Isel IMD20 User manual

AC servo positioning module with CanOpen interface
IMD20
IMD40
www.isel.com
®

Positioning module IMD20, IMD40
espite t and other errors cannot be excluded.
you have any suggestions for improvements and hints as regards errors, don’t hesitate to contact us.
d,
n safe and EMC-compliant
stallation” starting on page 15.
o not try to install or commission the servo drive controller before carefully reading all safety notes for
lectrical drives and controllers contained in this document. These safety instructions and all other user
otes must be read prior to any work with the servo drive controller.
Tel.: [phone]
Fax: [phone]
email:
[email protected]
Remarks concerning this manual:
D the utmost care, prin
If
Company: isel Germany AG © 2009
All rights reserved.
Without the prior written content of isel Germany AG, no part of this publication may be reproduce
stored in a retrieval system or transmitted in any way whatsoever.
No responsibility is accepted for the correctness of the data contained in this manual. Isel Germany AG
company reserves the right to make changes to the contents hereof without prior notice.
Prior to the initial use of the servo drive controller you must read the chapters “Safety notes for
electrical drives and controllers” starting on page 8 and “Notes o
in
D
e
n
Manufacturer: isel Germany AG
Bürgermeister-Ebert-Straße 40
D-36124 Eichenzell
http://www.isel.com
Version: 10/20/2009

Positioning module IMD20, IMD40 Table of contents
Table of contents
Table of contents...........................................................................................3
Overview ........................................................................................................7
Features of the drive module........................................................................................................ 7
Scope of application..................................................................................................................... 7
Safety notes for electrical drives and controllers ......................................8
Used symbols............................................................................................................................... 8
General notes...............................................................................................................................8
Danger resulting from misuse......................................................................................................9
General safety notes...................................................................................................................10
Safety notes for assembly and maintenance...............................................................................11
Protection against contact with electrical parts..........................................................................12
Protection against electrical shock by means of protective extra-low voltage (PELV) .............13
Protection against dangerous movements..................................................................................13
Protection against contact with hot parts ...................................................................................14
Protection during handling and assembly.................................................................................. 14
Notes on safe and EMC-compliant installation.........................................15
Definition and terms ..................................................................................................................15
General information on EMC ....................................................................................................16
EMC-compliant cabling............................................................................................................. 16
Description of the drive module.................................................................18
Settings and status display......................................................................................................... 18
DIP switch...................................................................................................................... 18
Modes of operation.........................................................................................................18
LEDs IMD20.................................................................................................................. 19
LEDs IMD40.................................................................................................................. 20
Hardware description IMD20.................................................................................................... 21
Connectors...................................................................................................................... 21
Frame connector X1 – Connection of the operating voltage 40V-95V, motor and
brake................................................................................................................... 21
Frame connector X2 – 15-pin Sub-D – Connection of the encoder, hall sensors
and limit switch................................................................................................... 22
Frame connector X3 – 20 pin – System connection............................................ 22
Frame connector X4 – RJ45 - RS-232 and CAN IN ...........................................23
Frame connector X5 – RJ45 – CAN OUT .......................................................... 23
Jumper settings............................................................................................................... 23
Wiring of the inputs and outputs ....................................................................................23
Digital Inputs limit switch, Enable ..................................................................... 23
Digital output Ready...........................................................................................24
Digital output Homing........................................................................................24
Digital output Brake........................................................................................... 24
Digital output Limit switch chain ....................................................................... 25
Analogue input....................................................................................................25
Encoder connections........................................................................................... 25
CAN ....................................................................................................................26
Hardware description IMD40.................................................................................................... 27
Connectors...................................................................................................................... 27
Frame connector X1 – Connection of the operating voltage AC 220V, motor and
brake................................................................................................................... 27
Frame connector X2 –Connection of operating voltage 24V, temperature and
brake................................................................................................................... 28
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Table of contents Positioning module IMD20, IMD40
Frame connector X3 – 15-pin Sub-D - Connection encoder, hall sensors, limit
switch..................................................................................................................28
Frame connector X4 – 20-pin – System connection............................................29
Frame connector X5 – RJ45 - RS-232 und CAN IN............................................29
Frame connector X6 – RJ45 – CAN OUT...........................................................29
Frame connector X7 – Brake resistor................................................................30
Jumper settings ...............................................................................................................30
Wiring of the inputs and outputs.....................................................................................31
Digital inputs limit switches, reference switch, enable.......................................31
Digital output Ready...........................................................................................31
Digital output Homing........................................................................................31
Digital output Brake ...........................................................................................31
Digital output Limit switch chain........................................................................32
Analogue input....................................................................................................32
Encoder connections...........................................................................................33
CAN ....................................................................................................................33
Data transfer...............................................................................................................................34
Commissioning ..........................................................................................................................36
Overview ........................................................................................................................36
Particularities as regards the commissioning of a gantry axis ........................................36
Examples for the motion control.....................................................................................36
Example 1:..........................................................................................................36
Example 2:..........................................................................................................37
Example 3:..........................................................................................................39
Fault states .................................................................................................................................40
ACSetup programme..................................................................................41
Menus.........................................................................................................................................41
Commands of the File menu...........................................................................................41
The New command (File menu)..........................................................................41
The Open command (File menu).........................................................................41
The Save command (File menu)..........................................................................41
The Save As command (File menu).....................................................................41
The 1, 2, 3, 4 commands (File menu)..................................................................41
The Exit command (File menu)...........................................................................41
Commands of the Connection menu...............................................................................42
The Online Mode On/Off command....................................................................42
The Active Connection / CAN command.............................................................42
The Active Connection / RS232 command..........................................................42
The RS232 Settings command.............................................................................42
The CAN Settings command................................................................................42
Commands of the Commissioning menu........................................................................43
The Step-by-Step Commissioning command.......................................................43
The Random Order command.............................................................................43
The Reset command ............................................................................................43
Commands of the Settings menu ....................................................................................43
The Object Directory command..........................................................................43
Commands of the Extra menu.........................................................................................43
The Extended Functions command.....................................................................43
Password.............................................................................................................43
The Firmware Update / Normal command.........................................................44
The Firmware Update / via Bootstrap Loader command ...................................44
Commands of the View menu.........................................................................................45
The Tool Bar command.......................................................................................45
The Status Bar command....................................................................................45
The Serial Interface command............................................................................45
The CAN Monitor command...............................................................................45
The Drive Status command.................................................................................45
The Language command.................................................................................................45
Commands of the ? menu ...............................................................................................45

