Technosoft IBL2403-RS232, IBL2403 Series, IBL2403-CAN Technical Reference

IBL2403-RS232

IBL2403-CAN

Intelligent Servo Drive for

Step, DC, Brushless DC and

AC Motors

Intelligent Servo Drive

Technical

Reference

TECHNOSOFT

IBL2403-RS232

IBL2403-CAN

Technical Reference

P091.037.IBL2403.UM.1007

Technosoft S.A.

Buchaux 38

CH-2022 Bevaix, NE

Switzerland Tel.: +41 (0) 32 732 5500 Fax: +41 (0) 32 732 5504

e-mail: contact@technosoftmotion.com

http://www.technosoftmotion.com/

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 IBL2403 family of intelligent servo drives,

including the following products:

IBL2403-RS232 (p/n P037.001.E001) - Universal Drive for Brushless, DC and step motors. IBL2403-CAN (p/n P037.001.E002) - Universal Drive for Brushless, DC and step motors. Standard execution using Technosoft TMLCAN protocol on CANbus IBL2403-CAN, CANopen (BL) (p/n P037.001.E012) - Servo Drive for Brushless and DC motors

using CANopen protocol on CANbus

IBL2403-CAN, CANopen (ST) (p/n P037.001.E013) - Stepper Drive using CANopen protocol on

CANbus

In order to operate the IBL2403 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 IBL2403 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 IBL2403 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

• IBL2403 – all products described in this manual

• IBL2403 CANopen – the CANopen executions from the IBL2403 family

• IBL2403 CAN – the CAN standard executions

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 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: contact@technosoftmotion.com

Fax: (41) 32 732 55 04 Email: hotline@technosoftmotion.com

Mail: Technosoft SA

Buchaux 38 CH-2022 Bevaix, NE Switzerland

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. IBL2403 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 (IBL2403-CAN drives).................................................... 37

3.2.13. Special connection (Non-Autorun)............................................................39

3.2.14. Master - Slave encoder connection .......................................................... 40

3.2.15. Connectors Type and Mating Connectors ................................................ 41

4. Step 2. Drive Setup ..................................................................................42

4.1. Installing EasySetUp ............................................................................ 42

4.2. Getting Started with EasySetUp........................................................... 42

4.2.1. Establish communication ............................................................................. 43

4.2.2. Setup drive/motor......................................................................................... 44

4.2.3. Download setup data to drive/motor ............................................................ 45

4.2.4. Evaluate drive/motor behaviour (optional) ................................................... 46

4.3. Changing the drive Axis ID................................................................... 46

4.4. Setting CANbus rate ............................................................................ 47

4.5. Creating an Image File with the Setup Data......................................... 48

5. Step 3. Motion Programming ..................................................................49

5.1. Using a CANopen Master (for IBL2403 CANopen execution) .............. 49

5.1.1. DS-301 Communication Profile Overview.................................................... 49

5.1.2. TechnoCAN Extension (for IBL2403 CAN execution).................................. 50

5.1.3. DSP-402 and Manufacturer Specific Device Profile Overview .................... 50

5.1.4. Checking Setup Data Consistency ..............................................................50

5.2. Using the built-in Motion Controller and TML ....................................... 50

5.2.1. Technosoft Motion Language Overview ......................................................51

5.2.2. Installing EasyMotion Studio........................................................................51

5.2.3. Getting Started with EasyMotion Studio ...................................................... 52

5.2.4. Creating an Image File with the Setup Data and the TML Program ............ 58

5.3. Combining CANopen /or other host with TML ...................................... 58

5.3.1. Using TML Functions to Split Motion between Master and Drives .............. 59

5.3.2. Executing TML programs............................................................................. 59

5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio ............. 59

5.3.4. Customizing the Homing Procedures (for IBL2403 CAN executions).......... 59

5.3.5. Customizing the Drive Reaction to Fault Conditions (for IBL2403 CAN

executions)................................................................................................................ 60

