive setup using Technosoft EasySetUp or EasyMotion Studio software for drive commissioning Q Step 3 Motion programming using one of the options O A EtherCAT master Q The drive built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software Q A 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 ET 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 ET all products described in this manual CoE CANopen over Ethernet programming Technosoft 2010 l IDM680 ET 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 output of EasySetUp is
24. User defined homes Home 8 Moving positive stop at first index pulse after home switch active region 6 Default Rene starts low high transition If home input is low move positive else move negative and O User defined Edil homes Home 3 Moving negative stop at first index pulse after home switch active region Default DERA starts low high transition Move positive and reverse after home input high low transition User defined nd ds home10 Home 10 Moving positive stop at first index pulse after home switch active Detaut 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 IS Default region ends high low transition If home input is high move positive else move negative and O User defined home12 Home 12 Moving negative stop at first index pulse after home switch active IS Default region starts low high transition If home input is low move negative else move positive User defined lhome13 Home 13 Moving posttive stop at first index pulse after home switch active Detaut region starts low high transition Move negative and reverse after home input high low User defined lhomet4 Home 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 home
25. 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 over EtherCAT Programming part no P091 064 UM xxxx explains how to program the Technosoft intelligent drives using CoE protocol and describes the associated object dictionary 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 for this thanks to their built in motion controller A demo version of EasyMotion Studio with EasySetUp part fully functional can be downloaded free of charge from Technosoft web page Technosoft 2010 Il IDM680 ET Technical
26. change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 5 2 3 4 Program motion In the project window left side select M Motion for motion programming This automatically activates the Motion Wizard im Project lol xl NAME 88 ly DF GWT on a s 2 7 on oe TS untitled Ma Untitled Application 8 S Setup aM Io Homing Modes Functions Gt Interrupts Rg CAM Tables el Technosoft 2010 88 IDM680 ET Technical Reference The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate the corresponding TML instructions Therefore with Motion Wizard you can develop motion programs using almost all the TML instructions without needing to learn them A TML program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures The TML program may also include cam tables used for electronic camming applications When activated Motion Wizard adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated TML instructions are automatically generated Note that the TML instructions generated a
27. 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 S1 2 T Motor Jerk IU resolution x Tr xT 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 4 5 Brushless motor with resolver 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 4096 counts per turn The correspondence with the load jerk in SI units is Load _ Jerk Sl ak x Motor _ Jerk IU 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 4 6 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor i
28. data from a drive motor EEPROM memory 4 2 4 Evaluate drive motor behaviour optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior In case of errors like protections triggered use the Drive Status control panel to find the cause 4 3 Changing the drive Axis ID The axis ID of an IDM680 ET drive can be setin 2 ways Hardware H W according with the DIP switch selection in the range 1 to 63 or 255 see 3 4 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 If the setup table is invalid with the last value set with a valid setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with DIP switch selection c lfthereis 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
29. me meng 140SONH9IL O 00000 90000 q000q 0000000 0000008 OC 0000000 e J9 Analog amp 24V Digital UO Connector Connector Figure 3 3 IDM680 8LI ET connectors layout Technosoft 2010 27 IDM680 ET Technical Reference SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector mi 2023700 8 0d HI os mag 140SONH9IL O 95 mm 00000 90000 Q000 0 J9 Analog amp 24V Digital I O Connector Connector Figure 3 4 IDM680 8RI ET connectors layout Technosoft 2010 28 IDM680 ET Technical Reference SW1 DIP Switch Identification Label J2 Motor amp Supply Connector J13 Feedback Connector viziav 023700 80d O PEER 140S0NH931 Q J Q 00000 0000000 000000005 BO 000000 08 J9 Analog amp 24V Digital UO Connector Connector Figure 3 5 IDM680 8BI ET connectors layout Technosoft 2010 29 IDM680 ET Technical Reference 3 3 2 Identification Labels recunosorr lt Manufacturer Drive Name gt mensger MINI Article Number P048 002 E203 aas lt Serial Number Figure 3 6 IDM680 8EI ET Identification Label recunosorr lt Manufacturer Drive Name genauer Article Number P048 002 E201 Ab1234 lt Serial Number Figure 3 7 IDM680 8LI ET Identification Label
30. 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 No bits resolution xLoad Position IU 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 steps The correspondence with the load position in SI units is Sie units for position are rad for a rotary movement m for a linear movement Technosoft 2010 94 IDM680 ET Technical Reference Load Position SI a x Motor _ Position IU No _usteps x No _ steps x Tr where No_steps is the number of motor steps per revolution No steps 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 Load Position SI a aaa UE ia put x Motor _ Position IU 4x No encoder linesx Tr where No encoder lines is the motor encoder number of lines per revolution
31. with quadrature encoder on load and tacho on motor 103 6 3 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 103 6 3 8 DC brushed motor with tacho on motor 103 6 3 9 Stepper motor open loop control No feedback device 104 6 3 10 Stepper motor open loop control Incremental encoder on load 104 6 3 11 Stepper motor closed loop control Incremental encoder on motor 105 6 46 ln sn ect nn Rare rm mr ll set oR Re 105 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 105 6 4 2 Brushless motor with sine cosine encoder on moior eesoosoanennnennnenea 106 6 4 3 Brushless motor with absolute SSI BiSS encoder on motor 106 6 4 4 Brushless motor with linear Hall Signals 107 6 4 5 Brushless motor with resolver VV 107 6 4 6 DC brushed motor with quadrature encoder on load and tacho on motor 107 6 4 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 108 6 4 8 Stepper motor open loop control No feedback device 108 6 4 9 Stepper motor open loop control Incremental encoder on load 109 6 4 10 Stepper motor closed loop control Incremental encoder on motor 109 Bo e En EE 109 6 6 Voltage command UNIS assar g et e e RARA 109 6 7 Voltage measurement units 110 Technosoft 2010 VIII IDM680 ET Technical Reference
32. 17 Home 17 Move negative until the limit switch is reached Reverse and stop at imt Default E switch transition ef eload defaul home18 Home 18 Move positive until the limit switch is reached Reverse and stop at imt 9 Default EE switch transition PR eload defaul home1S Home 19 Stop at home switch high low transition If home input is high move Detaut ere negative else move positive and reverse after home input low high transition O User defined a lo home20 Home 20 Stop at home switch low high transition If home input is low move Defaut a positive else move negative and reverse after home input high low transition C User defined Le E Ready I Offline ID5640 8EI CANopen SetupID 0519 If you click on the HomeX procedure on the right side you ll see the TML function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged 5 3 5 Customizing the Drive Reaction to Fault Conditions Similarly to the homing modes the default service routines for the TML interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding Technosoft 2010 91 IDM680 ET Technical Reference your application needs in order to preserve the correct protection level of the drive The procedure for modifying the TML interr
33. 2 P DSP Controller if Connected to case To other drive similar inputs Master MOTOR Figure 3 35 J9 Second encoder differential RS 422 connection Remark 1 For long 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 2010 63 IDM680 ET Technical Reference Motor phases IDM680 8EI ET Master MOTOR Master Motor phases IDM680 8EI ET Slave Second Encoder Figure 3 36 J9 Master Slave connection using second encoder input O Technosoft 2010 64 IDM680 ET Technical Reference 3 3 9 Serial Communication J4 Connector Table 3 9 RS232 Pinout Function RS 232 Data Transmission Ground RS 232 Data Reception Optional supply for handheld terminal internally generated J4 RS 232 Connector RS 232 Connection DSP Controller RS 232 to Ri11 part no P038 001 E048 Figure 3 37 J4 Serial RS 232 connection Remarks 1 Use the IDM680 ET programming adapter RS232 part no P038 001 E048 2 On IDM680 ET drive the electrical ground GND and the earth shield are isolated O Technosoft 2010 65 IDM680 ET Technical Reference 3 3 9 1 Recommendations for RS 232 Wiring a If you build the serial cable you can use a 3 wire shield cable with shield c
34. 5 6 1 10 Stepper motor open loop control Incremental encoder on load 95 BZ SPECIES arrondie ire eats 96 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 96 6 2 2 Brushless motor with sine cosine encoder on motor sssssasannnnseosenenenee 96 6 2 3 Brushless motor with absolute SSI BiSS encoder on motor 97 6 2 4 Brushless motor with linear Hall Signals 97 Technosoft 2010 VII IDM680 ET Technical Reference 6 2 5 Brushless motor with resolver ie 98 6 2 6 DC brushed motor with quadrature encoder on load and tacho on motor 98 6 2 7 DC brushed motor with absolute SSI encoder on load and tacho on motor 98 6 2 8 DC brushed motor with tacho on motor 99 6 2 9 Stepper motor open loop control No feedback device 99 6 2 10 Stepper motor open loop control Incremental encoder on load 99 6 2 11 Stepper motor closed loop control Incremental encoder on motor 100 6 53 eegen EE 100 6 3 1 Brushless DC brushed motor with quadrature encoder on motor 100 6 3 2 Brushless motor with sine cosine encoder on moior eessenoanennnennnenea 101 6 3 3 Brushless motor with absolute SSI BiSS encoder on motor 101 6 3 4 Brushless motor with linear Hall Signals 102 6 3 5 Brushless motor with tescher 102 6 3 6 DC brushed motor
