Technosoft IDM240-5EI Manual de uso y cuidado

IDM240-5EI

IDM640-8EI

Intelligent

Servo Drive

Intelligent Drives

Technical

Reference

©Technosoft 2011

TECHNOSOFT

IDM240-5EI

IDM640-8EI

Technical Reference

P091.048.051.IDM.UM.0711

Technosoft S.A.

Avenue des Alpes 20

CH-2000 NEUCHATEL

Switzerland

Tel.: +41 (0) 32 732 5500

Fax: +41 (0) 32 732 5504

[email protected]

www.technosoftmotion.com

IDMx40 Technical Reference

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.

form or by any means, electrical or mechanical including photocopying, recording or by any

information-retrieval system without permission in writing from Technosoft S.A.

The information in this document is subject to change without notice.

About This Manual

This book is a technical reference manual for the IDMx40 family of intelligent servo drives,

including the following products:

IDM240-5EI (p/n P051.001.E002) - Universal Drive for Brushless, DC and step motors.

IDM640-8EI (p/n P048.001.E101) -Universal Drive for Brushless, DC and step motors. Standard

execution using Technosoft TMLCAN protocol on CANbus

IDM640-8EI, CANopen (BL) (p/n P048.001.E111) - Servo Drive for Brushless and DC motors

using CANopen protocol on CANbus

IDM640-8EI, CANopen (ST) (p/n P048.001.E112) - Servo Drive for Step motors using CANopen

protocol on CANbus

In order to operate the IDMx40 drives, you need to pass through 3 steps:

Step 1 Hardware installation

Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning

Step 3 Motion programming using one of the options:

A CANopen master

The drive built-in motion controller executing a Technosoft Motion Language (TML)

program developed using Technosoft EasyMotion Studio software

A TML_LIB motion library for PCs (Windows or Linux)

A TML_LIB motion library for PLCs

A distributed control approach which combines the above options, like for example

a host calling motion functions programmed on the drives in TML

IDMx40 Technical Reference

This manual covers Step 1 in detail. It describes the IDMx40 hardware including the technical

data, the connectors and the wiring diagrams needed for installation. The manual also presents

an overview of the following steps, and includes the scaling factors between the real SI units and

the drive internal units. For detailed information regarding the next steps, refer to the related

documentation.

Notational 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

IDMx40 – all products described in this manual

IDM640 CANopen – the CANopen execution from IDM family

IDMx40 CAN – IDM240 CAN and IDM640 CAN standard executions

Related Documentation

Help of the EasySetUp software –describes how to use EasySetUp to quickly setup

any Technosoft drive for your application using only 2 dialogues. The output of

EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or

saved on a PC file. At power-on, the drive is initialized with the setup data read from

its EEPROM. With EasySetUp it is also possible to retrieve the complete setup

information from a drive previously programmed. EasySetUp includes a firmware

programmer with allows you to update your drive firmware to the latest revision.

EasySetUp can be downloaded free of charge from Technosoft web page

CANopen Programming (part no. P091.063.UM.xxxx) – explains how to program the

Technosoft intelligent drives using CANopen protocol and describes the associated

object dictionary for the DS-301 communication profile and the DSP-402 device

profile

Help of the EasyMotion Studio software –describes how to use the EasyMotion Studio

to create motion programs using in Technosoft Motion Language (TML). EasyMotion

Studio platform includes EasySetUp for the drive/motor setup, and a Motion

Wizard for the motion programming. The Motion Wizard provides a simple,

graphical way of creating motion programs and automatically generates all the TML

instructions. With EasyMotion Studio you can fully benefit from a key advantage of

Technosoft drives – their capability to execute complex motions without requiring an

external motion controller, thanks to their built-in motion controller. A demo version

of EasyMotion Studio (with EasySetUp part fully functional) can be

downloaded free of charge from Technosoft web page

TML_LIB v2.0 (part no. P091.040.v20.UM.xxxx) – explains how to program in C,

C++,C#, Visual Basic or Delphi Pascal a motion application for the Technosoft

intelligent drives using TML_LIB v2.0 motion control library for PCs. The TML_lib

includes ready-to-run examples that can be executed on Windows or Linux (x86

and x64).

