Technosoft PIM2401 Manuale per l'uso e la cura

PIM2401

Intelligent Servo Drive for

Step, DC, Brushless DC and

AC Motors

Intelligent Servo Drive

Technical

Reference

©Technosoft 2007

TECHNOSOFT

PIM2401

Technical Reference

P091.035.PIM2401.UM.1107

Technosoft S.A.

Buchaux 38

CH-2022 Bevaix, NE

Switzerland

Tel.: +41 (0) 32 732 5500

Fax: +41 (0) 32 732 5504

e-mail: [email protected]

http://www.technosoftmotion.com/

©Technosoft 2007 III PIM2401 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 PIM2401 family of intelligent servo drives,

including the following products:

PIM2401 (p/n P035.001.E102) - Universal Drive for Brushless, DC and step motors. Standard

execution using Technosoft TMLCAN protocol on CANbus

PIM2401 CANopen (BL) (p/n P035.001.E112) - Servo Drive for Brushless and DC motors using

CANopen protocol on CANbus

PIM2401 CANopen (ST) (p/n P035.001.E113) - Stepper Drive using CANopen protocol on

CANbus

In order to operate the PIM2401 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 (for the PIM2401 CANopen version)

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

This manual covers Step 1 in detail. It describes the PIM2401 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

©Technosoft 2007 IV PIM2401 Technical Reference

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

•PIM2401 – all products described in this manual

•PIM2401 CANopen – the CANopen execution from the PIM2401 family

•PIM2401 CAN – the standard CAN execution

Related Documentation

MotionChip™ II TML Programming (part no. P091.055.MCII.TML.UM.xxxx) describes in

detail TML basic concepts, motion programming, functional description of TML

instructions for high level or low level motion programming, communication channels

and protocols. Also give a detailed description of each TML instruction including

syntax, binary code and examples.

MotionChip II Configuration Setup (part no. P091.055.MCII.STP.UM.xxxx)

describes the MotionChip II operation and how to setup its registers and parameters

starting from the user application data. This is a technical reference manual for all the

MotionChip II registers, parameters and variables.

Help of the 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 2007 V PIM2401 Technical Reference

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 a PLC

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

TML_LIB_CJ1 motion control library for PCs. The TML_LIB_CJ1 library is

IEC61131-3 compatible.

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

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

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: [email protected]

Fax: (41) 32 732 55 04

Email: [email protected]

Mail: Technosoft SA

Buchaux 38

CH-2022 Bevaix, NE

Switzerland

©Technosoft 2007 VI PIM2401 Technical Reference

©Technosoft 2007 VII PIM2401 Technical Reference

Contents

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

1. Safety information......................................................................................3

1.1. Warnings ................................................................................................ 3

1.2. Cautions ................................................................................................. 4

2. Product Overview.......................................................................................4

2.1. Introduction............................................................................................. 4

2.2. Key Features .......................................................................................... 6

2.3. Supported Motor-Sensor Configurations ................................................ 7

2.4. PIM2401 Dimensions ........................................................................... 11

2.5. Electrical Specifications........................................................................ 12

3. Step 1. Hardware Installation ..................................................................17

3.1. Mounting .............................................................................................. 17

3.2. Connectors and Connection Diagrams................................................. 18

3.2.1. Connectors Layout....................................................................................... 18

3.2.2. Identification Labels ..................................................................................... 18

3.2.3. J1 Connector pinout..................................................................................... 19

3.2.4. J2 Connector pinout..................................................................................... 20

3.2.5. 24V Digital I/O connection ........................................................................... 21

3.2.6. 5V Digital I/O connection ............................................................................. 22

3.2.7. Analog inputs connection............................................................................. 23

3.2.8. Motor connections........................................................................................ 24

3.2.9. Feedback connections ................................................................................. 29

3.2.10. Supply connection .................................................................................... 34

3.2.11. Serial RS-232 connection ......................................................................... 36

3.2.12. CAN connection........................................................................................ 37

3.2.13. Special connection (Non-Autorun)............................................................ 40

3.2.14. Master - Slave encoder connection .......................................................... 41

3.2.15. Connectors Type and Mating Connectors ................................................ 42

©Technosoft 2007 VIII PIM2401 Technical Reference

4. Step 2. Drive Setup ..................................................................................43

4.1. Installing EasySetUp ............................................................................ 43

4.2. Getting Started with EasySetUp........................................................... 43

4.2.1. Establish communication ............................................................................. 44

4.2.2. Setup drive/motor......................................................................................... 45

4.2.3. Download setup data to drive/motor ............................................................ 46

4.2.4. Evaluate drive/motor behaviour (optional) ................................................... 47

4.3. Changing the drive Axis ID................................................................... 47

4.4. Setting CANbus rate ............................................................................ 48

4.5. Creating an Image File with the Setup Data......................................... 49

5. Step 3. Motion Programming ..................................................................50

5.1. Using a CANopen Master (for PIM2401 CANopen execution) ............. 50

5.1.1. DS-301 Communication Profile Overview.................................................... 50

5.1.2. TechnoCAN Extension (for PIM2401 CAN execution)................................. 51

5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview .................... 51

5.1.4. Checking Setup Data Consistency .............................................................. 51

5.2. Using the built-in Motion Controller and TML ....................................... 51

5.2.1. Technosoft Motion Language Overview ...................................................... 52

5.2.2. Installing EasyMotion Studio........................................................................ 52

5.2.3. Getting Started with EasyMotion Studio ...................................................... 53

5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 59

5.3. Combining CANopen /or other host with TML ...................................... 59

5.3.1. Using TML Functions to Split Motion between Master and Drives .............. 60

5.3.2. Executing TML programs............................................................................. 60

5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 60

5.3.4. Customizing the Homing Procedures (for PIM2401 CAN executions)......... 60

5.3.5. Customizing the Drive Reaction to Fault Conditions (for PIM2401 CAN

executions)................................................................................................................ 61

5.4. Using Motion Libraries for PC-based Systems..................................... 61

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

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

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

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

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