5.4. Using Motion Libraries for PC-based Systems..................................... 60

5.5. Using Motion Libraries for PLC-based Systems................................... 61

6. Scaling factors .........................................................................................62

6.1. Position units........................................................................................ 62

6.1.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 62

6.1.2. Brushless motor with linear Hall signals ......................................................62

6.1.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 63

6.1.4. Stepper motor open-loop control. No feedback device................................ 63

6.1.5. Stepper motor open-loop control. Incremental encoder on load.................. 64

6.2. Speed units ..........................................................................................64

6.2.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 64

6.2.2. Brushless motor with linear Hall signals ......................................................64

6.2.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 65

6.2.4. DC brushed motor with tacho on motor .......................................................65

6.2.5. Stepper motor open-loop control. No feedback device................................ 65

6.2.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 66

6.3. Acceleration units ................................................................................. 67

6.3.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 67

6.3.2. Brushless motor with linear Hall signals ......................................................67

6.3.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 68

6.3.4. Stepper motor open-loop control. No feedback device................................ 68

6.3.5. Stepper motor open-loop control. Incremental encoder on load.................. 68

6.3.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 69

6.4. Jerk units..............................................................................................69

6.4.1. Brushless / DC brushed motor with quadrature encoder on motor.............. 69

6.4.2. Brushless motor with linear Hall signals ......................................................70

6.4.3. DC brushed motor with quadrature encoder on load and tacho on motor ... 70

6.4.4. Stepper motor open-loop control. No feedback device................................ 71

6.4.5. Stepper motor open-loop control. Incremental encoder on load.................. 71

6.4.6. Stepper motor closed-loop control. Incremental encoder on motor ............. 71

6.5. Current units......................................................................................... 72

6.6. Voltage command units........................................................................72

6.7. Voltage measurement units.................................................................. 72

6.8. Time units

.............................................................................................73

6.9. Drive temperature units

........................................................................73

6.10. Master position units

............................................................................73

6.11. Master speed units

...............................................................................73

6.12. Motor position units .............................................................................. 74

6.12.1. Brushless / DC brushed motor with quadrature encoder on motor........... 74

6.12.2. Brushless motor with linear Hall signals ................................................... 74

6.12.3. DC brushed motor with quadrature encoder on load and tacho on motor 74

6.12.4. Stepper motor open-loop control. No feedback device............................. 74

6.12.5. Stepper motor open-loop control. Incremental encoder on load............... 75

6.12.6. Stepper motor closed-loop control. Incremental encoder on motor..........75

6.13. Motor speed units................................................................................. 75

6.13.1. Brushless / DC brushed motor with quadrature encoder on motor........... 75

6.13.2. Brushless motor with linear Hall signals ................................................... 75

6.13.3. DC brushed motor with quadrature encoder on load and tacho on motor 76

6.13.4. DC brushed motor with tacho on motor .................................................... 76

6.13.5. Stepper motor open-loop control. No feedback device or incremental

encoder on load ........................................................................................................ 76

6.13.6. Stepper motor closed-loop control. Incremental encoder on motor..........77

7. Memory

Map.............................................................................................78

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

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 IBL2403 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 IBL2403 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 standalone configurations. Thanks to the embedded motion controller, the IBL2403 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 gearing or camming

, etc.)

 Changing the motion modes and/or the motion parameters

 Executing homing sequences

 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 IBL2403 drives can also be controlled from a PC or PLC using

the family of TML_LIB motion libraries.

For all motion programming options, the IBL2403 commissioning for your application is done

using EasySetUp.

Optional for IBL2403 CANopen execution

Available only for the IBL2403 CAN executions

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) 3

order interpolation

• Position, Time (PT) 1

order interpolation

• Electronic gearing and camming

• External analogue or digital reference

• 33 Homing modes

• Single-ended, differential and/or open-collector encoder interface

• Single-ended, open collector Hall sensor interface

• Linear Hall sensor interface

• 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:

• CANopen

– compatible with CiA standards: DS301 and DSP402

• TMLCAN

– compatible with all Technosoft drives with CANbus interface

• 1.5K × 16 internal SRAM memory

• 8K × 16 E

ROM to store TML programs and data

• Nominal PWM switching frequency: 20 kHz

• Power supply: 12-28 V; 3A;

6 A PEAK

• Minimal load inductance: 50 μH @ 12 V, 100 μH @ 24 V

• Operating ambient temperature: 0-40°C

• Hardware Protections:

• All I/Os are ESD protected

Optional for the IBL2403 CANopen execution

Available only for the IBL2403 CAN executions

Available only for the IBL2403 CANopen execution

Available only for the IBL2403-CAN execution

Nominal values cover all cases. Higher values may be programmed for configurations with brushless DC, DC brush and

step motors.