IDMx40 Technical Reference

TML_LIB_LabVIEW v2.0 (part no. P091.040.LABVIEW.v20.UM.xxxx) – explains how to

program in LabVIEW a motion application for the Technosoft intelligent drives using

TML_LIB_Labview v2.0 motion control library for PCs. The TML_Lib_LabVIEW

includes over 40 ready-to-run examples.

TML_LIB_S7 (part no. P091.040.S7.UM.xxxx) – explains how to program in a PLC

Siemens series S7-300 or S7-400 a motion application for the Technosoft

intelligent drives using TML_LIB_S7 motion control library. The TML_LIB_S7 library

is IEC61131-3 compatible.

TML_LIB_CJ1 (part no. P091.040.CJ1.UM.xxxx) – explains how to program a PLC

Omron series CJ1 a motion application for the Technosoft intelligent drives using

TML_LIB_CJ1 motion control library. The TML_LIB_CJ1 library is IEC61131-3

compatible.

TML_LIB_X20 (part no. P091.040.X20.UM.xxxx) – explains how to program a PLC B&R

series X20 a motion application for the Technosoft intelligent drives using

TML_LIB_X20 motion control library. The TML_LIB_X20 library is IEC61131-3

compatible.

TechnoCAN (part no. P091.063.TechnoCAN.UM.xxxx) – presents TechnoCAN protocol

– an extension of the CANopen communication profile used for TML commands

If you Need Assistance …

If you want to … Contact Technosoft at …

Visit Technosoft online

World Wide Web: http://www.technosoftmotion.com/

Receive general information

or assistance

Ask questions about product

operation or report suspected

problems

Make suggestions about,

or report errors in

documentation

World Wide Web: http://www.technosoftmotion.com/

Email: [email protected]

Fax: (41) 32 732 55 04

Email: [email protected]

Mail: Technosoft SA

Buchaux 38

CH-2022 Bevaix, NE

Switzerland

IDMx40 Technical Reference

Contents

Read This First .....................................................................................................I

