Technosoft drives can handle different types of external reference signals: analog, pulse & direction or quadrature encoder. The following steps describe how to configure a Technosoft drive to read the Pulse & Direction inputs as the external source for the position reference: Create a new project/setup based on your drive, motor and feedback type. If you [...]
The correct execution of an S-curve profile requires that the movement time fits inside a long variable. This conditions is verified by EasyMotion Studio when the "S-curve Profiles" dialogue is closed. Based on the values set in the "S-curve Profiles" dialogue, EasyMotion Studio computes the TJERK, T2 and T4 parameters and checks if (2xTJERK+T2+T4)x(TJERK+T2)xTJERK < 2^(32-1). If the condition is met, the motion profile is considered valid and the TML code [...]
In order to stop the unrequested messages sent by the drive to the host when in PVT mode, the user need to set the PVTSENDOFF variable to 1. Add the line "PVTSENDOFF = 1;" at the beginning of his program and the drive will no longer send the PVTSTS to the host.
A PVT/PT profile generated with a external tool can be import in a TML program through a text file using the "Import from File" option in the Motion - PVT or Motion - PT dialog. The data in the file must be organized as follows: 3 columns separated by space or tabs representing from left [...]
The drive sends the PVT status to the host when: - the PVT buffer is full, low or empty; - some PVT points are "missing" - for example, in case the host sends 4 points but the 3rd point was not received by the drive. Remark: In case of buffer empty condition, the drive enter QUICKSTOP [...]
Since Technosoft have only digital drives, the lowest value of the internal units for the controllers is 1 [count/sampling]. Now let's take a look on the speed scaling factor : speed[rpm] = [60 / (4 x Nr_enc_lines x Ts_s[s])] x speed[counts/sampling], where Ts_s is the slow loop period. For example if we take an encoder of 2000 lines and a default sampling loop [...]
The motor vibrations after the motion is completed are the caused by the tuning of the position controller which is too aggressive (the proportional part and derivative part are too high). In order to stop this vibration usually is recommended to re-tune again the drive/motor. If the application requires a fast respond , achieved with the [...]
The reference from an analog input can have values from 0 to 65535, or from -32768 to +32767. Depending on the position feedback resolution, this range can be insufficient, e.g. for a rotary incremental encoder with 2000 lines per revolution the analog input range corresponds to +/- 4.096 rotations. The workaround for this limitation is using a TML [...]
The latest firmware of the iPOS line of intelligent drives and iMOT line of intelligent motors has introduced a low pass filter that can be applied to any 16 bits variable. The filter configuration is made by specifying the address of the variable that needs to be filtered and the filtering level. The corresponding parameters are VARFIL_ADR and VARFIL_CFG. Remark: The filtering [...]
Each Technosoft drive has a dedicated "home input" that is used in the homing procedures. The corresponding digital input depends on the drive family (see the table below). Family Drive Home Input iPOS iPOS3602iPOS3604iPOS4808 IN#0 PIM PIM2401PIM2403PIM3605 IN#38 ISCM ISCM4805ISCM4805-DINISCM8005ISCM8005-DIN IN#38 ISD ISD720ISD860 IN#38 IBL IBL2401IBL2403IBL3605 IN#38 IDM IDM240IDM640IDM3000 IN#39 IDM680 IN#2 IM IM231-MAIM232-MAIM233-MA IN#38 [...]