35. 680 8EI ET Incremental quadrature encoder Figure 2 6 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 7 Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IDM680 8EI ET 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 IDM680 8EI ET Tacho Motor 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 Technosoft 2010 8 IDM680 ET Technical Reference Motor IDM680 8EI ET Tacho SSI absolute encoder
36. Altitude referenced to sea level 0 15 Km Altitude pressure Ambient Pressure 0 40 4 0 atm Stand alone 8 kV ESD capability Original packaging 15 kV 2 5 3 Mechanical Mounting Min Typ Max Units Mounting direction no restriction Mounting surface Fixing screws Flatness 0 1 mm Material Thermally conductive ex metal Screw head washer diameter 5 5 M3 M4 8 mm Tightening torque 1 3 Nm 1 Applicable to stand alone operation Operating temperature can be extended up to 80 C with reduced current and power ratings See Figure 2 20 2 Applicable when mounted on metallic surface Operating temperature can be extended up to 80 C with reduced current and power ratings See Figure 2 21 At altitudes over 2 500m current and power rating are reduced due to thermal dissipation efficiency at higher altitudes See Figure 2 22 O Technosoft 2010 14 IDM680 ET Technical Reference 2 5 4 Environmental amp Mechanical Characteristics Min Typ Max Units Length x Width x Height 136 x 95 x 26 mm ize Without counterpart connectors 5 35 x 3 74 x 1 02 inch Weight 0 30 Kg PEA Only Water or Cleaning agents Dry cleaning is recommended Alcohol based Protection degree According to IEC60529 UL508 IP20 2 5 5 Logic Supply Input Measured between Vioc and GND Min Typ Max Units Nomin
37. CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION CAUTION gt gt gt INDICATES AREAS SENSITIVE TO ELECTROSTATIC DISCHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1 1 Warnings WARNING THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE ELECTRICAL SHOCKS DO NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON WARNING gt gt TO AVOID ELECTRIC ARCING AND HAZARDS NEVER CONNECT DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON Technosoft 2010 1 IDM680 ET Technical Reference THE DRIVE MAY HAVE HOT SURFACES DURING l A N RITE OPERATION DURING DRIVE OPERATION THE CONTROLLED MOTOR WARNING WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions CAUTION THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT CAUTION gt DD THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS WHICH MAY BE DAMAGED BY INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT To prevent electrostatic damage avoid con
38. CK frequency Software selectable ju lo o kHz increment DATA Input hysteresis Differential mode 0 1 0 2 0 5 V Referenced to GND 7 12 DATA Input common mode range t V Absolute maximum surge duration lt 1s 25 25 Binary Gray Single turn Multi turn Counting direction Total resolution 30 bit DATA resolution Single turn 15 bit Multi turn 15 bit Single turn frame T 2 T 1 2 bag fns nz m n CK or ZZZA n Knifn2fns n4N X 4h 3h 241 E MSB LSB n single turn bits CK and DT signals have the same form with CK and DT but with opposite polarity Multi turn frame T 2 T CK or ZZZZA E EE EE MSp l m multi turn bits n single turn bits CK and DT signals have the same form with CK and DT but with opposite polarity 1 2 3 4 5 m 3 m 2 m 1 m m 1 m 2 m 3 ma m 5 m n s men 2 m n mn E ES ER EDER GY LSB O Technosoft 2010 19 IDM680 ET Technical Reference 2 5 17 BiSS Encoder Interface Applicable to IDM680 8BI ET Min Typ Max Units Diff tial mod li CLOCK DATA PISE For full RS422 compliance see 1 TIA EIA 422 Differential 50Q 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 16 2900 18 100 kHz increment DATA Input hysteresis Differential mode 0 1 0 2 0 5 V Refe
39. DS Je Se 12 x Differential 105 120 130 Q Sin Cos Input impedance Common mode referenced to GNDS 10 ko SinCos interpolation Resolution within one quadrature 10 bits 90 pulse 2 5 14 Resolver Interface Applicable to IDM680 8RI ET Min Typ Max Units Excitation frequency 10 KHz Excitation voltage Software adjustable 0 8 Ve Excitation current 50 MArus Resolver coupling ratio Usin cos Uexc 1 2 2 1 Sin Cos Input voltage 4 Vpp Sin Cos Input impedance 10 kQ Position Resolution 12 bits 2 5 15 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 1 4 1 5 1 6 V Differential mode compliance For full RS422 compliance see 1 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 lt 1s 25 25 Single ended mode 4 7 kQ Input impedance Differential mode see 120 Q Input Frequency 0 10 MHz ESD Protection Human Body Model 2 kV Technosoft 2010 18 IDM680 ET Technical Reference 2 5 16 SSI Encoder Interface DATA format Software selectable Min Typ Max Units Diff tial mod li CLOCK DATA des For full RS422 compliance see i 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 CLO
40. E ALWAYS LIMIT THE IN RUSH START UP CURRENT OF CAUTION THE MOTOR SUPPLY OTHERWISE IT CAN DAMAGE THE DRIVE 3 3 3 3 Recommendations for Supply Wiring 1 Use short thick wires between the IDM680 ET 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 ET 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 ET earth shield pin to a good quality earth point The IDM680 ET 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 ET 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 3 3 4 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses 92V the drive over v
41. J13 Feedback Connector IDM680 8LI ET SinCos Encoder DSP Controller SHIELD RH Y Connected to case Figure 3 25 J13 Incremental sine cosine encoder connection Technosoft 2010 49 IDM680 ET Technical Reference J13 Feedback Connector IDM680 8LI ET EnDAT Encoder 2 o E Oo D Ha Q SHIELD H ff Connected to case Figure 3 26 J13 Absolute sine cosine encoder connection with EnDat communication protocol Technosoft 2010 50 IDM680 ET Technical Reference 3 3 6 Feedback J13 Connector IDM680 8RI ET Table 3 6 RI Feedback Pinout Name on the Function Comments Drive cover 5 Voc 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 DIN AJ OINJ gt Reserved Positive Excitation output signal to the resolver Negative Excitation output signal to the resolver Ground of the 5 Vpc supply CK Negative Clock output signal for differential SSI encoder DT Negative Data signal for differential SSI encoder COS Negative Cosine input from the resolver SIN Negative Sine input from the resolver SHIELD Shield Connected to frame ae IDM680 8RI ET includes an
42. No steps 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 A Sl units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2010 108 IDM680 ET 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 _ Jerk SI SS xLoad_ JerklIU 4x No 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 Ser xMotor JerkfIU 4x No encoder lines xTr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr
43. O Technosoft 2010 78 IDM680 ET Technical Reference Drive Setup m Guideline assistant Step 1 Previous Next In the lt lt 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 trapezoidal mode The trapezoidal mode is possible only if your sil a rm Control mode Position C Speed Torque Advanced m Extemal reference No IS Yes Setup Analogue Incremental Encoder Cancel T Automatically activated after Power On Help m Commutation method Trapezoidal Sinusoidal rr C Nbus Baud rate l FAW default in CANopen settings Drive Info m Drive operation parameters Power supply 24 v e Current limit 2 A X Detect r Current controller Kp o Ki 0 658 Tune amp Test r Speed controller Kp fas 73 Ki fs 972 L Integral limit ja z Tune amp Test r Protections N Over current M Control error Speed error gt Motor current SEG a x for m 223 FN Control error Position error gt fai 4 rad FE Motor over temperature 2 radis v for more than F 5 of r Position controller Kp hee Ki 0 8415 Kd 112 2 Kd filter 0 1 Integral limit fi 7 2 fo Acceleration Feedforward fo Speed Tune amp Test RE
44. Out 3 When Out 3 is commanded low 0 logic OUT3 pin is set to OUT 3 O 24VPLC e Opto isolated e Short circuit protected case SHIELD Shield Connected to frame CAUTION THE W O CONNECTOR SIGNALS ARE ELECTRO 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 The 24V opto isolated inputs have a typical threshold of 8 Volts therefore will not accept TTL levels The isolated 24VPLC supply is required only for operation of the outputs Hence if your application uses necessary only opto isolated inputs the 24VPLC supply connection is not 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 2010 58 IDM680 ET Technical Reference J9 Analog amp Digital UO Connector IDM680 8xI ET 24VPLC a RESET z ING EN SA IN2 8 2 E ER __IN3 ae __ IN4 LSP __INS LSN INO B2 D o NVA2IP E INO B2 D ES IN1 A2 P R 24V GND S Loap OUTO a 5 K DUT i 80mA max 5 E ER OAD O 28 m a se n 68 pod OUTA ER 160mA max a OAD i Green and OVPLC 24VPLC o 24VPLC l Red LEDs 24VPLC i E 24V OVPLC RENE EES OVPLC OVPLC l VLOG i Boner logicounit eg O VLOG
45. PROM 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 the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data O Technosoft 2010 90 IDM680 ET Technical Reference 5 3 4 Customizing the Homing Procedures The IDM680 ET supports all homing modes defined in CiA 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 sub tree with the name HomeX where X is the number of the selected homing eis Project Application Communication View Control Panel Window Help DEUS GOR e oO 4 ax 1 Motion status 1 2 Drivel 1 3 DriveStatus Digital Inp Sem he Fault 15 Axis is ON 15 Enable input is inactive H Eno H 14 In Cam Wu Event set has occured 14 Command error E H 12 In Gear 10 Motion is completed 13 Un