1. Safety information......................................................................................1

1.1. Warnings ................................................................................................ 1

1.2. Cautions .................................................................................................2

2. Product Overview.......................................................................................3

2.1. Introduction............................................................................................. 3

2.2. Key Features .......................................................................................... 4

2.3. Supported Motor-Sensor Configurations ................................................ 5

2.4. IDMx40 Dimensions ............................................................................... 9

2.5. Electrical Specifications........................................................................ 10

3. Step 1. Hardware Installation ..................................................................19

3.1. Mounting............................................................................................... 19

3.2. Connectors and Connection Diagrams................................................. 21

3.2.1. Connectors Layout ....................................................................................... 21

3.2.2. Identification Labels ..................................................................................... 22

3.2.3. Motor & Supply – J2 Connector ................................................................... 23

3.2.4. Feedback – J13A Connector ....................................................................... 33

3.2.5. Analog & Digital I/O – J9 Connector ........................................................... 42

3.2.6. Serial Communication – J4 Connector......................................................... 47

3.2.7. CAN Communication – J10 Connector ........................................................ 50

3.2.8. Connectors Type and Mating Connectors.................................................... 53

3.3. DIP-Switch Settings.............................................................................. 53

3.4. LED Indicators...................................................................................... 56

3.5. First Power-Up ..................................................................................... 56

4. Step 2. Drive Setup...................................................................................57

4.1. Installing EasySetUp ............................................................................ 57

IDMx40 Technical Reference

4.2. Getting Started with EasySetUp........................................................... 57

4.2.1. Establish communication ............................................................................. 58

4.2.2. Setup drive/motor......................................................................................... 59

4.2.3. Download setup data to drive/motor ............................................................ 61

4.2.4. Evaluate drive/motor behaviour (optional) ................................................... 61

4.3. Changing the drive Axis ID................................................................... 61

4.4. Setting CANbus rate............................................................................. 62

4.5. Creating an Image File with the Setup Data......................................... 63

5. Step 3. Motion Programming ..................................................................64

5.1. Using a CANopen Master (for IDM640 CANopen execution)............... 64

5.1.1. DS-301 Communication Profile Overview.................................................... 64

5.1.2. TechnoCAN Extension (for IDMx40 CAN executions) ................................. 65

5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview..................... 65

5.1.4. Checking Setup Data Consistency .............................................................. 66

5.2. Using the built-in Motion Controller and TML ....................................... 66

5.2.1. Technosoft Motion Language Overview ...................................................... 66

5.2.2. Installing EasyMotion Studio........................................................................ 67

5.2.3. Getting Started with EasyMotion Studio ...................................................... 67

5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 73

5.3. Combining CANopen /or other host with TML ...................................... 74

5.3.1. Using TML Functions to Split Motion between Master and Drives............... 74

5.3.2. Executing TML programs............................................................................. 74

5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 74

5.3.4. Customizing the Homing Procedures (for IDMx40 CAN executions)........... 75

5.3.5. Customizing the Drive Reaction to Fault Conditions (for IDMx40 CAN

executions)................................................................................................................ 75

5.4. Using Motion Libraries for PC-based Systems..................................... 76

5.5. Using Motion Libraries for PLC-based Systems................................... 76

6. Scaling Factors ........................................................................................77

6.1. Position units........................................................................................ 77

6.1.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 77

6.1.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 77

6.1.3. Stepper motor open-loop control. No feedback device................................ 78

IDMx40 Technical Reference

6.1.4. Stepper motor closed-loop control. Incremental encoder on motor ............. 78

6.1.5. Stepper motor open-loop control. Incremental encoder on load.................. 78

6.2. Speed units .......................................................................................... 79

6.2.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 79

6.2.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 79

6.2.3. DC brushed motor with tacho on motor ....................................................... 79

6.2.4. Stepper motor open-loop control. No feedback device................................ 80

6.2.5. Stepper motor open-loop control. Incremental encoder on load.................. 80

6.2.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 81

6.3. Acceleration units ................................................................................. 81

6.3.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 81

6.3.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 82

6.3.3. DC brushed motor with tacho on motor ....................................................... 82

6.3.4. Stepper motor open-loop control. No feedback device................................ 82

6.3.5. Stepper motor open-loop control. Incremental encoder on load.................. 83

6.3.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 83

6.4. Jerk units .............................................................................................. 84

6.4.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 84

6.4.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 84

6.4.3. Stepper motor open-loop control. No feedback device................................ 85

6.4.4. Stepper motor open-loop control. Incremental encoder on load.................. 85

6.4.5. Stepper motor closed-loop control. Incremental encoder on motor ............. 86

6.5. Current units......................................................................................... 86

6.6. Voltage command units ........................................................................ 86

6.7. Voltage measurement units.................................................................. 87

6.8. Time units............................................................................................. 87

6.9. Drive temperature units ........................................................................ 87

6.10. Master position units ............................................................................ 87

6.11. Master speed units ............................................................................... 88

6.12. Motor position units .............................................................................. 88

6.12.1. Brushless / DC brushed motor with quadrature encoder on motor........... 88

6.12.2. DC brushed motor with quadrature encoder on load and tacho on motor 88

6.12.3. Stepper motor open-loop control. No feedback device............................. 89

6.12.4. Stepper motor open-loop control. Incremental encoder on load............... 89

6.12.5. Stepper motor closed-loop control. Incremental encoder on motor.......... 89

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