2.3. Supported Motor-Sensor Configurations

IBL2403 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 load

, 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.

Figure 2.2. Brushless DC rotary motor. Position/speed/torque control. Hall sensors and quadrature encoder

on motor

Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1

3. Position, speed or torque control of a brushless AC rotary motor with linear Hall

signals

. 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.

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 signals

. 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.

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,

Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1

Available only for the IBL2403 CAN executions

IBL2403

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 2.5. 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 load

, while the same commands, expressed in IU units,

refer to the motor

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

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 openloop 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

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 load

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

Motion commands can be referred to the motor by setting in EasySetUp a rotary to rotary transmission with ratio 1:1

2.4. IBL2403 Dimensions

44.0 mm

58.0 mm

65.0 mm

19.0 mm

18.0 mm

50.0 mm

2.5 mm

4 mm

4.0 mm

0.098 “

0.748 “

1.732 “

2.283 “

0.157 “

0.157 “0.709 “

1.968 “

2.559 “

Figure 2.11. IBL2403 drive dimensions

2.5. Electrical Specifications

All parameters were measured under the following conditions (unless otherwise specified): T

amb

= 25°C, power supply (VDC) = 24VDC;

Supplies start-up / shutdown sequence: -any-

;

Load current 3 A

RMS

Supply Input

Measured between +VDC and GND.

Min. Typ. Max. Units

Nominal values 12 24 28 VDC

Supply voltage

Absolute maximum values, continuous

†

-0.5 35 V

Idle 100 250 mA Supply current

Operating -6.1 ±3 +6.1 A

Motor Outputs

All voltages referenced to GND.

Min. Typ. Max. Units

Motor output current

Continuous operation, +V

= 24 V,

PWM

= 20 kHz

-3 +3 A

RMS

Motor output current, peak Thermal limited to <= 0.5 s -6.1 +6.1 A

On-state voltage drop

Output current = ±3 A

-900

±250

+300 mV

Off-state leakage current -1

±0.1

+1 mA

PWM

= 20 kHz, +V

MOT

= 12 V 50

μH

Motor inductance

PWM

= 20 kHz, +V

MOT

= 24 V 100

μH

Digital Inputs

All voltages referenced to GND.

Min. Typ. Max. Units

Logic “LOW” -0.5 0 0.8

Logic “HIGH” 2 5÷24 28

Input voltage

Absolute maximum, surge (duration ≤ 1S)

†

-25 +30

Logic “HIGH”; Internal 470 Ω pull-up to +5V

0 0 0

Input current

Logic “LOW” 8 10 13

Input frequency 0 250 KHz

Minimum pulse width 5 µS

Digital Outputs

All voltages referenced to GND.

Min. Typ. Max. Units

Logic “LOW” -0.5 0 0.2

Logic “HIGH” ; Output current = 0 2.4 4.4 +VDC

Output voltage

Absolute maximum, duration < 1 ms -1

0.5

Logic “HIGH”; Load connected to GND 10

Output current

Logic “LOW” 50

ESD Protection

Human Body Model (100 pF, 1.5 kΩ)

±25

Encoder Inputs

Min. Typ. Max. Units

Standards compliance

Differential / TTL / CMOS /

open-collector

Low level input current

Internal 470 Ω pull-ups to +5 V

10 12 mA

Input threshold voltage

In single-ended mode (TTL / CMOS / / open-collector)

1.8 1.9 2 V

Input hysteresis 0.1 0.2 0.5 V

Analog Inputs (Ref, Tacho)

Referenced to GND

Min. Typ. Max. Units

Voltage range 0 +5 V

Input impedance 16

KΩ

Resolution 10 bits

Differential linearity Guaranteed 10-bit no-missing-codes 0.09

% FS

Offset error

±0.3

% FS

Gain error

±5

% FS

Bandwidth (-3 dB)

250 Hz

Linear Hall Inputs (LH1, LH2, LH3)

Referenced to GND

Min. Typ. Max. Units

Maximum range 0 +5 V

Voltage range

Operating range Programmable

Input current -0.5 +0.5 mA

Bandwidth (-3 dB)

1 KHz

Hall Inputs (digital)

All voltages referenced to GND.

