Technosoft PIM2401 Use and care manual

PIM2401
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
©Technosoft 2007

TECHNOSOFT
PIM2401
Technical Reference
P091.035.PIM2401.UM.1107
Technosoft S.A.
Buchaux 38
CH-2022 Bevaix, NE
Switzerland
Tel.: [phone]
Fax: [phone]
e-mail: [email protected]
http://www.technosoftmotion.com/

©Technosoft 2007 III PIM2401 Technical Reference
Read This First
Whilst Technosoft believes that the information and guidance given in this manual is correct, all
parties must rely upon their own skill and judgment when making use of it. Technosoft does not
assume any liability to anyone for any loss or damage caused by any error or omission in the
work, whether such error or omission is the result of negligence or any other cause. Any and all
such liability is disclaimed.
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 PIM2401 family of intelligent servo drives,
including the following products:
PIM2401 (p/n P035.001.E102) - Universal Drive for Brushless, DC and step motors. Standard
execution using Technosoft TMLCAN protocol on CANbus
PIM2401 CANopen (BL) (p/n P035.001.E112) - Servo Drive for Brushless and DC motors using
CANopen protocol on CANbus
PIM2401 CANopen (ST) (p/n P035.001.E113) - Stepper Drive using CANopen protocol on
CANbus
In order to operate the PIM2401 drives, you need to pass through 3 steps:
Step 1 Hardware installation
Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning
Step 3 Motion programming using one of the options:
A CANOpen master (for the PIM2401 CANopen version)
The drive built-in motion controller executing a Technosoft Motion Language (TML)
program developed using Technosoft EasyMotion Studio software
A TML_LIB motion library for PCs (Windows or Linux)
A TML_LIB motion library for PLCs
A distributed control approach which combines the above options, like for example
a host calling motion functions programmed on the drives in TML
This manual covers Step 1 in detail. It describes the PIM2401 hardware including the technical
data, the connectors and the wiring diagrams needed for installation. The manual also presents
an overview of the following steps, and includes the scaling factors between the real SI units and

©Technosoft 2007 IV PIM2401 Technical Reference
the drive internal units. For detailed information regarding the next steps, refer to the related
documentation.
Notational Conventions
This document uses the following conventions:
•TML – Technosoft Motion Language
•SI units –International standard units (meter for length, seconds for time, etc.)
•IU units –Internal units of the drive
•PIM2401 – all products described in this manual
•PIM2401 CANopen – the CANopen execution from the PIM2401 family
•PIM2401 CAN – the standard CAN execution
Related Documentation
MotionChip™ II TML Programming (part no. P091.055.MCII.TML.UM.xxxx) describes in
detail TML basic concepts, motion programming, functional description of TML
instructions for high level or low level motion programming, communication channels
and protocols. Also give a detailed description of each TML instruction including
syntax, binary code and examples.
MotionChip II Configuration Setup (part no. P091.055.MCII.STP.UM.xxxx)
describes the MotionChip II operation and how to setup its registers and parameters
starting from the user application data. This is a technical reference manual for all the
MotionChip II registers, parameters and variables.
Help of the EasySetUp software –describes how to use EasySetUp to quickly setup
any Technosoft drive for your application using only 2 dialogues. The output of
EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or
saved on a PC file. At power-on, the drive is initialized with the setup data read from
its EEPROM. With EasySetUp it is also possible to retrieve the complete setup
information from a drive previously programmed. EasySetUp includes a firmware
programmer with allows you to update your drive firmware to the latest revision.
EasySetUp can be downloaded free of charge from Technosoft web page
CANopen Programming (part no. P091.063.UM.xxxx) – explains how to program the
Technosoft intelligent drives using CANopen protocol and describes the associated
object dictionary for the DS-301 communication profile and the DSP-402 device
profile
Help of the EasyMotion Studio software –describes how to use the EasyMotion Studio
to create motion programs using in Technosoft Motion Language (TML). EasyMotion
Studio platform includes EasySetUp for the drive/motor setup, and a Motion
Wizard for the motion programming. The Motion Wizard provides a simple,
graphical way of creating motion programs and automatically generates all the TML
instructions. With EasyMotion Studio you can fully benefit from a key advantage of