46. 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 e Email contact technosoftmotion com Ask questions about product f operation or report suspected Fax 41 32 732 55 04 problems see Note Email hotline technosoftmotion com Make suggestions about or report errors in documentation Mail Technosoft SA Buchaux 38 CH 2022 Bevaix NE Switzerland Technosoft 2010 II IDM680 ET Technical Reference This page is empty Technosoft 2010 Iv IDM680 ET Technical Reference Contents Read This First 2 5 ne sens e aA aaea aaa Eea a eE aaaea e ds Safety INTO EEE a 1 11 gt EE ee 1 12 TEE 2 2 Product a e 3 Ca EE Te ue Ee HOM ties Sn end ie CC 3 2 2 Key Features sas ia nn sen es OST Rss 4 2 3 Supported Motor Sensor Configurations 5 2 3 1 IDM680 8E IPE KEE 5 2 9 2 e ET EE 10 E e le Te e EE 12 2 94 ADMOSU BBRET EE 12 2 4 IDM680 ET Dimensions nnn 13 2 5 gt ee Eeer e te 14 2 5 1 Operating Conditions ss unten retiennent 14 2 9 2 Storage COMOIIONS LL nn ten AE tdi nan Tps taie 14 2 5 3 Mechanical Mounting EE 14 2 5 4 Environmental amp Mechanical Characteristics
47. Reference J13 Feedback Connector IDM680 8EI ET Differential encoder RS 422 ke 2 5 E O Q Ka a SHIELD if 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 2010 43 IDM680 ET Technical Reference J13 Feedback Connector IDM680 8EI ET Differential Hall RS 422 DSP Controller SHIELD d 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 O Technosoft 2010 44 IDM680 ET Technical Reference J13 Feedback Connector IDM680 8EI ET Differential SSI Encoder RS 422 DSP Controller If 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 O Technosoft 2010 45 IDM680 ET Technical Reference J13 Feedback Connector Motor thermal sensor connection DSP Controller SHIELD if Connected to case PTC NTC Figure 3 23 J13 Motor thermal sensor connection 3 3 4 1 Recommendations for Feedback Devices Wiring a Always connect both positive and negative signals when the encoder or the Hall sensors are diffe
48. SEI ET ISetuplD 0586 7 5 2 3 2 Step 2 Establish communication If you have a drive motor connected with your PC now its time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established EasyMotion Studio displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasyMotion Studio tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically Technosoft 2010 86 IDM680 ET 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 IE Project lol x E Untitled Untitled Application s M Motion By Homing Modes Define Load Funct
49. SSI encoder interface This is reserved for future developments For motor sensor configurations with SSI encoders use IDM680 8EI ET For dual loop operation with resolver on motor and SSI encoder on load contact Technosoft Technosoft 2010 51 IDM680 ET Technical Reference J13 Feedback Connector Resolver connection DSP Controller A SHIELD i e ie d Connected to case EXCITATION RESOLVER Resolver coupling ratio 0 5 2 Figure 3 27 J13 Resolver connection Technosoft 2010 52 IDM680 ET Technical Reference J13 Feedback Connector IDM680 8RI ET Differential SSI Encoder RS 422 DSP Controller SHIELD E If Connected to case Figure 3 28 J13 Differential RS 422 SSI encoder connection O Technosoft 2010 53 IDM680 ET Technical Reference 3 3 7 Feedback J13 Connector IDM680 8BI ET Table 3 7 BI Feedback Pinout Name on the Function Comments Drive cover A1 Positive A for differential encoder or A for single ended encoder B1 Positive B for differential encoder or B for single ended encoder 5 Voc 5 Voc 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 BiSS SSI encoder H1 DT Positive Hall 1 for differential Hall or Hall 1 for single ended Hall Positive Data signal for differential BiSS SSI encoder Therm A
50. air This characteristic allows swapping the and wires within a pair without incurring any disturbance Technosoft 2010 66 IDM680 ET Technical Reference c All EtherCAT signals are fully insulated from all other IDM680 ET circuits system ground GND 10 ground OVPLC and Earth Therefore the Ethernet network cannot cause any grounding loops DO NOT CONNECT THE ETHERCAT CABLES TO A STANDARD OFFICE SWITCH HUB SINCE THE ETHERCAT PROTOCOL DOESN T MAKE USE OF MAC ADDRESSING THIS CONNECTION CAN LEAD TO SWITCH NETWORK OVERLOAD BROADCAST PACKET STORM CAUTION 3 3 10 1 Recommendations for EtherCAT Wiring a Build EtherCAT network using UTP unshielded twisted pair cables rated CAT5E or higher CAT6 etc Cables with this rating must have multiple characteristics as described in TIA EIA 568 B Among these are impedance frequency attenuation cross talk return loss etc It is acceptable to use STP shielded twisted pair or FTP foil twisted pair cables rated CAT5E or higher CAT6 etc The added shielding is beneficial in reducing the RF radio frequency emissions improving the EMC emissions of the application The maximum length of each network segment must be less than 100 meters The network topology is daisy chain All connections are done using point to point cables The global topology can be one of the two e Linear when the J6 OUT port of the last drive in the chain r
51. al 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 Dual 100Mbps RJ45 EtherCAT interfaces for use in daisy chaining topologies CANopen over EtherCAT CoE EtherCAT time synchronization through Distributed Clocks Motor temperature sensor interface 4Kx16 SRAM for data acquisitions and 8Kx16 E ROM for setup data and TML programs Technosoft 2010 4 IDM680 ET Technical Reference Nominal PWM switching frequency 20 kHz Nominal update frequency for torque loop 10 kHz Update frequency for speed position loop 1 10 kHz Continuous output current 8Arms Peak output current 16 5A Logic power supply 12 48 VDC Motor power supply 12 80 VDC Minimal load inductance 50uH 12V 200 uH 48 V 330 uH 80V Operating ambient temperature 0 40 C 2 3 Supported Motor Sensor Configurations 2 3 1 IDM680 8EI ET 1 Position speed or torque control of a brushless AC rotary motor with an incremental quadrature encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expr
52. al values 12 24 48 Voc Absolute maximum values continuous 8 51 Voc Supply voltage Absolute maximum values surge 100 60 V duration lt 10ms Viog 12V 500 800 mA Supply current Viog 24 V 250 400 mA Vioc 48 V 120 200 mA 2 5 6 Motor Supply Input Measured between Vyor and GND Min Typ Max Units Nominal values 12 80 Voc Absolute maximum values continuous 0 100 Voc Supply voltage Absolute maximum values surge 0 5 105 V duration lt 10ms Idle 0 5 1 5 mA Operating 16 5 A Supply current Absolute maximum values surge 100 A duration lt 10ms 2 5 7 1 0 Supply Input isolated Measured between 24Vp c and OVprc Min Typ Max Units Nominal values Supply voltage Absolute maximum values surge duration lt 10ms 100 32 V O Technosoft 2010 15 IDM680 ET Technical Reference All inputs and outputs disconnected 20 30 mA Supply current All inputs tied to 24Vpc all outputs sourcing simultaneously their nominal 700 1000 mA current into external load s Isolation voltage rating Between 0Vp c and GND 200 Vrms 2 5 8 Motor Outputs All voltages referenced to GND Min Typ Max Units Motor output current Continuous operation 8 8 Arms Motor output current peak 16 5 16 5 A Sho
53. an 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 CoE with TML A demo version of EasyMotion Studio including the fully functional version of EasySetUp can be downloaded free of charge from Technosoft web page On request EasySetUp can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting Started with EasySetUp Using EasySetUp you can quickly setup a drive for your application The drive can be directly connected with your PC via a serial RS 232 link 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 inf
54. cally shielded toroidal for example and must be rated for the motor surge current Typically the necessary values are around 100 pH c A good shielding can be obtained if the motor wires are running inside a metallic cable guide 3 3 3 2 Recommendations for Power Supply On Off Switch and Wiring a If motor supply Vyor 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 8xI ET 1 Output 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 470UF between the switch and the drive to reduce the slew rate rising slope of the motor supply voltage Uninterruptible Switch 3 o 3 O Figure 3 18 J2 Motor supply connection Alternative in rush current limitation Technosoft 2010 37 IDM680 ET Technical Reference ALWAYS PROVIDE AN EXTERNAL MEAN TO SWITCH WARNING OFF THE POWER SUPPLIES ALWAYS TURN OFF SUPPLIES BEFORE INSTALLING THE DRIV
55. ce with the load position in Sl units is For rotary motors Load Position SI EE as x Motor _ Position IU 4x Enc _ periods x Interpolation x Tr Be units for position are rad for a rotary movement m for a linear movement Technosoft 2010 92 IDM680 ET Technical Reference For linear motors Encoder accuracy Load Position SI gt Interpolation x Tr x Motor _ Position IU 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 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 e x Motor _ Position IU 2No _ bits resolution 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 revoluti
56. ce with the voltage applied in Sl units i e V is Voltage command V voe 32767 x Voltage command IU This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vmor supply voltage The correspondence with the supply voltage in V is Voltage _ measured V KE x Voltage _ measured IU 65520 where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is Time s T x Time IU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU 6 9 Drive temperature units The drive includes a temperature sensor The correspondence with the temperature in C is 3 V x DriveTemperature lU Sensor output 0 C V Drive temperature C 65520 x Sensor _ gain V C Sensor _ gain V
57. coder 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 2x7 Load Acceleration Si x Load Acceleration IU 2No bits resolution T2 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 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 SI units is Analogue Input Range Load Acceleratonf ll 2 4096x Tacho gainxTrxT x Motor _ Acceleration IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 31 d SI units for acceleration are rad s for a rotary movement m s for a linear movement O Technosoft 2010 103 IDM680 ET Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced
58. ction leave Pins 4 INO B2 D and 5 IN1 A2 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 decrementea 3 When INO 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 2010 61 IDM680 ET Technical Reference IDM680 8xI ET J9 Analog amp Digital 1 0 Connector Differential RS 422 Pulse amp Direction connection PULSE Generator Hand e IN1 A2 P IN1 A2 P 8MHz 1K 5V ae SX High speed 8MHz qm fi DD RR IN0 B2 D i 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 120Q close to the drive J9 Analog amp Digital UO Connector Second Encoder single ended High speed 8MHz DSP Controller SHIELD z d f Connected to case To other drives similar inputs Figure 3 34 J9 Second encoder single ended connection Technosoft 2010 62 IDM680 ET Technical Reference IDM680 8xI ET J9 Analog amp Digital UO Connector Second Encoder differential RS 422 IN1 A
