Application Notes for Technosoft Intelligent Drives

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Technosoft Intelligent Servo Drives are programmable using the EasyMotion Studio software platform – an advanced tool for the configuration, setup, testing and tuning, and motion programming of the drives. Its advanced, object-oriented structure includes automatic Technosoft Motion Language (TML) code generation, allowing you to configure your motion application at a high level.

The huge potential offered by the TML environment at both configuration and motion programming levels results in a wide range of possibilities and available options for the user. The embedded PLC features of the drives, besides the motion-specific ones, offer a lot of possibilities if you want to make the most of the complete functionality of the drive.

Based on these considerations, a collection of application notes are provided below, explaining the basic problem, its aspects and specific implementation features, complete hook-up schematics, and a working EasyMotion Studio project application. Starting from basic, simple cases, the examples go on to quite complex ones, in order to provide you with a really useful tool for both beginners and advanced users of Technosoft Intelligent Drives.

On a regular basis, considering users' suggestions and specific new application examples, the list of these applications is continuously updated and improved, also keeping the pace with the most recent upgrades of the EasyMotion Studio software.

APN._01.  Getting started using Technosoft Intelligent Drives
APN._02.  Start/Stop motion using two digital I/Os
APN._03.  How to combine motion sequences driven by events
APN._04.  Implementation of over-current protections
APN._05.  Using limit switches and external on-line reference
APN._06.  Using limit switches and external analog reference
APN._07.  Starting the PMSM motor without initial pole lock
APN._08.  Using digital I/Os to select a pre-programmed motion
APN._09.  Using encoder index, captures and homing inputs
APN._10.  Executing G-code commands with TMC-3D Motion Controller 

Application Note Description

   

Target Drive

  

Application note and project

APN._01. Getting started using Technosoft Intelligent Drives

 

For new users of an intelligent drive, starting to implement a motion control application can be a quite complex task. You need to know how to hook-up the components of the motion system, to configure them (motor, sensors and drive), test their functionality, identify parameters and tune controllers. Finally, executing a simple movement will validate the basic system functionality and will allow you to focus on implementing your real motion application.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN.101.A.pdf 
P091.048.051.IDS.APN.101.A.pdf 
P091.047.ISCM.BL.APN-DOC.101.A.pdf
P091.047.ISCM.ST.APN-DOC.101.A.pdf
P091.045.APN-DOC.101.A.pdf
P091.045.IPS.DC.APN-DOC.101.A.pdf
P091.042.IM23x-MA.APN-DOC.101.A.pdf
P091.042.IM23x-IS.APN-DOC.101.A.pdf
P091.037.IBL2403.BL.APN-DOC.101.A.pdf
P091.037.IBL2403.ST.APN-DOC.101.A.pdf
P091.048.IDM.APN-DOC.201.A.pdf

APN._02. Start/Stop motion using two I/Os

 

A basic task needed in some applications is to execute a motion with an imposed speed, starting from the moment when a digital input line of the drive ("Start") is changing its status, until the moment when another digital input line ("Stop") is changing its status.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN-DOC.102.A.zip
P091.048.051.IDS.APN-DOC.102.A.zip
P091.047.ISCM.BL.APN-DOC.102.A.zip
P091.047.ISCM.ST.APN-DOC.102.A.zip
P091.045.APN-DOC.102.A.zip
P091.045.IPS.DC.APN-DOC.102.A.zip
P091.042.IM23x-MA.APN-DOC.102.A.zip
P091.042.IM23x-IS.APN-DOC.102.A.zip
P091.037.IBL2403.BL.APN-DOC.102.A.zip
P091.037.IBL2403.ST.APN-DOC.102.A.zip
P091.048.IDM.APN-DOC.202.A.zip

APN._03. How to combine motion sequences driven by events

 

Motion applications often require combining different types of motions, to concatenate different motion modes (as starting in a speed control mode and - at a given moment of time, or when reaching a given motion parameter value, or when an input line changes its status - continue with a position profile motion). Also interesting is the execution of a motion with trapezoidal speed profile, having different start and stop accelerations.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IBL680
 

P091.048.051.IDM.APN-DOC.103.A.zip
P091.048.051.IDS.APN-DOC.103.A.zip
P091.047.ISCM.BL.APN-DOC.103.A.zip
P091.047.ISCM.ST.APN-DOC.103.A.zip
P091.045.APN-DOC.103.A.zip
P091.045.IPS.DC.APN-DOC.103.A.zip
P091.042.IM23x-MA.APN-DOC.103.A.zip
P091.042.IM23x-IS.APN-DOC.103.A.zip
P091.037.IBL2403.BL.APN-DOC.103.A.zip
P091.037.IBL2403.ST.APN-DOC.103.A.zip
P091.048.IDM.APN-DOC.203.A.zip

APN._04. Implementation of over-current protections

 

During its operation, the current in the drive must be limited to a given value, which will protect it against failure. Depending on motion cycle patterns, this limit can be imposed so that, after a programmed time limit, a protection is triggered, and specific action can be taken.
   