©Technosoft 2007 V PIM2401 Technical Reference
Technosoft drives – their capability to execute complex motions without requiring an
external motion controller, thanks to their built-in motion controller. A demo version
of EasyMotion Studio (with EasySetUp part fully functional) can be
downloaded free of charge from Technosoft web page
TML_LIB v2.0 (part no. P091.040.v20.UM.xxxx) – explains how to program in C,
C++,C#, Visual Basic or Delphi Pascal a motion application for the Technosoft
intelligent drives using TML_LIB v2.0 motion control library for PCs. The TML_lib
includes ready-to-run examples that can be executed on Windows or Linux (x86
and x64).
TML_LIB_LabVIEW v2.0 (part no. P091.040.LABVIEW.v20.UM.xxxx) – explains how to
program in LabVIEW a motion application for the Technosoft intelligent drives using
TML_LIB_Labview v2.0 motion control library for PCs. The TML_Lib_LabVIEW
includes over 40 ready-to-run examples.
TML_LIB_S7 (part no. P091.040.S7.UM.xxxx) – explains how to program in a PLC
Siemens series S7-300 or S7-400 a motion application for the Technosoft
intelligent drives using TML_LIB_S7 motion control library. The TML_LIB_S7 library
is IEC61131-3 compatible.
TML_LIB_CJ1 (part no. P091.040.CJ1.UM.xxxx) – explains how to program a PLC
Omron series CJ1 a motion application for the Technosoft intelligent drives using
TML_LIB_CJ1 motion control library for PCs. The TML_LIB_CJ1 library is
IEC61131-3 compatible.
TechnoCAN (part no. P091.063.TechnoCAN.UM.xxxx) – presents TechnoCAN protocol
– an extension of the CANopen communication profile used for TML commands
If you Need Assistance …
If you want to … Contact Technosoft at …
Visit Technosoft online World Wide Web: http://www.technosoftmotion.com/
Receive general information
or assistance (see Note)
Ask questions about
product operation or report
suspected problems
(see Note)
Make suggestions about,
or report errors in
documentation (see Note)
World Wide Web: http://www.technosoftmotion.com/
Email: [email protected]
Fax: [phone]
Email: [email protected]
Mail: Technosoft SA
Buchaux 38
CH-2022 Bevaix, NE
Switzerland

©Technosoft 2007 VI PIM2401 Technical Reference

©Technosoft 2007 VII PIM2401 Technical Reference
Contents
Read This First ...................................................................................................III
1. Safety information......................................................................................3
1.1. Warnings ................................................................................................ 3
1.2. Cautions ................................................................................................. 4
2. Product Overview.......................................................................................4
2.1. Introduction............................................................................................. 4
2.2. Key Features .......................................................................................... 6
2.3. Supported Motor-Sensor Configurations ................................................ 7
2.4. PIM2401 Dimensions ........................................................................... 11
2.5. Electrical Specifications........................................................................ 12
3. Step 1. Hardware Installation ..................................................................17
3.1. Mounting .............................................................................................. 17
3.2. Connectors and Connection Diagrams................................................. 18
3.2.1. Connectors Layout....................................................................................... 18
3.2.2. Identification Labels ..................................................................................... 18
3.2.3. J1 Connector pinout..................................................................................... 19
3.2.4. J2 Connector pinout..................................................................................... 20
3.2.5. 24V Digital I/O connection ........................................................................... 21
3.2.6. 5V Digital I/O connection ............................................................................. 22
3.2.7. Analog inputs connection............................................................................. 23
3.2.8. Motor connections........................................................................................ 24
3.2.9. Feedback connections ................................................................................. 29
3.2.10. Supply connection .................................................................................... 34
3.2.11. Serial RS-232 connection ......................................................................... 36
3.2.12. CAN connection........................................................................................ 37
3.2.13. Special connection (Non-Autorun)............................................................ 40
3.2.14. Master - Slave encoder connection .......................................................... 41
3.2.15. Connectors Type and Mating Connectors ................................................ 42

