Summary of Contents for Technosoft iMOT Series
- Page 1 Intelligent Motors Intelligent Motors Technical Reference Technosoft 2018 P091.042.iMOT.UM.0918...
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Page 2: Table Of Contents
+/- 10V to 0-5V Input Range Adapter ................24 3.8.5.3 Recommendation for wiring .................... 24 3.8.6 Power Supply Connection Recommendations ..............25 ..3.8.6.1 Recommendations for Supply Wiring ................25 3.8.6.2 Recommendations to limit over-voltage during braking ..........25 Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... - Page 3 EtherCAT (for CAT motors) ....................32 3.14 Torque – Speed characteristic ................33 3.14.1 iMOT17xB XM/TM-CAN/CAT ....................33 ..3.14.2 iMOT172S XM/TM-CAN/CAT ....................33 ..3.14.3 iMOT23xS XM-CAN ....................... 33 ..Memory Map ......................34 Technosoft 2018 iMOT Intelligent Motors Line Technical Reference...
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Page 4: 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. -
Page 5: Notational Conventions
– describes the hardware connections of the iMOT Intelligent Motors line including the technical data and connectors. 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. -
Page 6: If You Need Assistance
If you Need Assistance … If you want to … Contact Technosoft at … Visit Technosoft online World Wide Web: http://www.technosoftmotion.com/ Receive general information World Wide Web: http://www.technosoftmotion.com/ or assistance (see Note) Email: contact@technosoftmotion.com Ask questions about product Fax: (41) 32 732 55 04... -
Page 7: Cautions
Evaluation, Authorization and Restriction of Chemicals), which came into force on 01.06.2007. RoHS Compliance - Technosoft SA here with declares that this product is manufactured in compliance with the RoHS directive 2002/95/EC on the restriction of the use of certain... - Page 8 Surge Immunity Level 2, Criteria B: Supply lines, +/-1KV line-to-line EN61000-4-6: 2009 Conducted Disturbances induced by Radiofrequency Fields Immunity Level 3, Criteria A: Signal lines, 10V, 0.15MHz...80MHz For other certifications visit: http://technosoftmotion.com/en/quality-system Technosoft 2018 iMOT Intelligent Motors Line Technical Reference...
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Page 9: Product Overview
When TMLCAN mode is selected, the iMOT behaves as standard Technosoft intelligent drive and conforms to Technosoft protocol for exchanging TML commands via CAN-bus. When TMLCAN protocol is used, it is not mandatory to have a master. Any iMOT can be set to operate standalone, and may play the role of a master to coordinate both the network communication/synchronization and the motion application via TML commands sent directly to the other intelligent motors. -
Page 10: Product Features
Various modes of operation, including: torque, speed or position control; position or speed profiles, Cyclic Synchronous Position (CSP) for CANopen mode, external reference mode analogue or sent via a communication bus • Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences • Standalone operation with stored motion sequences •... -
Page 11: Identification Labels
Stepper Nema 17, size 2, CAN version, Molex connectors iMOT232S XM-CAN P036.222.E120 Stepper Nema 23, size 2, CAN version, Molex connectors iMOT233S XM-CAN P036.232.E120 Stepper Nema 23, size 3, CAN version, Molex connectors Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 12: Hardware Installation
4 x M3 threaded holes depth 4mm Axial force FA[N] Radial force FR[N] Figure 3.2. iMOT17xB XM-CAN models dimensions All dimensions are in mm. The drawings are not to scale. Tolerance ±0.1mm (unless otherwise noted). Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 13: Imot172S Xm-Can Model Dimensions
4 x M3 threaded holes depth 4.5mm Figure 3.4. iMOT172S TM-CAN and TM-CAT models dimensions All dimensions are in mm. The drawings are not to scale. Tolerance ±0.1mm (unless otherwise noted). TM- CAN model shown. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 14: Imot23Xs Xm-Can Models Dimensions
48.2 Axial force FA[N] Radial force FR[N] 73.60 73.60 Figure 3.5. iMOT23xS XM-CAN models dimensions All dimensions are in mm. The drawings are not to scale. Tolerance ±0.1mm (unless otherwise noted). Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 15: Mechanical Mounting