59. der voltage im Project E 10 x E A untitled Homing Modes 2 E Ei Untitled Application 1 bone Home 1 Move negative until the limit switch is reached Reverse and stop at first SR Default E S Setup index puise C User defined ie ui M Motion bone Home 2 Move positive until the limit switch is reached Reverse and stop at first Default pamper index pulse C User defined EE Functions home Home 3 Stop at first index pulse after home switch high low transition If home input Default a Ga Interrupts is high move negative else move positive and reverse after home input low high transition C User defined Rg CAM Tables homes 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 homes Home 5 Stop at first index pulse after home switch low high transition If home input 6 Default is low move positive else move negative and reverse after home input high low transition User defined homes Home 6 Stop at first index pulse after home switch low high transition If home input Default D 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 6 Default Le lends high low transition If home input is high move negative else move positive and C
60. e must be right justified For example 92 represent 0x0092 The sw file can be programmed into a drive from a EtherCAT master using the communication objects 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 O Technosoft 2010 81 IDM680 ET Technical Reference 5 Step 3 Motion Programming 5 1 Using an EtherCAT master 5 1 1 Modes of Operation The IDM680 ET drive supports CANopen over EtherCAT CoE protocol with the following CA 402 modes of operation e Profile position mode e Profile velocity mode e Homing mode e Interpolated position mode e Cyclic synchronous position mode e Cyclic synchronous speed mode e Cyclic synchronous torque 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 For details see EtherCAT Programming manual part no P091 064 UM xxxx 5 1 2 Checking Setup Data Consistency During the configuration phase an EtherCAT 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 ET drive contains
61. eeeeeeeeee 116 6 13 5 Brushless motor with resolver 116 6 13 6 DC brushed motor with quadrature encoder on load and tacho on motor 116 6 13 7 DC brushed motor with absolute SSI encoder on load amp tacho on motor 117 6 13 8 DC brushed motor with tacho on motor senennossnnnnonnnnnssrrrneennresenrreene 117 6 13 9 Stepper motor open loop control No feedback device or incremental enc der onload BEE 117 6 13 10 Stepper motor closed loop control Incremental encoder on motor 118 fo Memory MAD sus O nd 119 Technosoft 2010 IX IDM680 ET Technical Reference This page is empty Technosoft 2010 X IDM680 ET 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 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
62. emains not connected Master is connected to J5 IN port of the first drive J6 OUT of the first drive is connected to J5 IN of the following drive J6 OUT of the last drive remains unconnected See Figure 3 39 for a visual representation of the linear topology e Ring when the J6 OUT port of the last drive in the chain is connected back to the master controller on the 2 port of the master This topology consist of the linear topology described above plus an extra connection between the master which has two RJ45 ports to J6 OUT of the last drive See Figure 3 40 for a visual representation of the ring topology Ring topology is preferred for it s added security since it is insensitive to one broken cable connection along the ring re routing of communication is done automatically so that to avoid the broken cable connection It is highly recommended to use qualified cables assembled by a specialized manufacturer When using CAT5E UTP cables that are manufactured commissioned prepared on site it is highly recommended to check the cables The check should be performed using a dedicated Ethernet cable tester which verifies more parameters than simple galvanic continuity such as cross talk attenuation etc The activation of Link indicators LEDs 3 Technosoft 2010 67 IDM680 ET Technical Reference and 5 of Table 3 13 will NOT guarantee a stable and reliable connection This can only be guaranteed by pr
63. er 5 Voc 5 Voc Supply generated internally OutB CK Positive Clock output signal for differential EnDat protocol OutA DT Positive Data input output signal for differential EnDat protocol COS LH2 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 Vbc 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 17 Ne ee E P Can capture the master position and also the motor position if an incremental or absolute sine cosine encoder is used O Technosoft 2010 47 IDM680 ET Technical Reference J13 Feedback Connector Linear Hall connection SIN LH1 COS LH2 DSP Controller SHIELD M Connected to case Figure 3 24 J13 Linear Hall sensor connection Remark Motor thermal sensor connection is presented in Figure 3 23 Technosoft 2010 48 IDM680 ET Technical Reference
64. er counts slow loop sampling period The correspondence with the load jerk in SI units is For rotary motors Load Jerk SI pes tb x Motor _ Jerk IU 4xNo_ encoder _linesx Tr x T Encoder _ accuracy TrxT For linear motors Load _ Jerk Sl x Motor _ Jerk IU where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 33 SI units for acceleration are rad s for rotary movement m s for linear movement a SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2010 105 IDM680 ET Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 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 SI units is For rotary motors Load _ Jerk SI x Motor _ Jerk lU 4xEnc _ periods x Interpolation x Tr x T Encoder accuracy x Motor _ Jerk lU Interpolation x Tr x T For linear motors Load _Jerk S where Enc periods is the rotary encoder number of sine cosine periods or lines per
65. essed in IU units refer to the motor Motor IDM680 8EI ET 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 Sl units or derivatives refer to the load while the same commands expressed in IU units refer to the motor i Nominal values cover all cases Higher values are possible in specific configurations For details contact Technosoft e 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 2010 5 IDM680 ET Technical Reference Motor IDM680 8EI ET LINEAR MOTOR Incremental quadrature encoder Figure 2 2 Brushless AC linear motor Position speed torque control Quadrature encoder on motor Position speed or torque control of a brushless DC rotary
66. from J2 pin 7 i TEE i 10V Tach CNN Ref estereo 10V Ref EE SHIELD M Connected to case Figure 3 30 J9 Analogue amp Digital I O connections Technosoft 2010 59 IDM680 ET Technical Reference 3 3 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 shield connected to the drive I O connector frame Leave both shields uncon
67. hanging the motion modes and or the motion parameters Q Executing homing sequences Q Controlling the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analogue input signals Executing arithmetic and logic operations Performing data transfers between axes Q Controlling motion of an axis from another one via motion commands sent between axes 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 Ooo In preparation Please contact Technosoft for availability O Technosoft 2010 3 IDM680 ET Technical Reference For all motion programming options the IDM680 ET commissioning for your application is done usi
68. ialogue from EasySetUp i SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 117 IDM680 ET Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 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 ia x Motor _Speed lU 4xNo_ encoder _linesx T where No_encoder_lines is the motor encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Technosoft 2010 118 IDM680 ET Technical Reference 7 Memory Map IDM680 ET 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 f
69. 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 EE x Motor _ Acceleration IU 4x Enc _ periods x Interpolation x Tr x T For linear motors Encoder accuracy Load Acceleration SI x 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 Load Accele
70. ion is rotary to rotary The correspondence with the load speed in SI units is 2x7 Load Speed S No bits resolution 7 x Load Speed lU where No_bits_resolution is the SSI encoder resolution in bits per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup SS SI units for speed are rad s for a rotary movement m s for a linear movement O Technosoft 2010 98 IDM680 ET Technical Reference 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 SI units is Analogue Input Range Load Speed S 4096 x Tacho gainxTr x Motor _ Speed IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 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 Sl units is 2x7 Load Speed SI x Motor Speed IU No_ustepsxNo_stepsxTrxT where No steps is the number of motor steps per revolution No steps is the number of micros
71. ions By Interrupts Rg CAM Tables S View Modify ar BC Download to Open vert Drive Motor Load from a previous version ae Upload from Drive Motor s Press View Modify button View Modify This opens 2 setup dialogues for Motor Setup and for Drive Setup same like on EasySetUp through which you can configure and parameterize a Technosoft drive In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Technosoft 2010 87 IDM680 ET Technical Reference Download to f 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
72. ition Remark All switches are sampled at power up and the drive is configured accordingly Technosoft 2010 69 IDM680 ET Technical Reference Table 3 12 Axis ID Address configuration DIP Switch position Ka CS EE ee EEE ES SS Bee ES ES CS RECH Gg EE ER RE CS BEE EE RE CR EE Carter porto or r PE RCE RE EC RES RCE SCI CES ORE A208 RCE ON EC BR RC NC E RC SC ON EE ER ni MERE PE TR RCE REA ESG RES CU EU Ee SOS o ee REC M RC NES ON EO EEN ne ES PE EE CS EUR OBE ile SON RE En EE pos OEP EC ECA ES CHER CC RU CS RSC RCE CE ON ECS E RC CS TS PRET EE EE RE O RC ER ONE ES PRE RCE CE CUS US EE ORE RE ES E ROME NEE RCE RC RS STON AOR Eon REC RES RECU EE RONA FOR IR OPEN ORE RS BEE ON ET RE RC RS ER EE ON 1 A ON al SORE ON o ONES EEE DESDE BE BE i OFE ON 2 EEE E ON SONA NON Al ON ON RS EC RR EC ES O Technosoft 2010 70 IDM680 ET Technical Reference Technosoft 2010 71 IDM680 ET Technical Reference 3 5 LED Indicators Sp Bosco cocada 00000 mo 0000008 Figure 3 42 LED locations Table 3 13 LED Indicators LED name LED color Function Drive Ready Lit after power on when the drive initialization ends Turned off when an error occurs Drive Error Turned on when the power stage error signal is generated or when OUT4 is set low EtherCAT IN Link LED Link indicator for EtherCAT IN port EtherCAT IN Act LED Act indicator for EtherCAT IN