©Technosoft 2007 VIII PIM2401 Technical Reference
4. Step 2. Drive Setup ..................................................................................43
4.1. Installing EasySetUp ............................................................................ 43
4.2. Getting Started with EasySetUp........................................................... 43
4.2.1. Establish communication ............................................................................. 44
4.2.2. Setup drive/motor......................................................................................... 45
4.2.3. Download setup data to drive/motor ............................................................ 46
4.2.4. Evaluate drive/motor behaviour (optional) ................................................... 47
4.3. Changing the drive Axis ID................................................................... 47
4.4. Setting CANbus rate ............................................................................ 48
4.5. Creating an Image File with the Setup Data......................................... 49
5. Step 3. Motion Programming ..................................................................50
5.1. Using a CANopen Master (for PIM2401 CANopen execution) ............. 50
5.1.1. DS-301 Communication Profile Overview.................................................... 50
5.1.2. TechnoCAN Extension (for PIM2401 CAN execution)................................. 51
5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview .................... 51
5.1.4. Checking Setup Data Consistency .............................................................. 51
5.2. Using the built-in Motion Controller and TML ....................................... 51
5.2.1. Technosoft Motion Language Overview ...................................................... 52
5.2.2. Installing EasyMotion Studio........................................................................ 52
5.2.3. Getting Started with EasyMotion Studio ...................................................... 53
5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 59
5.3. Combining CANopen /or other host with TML ...................................... 59
5.3.1. Using TML Functions to Split Motion between Master and Drives .............. 60
5.3.2. Executing TML programs............................................................................. 60
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 60
5.3.4. Customizing the Homing Procedures (for PIM2401 CAN executions)......... 60
5.3.5. Customizing the Drive Reaction to Fault Conditions (for PIM2401 CAN
executions)................................................................................................................ 61
5.4. Using Motion Libraries for PC-based Systems..................................... 61
5.5. Using Motion Libraries for PLC-based Systems................................... 62
6. Scaling factors .........................................................................................63
6.1. Position units........................................................................................ 63
6.1.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 63

©Technosoft 2007 IX PIM2401 Technical Reference
6.1.2. Brushless motor with linear Hall signals ...................................................... 63
6.1.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 64
6.1.4. Stepper motor open-loop control. No feedback device................................ 64
6.1.5. Stepper motor open-loop control. Incremental encoder on load.................. 65
6.2. Speed units .......................................................................................... 65
6.2.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 65
6.2.2. Brushless motor with linear Hall signals ...................................................... 65
6.2.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 66
6.2.4. DC brushed motor with tacho on motor ....................................................... 66
6.2.5. Stepper motor open-loop control. No feedback device................................ 66
6.2.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 67
6.3. Acceleration units ................................................................................. 68
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 68
6.3.2. Brushless motor with linear Hall signals ...................................................... 68
6.3.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 69
6.3.4. Stepper motor open-loop control. No feedback device................................ 69
6.3.5. Stepper motor open-loop control. Incremental encoder on load.................. 69
6.3.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 70
6.4. Jerk units.............................................................................................. 70
6.4.1. Brushless / DC brushed motor with quadrature encoder on motor .............. 70
6.4.2. Brushless motor with linear Hall signals ...................................................... 71
6.4.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 71
6.4.4. Stepper motor open-loop control. No feedback device................................ 72
6.4.5. Stepper motor open-loop control. Incremental encoder on load.................. 72
6.4.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 72
6.5. Current units......................................................................................... 73
6.6. Voltage command units........................................................................ 73
6.7. Voltage measurement units.................................................................. 73
6.8. Time units............................................................................................. 74
6.9. Drive temperature units ........................................................................ 74
6.10. Master position units ............................................................................ 74
6.11. Master speed units ............................................................................... 74
6.12. Motor position units .............................................................................. 75
6.12.1. Brushless / DC brushed motor with quadrature encoder on motor........... 75
6.12.2. Brushless motor with linear Hall signals ................................................... 75

©Technosoft 2007 X PIM2401 Technical Reference
6.12.3. DC brushed motor with quadrature encoder on load and tacho on motor 75
6.12.4. Stepper motor open-loop control. No feedback device............................. 75
6.12.5. Stepper motor open-loop control. Incremental encoder on load............... 76
6.12.6. Stepper motor closed-loop control. Incremental encoder on motor.......... 76
6.13. Motor speed units................................................................................. 76
6.13.1. Brushless / DC brushed motor with quadrature encoder on motor........... 76
6.13.2. Brushless motor with linear Hall signals ................................................... 76
6.13.3. DC brushed motor with quadrature encoder on load and tacho on motor 77
6.13.4. DC brushed motor with tacho on motor .................................................... 77
6.13.5. Stepper motor open-loop control. No feedback device or incremental
encoder on load ........................................................................................................ 77
6.13.6. Stepper motor closed-loop control. Incremental encoder on motor.......... 78
7. Memory Map.............................................................................................79