Positioning module IMD20, IMD40 Table of contents
The Help Topics command ................................................................................. 45
The Info command.............................................................................................. 45
Programme user interface..........................................................................................................46
Tool bar .......................................................................................................................... 46
Status bar........................................................................................................................ 46
Drive status..................................................................................................................... 47
Monitor window for serial interface...............................................................................47
Monitor window for CAN communication ....................................................................48
Programme functions................................................................................................................. 49
Create a data connection................................................................................................. 49
Offline operation.................................................................................................49
Online operation................................................................................................. 49
Choose Active Connection.................................................................................. 49
RS-232 settings ...................................................................................................49
CAN settings....................................................................................................... 50
Commissioning / Adjustment of parameters...................................................................51
Step-by-step commissioning................................................................................51
Random order.....................................................................................................51
Connection dialogue box.................................................................................... 53
Mode of Operation dialogue box........................................................................54
Offset Calibration dialogue box ......................................................................... 55
Analogue Input dialogue box.............................................................................. 56
Brake dialogue box............................................................................................. 57
Current Controller dialogue box........................................................................58
Encoder dialogue box.........................................................................................60
Motor and Transmission dialogue box............................................................... 61
Velocity Controller dialogue box........................................................................ 63
Direction dialogue box.......................................................................................66
Acceleration dialogue box.................................................................................. 67
Velocity dialogue box ......................................................................................... 68
Position Controller dialogue box .......................................................................69
Can Interpolation dialogue box.......................................................................... 72
Inputs dialogue box ............................................................................................ 74
Reference Run dialogue box............................................................................... 75
Object Directory dialogue box........................................................................................ 76
Firmware update............................................................................................................. 78
CanOpen protocol.......................................................................................79
Overview....................................................................................................................................79
SDO ...........................................................................................................................................81
PDO ...........................................................................................................................................83
Mapping..........................................................................................................................83
Types of transfer............................................................................................................. 84
SYNC......................................................................................................................................... 85
EMCY........................................................................................................................................ 86
Network management - NMT.................................................................................................... 86
Status diagram................................................................................................................ 87
Boot-Up object ...............................................................................................................88
Monitoring – Guarding...................................................................................................88
Object Directory ........................................................................................................................ 90
Communications parameter............................................................................................90
General communications parameters................................................................. 90
PDO / Mapping parameters ............................................................................... 94
Device profile parameters............................................................................................... 99
Device control.....................................................................................................99
Mode of operation ............................................................................................ 101
Current control................................................................................................. 102
Profile Position Mode – position control with ramp profile............................. 105
Interpolated Position Mode – Position control with interpolation................... 107
Homing Mode – Reference run......................................................................... 109
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Table of contents Positioning module IMD20, IMD40
Moving the axis out of a limit switch ................................................................111
Factor Group – Conversion factors..................................................................111
General parameters..........................................................................................113
Manufacturer-specific parameters ................................................................................120
EDS / DCF files .......................................................................................................................128
Appendix ...................................................................................................129
Connection of Motionking EC motor to the IMD20, IMD40..................................................129
Encoder connection.......................................................................................................129
Motor connection..........................................................................................................130
IMD20 basis connection...............................................................................................131
IMD20 system connection............................................................................................132
Glossary .................................................................................................... 133
Index ..........................................................................................................134