73. l 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 Technosoft 2010 83 IDM680 ET Technical Reference 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 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 y
74. low the drive nominal current Inom 8A PBR ta 2 tCYCLE Nom where tcycLe is the time interval between 2 brakes in case of repetitive moves RBR gt 2 4 to be rated for an average power Pay Par xt and a peak power PpEAK VMAX tCYCLE RBR Remarks U Up 1 If MAX BRAKE the braking power Doc must be reduced by increasing either ty the IPEAK 2xPBR time to decelerate or Cex the external capacitance on the motor supply 2 PBR xt U 2 If BR X td e BRAKE 5 S either the braking power must be reduced see Remark 1 tCYCLE x INOM x FBR or tcycie the time interval between braking cycles must be increased THE BRAKE RESISTOR MAY HAVE HOT SURFACES LR NIET DURING OPERATION Technosoft 2010 40 IDM680 ET Technical Reference 3 3 4 Feedback J13 Connector IDM680 8EI ET Table 3 4 El Feedback Pinout Name on the Function Comments Drive cover 1 A1 Positive A for differential encoder or A for single ended encoder 2 B1 Positive B for differential encoder or B for single ended encoder 3 5 Voc O 5 Vic Supply generated internally 4 H3 CK IO Positive Hall 3 input for differential Hall or Hall 3 for single ended Hall Positive Clock output signal for differential SSI encoder 5 H1 DT Positive Hall 1 for differential Hall or Hall 1 for single ended Hall Positive Data signal for differential SSI encoder 6 Therm Analog input from motor the
75. mmunication is established EasySetUp displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasySetUp tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If your drive is powered with all the DIP switches OFF and it is connected to your PC port COM1 via an RS 232 cable the communication shall establish automatically If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected O Technosoft 2010 75 IDM680 ET Technical Reference 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 Incremental encoder SSI encoder The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft drive plus several predefined control panels customized for the product selected O Technosoft 2010 76 IDM680 ET Technical Reference EasySetUp Untitled
76. motor with digital Hall sensors and an incremental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor IDM680 8EI ET 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 i Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technosoft 2010 6 IDM680 ET Technical Reference Motor IDM680 8EI ET
77. mpling 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 Sl units is Load Acceleration Sl SE x Motor _ Acceleration IU 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 30 f SI units for acceleration are rad s for a rotary movement m s for a linear movement O Technosoft 2010 102 IDM680 ET Technical Reference 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 Load Acceleration SI E x Load Acceleration IU 4x No encoder linesxT where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 7 DC brushed motor with absolute SSI en
78. nalog input from motor thermal sensor Z1 Positive Z for differential encoder or Z for single ended encoder 1 Z1 Negative Z for differential encoder H2 Positive Hall 2 for differential Hall or Hall 2 for single ended Hall gei H2 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 BiSS encoder H1 DT Negative Hall 1 for differential Hall Negative Data signal for differential BiSS encoder SHIELD Shield Connected to frame O Technosoft 2010 54 IDM680 ET Technical Reference J13 Feedback Connector IDM680 8BI ET Differential BISS Encoder RS 422 DSP Controller If 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 O Technosoft 2010 55 IDM680 ET Technical Reference 3 3 8 Analog amp Digital 1 0 J9 Connector Table 3 8 I O Pinout Name on the Drive cover Function Alternate function Comments 1 19 24VPLC l e 24V power supply terminal for all opto isolated 1 0 e 24V Enable inp
79. ncoder counts slow loop sampling period The motor is rotary The correspondence with the load speed in Sl units is 2x7 Load Speed Sl No bits resolution 7 7 x 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 Advanced 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 Et 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 2 SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2010 97 IDM680 ET Technical Reference 6 2 5 Brushless motor with resolver
80. ncoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors Load Acceleration SI get x Motor _ Acceleration IU 4x No encoder _linesx Tr x T For linear motors Encoder _ accurac y x Motor Load Acceleration Si TrxT _ Acceleration IU where SI units for speed are rad s for a rotary movement m s for a linear movement 28 3 d SI units for acceleration are rad s for a rotary movement m s for a linear movement O Technosoft 2010 100 IDM680 ET 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
81. nected 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 ET I O connector Choose the divider resistances as low as possible close to the signal source output current limit to minimize the noise IDM680 8xI ET J9 Analog amp Digital UO Connector 24V Pulse amp Direction connection J9 PULSE Generator 5V _ High speed 8MHz O DIRECTION Switch Y lt DSP Controller Connected to case Figure 3 31 J9 24 V Pulse amp Direction connection Technosoft 2010 60 IDM680 ET Technical Reference Remarks 1 When using 24 V Pulse amp Direction connection leave Pins 12 INO B2 D and 13 INT A2 P open 2 When IN1 A2 P is used as PULSE input in Pulse amp Direction motion mode on each falling edge the reference or feedback is incremented decremented 3 When INO 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 J9 Analog amp Digital I O Connector IDM680 8xI ET 5V Pulse amp Direction connection PULSE Generator High speed 10MHz DIRECTION Switch DSP Controller M Connected to case Figure 3 32 J9 5V Pulse amp Direction connection Remarks 1 When using 5 V Pulse amp Direction conne
82. ng EasySetUp or EasyMotion Studio 2 2 Key Features Digital drives for control of brushless DC brushless AC DC brushed and step motors with EtherCAT interface and built in motion controller with 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 8EI ET Absolute SSI encoder interface RS 422 differential IDM680 8EI ET Absolute BiSS sensor mode encoder interface RS 422 differential IDM680 8BI ET Linear Hall sensors interface 4Vp p IDM680 8LI ET Incremental or absolute sine cosine encoder 1Vp p IDM680 8LI ET Resolver interface IDM680 8RI ET Second incremental encoder pulse amp direction interface 5V or 24V single ended open collector or RS 422 differential for external master digital reference Digital I Os 6 inputs 24V opto isolated common I O ground 2 general purpose 2 for limit switches 2 for Reset and Enable emergency shutdown 2 inputs 24V 5V compatible shared with second encoder pulse amp direction 6 digital outputs opto isolated 24V PNP type 80 160 mA short circuit protected 4 gener
83. ng EtherCAT uses no MAC address none ESD Protection Human Body Model 15 kV 2 5 21 Supply Outputs Min Typ Max Units 5 Vpc voltage Current sourced 350 mA 4 8 5 5 2 V 5 Voc available current 400 500 mA 2 5 22 Frame case insulation Min Typ Max Units GND to SHIELD connected to frame 40 250 V Voltage withstand OVPLC to SHIELD connected to frame 200 Vous Ethernet to GND connected to frame 2 5 KV GND to SHIELD connected to frame 50nF 0 4MQ e for leakage current OVPLC to SHIELD connected to frame lt 100pF gt 10MO Ethernet to GND connected to frame 10nF 1MQ 1 Differential input impedance is 21 5KQ For full RS 422 compliance 120Q termination resistors must be connected across the differential pairs as close as possible to the drive input pins ES stands for Full Scale T Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability Technosoft 2010 21 IDM680 ET Technical Reference II hou 7 100 0 40 80 Ta C Figure 2 20 De rating with ambient temperature V7 ken 100 70 0 2 500 4000 H m Figure 2 22 De rating with altitude II ken 100 0 60 80Tc C Figure 2 21 De rating with case temperature bib 100 75 0 20 75 f kHz Figure 2 23 Current De ra
84. nits deg DI Details Factor divisor Speed units rom DI Details Dimension index fin IU E SE Acceleration units rom Details Notation index 73 Time units FPE Details Factor numerator 65535 3998 Cancel Help Factor divisor 182000 Cancel 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 2010 80 IDM680 ET 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 EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty raw Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data 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 valu
85. o the metal case and to all SHIELD signals It is completely insulated from all electric signals of IDM680 8EI ET this feature may facilitate avoiding ground loops It is recommended that Earth be connected to GND at only one point preferably close to the Vmor Supply output Technosoft 2010 35 IDM680 ET Technical Reference A1 2 coils per phase in parallel connection A1 A2 A1 A2 B1 B2 B1 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 A A1 A2 A2 B1 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 Step MOTOR 3 phases Figure 3 16 J2 Connection of a 3 phase motor Technosoft 2010 36 IDM680 ET Technical Reference 3 3 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 ET earth shield pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 100nF If very long cables hundreds of meters are used this condition may not be met In this case add series inductors between the IDM680 ET outputs and the cable The inductors must be magneti