©Technosoft 2007 3 PIM2401 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 4 PIM2401 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.
2. Product Overview
2.1. Introduction
The PIM2401 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 PIM2401 drives accept as position feedback incremental encoders (quadrature) and
linear Halls signals.
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 PIM2401 drives combine

©Technosoft 2007 5 PIM2401 Technical Reference
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 gearing or 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
to abort their execution if needed) and waiting for a message, which confirms the TML functions
execution.
Apart from a CANopen master, the PIM2401 drives can also be controlled from a PC or PLC
using the family of TML_LIB motion libraries.
For all motion programming options, the PIM2401 commissioning for your application is done
using EasySetUp.
1Optional for the PIM2401 CANopen execution
2Available only for the PIM2401 CAN execution

©Technosoft 2007 6 PIM2401 Technical Reference
2.2. Key Features
•Digital drives for control of brushless DC, brushless AC , DC brushed and step motors
with built-in 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
•Single-ended, differential and/or open-collector encoder interface
•Single-ended, open collector Hall sensor interface
•Linear Hall sensor interface2
•7 dedicated digital input-output lines (5V and 24V compatible):
•5 digital input lines
•2 digital output lines
•RS-232 serial interface (up to 115200 bps)
•CAN-bus 2.0B up to 1Mbit/s, with communication protocol:
•CANopen3– compatible with CiA standards: DS301 and DSP402
•TMLCAN2– compatible with all Technosoft drives with CANbus interface
•1.5K ×16 internal SRAM memory
•8K ×16 E2ROM to store TML programs and data
•Nominal PWM switching frequency: 20 kHz4
•Power supplies:
•Motor supply: 6-27 V; 1A; 3.6 APEAK
•Logic supply: 5 V;
•Minimal motor inductance: 0 μH (the drive has on-board inductance of 150 μH on each
phase)
•Operating ambient temperature: 0-40°C
•Hardware Protections:
•Short-circuit on motor phases
1Optional for the PIM2401 CANopen execution
2Available only for PIM2401 CAN execution
3Available only for PIM2401 CANopen execution
4Nominal values cover all cases. Higher values may be programmed for configurations with brushless DC, DC brush and
step motors.

©Technosoft 2007 7 PIM2401 Technical Reference
•All I/Os are ESD protected
2.3. Supported Motor-Sensor Configurations
PIM2401 supports 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 load1, 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 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 load, while the
same commands, expressed in IU units, refer to the motor.
PIM2401
PIM2401
Figure 2.2. Brushless DC rotary motor. Position/speed/torque control. Hall sensors and quadrature encoder
on motor
1Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1

©Technosoft 2007 8 PIM2401 Technical Reference
3. Position, speed or torque control of a brushless AC rotary motor with linear Hall
signals2. 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 load1, while the same commands, expressed in IU units, refer to the motor.
PIM2401
Figure 2.3.Brushless AC rotary motor with linear Hall signals.. Position/speed/torque control
4. Position, speed or torque control of a brushless AC linear motor with linear Hall
signals2. 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 load, while the same commands, expressed in IU units, refer to the motor.
PIM2401
Figure 2.4.Brushless AC linear motor with linear Hall signals.. Position/speed/torque control
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,
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 PIM2403 CAN execution

©Technosoft 2007 9 PIM2401 Technical Reference
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.
PIM2401
Figure 2.5. DC brushed rotary motor. Position/speed/torque control. Quadrature encoder on motor
6. 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 2.6. DC brushed rotary motor. Position/speed/torque control. Quadrature encoder on load plus
tachometer on motor
7. 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
PIM2401
PIM2401
Figure 2.7. DC brushed rotary motor. Speed/torque control. Tachometer on motor
8. Open-loop control of a 2 or 3-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

©Technosoft 2007 10 PIM2401 Technical Reference
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.
PIM2401
PIM2401
Figure 2.9. Encoder on load. Closed-loop control: load position, open-loop control: motor speed
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.
PIM2401
Figure 2.10. Encoder on motor shaft. Closed-loop control: motor position, speed or torque
1Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1