Positioning module IMD20, IMD40 Overview
Overview
The present manual contains all descriptions and documentations required for the wiring,
commissioning and control of the drive module.
It is intended for qualified personnel with basic knowledge of the control and automation technology
as well as of the CAN field bus.
Prior to the initial use of the servo drive controller you must read the chapters “Safety notes for
electrical drives and controllers” starting on page 8 and “Notes on safe and EMC-compliant
installation” starting on page 15.
Do not try to install or commission the servo drive controller before carefully reading all safety notes
for electrical drives and controllers contained in this document. These safety instructions and all other
user notes must be read prior to any work with the servo drive controller.
The basics of the CanOpen protocol are described in a separate chapter to the extent that they are
important to the drive process. This chapter also presents an overview of all CanOpen objects of this
module as well as a description of the drive functions.
The chapter “ACSetup programme” gives a description of the ACSetup programme and serves as a
guide to the commissioning of the drive.
The content of this manual is also provided as online help together with the setting programme.
Features of the drive module
• Supply voltage IMD20 40-95 V DC, IMD40 220 V AC
• Motor current IMD20 bis 25 A (continuous current 12 A), IMD40 bis 13 A
• CAN bus interface according to CanOpen DS301 V4.0 and DS402 V1.0
• RS232 interface
zAnalogue input (±10 V) mit 11-bit resolution
• Inputs for limit and reference switches
• Digital current, velocity and position control with high cycle times
• Brake control
• Gantry operation or synchronous control of 2 modules
• Monitoring of the motor current and encoder signals
• Monitoring of the software through the internal watchdog timer
• Galvanic isolation of processor, power section and I/Os
• Easy firmware update via RS232
Scope of application
The drive module is suited ideally for the control of small- and medium-power permanet magnet
motors. What has to be pointed out is the high torque even at small velocities and the outraging
synchronous characteristics even at low speeds. Thanks to five modes of operation and a high
diversity of adjustable parameters, a broad spectrum of the most diverse applications in the
automation technology and the mechanical engineering can be covered.
The CanOpen interface is an open interface which allows to build up a flexible, extensible plant
structure or to integrate the modules into existing plants.
7

Safety notes for electrical drives and controllers Positioning module IMD20, IMD40
Safety notes for electrical drives and controllers
Used symbols
Information
Important information and notes
Caution !
Nonobservance may result in severe property damages.
DANGER !
Nonobservance may result in property damages and in personal injuries.
Caution! Dangerous voltages.
The safety note indicates a possible perilous voltage.
General note
In the case of d
AG will assu e
s
amage resulting from non-compliance of the safety notes in this manual isel Germany
no liability.m
Prior to the initial use you must read the chapters “Safety notes for electrical drives
and controllers” starting on page 8 and “Notes on safe and EMC-compliant
installation” starting on page 15.
If
ythe documentation in the language at hand is not understood accurately, please contact and inform our supplier. o drive controller requires proper and professional
A
in th
suffi he product
w
l
truction concerning the standards and accident prevention regulations for the
horisation to switch devices/systems on and off and to ground them as per the
standards of safety engineering and to efficiently label them as per the job demands.
Sound and safe operation of the serv
transportation, storage, assembly and installation as well as proper operation and maintenance. Only
trained and qualified personnel may handle electrical devices:
TR INED AND QUALIFIED PERSONNEL
e sense of this product manual or the safety notes on the product itself are persons who are
ciently familiar with the project, the setup, assembly, commissioning and operation of t
as ell as all warnings and precautions as per the instructions in this manual and who are sufficiently
qua ified in their field of expertise:
• Education and ins
application, or aut
8

Positioning module IMD20, IMD40 Safety notes for electrical drives and controllers
• Education and instruction as per the standards of safety engineering regarding the maintenance
and use of adequate safety equipment.
First aid training.
The follow f the system to prevent personal
injuries and
•
ing notes must be read prior to the initial operation o
/or property damages:
These safety notes must be complied with at all times.
Do not try to install or commission the servo drive controller before carefully reading all
safety notes for electrical drives and controllers contained in this document. These safety
instructions and all other user notes must be read prior to any work with the servo drive
controller.
In case you do not have any user notes for the servo drive controller, please contact your
n
responsible for the safe operation of the servo drive controller.
sales representative. Immediately demand these documents to be sent to the perso
If you sell, rent and/or otherwise make this device available to others, these safety notes
must also be included.
The user must not open the servo drive controller for safety and warranty reasons.
Pro
drive co er!
fessional control process design is a prerequisite for sound functioning of the servo
ntroll
DANGER!
Inappropriate handling of the servo drive controller and non-compliance of the
warnings as well as inappropriate intervention in the safety features may result
in property damage, personal injuries, electric shock or in extreme cases even
death.
Danger resulting from misuse
DANGER!
High electrical voltages and high load currents!
Danger to life or serious personal injury from electrical shock!
DANGER!
High electrical voltage caused by wrong connections!
Danger to life or serious personal injury from electrical shock!
9

Safety notes for electrical drives and controllers Positioning module IMD20, IMD40
DANGER!
Surfaces of device housing may be hot!
Risk of injury! Risk of burning!
DANGER!
Dangerous movements!
Danger to life, serious personal injury or property damage due to unintentional
movements of the motors!
General saf
ety notes
The servo drive controller corresponds to IP20 class of protection as well as pollution
level 1. Make sure that the environment corresponds to this class of protection and
pollution level.
Only use replacements parts and accessories approved by the manufacturer.
The devices must be connected to the mains supply as per EN regulations, so that they
can be cut off the mains supply by means of corresponding separation devices (e.g.
main switch, contactor, power switch).
The servo drive controller may be protected using an AC/DC sensitive 300mA fault
current protection switch (RCD = Residual Current protective Device).
Gold contacts or contacts with a high contact pressure should be used to switch the
con .trol contacts
Pre
conventive interference rejection measures should be taken for control panels, such as necting contactors and relays using RC elements or diodes.
The safety rules and regulations of the country in which the device will be operated must
be complied with.
The environment conditions defined in the product documentation
critical applications are not allowed must be kept. Safety-
For notes on installation corresponding to EMC, please refer to chapter “Notes on safe
e limits required by
machine or system.
and EMC-compliant installation” (page15). The compliance with th
national regulations is the responsibility of the manufacturer of the
The technical data and the connection and installation conditions for the servo drive
controller are to be found in this product manual and must be met.
10