86. oft 2010 10 IDM680 ET Technical Reference Motor IDM680 8LI ET Sin Cos absolute encoder EnDat Figure 2 14 Brushless 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 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 ET A 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 same commands expressed in
87. oftware 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 license serial number in the menu command Help Enter registration info you can transform the demo version into a fully functional version 5 2 3 Getting Started with EasyMotion Studio Using EasyMotion Studio you can quickly do the setup and the motion programming of a Technosoft a drive according with your application needs The drive can be directly connected with your PC via a serial RS 232 link 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 Pane
88. oltage protection is triggered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2xE C 2 M CDrive Umax UNom where Umax 92V is the over voltage protection limit Corive 200 uF is the drive internal capacitance O Technosoft 2010 38 IDM680 ET Technical Reference Unom 80V is nominal motor supply voltage En the overall energy flowing back to the supply in Joules In case of a rotary motor and load Em can be computed with the formula tam Em zM JL om mm M g hinitial hfinat 3 Rphta E E Kinetic energy Potential energy Copper losses Friction losses where Ju total rotor inertia kgm J total load inertia as seen at motor shaft after transmission kgm Wm motor angular speed before deceleration rad s Mm motor mass kg when motor is moving in a non horizontal plane M load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s Ninitial initial system altitude m boost final system altitude m Im motor current during deceleration Arms phase Rpn motor phase resistance Q ty time to decelerate s Te total fric
89. on 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 2 T 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 X SI units for position are rad for a rotary movement m for a linear movement Technosoft 2010 93 IDM680 ET Technical Reference 6 1 5 Brushless 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 SI units is Load _ Position Si 2 T 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 2x7 Load Position rad x Load Position IU 4x No encoder lines where No encoder lines is the encoder number of lines
90. onnected to the PC Do not use the shield as GND The ground wire pin 5 of D Sub 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 ET 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 IDM680 ET supplies before inserting removing the RS 232 serial connector DO NOT CONNECT DISCONNECT THE RS 232 CABLE CAUTION WHILE THE DRIVE IS POWERED ON THIS OPERATION CAN DAMAGE THE DRIVE 3 3 10 EtherCAT Communication J5 amp J6 Connectors Table 3 10 EtherCAT Pinout Name MDI Name MDI X Function Transmit Receive CAN Bus negative line negative during dominant bit Transmit Receive Reference ground for LO HI and CAN_V signals Receive Transmit Shield Connected to frame n c n c Not connected Receive Transmit CAN Bus positive line positive during dominant bit n c n c Not connected Note Pin numbering is done according to TIA EIA 568 Remarks a The IDM680 ET accepts both straight 1 1 and cross over reversed cabling between drives and or master This characteristic is often specified in IEEE 802 3 terms as MDI MDI X Accordingly the name of the signals can be swapped as shown in table Table 3 10 above b The IDM680 ET is insensitive to the polarity of each signal p
91. oose sinusoidal or trapezoidal mode The trapezoidal mode is possible only if your E EE m Commutation method Hai Trapezoidal Sinusoidal r CANbus Baudrate FAW defaut z CANopensettinos Drivelnio Set change avis ID H7w E Setup m Drive operation parameters m Protections Power supply 24 v z Detect I Over current Current limit 2 a Motor current 36 a DIS more than Jam s gt M Control error m Current controller EE Fu fa d EE E Tm Kp jo Z Control error Ki 0 658 Tune amp Test Speed error gt E L for more than 3 5 FE Motor over temperature r Speed controller Kp F5 73 Integral limit mo k M GE SEN ps a J i Fo fp z Ki fs 972 m External brake resistor Tune amp Test I Connected Activate if power supply gt ES MV M Position controller m Inputs polarity Kp fi 6 83 Integral limit fi 7 x Enable Limit switch Limit switch z Active high Disabled after power on Active high Active high Ki 0 8415 eenean Ze Active low Enabled after power on C Active low Active low 0 Feedforward kd i122 os 1 Speed Kd filter 0 1 Eai Current used of oi Move till aligned with phase A ee SC E x d Tune amp Test Direct using Hall sensors Time to align on phases fi s gt Speed factors Ps CANopen Factor Group x Factor numerator 1 rpm Position u
92. oper quality of cables used according to TIA EIA 568 B specifications IDM680 ET D IDM680 ET 1234567 Blrional 12345678 err SHIELD 1234567 8 optional SHIELD D 1 2 3 4 5 6 7 B fopionan j i came Agent Figure 3 38 EtherCAT Wiring Linear Topology not connected IDM640 ET IDM640 ET IDM640 ET Drive 1 Drive 2 Drive n Figure 3 39 EtherCAT Network Linear Topology Ring Topology IDM640 ET IDM640 ET IDM640 ET Drive 1 Drive 2 Drive n Figure 3 40 EtherCAT Network Ring Topology Technosoft 2010 68 IDM680 ET Technical Reference 3 3 11 Connectors Type and Mating Connectors Table 3 11 Mating connectors Connector Function Mating connector Motor amp supply Phoenix Contact MC 1 5 8 STF 3 5 Serial generic 9 pin D Sub male EtherCAT IN generic RJ 45 male EtherCAT OUT generic RJ 45 male Feedback generic 15 pin High Density D Sub male Analog amp 24 V digital O generic 26 pin High Density D Sub male 1 The mating connector accepts wires of 0 14 1 5 mm AWG35 AWG16 3 4 DIP Switch Settings FU Norm Auto Ext Figure 3 41 SW1 DIP Switch e Position 1 FU Norm ON Enable Firmware Update OFF Normal operation e Positions 2 7 ID Bitx Axis ID switches The drive axis address number is set according with Table 3 12 e Position 8 Reserved Keep in OFF pos
93. or each motion application The memory map can be accessed and modified from the main folder of each application 4000h E ROM memory for TML programs Cam tables Setup information 5FFFh Reserved Data acquisitions 9000h and SRAM memory cam tables at runtime TML Programs 9FFFh Figure 7 1 IDM680 ET Memory Map O Technosoft 2010 119 IDM680 ET Technical Reference TECHNOS OFT
94. ormation 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 EtherCAT master e Use EasyMotion Studio to create and download a TML program into the drive motor memory e Implement on your master the TML commands you need to send to the drives 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 Technosoft 2010 74 IDM680 ET Technical Reference 4 2 1 Establish communication EasySetUp starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor EasySetUp ll D x Setup Communication View Help D Shll o ol 5kIX TEE TL S ME CaN ORS ONFA Upload Drive Motor Online AxisID 255 Firmware F5004 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 co
95. otor 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 SI units is For rotary motors Load Speed SI e x Motor _ Speed lU 4xEnc_ periods x Interpolation x Tr x T For linear motors Encoder accuracy Motor Speed Load Speed SI Interpolation x Tr x T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Sr SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2010 96 IDM680 ET Technical Reference Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period lts 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 e
96. ou can create a new project or open a previously created one EasyMotion Studio d 0 x Project Communication View Help Dak EE e OO F al a X T a E D EC H NOTS ORT Online AxisID 255 Firmware F5004 Technosoft 2010 84 IDM680 ET Technical Reference 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 New tne 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 4 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 incremental encoder EasyMotion Studio Of x Help Bm us O amp O O F al HX Step 1 Select axis number 255 x Step 2 Define load setup data lire 1 PLUG IN DRIVES 2 OPEN FRAME DRIVES 3 CLOSED FRAME DRIVES gt 1BL2401 CAN 4 INTELLIGENT MOTORS gt IBL2401 CANOPEN L O New 5 MOTION CONTROLLERS 1BL2401 R5232 Se 6 OTHER 1BL2403 CAN L
97. pened 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 SI units is 2x7 Motor _ Speed SI x Motor _ Speed IU resolution x T 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 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 ae SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 116 IDM680 ET Technical Reference 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 mo
98. port EtherCAT OUT Link LED Link indicator for EtherCAT OUT port EtherCAT OUT Act LED Act indicator for EtherCAT OUT port EtherCAT RUN LED Run indicator for EtherCAT EtherCAT Error LED Error indicator for EtherCAT For a detailed description of EtherCAT LED functionalities please read ETG 1300 S R V1 0 1 available at www ethercat org O Technosoft 2010 72 IDM680 ET Technical Reference 3 6 First Power Up In order to setup the drive for your application you need to communicate with it The easiest way is via an RS 232 serial link between your PC and the drive Therefore before the first power up check the following Power supply connections and their voltage levels Motor connections Serial cable connections DIP switch positions all shall be OFF not pressed EasySetUp is installed on the PC which is serially connected with the drive see chapter Step 2 Drive Setup O Technosoft 2010 73 IDM680 ET Technical Reference 4 Step 2 Drive Setup 4 1 Installing EasySetUp EasySetUp is a PC software platform for the setup of the Technosoft drives It can be downloaded free of charge from Technosoft web page EasySetUp comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates EasySetUp includes a firmware programmer through which you can update your drive firmware to the latest revision EasySetUp c
99. pressed in IU units refer to the motor O Technosoft 2010 12 IDM680 ET Technical Reference Motor IDM680 8RI ET Resolver Figure 2 18 Brushless AC rotary motor Position speed torque control BiSS encoder on motor 2 4 IDM680 ET Dimensions The next figure presents the IDM680 ET drives dimensions 26 mm Le 136 mm 5 354 gt 8 1 024 gt amp E S gt E E E E 19 q GI ER 2 dr Le E E 3 E 9 y y E o S Figure 2 19 IDM680 ET drives dimensions 13 IDM680 ET Technical Reference Technosoft 2010 2 5 Electrical Specifications All parameters measured under the following conditions unless otherwise noted Tamb 0 40 C Vioc 24 Voe V24 VPLC 24 Voc Vmor 80Vpc Load current 8ARms Supplies start up shutdown sequence any 2 5 1 Operating Conditions Min Typ Max Units Ambient temperature 0 40 C Case temperature Mounted on metallic surface 0 60 C Ambient humidity Non condensing 0 90 Rh A Altitude referenced to sea level 0 2 5 Km Altitude pressure Ambient Pressure 0 64 4 0 atm ESD capability see electrical characteristics 2 5 2 Storage Conditions Min Typ Max Units Ambient temperature 40 85 C Ambient humidity Non condensing 0 100 Y Rh
