Technosoft IDM240-5EI Use and care manual

IDM240-5EI
IDM640-8EI
Intelligent
Servo Drive
Intelligent Drives
Technical
Reference
©Technosoft 2011

TECHNOSOFT
IDM240-5EI
IDM640-8EI
Technical Reference
P091.048.051.IDM.UM.0711
Technosoft S.A.
Avenue des Alpes 20
CH-2000 NEUCHATEL
Switzerland
Tel.: [phone]
Fax: [phone]
[email protected]
www.technosoftmotion.com

© Technosoft 2011 I IDMx40 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 IDMx40 family of intelligent servo drives,
including the following products:
IDM240-5EI (p/n P051.001.E002) - Universal Drive for Brushless, DC and step motors.
IDM640-8EI (p/n P048.001.E101) -Universal Drive for Brushless, DC and step motors. Standard
execution using Technosoft TMLCAN protocol on CANbus
IDM640-8EI, CANopen (BL) (p/n P048.001.E111) - Servo Drive for Brushless and DC motors
using CANopen protocol on CANbus
IDM640-8EI, CANopen (ST) (p/n P048.001.E112) - Servo Drive for Step motors using CANopen
protocol on CANbus
In order to operate the IDMx40 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 2011 II IDMx40 Technical Reference
This manual covers Step 1 in detail. It describes the IDMx40 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
IDMx40 – all products described in this manual
IDM640 CANopen – the CANopen execution from IDM family
IDMx40 CAN – IDM240 CAN and IDM640 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 2011 III IDMx40 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. The TML_LIB_CJ1 library is IEC61131-3
compatible.
TML_LIB_X20 (part no. P091.040.X20.UM.xxxx) – explains how to program a PLC B&R
series X20 a motion application for the Technosoft intelligent drives using
TML_LIB_X20 motion control library. 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
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
Ask questions about product
operation or report suspected
problems
Make suggestions about,
or report errors in
documentation
World Wide Web: http://www.technosoftmotion.com/
Email: [email protected]
Fax: [phone]
Email: [email protected]
Mail: Technosoft SA
Buchaux 38
CH-2022 Bevaix, NE
Switzerland

© Technosoft 2011IV IDMx40 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. IDMx40 Dimensions ............................................................................... 9
2.5. Electrical Specifications........................................................................ 10
3. Step 1. Hardware Installation ..................................................................19
3.1. Mounting............................................................................................... 19
3.2. Connectors and Connection Diagrams................................................. 21
3.2.1. Connectors Layout ....................................................................................... 21
3.2.2. Identification Labels ..................................................................................... 22
3.2.3. Motor & Supply – J2 Connector ................................................................... 23
3.2.4. Feedback – J13A Connector ....................................................................... 33
3.2.5. Analog & Digital I/O – J9 Connector ........................................................... 42
3.2.6. Serial Communication – J4 Connector......................................................... 47
3.2.7. CAN Communication – J10 Connector ........................................................ 50
3.2.8. Connectors Type and Mating Connectors.................................................... 53
3.3. DIP-Switch Settings.............................................................................. 53
3.4. LED Indicators...................................................................................... 56
3.5. First Power-Up ..................................................................................... 56
4. Step 2. Drive Setup...................................................................................57
4.1. Installing EasySetUp ............................................................................ 57

© Technosoft 2011 V IDMx40 Technical Reference
4.2. Getting Started with EasySetUp........................................................... 57
4.2.1. Establish communication ............................................................................. 58
4.2.2. Setup drive/motor......................................................................................... 59
4.2.3. Download setup data to drive/motor ............................................................ 61
4.2.4. Evaluate drive/motor behaviour (optional) ................................................... 61
4.3. Changing the drive Axis ID................................................................... 61
4.4. Setting CANbus rate............................................................................. 62
4.5. Creating an Image File with the Setup Data......................................... 63
5. Step 3. Motion Programming ..................................................................64
5.1. Using a CANopen Master (for IDM640 CANopen execution)............... 64
5.1.1. DS-301 Communication Profile Overview.................................................... 64
5.1.2. TechnoCAN Extension (for IDMx40 CAN executions) ................................. 65
5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview..................... 65
5.1.4. Checking Setup Data Consistency .............................................................. 66
5.2. Using the built-in Motion Controller and TML ....................................... 66
5.2.1. Technosoft Motion Language Overview ...................................................... 66
5.2.2. Installing EasyMotion Studio........................................................................ 67
5.2.3. Getting Started with EasyMotion Studio ...................................................... 67
5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 73
5.3. Combining CANopen /or other host with TML ...................................... 74
5.3.1. Using TML Functions to Split Motion between Master and Drives............... 74
5.3.2. Executing TML programs............................................................................. 74
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 74
5.3.4. Customizing the Homing Procedures (for IDMx40 CAN executions)........... 75
5.3.5. Customizing the Drive Reaction to Fault Conditions (for IDMx40 CAN
executions)................................................................................................................ 75
5.4. Using Motion Libraries for PC-based Systems..................................... 76
5.5. Using Motion Libraries for PLC-based Systems................................... 76
6. Scaling Factors ........................................................................................77
6.1. Position units........................................................................................ 77
6.1.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 77
6.1.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 77
6.1.3. Stepper motor open-loop control. No feedback device................................ 78