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN-DOC.104.A.zip
P091.051.IDS.APN-DOC.104.A.zip
P091.047.ISCM.BL.APN-DOC.104.A.zip
P091.047.ISCM.ST.APN-DOC.104.A.zip
P091.045.IPS.DC.APN-DOC.104.A.zip
P091.042.IM23x-MA.APN-DOC.104.A.zip
P091.042.IM23x-IS.APN-DOC.104.A.zip
P091.037.IBL2403.BL.APN-DOC.104.A.zip
P091.037.IBL2403.ST.APN-DOC.104.A.zip
P091.048.IDM.APN-DOC.204.A.zip

APN._05. Using limit switches and external on-line reference

 

In some applications, the host sends a speed reference to the drive, and the motor moves with the reference speed, in a speed control loop. Reaching a position limit switch imposes the stop of the motor, until the host will send a speed reference in the opposite direction. The drive ENABLE input also needs to be used to activate / deactivate the motion.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN-DOC.105.A.zip
P091.048.051.IDS.APN-DOC.105.A.zip
P091.047.ISCM.BL.APN-DOC.105.A.zip
P091.047.ISCM.ST.APN-DOC.105.A.zip
P091.045.APN-DOC.105.A.zip
P091.045.IPS.DC.APN-DOC.105.A.zip
P091.042.IM23x-MA.APN-DOC.105.A.zip
P091.042.IM23x-IS.APN-DOC.105.A.zip
P091.037.IBL2403.BL.APN-DOC.105.A.zip
P091.037.IBL2403.ST.APN-DOC.105.A.zip
P091.048.IDM.APN-DOC.205.A.zip

APN._06. Using limit switches and external analog reference

 

In some applications, a speed reference is imposed to the drive using an external analog signal, and the motor moves at the reference speed, in a speed control loop. Reaching a position limit switch imposes the stop of the motor, until the speed reference value changes its sign. The same must operate at system start, if the motor is already in a limit switch position. Also, external input lines status can be tested, in order to completely activate / deactivate the motion.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN-DOC.106.A.zip
P091.048.051.IDS.APN-DOC.106.A.zip
P091.047.ISCM.BL.APN-DOC.106.A.zip
P091.047.ISCM.ST.APN-DOC.106.A.zip
P091.045.APN-DOC.106.A.zip
P091.045.IPS.DC.APN-DOC.106.A.zip
P091.042.IM23x-MA.APN-DOC.106.A.zip
P091.042.IM23x-IS.APN-DOC.106.A.zip
P091.037.IBL2403.BL.APN-DOC.106.A.zip
P091.037.IBL2403.ST.APN-DOC.106.A.zip
P091.048.IDM.APN-DOC.206.A.zip

APN._07. Starting the PMSM motor without initial pole lock

 

When controlled in sinusoidal mode, the brushless motor initial position needs to be known. If the motor has an encoder and also Hall sensors, it can start in a controlled direction, without the need to perform an open loop pole lock movement.

 

IDMx40
ISCMxx05 (BL)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IDM680
 

P091.048.051.IDM.APN-DOC.107.A.pdf
P091.047.ISCM.BL.APN-DOC.107.A.pdf
P091.042.IM23x-MA.APN-DOC.107.A.pdf
P091.042.IM23x-IS.APN-DOC.107.A.pdf
P091.037.IBL2403.BL.APN-DOC.107.A.pdf
P091.048.IDM.APN-DOC.207.A.pdf

APN._08. Using digital I/Os to select a pre-programmed motion

 

In some cases, it is useful to be able to select between several pre-programmed applications, eventually by using some input lines of the drive. Once a selection is done, the application can start. Applications like motion with limit switches detection, cyclic positioning motions, positioning with position and speed references imposed from analog inputs, are included as examples.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN-DOC.109.A.zip
P091.048.051.IDS.APN-DOC.109.A.zip
P091.047.ISCM.BL.APN-DOC.109.A.zip
P091.047.ISCM.ST.APN-DOC.109.A.zip
P091.042.IM23x-IS.APN-DOC.109.A.zip
P091.037.IBL2403.BL.APN-DOC.109.A.zip
P091.037.IBL2403.ST.APN-DOC.109.A.zip
P091.048.IDM.APN-DOC.209.A.zip

APN._09. Using encoder index, captures and homing inputs

 

As incremental encoders do not provide absolute position information, using the index signal of the encoder can provide such absolute position information. Also, as this provides only absolute position of the motor over one motor shaft rotation, it is often required to move the motor until a home input is detected by the drive, allowing the setting of the absolute position information to a given value.

 

IDMx40
IDSx40
ISCMxx05 (BL)
ISCMxx05 (ST)
IPS110 (DC)
IM23x-MA
IM23x-IS
IBL2403 (BL)
IBL2403 (ST)
IDM680
 

P091.048.051.IDM.APN-DOC.110.A.zip
P091.048.051.IDS.APN-DOC.110.A.zip
P091.047.ISCM.BL.APN-DOC.110.A.zip
P091.047.ISCM.ST.APN-DOC.110.A.zip
P091.045.IPS.DC.APN-DOC.110.A..zip
P091.042.IM23x-MA.APN-DOC.110.A.zip
P091.042.IM23x-IS.APN-DOC.110.A.zip
P091.037.IBL2403.BL.APN-DOC.110.A.zip
P091.037.IBL2403.ST.APN-DOC.110.A.zip
P091.048.IDM.APN-DOC.210.A.zip

APN._10. Executing G-code commands with TMC-3D Motion Controller 

 

Multi-axis motion applications are often defined using G-codes. In order to execute these applications on a TMC-3D motion controller, you need to translate the G-codes into TML commands. This application note explains you how to set up a multi-axis project usingTMC-3D as master, and two ISCM4805 drives as slaves; how to import a G-code file; and how to execute the G-code application. It also presents the supported G-codes, and the limitations of the G-code-to-TML converter.

 

TMC-3D
 

P091.048.TMC3D.APN-DOC.111.A.ZIP

Revision: June 2009

   

 

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