100. r Figure 2 12 Encoder on motor shaft Closed loop control motor position speed or torque 2 3 2 IDM680 8LI ET 1 Position speed or torque control of a brushless AC rotary motor with linear Hall signals Motor IDM680 8LI ET 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 i Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1 1 Technos
101. r Compatible RS 422 5V and 24V single ended 14 Ref 15 Ref ADS Analogue position speed or torque reference input 10 V differential 12 bit resolution 16 Tach 17 Tach AD2 Analogue speed feedback tachometer input 10 V differential 12 bit resolution 18 GND Ground terminal for all non isolated I O 20 OUT4 ER OUT 4 24 V Error output seen as Out 4 When Out 4 is commanded low 0 logic 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 2010 57 IDM680 ET Technical Reference 22 OUTO e 24V General purpose output Out 0 When Out 0 is commanded low 0 logic OUTO pin is set to OUT 0 O 24VPLC e Opto isolated e Short circuit protected 23 OUT e 24 V General purpose output Out 1 When Out 1 is commanded low 0 logic OUT1 pin is set to OUT 1 O 24VPLC e Opto isolated e Short circuit protected 24 OUT2 e 24 V General purpose output Out 2 When Out 2 is commanded low 0 logic OUT2 pin is set to OUT 2 O 24VPLC e Opto isolated e Short circuit protected 25 OUT3 e 24 V General purpose output
102. ration Sl on as x Motor _ Acceleration IU No bits _ resolution Tr x T2 29 E d SI units for acceleration are rad s for a rotary movement m s for a linear movement O Technosoft 2010 101 IDM680 ET Technical Reference 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 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 st e x Motor Acceleration IU 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 sa
103. re not a simple text included in a file but a motion object Therefore with Motion Wizard you define your motion program as a collection of motion objects The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications Add delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Wizard button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are done automatically A TML program is created by inserting your motion objects into a predefined template The TML program is compiled and downloaded to the drive motor The TML program execution is started For learning how to send TML commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances EasyMotion Studio includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you
104. renced to GND 7 12 V DATA Input common mode range Absolute maximum surge duration lt 1s 25 25 Software selectable Single turn Multi turn Counting direction DATA resolution ne E pit Multi turn and single turn 31 2 5 18 Analog Inputs Min Typ Max Units Differential voltage range 10 V Common mode voltage range Referenced to GND 12 0 10 50 V Differential 40 Input impedance KQ Common mode referenced to GND 20 Resolution 12 bits Integral linearity 0 036 FS Offset error Common mode voltage 0 10 V 0 2 0 5 FS Gain error Common mode voltage 0 10 V 10 12 FS Bandwidth 3dB Depending on software settings 1 5 kHz 2 5 19 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 Technosoft 2010 20 IDM680 ET Technical Reference 2 5 20 EtherCAT Min Typ Max Units Standards compliance IEEE802 3 IEC61158 Transmission line specification According to TIA EIA 568 5 A Cat 5e UTP J5 J6 pinout EtherCAT supports MDI MDI X auto crossover TIA EIA 568 A or TIA EIA 568 B Software protocols compatibility CoE CiA402 IEC61800 7 301 Node addressing Using DIP switch SW1 1 63 255 MAC addressi
105. rential 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 b Keep the ground connection between an encoder and the IDM680 8EI ET 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 c 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 ET using the earth shield pin s or the encoder motor Do not connect the shield at both ends d If the IDM680 ET 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 uF rated at 6 3V Technosoft 2010 46 IDM680 ET Technical Reference 3 3 5 Feedback J13 Connector IDM680 8LI ET Table 3 5 LI Feedback Pinout Name on the Function Comments Drive cov
106. 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 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 2x7 Load Jerk SI No bits resolution 7 73 x Motor _ Jerk 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 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 2010 106 IDM680 ET Technical Reference 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
107. rmal sensor 7 Z1 Positive Z for differential encoder or Z for single ended encoder 8 Z1 Negative Z for differential encoder 9 H2 Positive Hall 2 for differential Hall or Hall 2 for single ended Hall gl 10 H2 Negative Hall 2 for differential Hall 11 A1 Negative A for differential encoder 12 B1 Negative B for differential encoder 13 GND Ground of the encoder supply 14 H3 CK Negative Hall 3 input for differential Hall Ea Negative Clock output signal for differential SSI encoder 15 H1 DT Negative Hall 1 for differential Hall Negative Data signal for differential SSI encoder case 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 BE HANDLED ONLY IN AN ESD PROTECTED ENVIRONMENT Technosoft 2010 41 IDM680 ET Technical Reference J13 Feedback Connector IDM680 8EI ET Single ended open collector encoders DSP Controller d Connected to case IDM680 8EI E J13 Feedback Connector Single ended open collector Hall 3x 1K H1 DT H3 CK SHIELD vy DSP Controller Connected 3 3V to case Figure 3 19 J13 Single ended open collector encoder and Hall connection Technosoft 2010 42 IDM680 ET Technical
108. rt circuit protection threshold 26 25 29 A Short circuit protection delay 12 15 uS On state voltage drop Output current 8 A 1100 250 600 mV Off state leakage current 1 0 1 1 mA Fpwu 20 kHz Vuor 12 V 50 uH Motor inductance Fpwm 20 kHz Vmor 48 V 200 uH Fpwm 20 kHz Vuor 80 V 400 uH 2 5 9 24 V Digital Inputs opto isolated All voltages referenced to OVpic Min Typ Max Units Logic LOW 5 0 1 2 Input voltage Logic HIGH 8 24 30 V Absolute maximum surge duration lt 1s T 30 80 input curent Logic HIGH 2 5 10 15 E Logic LOW 0 0 2 Input frequency 0 5 kHz DR i Pulse LOW HIGH LOW 10 us Minimum pulse width Pulse HIGH LOW HIGH 100 us 2 5 10 Pulse Direction Master Encoder Inputs Min Typ Max Units Single Ended mode compliance IN Leave IN disconnected TTL CMOS open collector IN Leave IN disconnected 24V referenced to GND Both IN IN driven for full RS 422 Differential Mode Compliance compliance see 1 TIA EIA 422 Input voltage IN Logic LOW 7 0 1 2 V IN Logic HIGH 1 8 5 12 IN Logic LOW 7 0 4 6 IN Logic HIGH 5 4 24 30 Technosoft 2010 IDM680 ET Technical Reference 16 Absolute maximum surge duration lt 1s 12 32 Differen
109. rushed 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 2x7 Motor _ Position SI x Motor Position IU No ustepsxNo steps where S SI units for motor position are rad for a rotary motor m for a linear motor Technosoft 2010 113 IDM680 ET Technical Reference No steps is the number of motor steps per revolution No steps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from EasySetUp 6 12 9 Stepper motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 12 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 27 Motor Position U 4x No 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
110. s rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is 2 SI units for jerk are rad s for a rotary movement m s for a linear movement Technosoft 2010 107 IDM680 ET Technical Reference Load_Jerk SI E Load _ JerkIU 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 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 2No _ bits _ resolution BE Load _ Jerk SI 5 xLoad Jerk IU 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 SE xMotor JerkllU No_ustepsxNo_ steps x Tr xT where No steps is the number of motor steps per revolution
111. s 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 32 SI units for acceleration are rad s for rotary movement m s for linear movement O Technosoft 2010 104 IDM680 ET Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 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 SI ext x Motor _ Acceleration IU 4x No encoder _linesx Tr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 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 encod
112. splacement of f rot X C Rotary to linear corresponds on load to Poa A Online AxisID 255 IDM680 8E1 Firmware F5008 SetupID 0564 Z I 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 is copied into the drive motor RAM memory which is used during runtime It is also possible to Save Save the setup data on your PC and use it in other applications Technosoft 2010 77 IDM680 ET Technical Reference 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
113. tact with insulating materials such as synthetic fabrics or plastic surfaces In order to discharge static electricity build up place the drive on a grounded conductive surface and also ground yourself Technosoft 2010 2 IDM680 ET Technical Reference 2 Product Overview 2 1 Introduction The IDM680 ET 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 EtherCAT communication interface Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the IDM680 ET drives accept as position feedback incremental encoders quadrature or sine cosine absolute encoders SSI for brushless AC or 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 ET drives combine controller drive and PLC functionality in a single compact unit and are capable to execute complex motions programmed in their intemal EEPROM memory Using the high level Technosoft Motion Language TML the following operations can be executed directly at drive level O Setting various motion modes profiles PVT PT electronic gearing or camming etc O C