© Technosoft 2011VI IDMx40 Technical Reference
6.1.4. Stepper motor closed-loop control. Incremental encoder on motor ............. 78
6.1.5. Stepper motor open-loop control. Incremental encoder on load.................. 78
6.2. Speed units .......................................................................................... 79
6.2.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 79
6.2.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 79
6.2.3. DC brushed motor with tacho on motor ....................................................... 79
6.2.4. Stepper motor open-loop control. No feedback device................................ 80
6.2.5. Stepper motor open-loop control. Incremental encoder on load.................. 80
6.2.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 81
6.3. Acceleration units ................................................................................. 81
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 81
6.3.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 82
6.3.3. DC brushed motor with tacho on motor ....................................................... 82
6.3.4. Stepper motor open-loop control. No feedback device................................ 82
6.3.5. Stepper motor open-loop control. Incremental encoder on load.................. 83
6.3.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 83
6.4. Jerk units .............................................................................................. 84
6.4.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 84
6.4.2. DC brushed motor with quadrature encoder on load and tacho on motor ... 84
6.4.3. Stepper motor open-loop control. No feedback device................................ 85
6.4.4. Stepper motor open-loop control. Incremental encoder on load.................. 85
6.4.5. Stepper motor closed-loop control. Incremental encoder on motor ............. 86
6.5. Current units......................................................................................... 86
6.6. Voltage command units ........................................................................ 86
6.7. Voltage measurement units.................................................................. 87
6.8. Time units............................................................................................. 87
6.9. Drive temperature units ........................................................................ 87
6.10. Master position units ............................................................................ 87
6.11. Master speed units ............................................................................... 88
6.12. Motor position units .............................................................................. 88
6.12.1. Brushless / DC brushed motor with quadrature encoder on motor........... 88
6.12.2. DC brushed motor with quadrature encoder on load and tacho on motor 88
6.12.3. Stepper motor open-loop control. No feedback device............................. 89
6.12.4. Stepper motor open-loop control. Incremental encoder on load............... 89
6.12.5. Stepper motor closed-loop control. Incremental encoder on motor.......... 89

© Technosoft 2011VII IDMx40 Technical Reference
6.13. Motor speed units................................................................................. 89
6.13.1. Brushless / DC brushed motor with quadrature encoder on motor........... 89
6.13.2. DC brushed motor with quadrature encoder on load and tacho on motor 90
6.13.3. DC brushed motor with tacho on motor .................................................... 90
6.13.4. Stepper motor open-loop control. No feedback device or incremental
encoder on load ........................................................................................................ 90
6.13.5. Stepper motor closed-loop control. Incremental encoder on motor.......... 91
7. Memory Map.............................................................................................92

©Technosoft 20111 IDMx40 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 20112 IDMx40 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 20113 IDMx40 Technical Reference
2. Product Overview
2.1. Introduction
The IDMx40 is a family of fully digital intelligent servo drives, based on the latest DSP technology
and they offer unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushless DC, brushless AC (vector control), DC brushed motors and step
motors, the IDMx40 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 IDMx40 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 gearing1or camming1, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences2
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
1Optional for the IDM640 CANopen execution
2Available only for the IDMx40 CAN executions

©Technosoft 20114 IDMx40 Technical Reference
to abort their execution if needed) and waiting for a message, which confirms the TML functions
execution.
Apart from a CANopen master, the IDMx40 drives can also be controlled from a PC or PLC using
the family of TML_LIB motion libraries.
For all motion programming options, the IDMx40 commissioning for your application is done using
EasySetUp.
2.2. Key Features
•Digital drives for control of brushless DC, brushless AC, DC brushed 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
•Incremental encoder and digital Hall sensors interfaces: 5V single-ended, open-collector
or RS-422 differential
•Second incremental encoder / pulse & direction interface (5V or 24V single-ended, open-
collector or RS-422 differential) for external (master) digital reference1
•Digital I/Os:
6 inputs 24V, opto-isolated, common I/O ground: 2 general-purpose, 2 for limit
switches, 2 for Reset and Enable (emergency shutdown)
2 inputs 24V / 5V compatible (shared with second encoder / pulse & direction)
6 digital outputs, opto-isolated, 24V PNP-type, 80/160 mA, short-circuit protected:
4 general-purpose, 2 for Ready and Error
•2 differential analog inputs +/-10 V, for reference and feedback
•Compact design: 136 x 95 x 26 mm
•RS-232 serial communication up to 115kbaud
•RS-485 serial communication2
•CAN-bus 2.0A / 2.0B up to 1Mbit/s, opto-isolated, with selectable communication
protocol:
CANopen3– compatible with CiA standards: DS301 and DSP402
TMLCAN2– compatible with all Technosoft drives with CANbus interface
•Motor temperature sensor interface
•4K×16 SRAM for data acquisitions and 8K×16 E2ROM for setup data and TML programs
1Optional for the IDM640 CANopen execution
2Available only for the IDMx40 CAN executions
3Available only for the IDM640 CANopen execution

