Technosoft IPS110 Use and care manual
IPS110
Version 1.0
Intelligent Stepper
Minidrive for Step and
Brushed DC Motors
Intelligent Stepper Minidrive
Technical
Reference
©Technosoft 2007
© Technosoft 2007 I IPS110 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.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any
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 IPS110 family of intelligent servo drives version
1.0, including the following products:
IPS110, RS232 (p/n P045.001.E001) - Minidrive for Step and Brushed DC motors.
IPS110, CAN (p/n P045.001.E002) -Minidrive for Step and Brushed DC motors. Standard
execution using Technosoft TMLCAN protocol on CANbus
IPS110, CANopen (p/n P045.001.E012) - Minidrive for Step and Brushed DC motors using
CANopen protocol on CANbus
In order to operate the IPS110 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
© Technosoft 2007 I IPS110 Technical Reference
This manual covers Step 1 in detail. It describes the IPS110 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
IPS110 – all products described in this manual
IPS110 CANopen – the CANopen execution from IDM family
IPS110 CAN – IPS110, 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).
© Technosoft 2007 II IPS110 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 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 III IPS110 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. IPS110 Dimensions................................................................................ 7
2.5. Electrical Specifications.......................................................................... 8
3. Step 1. Hardware Installation ..................................................................13
3.1. Mounting............................................................................................... 13
3.2. Connectors and Connection Diagrams................................................. 13
3.2.1. Connectors Layout ....................................................................................... 13
3.2.2. Identification Labels ..................................................................................... 14
3.2.3. J1 Connector pinout..................................................................................... 16
3.2.4. J2 Connector pinout..................................................................................... 17
3.2.5. Supply connection........................................................................................ 18
3.2.6. Motor connections........................................................................................ 20
3.2.7. Feedback connections ................................................................................. 22
3.2.8. Digital I/O connections ................................................................................. 24
3.2.9. Analog Inputs connection............................................................................. 27
3.2.10. Serial RS-232 Communication connections ............................................. 28
3.2.11. CAN Communication connection.............................................................. 29
3.2.12. Connectors Type and Mating Connectors ................................................ 31
3.3. Jumper and solder joints configuration................................................. 32
3.4. First Power-Up ..................................................................................... 36
4. Step 2. Drive Setup...................................................................................37
© Technosoft 2007 IV IPS110 Technical Reference
4.1. Installing EasySetUp ............................................................................ 37
4.2. Getting Started with EasySetUp........................................................... 37
4.2.1. Establish communication ............................................................................. 38
4.2.2. Setup drive/motor......................................................................................... 39
4.2.3. Download setup data to drive/motor ............................................................ 41
4.2.4. Evaluate drive/motor behaviour (optional) ................................................... 41
4.3. Changing the drive Axis ID................................................................... 41
4.4. Setting CANbus rate............................................................................. 42
4.5. Creating an Image File with the Setup Data......................................... 43
5. Step 3. Motion Programming ..................................................................44
5.1. Using a CANopen Master (for IPS110 CANopen execution)................ 44
5.1.1. DS-301 Communication Profile Overview.................................................... 44
5.1.2. TechnoCAN Extension (for IPS110 CAN executions).................................. 45
5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview..................... 45
5.1.4. Checking Setup Data Consistency .............................................................. 46
5.2. Using the built-in Motion Controller and TML ....................................... 46
5.2.1. Technosoft Motion Language Overview ...................................................... 46
5.2.2. Installing EasyMotion Studio........................................................................ 47
5.2.3. Getting Started with EasyMotion Studio ...................................................... 47
5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 53
5.3. Combining CANopen /or other host with TML ...................................... 54