114. teps 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 loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is 2x7 Load Speedfrad s E x Load SpeedflU 4xNo_ encoder _linesx T where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m SI units for speed are rad s for a rotary movement m s for a linear movement Technosoft 2010 99 IDM680 ET Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 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 Sl units is Load Speed S SE x Motor Speed IU 4xNo_encoder_linesxTrxT where No e
115. the right information If the checksum reported by the drive doesn t match with that computed from the sw file the EtherCAT master can download the entire sw file into the drive EEPROM using the communication objects for writing data into the drive EEPROM 5 2 Using the built in Motion Controller and TML One of the key advantages of the Technosoft drives is their capability to execute complex motions without requiring an external motion controller This is possible because Technosoft drives offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 Technosoft Motion Language Overview Programming motion directly on a Technosoft drive requires to create and download a TML Technosoft Motion Language program into the drive memory The TML allows you to Technosoft 2010 82 IDM680 ET Technical Reference e Set various motion modes profiles PVT PT electronic gearing or camming etc e Change the motion modes and or the motion parameters e Execute homing sequences e Control the program flow through Conditional jumps and calls of TML functions TML interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur e Handle digital UO and analogue input signals e Execute arithmetic and logic operations In order to program a motion using TML you need EasyMotion Studio s
116. tial input hysteresis 0 1 0 2 0 4 Common mode range differential input 42 7 12 30 mode IN 1 Input impedance IN 0 77 kQ Differential impedance 1 5 Single ended mode 0 1 MHz Input frequency Differential mode 0 10 MHz ESD protection Human body model 2 kV 2 5 11 24 V Digital Outputs opto isolated All voltages referenced to OVpic Min Typ Max Units Logic HIGH 24Vpic 24 Voc 22 23 24 5 Output voltage External load 33002 V t Absolute maximum surge duration lt 1s 0 5 35 Logic HIGH 24VpLc Vout lt 2 V all rs 80 mA outputs except OUT5 RD and OUT4 ER Logic HIGH 24VpLc Vout lt 2 V er 160 mA Output current outputs OUT5 RD and OUT4 IER Logic LOW leakage crt 0 05 0 2 mA t Absolute maximum surge duration lt 1s 350 350 mA Short circuit protection to OVpic Guaranteed 2 5 1 2 Linear Hall Applicable to IDM680 8LI ET Min Typ Max Units Linear Hall Voltage excursion 4 4 5 Vpp Linear Hall Input voltage 0 25 SH 4 75 v Input impedance 4 7 kQ Technosoft 2010 17 IDM680 ET Technical Reference 2 5 13 SinCos Interface Applicable to IDM680 8LI ET Min Typ Max Units SinCos interpolation 0 450 KHz Input frequenc H q y Quadrature no 0 10 MHZ interpolation Differential 0 8 1 1 2 Vpp Sin Cos Input voltage Common mode referenced to GN
117. ting with with PWM frequency CAUTION For PWM frequencies less than 20kHz correlate the PWM frequency with the motor parameters in order to avoid possible motor damage nom the nominal current 13 Stand alone operation vertical mounting 14 Fixed on metallic surface vertical mounting Temperature is measured at the contact area between the IDM680 and the heat sink Technosoft 2010 22 IDM680 ET Technical Reference Vour Maer 92 75 0 20 75 f kHz 0 20 75 f kHz Figure 2 24 Output Voltage De rating with PWM Figure 2 25 Power De rating with PWM frequency frequency t s IDM680 8xl 80 lou 8 A luax 16 5 A Pt 3000 As tx 11s 60 40 H 4 lou 8A 12 Inax 16 5A A Figure 2 26 Over current Ft diagram 18 Vour the output voltage Vuen the motor supply voltage 16 Piom the nominal power O Technosoft 2010 23 IDM680 ET Technical Reference 3 Step 1 Hardware Installation 3 1 Cooling Requirements The IDM680 drive was designed to be cooled by natural convection It can be mounted vertically inside a cabinet see Figure 3 1 with motor wires going down H ER oo Sos ogo 06 96 25 oan 562 05 Soo 090 26e 083 208 lt Ds Do OO L D _ gt pH LO
118. tion torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Ju and the load inertia J will be replaced by the motor mass and the load mass measured in kg the angular speed Wy will become linear speed measured in m s and the friction torque Tp will become friction force measured in N Remark If the above computation of Em 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 Rsr 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 Ugrake 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 Ey 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 U R a MAX IPEAK 2 to sustain the required braking power O Technosoft 2010 39 IDM680 ET Technical Reference 1 2 2 Em gt C UMax Ubrake PBR td where C Cer Corive is the overall capacitance on the motor supply external drive i e 2 U Rap lt BRAKE 2x PBR 3 to limit the average current be
119. to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the TML Program Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 Technosoft 2010 89 IDM680 ET Technical Reference 5 3 Combining CoE with TML Due to its embedded motion controller an IDM680 ET offers many programming solutions that may simplify a lot the task of a EtherCAT master This paragraph overviews a set of advanced programming features which arise when combining TML programming at drive level with EtherCAT master control A detailed description of these advanced programming features is included in the EtherCAT Programming part no P091 064 UM xxxx manual All features presented below require usage of EasyMotion Studio as TML programming tool Remark If you dont use the advanced features presented below you don t need EasyMotion Studio In this case the IDM680 ET is treated like a standard EtherCAT 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 be
120. tor speed units are A D converter bits The correspondence with the motor speed in Sl units is Analogue Input Range 4096 x Tacho gain Motor Speed SI x Motor Speed IU Where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 13 8 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speed SI A 4096 x Tacho _ gain x Motor _ Speed IU where Analogue Input Range is the range of the drive analogue input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho_gain is the tachometer gain expressed in V rad s 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 2x7 Motor _ Speed SI x Motor _Speed lU No _usteps x No _ steps x T where No steps is the number of motor steps per revolution No steps is the number of microsteps per step You can read change this value in the Drive Setup d
121. tween an EtherCAT master and the drives in complex multi axis applications Instead of trying to command each step of an axis movement you can program the drives using TML to execute complex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling TML functions with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the TML functions execution 5 3 2 Executing TML programs The distributed control concept can go on step further You may prepare and download into a drive a complete TML program including functions homing procedures etc The TML program execution can be started by simply writing a value in a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in EasyMotion Studio Apart from the standard modes of operation of CiA 402 the IDM680 ET 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 EE
122. 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 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 2XT Motor _ Speed SI No bits resolution 7 x Motor _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 Ke SI units for motor speed are rad s for a rotary motor m s for a linear motor Technosoft 2010 115 IDM680 ET Technical Reference 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 S 2 T Motor Speed IU resolution x T 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 o
123. upts is similar with that for the homing modes 6 Scaling Factors Technosoft drives work with parameters and variables represented in the drive internal units IU These correspond to various signal types position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor This chapter presents the drive internal units and their relation with the international standard units Sl In order to easily identify them each internal unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in Sl units is 2x7 For rotary motors Load Position SI x Motor _ Position IU 4x No encoder _linesx Tr Encoder _ For linear motors Load Position SI E x Motor _ Position IU r where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses E Tr transmission ratio between the motor displacement in SI units and load displacement in Sl units 6 1 2 Brushless motor with sine cosine encoder on motor The internal position units are interpolated encoder counts The corresponden
124. ushless DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in Sl units is For rotary motors Motor _ Position SI xn x Motor _ Position IU 4x No encoder lines 85 units for motor position are rad for a rotary motor m for a linear motor Technosoft 2010 111 IDM680 ET Technical Reference For linear motors Motor _ Position SI Encoder _ accuracy x Motor _ Position IU where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses 6 12 2 Brushless motor with sine cosine encoder on motor The internal motor position units are interpolated encoder counts The correspondence with the motor position in SI units is For rotary motors Motor _ Position S1 2 T Motor _ Position IU 4xEnc _ periods x Interpolation For linear motors Encoder accuracy Motor Position IU Motor _ Position SI 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 m for one sine cosine period 6 12 3 Brushless motor with absolute SSI BiSS encoder on motor
125. ut 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 l when external reference is Pulse amp Direction e 24V General purpose input In 0 Read low 0 logic when 24VPLC are applied on INO B2 D pin e Compatible RS 422 and 24V single ended 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 e Compatible RS 422 and 24V single ended e 24V General purpose input In 3 Read high 1 logic 6 IN3 IN 3 I when 24VPLC are applied on IN3 pin e Opto isolated e 24V Positive limit switch input On active level stops motion in positive direction e

IDM680 Intelligent Drive with EtherCAT - User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents