Technosoft IPOS4808 VX Manuel d'utilisation et d'entretien

iPOS4808 VX

Intelligent Servo Drive for

Step, DC, Brushless DC and

AC Motors

Intelligent Servo Drive

Technical

Reference

Technosoft 2018

TECHNOSOFT

iPOS4808 VX

Technical Reference

P091.027.iPOS4808.VX.UM.0818

Technosoft S.A.

Avenue des Alpes 20

CH-2000 NEUCHATEL

Switzerland

Tel.: +41 (0) 32 732 5500

Fax: +41 (0) 32 732 5504

e-mail: contact@technosoftmotion.com

http://www.technosoftmotion.com/

Technosoft 2018 III iPOS4808 VX 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.

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 iPOS4808 VX family of intelligent servo drives,

including the following product:

iPOS4808 VX-CAN (p/n P027.014.E001)

In order to operate the iPOS4808 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 master1

The drive’s 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

This manual covers Step 1 in detail. It describes the iPOS4808 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:

•iPOS4808– all products described in this manual

•IU units –Internal units of the drive

•SI units –International standard units (meter for length, seconds for time, etc.)

•TML – Technosoft Motion Language

•TMLCAN – Technosoft protocol for exchanging TML commands via CAN-bus

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

1when iPOS480x is set in CANopen mode

Technosoft 2018 IV iPOS4808 VX Technical Reference

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 can be downloaded free of charge from

Technosoft web page

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

the iPOS family of intelligent drives using CANopen protocol and describes the associated

object dictionary for CiA 301 v.4.2 application layer and communication profile and CiA

DSP 402 v3.0 device profile for drives and motion control now included in IEC 61800-7-1

Annex A, IEC 61800-7-201 and IEC 61800-7-301 standards

Motion Programming using EasyMotion Studio (part no. P091.034.ESM.UM.xxxx) –

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).

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 in a PLC Omron

series CJ1 a motion application for the Technosoft intelligent drives using TML_LIB_CJ1

motion control library for PLCs. The TML_LIB_CJ1 library is IEC61131-3 compatible.

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

series X20 a motion application for the Technosoft intelligent drives using TML_LIB_X20

motion control library for PLCs. 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

IO-iPOS4808 (part no. P091.027.IO-iPOS4808.UM.xxxx) – describes the IO iPOS4808 I/O

extension board included in the iPOS4808Starter Kits.

Technosoft 2018 V iPOS4808 VX Technical Reference

If you Need Assistance …

If you want to …

Contact Technosoft at …

Visit Technosoft online

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

Receive general information

or assistance (see Note)

Ask questions about

product operation or report

suspected problems

(see Note)

Make suggestions about,

or report errors in

documentation (see Note)

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

Email: contact@technosoftmotion.com

Fax: (41) 32 732 55 04

Email: hotline@technosoftmotion.com

Mail: Technosoft SA

Avenue des Alpes 20

CH-2000, Neuchatel

Switzerland

Technosoft 2018 VI iPOS4808 VX Technical Reference

Contents

Read This First ...................................................................................................III

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

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

1.2. Cautions......................................................................................................1

1.3. Quality system, conformance and certifications ..........................................2

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

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

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

2.3. Supported Motor-Sensor Configurations.....................................................6

2.4. iPOS4808 VX Drive Dimensions.................................................................6

2.5. Electrical Specifications...............................................................................7

Operating Conditions.........................................................................................7

Storage Conditions............................................................................................7

Mechanical Mounting.........................................................................................7

Environmental Characteristics ...........................................................................8

Logic Supply Input (+VLOG).................................................................................8

Motor Supply Input (+VMOT)................................................................................8

Motor Outputs (A/A+, B/A-, C/B+, BR/B-)...........................................................9

Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable, IN5, IN6, IN7) .............9

Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT5)..................10

Digital Hall Inputs (Hall1, Hall2, Hall3) ..........................................................10

Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-)...............................................11

Linear Hall Inputs (LH1, LH2, LH3)...............................................................11

Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) .........................................12

Analog 0…5V Inputs (REF, FDBK)...............................................................12

Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2)................................................12

RS-232.........................................................................................................12

CAN-Bus ......................................................................................................13

Supply Output (+5V).....................................................................................13

iPOS4808 de-rating curves...........................................................................14

3. Step 1. Hardware Installation ..................................................................15

3.1. Mechanical Mounting ................................................................................15

Vertical Mounting.............................................................................................15

Horizontal Mounting.........................................................................................16

3.2. Motherboard PCB Design..........................................................................18

3.3. Mating Connector......................................................................................20

3.4. Connector and Connection Diagrams .......................................................20

Connector Layout ............................................................................................20

Identification Labels.........................................................................................21

J1 Connector pinout (A Side)...........................................................................22

J1 Connector pinout (B Side)...........................................................................22

Technosoft 2018 VII iPOS4808 VX Technical Reference

Operation Mode and Axis ID Selection ............................................................24

24V Digital I/O Connection...............................................................................32

5V Digital I/O Connection.................................................................................33

Analog Inputs Connection................................................................................34

Motor connections ...........................................................................................35

Feedback connections..................................................................................37

Power Supply Connection ............................................................................40

Serial RS-232 connection.............................................................................42

CAN-bus connection.....................................................................................43

Removal from Autorun Mode........................................................................44

4. Step 2. Drive Setup...................................................................................45

4.1. Installing EasySetUp.................................................................................45

4.2. Getting Started with EasySetUp................................................................45

Establish communication.................................................................................46

Setup drive/motor ............................................................................................47

Download setup data to drive/motor.................................................................48

Evaluate drive/motor behavior (optional)..........................................................48

4.3. Changing the drive Axis ID........................................................................49

4.4. Setting CANbus rate..................................................................................51

4.5. Creating an Image File with the Setup Data..............................................52

5. Step 3. Motion Programming...................................................................53

5.1. Using a CANopen Master (for iPOS4808 CANopen execution)................53

CiA-301 Application Layer and Communication Profile Overview ....................53

CiA-402 and Manufacturer Specific Device Profile Overview...........................54

TechnoCAN Extension.....................................................................................54

Checking Setup Data Consistency...................................................................54

5.2. Using the built-in Motion Controller and TML ............................................54

Technosoft Motion Language Overview...........................................................54

Installing EasyMotion Studio............................................................................55

Getting Started with EasyMotion Studio...........................................................55

Creating an Image File with the Setup Data and the TML Program..................60

5.3. Combining CANopen /or other host with TML...........................................60

Using TML Functions to Split Motion between Master and Drives....................61

Executing TML programs.................................................................................61

Loading Automatically Cam Tables Defined in EasyMotion Studio ..................61

Customizing the Homing Procedures...............................................................61

Customizing the Drive Reaction to Fault Conditions ........................................62

5.4. Using Motion Libraries for PC-based Systems..........................................62

5.5. Using Motion Libraries for PLC-based Systems........................................62

6. Scaling factors..........................................................................................63

6.1. Position units.............................................................................................63

Brushless / DC brushed motor with quadrature encoder on motor...................63

Brushless motor with linear Hall signals...........................................................63

Technosoft 2018 VIII iPOS4808 VX Technical Reference

DC brushed motor with quadrature encoder on load and tacho on motor.........64

Step motor open-loop control. No feedback device..........................................64

Step motor open-loop control. Incremental encoder on load............................65

Brushless motor with sine/cosine encoder on motor ........................................65

6.2. Speed units ...............................................................................................65

Brushless / DC brushed motor with quadrature encoder on motor...................65

Brushless motor with linear Hall signals...........................................................66

DC brushed motor with quadrature encoder on load and tacho on motor.........66

DC brushed motor with tacho on motor............................................................67

Step motor open-loop control. No feedback device..........................................67

Step motor closed-loop control. Incremental encoder on motor .......................68