5.3.1. Using TML Functions to Split Motion between Master and Drives............... 54
5.3.2. Executing TML programs............................................................................. 54
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 54
5.3.4. Customizing the Homing Procedures (for IPS110 CAN executions) ........... 55
5.3.5. Customizing the Drive Reaction to Fault Conditions (for IPS110 CAN
executions)................................................................................................................ 55
5.4. Using Motion Libraries for PC-based Systems..................................... 56
5.5. Using Motion Libraries for PLC-based Systems................................... 56
6. Scaling Factors ........................................................................................57
6.1. Position units........................................................................................ 57
6.1.1. DC brushed motor with quadrature encoder on motor................................. 57
6.1.2. Stepper motor open-loop control. No feedback device................................ 57
© Technosoft 2007 V IPS110 Technical Reference
6.1.3. Stepper motor closed-loop control. Incremental encoder on motor ............. 58
6.1.4. Stepper motor open-loop control. Incremental encoder on load.................. 58
6.2. Speed units .......................................................................................... 58
6.2.1. DC brushed motor with quadrature encoder on motor................................. 58
6.2.2. Stepper motor open-loop control. No feedback device................................ 59
6.2.3. Stepper motor open-loop control. Incremental encoder on load.................. 59
6.2.4. Stepper motor closed-loop control. Incremental encoder on motor ............. 59
6.3. Acceleration units ................................................................................. 60
6.3.1. DC brushed motor with quadrature encoder on motor................................. 60
6.3.2. Stepper motor open-loop control. No feedback device................................ 60
6.3.3. Stepper motor open-loop control. Incremental encoder on load.................. 61
6.3.4. Stepper motor closed-loop control. Incremental encoder on motor ............. 61
6.4. Jerk units .............................................................................................. 62
6.4.1. DC brushed motor with quadrature encoder on motor................................. 62
6.4.2. Stepper motor open-loop control. No feedback device................................ 62
6.4.3. Stepper motor open-loop control. Incremental encoder on load.................. 63
6.4.4. Stepper motor closed-loop control. Incremental encoder on motor ............. 63
6.5. Current units......................................................................................... 63
6.6. Voltage command units ........................................................................ 63
6.7. Voltage measurement units.................................................................. 64
6.8. Time units............................................................................................. 64
6.9. Master position units ............................................................................ 64
6.10. Master speed units ............................................................................... 65
6.11. Motor position units .............................................................................. 65
6.11.1. DC brushed motor with quadrature encoder on motor ............................. 65
6.11.2. Stepper motor open-loop control. No feedback device............................. 65
6.11.3. Stepper motor open-loop control. Incremental encoder on load............... 66
6.11.4. Stepper motor closed-loop control. Incremental encoder on motor.......... 66
6.12. Motor speed units................................................................................. 66
6.12.1. DC brushed motor with quadrature encoder on motor ............................. 66
6.12.2. Stepper motor open-loop control. No feedback device or incremental
encoder on load ........................................................................................................ 67
6.12.3. Stepper motor closed-loop control. Incremental encoder on motor.......... 67
7. Memory Map .............................................................................................68
© Technosoft 2007 VI IPS110 Technical Reference
©Technosoft 2007 1 IPS110 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, setup, operate and maintain the drive. A “qualified person”
has the knowledge and authorization to perform tasks such as transporting, assembling,
installing, commissioning and operating drives.
The following safety symbols are used in this manual:
WARNING! SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT
CAUSE BODILY INJURY. 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
DISCHARGES (ESD) WHICH REQUIRE HANDLING IN AN
ESD PROTECTED ENVIRONMENT
1.1. Warnings
WARNING! THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE
ELECTRICAL SHOCKS. DO NOT TOUCH LIVE PARTS
WHILE THE POWER SUPPLIES ARE ON
WARNING! TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER
CONNECT / DISCONNECT WIRES FROM THE DRIVE
WHILE THE POWER SUPPLIES ARE ON
©Technosoft 2007 2 IPS110 Technical Reference
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 DRIVE
MUST COMPLY WITH THE PARAMETERS SPECIFIED IN
THIS DOCUMENT
CAUTION! TROUBLESHOOTING AND SERVICING ARE PERMITTED
ONLY FOR PERSONNEL AUTHORISED BY TECHNOSOFT
CAUTION!
THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE
COMPONENTS WHICH MAY BE DAMAGED BY
INCORRECT HANDLING. THEREFORE THE DRIVE SHALL
BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN
AN ESD PROTECTED ENVIRONMENT
To prevent electrostatic damage, avoid contact with insulating materials, such as synthetic fabrics
or plastic surfaces. In order to discharge static electricity build-up, place the drive on a grounded
conductive surface and also ground yourself.
©Technosoft 2007 3 IPS110 Technical Reference
2. Product Overview
2.1. Introduction
The IPS110 is a family of intelligent stepper minidrive, based on the latest DSP technology and
they offer unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushed DC and step motors, the IPS110 drives accept as position
feedback incremental encoders (quadrature).
All drives perform position, speed or torque control and work in either single-, multi-axis or stand-
alone configurations. Thanks to the embedded motion controller, the IPS110 drives combine
controller, drive and PLC functionality in a single compact unit and are capable to execute
complex motions without requiring intervention of an external motion controller. Using the high-
level Technosoft Motion Language (TML) the following operations can be executed directly at
drive level:
Setting various motion modes (profiles, PVT, PT, electronic gearing2or camming1, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences1
Controlling the program flow through:
Conditional jumps and calls of TML functions
TML interrupts generated on pre-defined or programmable conditions (protections
triggered, transitions on limit switch or capture inputs, etc.)
Waits for programmed events to occur
Handling of digital I/O and analogue input signals
Executing arithmetic and logic operations
Performing data transfers between axes
Controlling motion of an axis from another one via motion commands sent between axes
Sending commands to a group of axes (multicast). This includes the possibility to start
simultaneously motion sequences on all the axes from the group
Synchronizing all the axes from a network
Using EasyMotion Studio for TML programming you can really distribute the intelligence
between the master and the drives in complex multi-axis applications, reducing both the
development time and the overall communication requirements. For example, instead of trying to
command each movement of an axis, you can program the drives using TML to execute complex
motion tasks and inform the master when these tasks are done. Thus, for each axis control the
master job may be reduced at: calling TML functions stored in the drive EEPROM (with possibility
to abort their execution if needed) and waiting for a message, which confirms the TML functions
execution.
1Optional for the IPS110 CANopen execution
©Technosoft 2007 4 IPS110 Technical Reference
Apart from a CANopen master, the IPS110 drives can also be controlled from a PC or PLC using
the family of TML_LIB motion libraries.
For all motion programming options, the IPS110 commissioning for your application is done using
EasySetUp.
2.2. Key Features
•Digital drives for control of brushed DC and step motors with built-in motion controller and
high-level TML motion language
•Position, speed or torque control
•Various motion programming modes:
Position profiles with trapezoidal or S-curve speed shape
Position, Velocity, Time (PVT) 3rd order interpolation
Position, Time (PT) 1st order interpolation
Electronic gearing and camming1
External analogue or digital reference1
33 Homing modes
•Dual incremental encoder interface: 5V single-ended or open-collector
•Pulse & direction interface (5V or 24V single-ended, open-collector or RS-422 differential)
for external (master) digital reference1
•Linear Halls sensor interface
•Digital I/Os:
2 digital input-output lines (TTL compatible) shared with 2 analog inputs (0 …
3.3V)
RESET input
2 Limit Switches (LSP and LSN)
•RS-232 serial communication up to 115kbaud
•CAN-bus 2.0A / 2.0B up to 1Mbit/s, with selectable communication protocol:
CANopen2– compatible with CiA standards: DS301 and DSP402
TMLCAN2– compatible with all Technosoft drives with CANbus interface
•1.5K×16 SRAM for data acquisitions and 8K×16 E2ROM for setup data and TML
programs
•Hardware Axis ID selection – solder joints
•Nominal PWM switching frequency3: 20 kHz
•Nominal update frequency for torque loop3: 10 kHz
•Update frequency for speed/position loop4: 1-10 kHz
•Continuous output current: 0.5 ARMS
•Peak output current: 1A
•Logic power supply: 5 VDC
1Optional for the IPS110 CANopen execution
2Available only for the IPS110 CANopen execution
3Nominal values cover all cases. Higher values are possible in specific configurations. For details contact Technosoft
41-2kHz cover all cases. Higher values equal with torque loop update frequency are possible with quadrature encoders
©Technosoft 2007 5 IPS110 Technical Reference
•Motor power supply: 12÷45 VDC
•Minimal load inductance: 25μH @12V, 100 μH @ 45 V
•Operating ambient temperature1: 0-40°C
2.3. Supported Motor-Sensor Configurations
1. Position, speed or torque control of a DC brushed rotary motor with an incremental
quadrature encoder on its shaft. Scaling factors take into account the transmission ratio
between motor and load (rotary or linear). Therefore, the motion commands (for position,
speed and acceleration) expressed in SI units (or derivatives) refer to the load, while the
same commands, expressed in IU units, refer to the motor.