©Technosoft 20115 IDMx40 Technical Reference
•Nominal PWM switching frequency1: 20 kHz
•Nominal update frequency for torque loop1: 10 kHz
•Update frequency for speed/position loop2: 1-10 kHz
•Continuous output current: 8ARMS
•Peak output current: 16.5A
•Logic power supply: 12÷48 VDC
•Motor power supply: 12÷80 VDC
•Minimal load inductance: 50μH @12V, 200 μH @ 48 V, 330 μH @80V
•Operating ambient temperature3: 0-40°C
2.3. Supported Motor-Sensor Configurations
The IDMx40 drives support the following configurations:
1. Position, speed or torque control of a brushless AC rotary motor with an incremental
quadrature encoder on its shaft. The brushless motor is vector controlled like a permanent
magnet synchronous motor. It works with sinusoidal voltages and currents. 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 load4, while the same commands, expressed in IU units, refer to the
motor.
Figure 2.1. Brushless AC rotary motor. Position/speed/torque control. Quadrature encoder on
motor.
2. Position, speed or torque control of a brushless AC linear motor with an incremental
quadrature encoder5. The brushless motor is vector controlled like a permanent magnet
synchronous motor. It works with sinusoidal voltages and currents. Scaling factors take into
account the transmission ratio between motor and load (rotary or linear). Therefore, the
1Nominal values cover all cases. Higher values are possible in specific configurations. For details contact Technosoft
21-2kHz cover all cases. Higher values equal with torque loop update frequency are possible with quadrature encoders
3For higher ambient temperatures, contact Technosoft to get de-rating information
4Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1
5Available only for the IDMx40 CAN executions
IDMx40

©Technosoft 20116 IDMx40 Technical Reference
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. Brushless AC linear motor. Position/speed/torque control. Quadrature encoder on
motor.
3. Position, speed or torque control of a brushless DC rotary motor with digital Hall sensors
and an incremental quadrature encoder on its shaft. The brushless motor is controlled
using Hall sensors for commutation. It works with rectangular currents and trapezoidal BEMF
voltages. 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 load1, while the same commands, expressed
in IU units, refer to the motor.
Figure 2.3. Brushless DC rotary motor. Position/speed/torque control. Hall sensors and
quadrature encoder on motor
4. Position, speed or torque control of a brushless DC linear motor with digital Hall sensors
and an incremental quadrature encoder2. The brushless motor is controlled using Hall
sensors for commutation. It works with rectangular currents and trapezoidal BEMF voltages.
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.
1Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1
2Available only for the IDMx40 CAN executions
IDMx40
IDMx40

©Technosoft 20117 IDMx40 Technical Reference
Figure 2.4. Brushless DC linear motor. Position/speed/torque control. Hall sensors and
quadrature encoder on motor
5. 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 2.5. DC brushed rotary motor. Position/speed/torque control. Quadrature encoder on
motor
6. Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft.
Scaling factors take into account the transmission ratio between motor and load (rotary or
linear). Therefore, the motion commands (for speed and acceleration) expressed in SI units
(or derivatives) refer to the load1, while the same commands, expressed in IU units, refer to
the motor
Figure 2.6. DC brushed rotary motor. Speed/torque control. Tachometer on motor
IDMx40
IDMx40
IDMx40

©Technosoft 20118 IDMx40 Technical Reference
7. Load position control using an incremental quadrature encoder on load, combined with
speed control of a DC brushed rotary motor having a tachometer on its shaft. The motion
commands (for position, speed and acceleration) in both SI and IU units refer to the load
Figure 2.7. DC brushed rotary motor. Position/speed/torque control. Quadrature encoder on load
plus tachometer on motor
8. Open-loop control of a 2 or 3-phase step motor in position or speed1. 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 2.8. No position or speed feedback. Open-loop control: motor position or speed
9. 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 2.9. Encoder on load. Closed-loop control: load position, open-loop control: motor speed
13-phase step motor configuration is available only for the IDMx40 CAN versions
IDMx40
IDMx40
IDMx40

©Technosoft 20119 IDMx40 Technical Reference
10. 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 2.10. Encoder on motor shaft. Closed-loop control: motor position, speed or torque
2.4. IDMx40 Dimensions
The next figure presents the IDMx40 drives dimensions.
26 mm
(1.024”)
136 mm (5.354”)
95 mm (3.74”)
44.5 m m (1.752”)
15 mm
(0.591”) 4.2 mm (0.165”)
4 mm (0.157”)
Figure 2.11. IDMx40 drives dimensions
IDMx40