Brushless motor with sine/cosine encoder on motor ........................................68

6.3. Acceleration units......................................................................................68

Brushless / DC brushed motor with quadrature encoder on motor...................68

Brushless motor with linear Hall signals...........................................................69

DC brushed motor with quadrature encoder on load and tacho on motor.........69

Step motor open-loop control. No feedback device..........................................70

Step motor open-loop control. Incremental encoder on load............................70

Step motor closed-loop control. Incremental encoder on motor .......................71

Brushless motor with sine/cosine encoder on motor ........................................71

6.4. Jerk units...................................................................................................71

Brushless / DC brushed motor with quadrature encoder on motor...................71

Brushless motor with linear Hall signals...........................................................72

DC brushed motor with quadrature encoder on load and tacho on motor.........72

Step motor open-loop control. No feedback device..........................................72

Step motor open-loop control. Incremental encoder on load............................73

Step motor closed-loop control. Incremental encoder on motor .......................73

Brushless motor with sine/cosine encoder on motor ........................................73

6.5. Current units..............................................................................................74

6.6. Voltage command units.............................................................................74

6.7. Voltage measurement units.......................................................................75

6.8. Time units..................................................................................................75

6.9. Master position units .................................................................................75

6.10. Master speed units....................................................................................75

6.11. Motor position units...................................................................................75

Brushless / DC brushed motor with quadrature encoder on motor................75

Brushless motor with linear Hall signals........................................................76

DC brushed motor with quadrature encoder on load and tacho on motor .....76

Step motor open-loop control. No feedback device.......................................76

Step motor open-loop control. Incremental encoder on load.........................76

Step motor closed-loop control. Incremental encoder on motor....................76

Brushless motor with sine/cosine encoder on motor.....................................77

6.12. Motor speed units......................................................................................77

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

Brushless motor with linear Hall signals........................................................77

DC brushed motor with quadrature encoder on load and tacho on motor .....78

Technosoft 2018 IX iPOS4808 VX Technical Reference

DC brushed motor with tacho on motor ........................................................78

Step motor open-loop control. No feedback device or incremental encoder on

load 78

Step motor closed-loop control. Incremental encoder on motor....................79

Brushless motor with sine/cosine encoder on motor.....................................79

7. Memory Map .............................................................................................80

Technosoft 2018 1 iPOS4808 VX 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, set up, operate and maintain the drive. A “qualified person”

has the knowledge and authorization to perform tasks such as transporting, assembling, install-ing,

commissioning and operating drives.

The following safety symbols are used in this manual:

WARNING! SIGNALS A DANGER THAT MIGHT CAUSE BODILY

INJURY TO THE OPERATOR. 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!

INDICATES AREAS SENSITIVE TO ELECTROSTATIC

DIS-CHARGES (ESD), WHICH REQUIRE HANDLING IN

AN ESD PROTECTED ENVIRONMENT

1.1. Warnings

WARNING! TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER

PLUG / UNPLUG THE iPOS4808 FROM I

T’S SOCKET

WHILE THE POWER SUPPLIES ARE ON !

WARNING!

THE DRIVE MAY HAVE HOT SURFACES DURING

OPERATION.

WARNING!

DURING DRIVE OPERATION, THE CONTROLLED

MOTOR WILL MOVE. KEEP AWAY FROM ALL MOVING

PARTS TO AVOID INJURY

1.2. Cautions

CAUTION! THE POWER SUPPLIES CONNECTED TO THE DRIV

MUST COMPLY WITH THE PARAMETERS SPECIFIED IN

THIS DOCUMENT

CAUTION! TROUBLESHOOTING AND SERVICING ARE

PERMITTED ONLY FOR PERSONNEL AUTHORISED BY

TECHNOSOFT

CAUTION!

THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE

DEVICE, WHICH WILL BE DAMAGED BY INCORRECT

HANDLING. THEREFORE THE DRI

VE SHALL BE

REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN

ESD PROTECTED ENVIRONMENT !

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