Figure 2.1. DC brushed rotary motor. Position/speed/torque control. Quadrature encoder on
motor
2. Open-loop control of a 2-phase step motor in position or speed. Scaling factors take into
account the transmission ratio between motor and load (rotary or linear). Therefore, the
motion commands (for position, speed and acceleration) expressed in SI units (or derivatives)
refer to the load, while the same commands, expressed in IU units, refer to the motor.
Figure 2.2. No position or speed feedback. Open-loop control: motor position or speed .
1For higher ambient temperatures see the de-rating information below
IPS110
IPS110
©Technosoft 2007 6 IPS110 Technical Reference
3. Closed-loop control of load position using an encoder on load, combined with open-loop
control of a 2 phase step motor in speed, with speed reference provided by the position
controller. The motion commands in both SI and IU units refer to the load.
Figure 2.3. Encoder on load. Closed-loop control: load position, open-loop control: motor speed
4. Closed-loop control of a 2-phase step motor in position, speed or torque. Scaling factors
take into account the transmission ratio between motor and load (rotary or linear). Therefore,
the motion commands expressed in SI units (or derivatives) refer to the load1, while the same
commands, expressed in IU units refer to the motor.
Figure 2.4. Encoder on motor shaft. Closed-loop control: motor position, speed or torque
IPS110
IPS110
©Technosoft 2007 7 IPS110 Technical Reference
2.4. IPS110 Dimensions
The next figure presents the IPS110 drives dimensions.
Figure 2.5. IPS110 drives dimensions
©Technosoft 2007 8 IPS110 Technical Reference
2.5. Electrical Specifications
All parameters measured under the following conditions (unless otherwise noted):
T
amb = 0…40°C, logic supply VLOG = 5 VDC, motor supply VMOT = 24 VDC;
Supplies start-up / shutdown sequence: -any- ;
Load current 0. 5 ARMS
External DC-bus capacitor located 10cm from J1
Logic Supply Input
Measured between +VLOG and GND. Min. Typ. Max. Units
Nominal values 4,8 5 5,2 VDC
Supply voltage
Absolute maximum values, continuous †-0.5 5,2 VDC
Supply current Normal operation 180 250 mA
Motor Supply Input
Measured between +VMOT and GND. Min. Typ. Max. Units
Operating voltages, including ripple &
braking-induced over-voltage 12 45 VDC
Absolute maximum values, continuous 0 48 VDC
Supply voltage IPS110
Absolute maximum values, surge
(duration ≤10mS) † -0.5 50 V
DC-bus capacitor value DC-bus capacitor connected between
+VMOT and GND 220 µF
DC-bus capacitor location Wire length from DC-bus capacitor to
J1 pins 0 10 20 cm
Motor Outputs
All voltages referenced to GND. Min. Typ. Max. Units
Motor output current Continuous operation - +0.5 ARMS
Motor output current, peak - +1 A
Short-circuit protection threshold Programmable
Short-circuit protection delay Programmable
On-state voltage drop Output current = ±0.5A - ±0.6 - V
Off-state leakage current -1 ±0.1 +1 mA
FPWM = 20kHz, +VMOT = 12V 50 μH
Motor inductance FPWM = 20kHz, +VMOT = 45V 200 μH
Table of contents