Min. Typ. Max. Units

Logic “LOW” -0.5 0 0.8

Logic “HIGH” 2 5 5.5

Input voltage

Absolute maximum, surge

(duration ≤ 1ms)

†

-8 +8

Low level input current

Internal 1 kΩ pull-ups to +5 V

5 6 mA

RS-232

Min. Typ. Max. Units

Standards compliance TIA/EIA-232-C

Bit rate Depending on software settings 9600 115200 Baud

ESD Protection

Human Body Model (100 pF, 1.5 kΩ)

±15

Input voltage RX232 input -25 - +25 V

Output short-circuit withstand TX232 output to GND Guaranteed

CAN-Bus

All voltages referenced to GND

Min. Typ. Max. Units

Standards compliance

CAN-Bus 2.0B error active;

ISO 11898-2

Recommended transmission line impedance

Measured at 1MHz 90 120 150

Bit rate Depending on software settings 125K 1M Baud

Bit rate = 125kbps …250kbps 64 -

Bit rate = 500kbps 50 -

Number of network nodes

Bit rate = 1Mbps 32 -

ESD Protection Human Body Model

±15

Supply Output

Min. Typ. Max. Units

+5V

OUT

Voltage 4.75 5 5.25 V

+5V

OUT

available current 220 mA

Others

Min. Typ. Max. Units

Operating 0 40

°C

Temperature

Storage (not powered) -40 85

°C

Operating 0 90 %RH

Humidity (Non-condensing)

Storage 0 100 %RH

Altitude (referenced to sea level) 0 ÷ 1 +4 Km

Altitude / pressure12

Ambient Pressure 0.64 0.9 ÷ 1 4.0 atm

Dimensions Length x Width x Height 65 x 58 x 19 mm

Weight 0.1 Kg

Protection degree IP20 (according to IEC529)

“FS” stands for “Full Scale”

†

Stresses beyond values listed under “absolute maximum ratings” may cause permanent damage to the device.

Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.

T.B.D. = To be determined

Figure 2.12. De-rating with ambient temperature

Figure 2.13. De-rating with altitude

At altitudes over 1,000m, current and power rating are reduced due to thermal dissipation efficiency at higher altitudes.

See Figure 2.13 – De-rating with altitude

NOM

– the nominal current

Stand-alone operation, vertical mounting

Figure 2. 14. Current De-rating with PWM

frequency

Figure 2.15. Output Voltage De-rating with PWM

frequency

CAUTION!

For PWM frequencies less than 20kHz, correlate the PWM frequency with the motor parameters in order to avoid possible motor damage.

Figure 2.16. Power De-rating with PWM

frequency

Figure 2.17. Over-current diagram

OUT

– the output voltage, V

MOT

– the motor supply voltage

NOM

– the nominal power

3. Step 1. Hardware Installation

3.1. Mounting

Figure 3.1. IBL2403 drive connectors

The IBL2403 drive was designed to be cooled by natural convection. It can be mounted horizontally (with label upwards) or vertically inside a cabinet (see Figure 3.2). In both cases, leave at least 25mm between the drive and surrounding walls/drives, to allow for free air circulation.

CAUTION !

Before connecting the motor, be sure you have the right application programmed to E2ROM, else you can damage the motor and drive. At power-on, the TML application is automatically executed. See paragraph 3.2.13 to disable this feature.

+ 63 hidden pages

Technosoft IBL2403-RS232, IBL2403 Series, IBL2403-CAN Technical Reference

Specifications and Main Features

Frequently Asked Questions

User Manual