Make sure the metallic surface is free from paint, eloxation, etc. and that the surface is part of a construction connected to earth (PE – protection earth). This will ensure proper EMC performance. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 16: Connectors And Pinouts
Connectors and Pinouts 3.7.1 Connectors and pinouts for iMOT17xB/iMOT172S TM-CAN models Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 17: Connectors And Pinouts For Imot17Xb/Imot172S Tm-Cat Models
3.7.2 Connectors and pinouts for iMOT17xB/iMOT172S TM-CAT models Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 18: Connectors And Pinouts For Imot17Xb/Imot172S Xm-Can Models
3.7.3 Connectors and pinouts for iMOT17xB/iMOT172S XM-CAN models Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 19: Connectors And Pinouts For Imot23Xs Xm-Can Models
3.7.4 Connectors and pinouts for iMOT23xS XM-CAN models Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 20: Connection Diagrams
Connection diagrams 3.8.1 iMOT17xB/iMOT172S TM-CAN connection diagram Figure 3.2. iMOT17xB/iMOT172S TM-CAN connection diagram Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 21: Imot17Xb/Imot172S Tm-Cat Connection Diagram
3.8.2 iMOT17xB/iMOT172S TM-CAT connection diagram Figure 3.3. iMOT17xB/iMOT172S TM-CAT connection diagram Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 22: Imot17Xb/Imot172S Xm-Can Connection Diagram
3.8.3 iMOT17xB/iMOT172S XM-CAN connection diagram Figure 3.4. iMOT17xB/iMOT172S XM-CAN connection diagram Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 23: Imot23Xs Xm-Can Connection Diagram
3.8.4 iMOT23xS XM-CAN connection diagram Figure 3.5. iMOT23xS XM-CAN connection diagram Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 24: Analog Inputs Connection Recommendations
2 wire connects the source ground to the drive ground; shield is connected to PE (protection earth, iMOT chassis), preferably at both ends. The source minus (negative, out-of-phase) output remains unconnected. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 25: Power Supply Connection Recommendations
Do not rely on an earthed PC to provide the iMOT GND connection! The iMOT must be earthed throughthe front-plate metallic surface. Also, note that ground (GND) is isolated from PE (earth, motor chassis). Most communication problems are caused by the lack of such connection. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 26: Can-Bus Connection (For Can Motors Only) Recommendations
TML application from the EEPROM. On next power on, in absence of a valid TML application, the drive enters in the non- Autorun/slave mode. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 27: Can Protocol Selection For Can Motors. Tmlcan/Canopen
(TM-CAN), AxisID setting can only be done through software (EasySetup/EasyMotion). On these motors, if software setting is left as "H/W", this corresponds to a hardware setting (SW1) of 0x0, i.e.255 for TMLCAN / 127 for CANopen. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 28: Recommendations For Ethercat® Wiring
OUT2/Error is set to zero with OUT(2)=0 instruction. EtherCAT® LED EtherCAT® ERROR and RUN indicators combined. green Shows the state of the EtherCAT® Status Machine Figure 3.10. LED indicators Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 29: Ethercat® Led Indicator States
Operating temperature at higher temperatures is possible with reduced current and power ratings iMOT can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, current and power rating are reduced due to thermal dissipation efficiency. Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 30: Environmental Characteristics
3.13.5 Motor Supply Input (+V Min. Typ. Max. Units Nominal values Absolute maximum values, continuous -0.3 Supply voltage † Absolute maximum values, surge (duration ≤ 10ms) Idle Supply current Operating -13.6 ±3 +13.6 Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 31: Digital Inputs
Logic “HIGH”, leakage current; external load to +V max = 36V Minimum pulse µs width ESD protection Human body model ±15 The digital inputs are software selectable as PNP or NPN Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 32: Analog 0
† 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. “FS” stands for “Full Scale” Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 33: Torque - Speed Characteristic
3.14 Torque – Speed characteristic 3.14.1 iMOT17xB XM/TM-CAN/CAT Figure 3.12. iMOT17xB Torque-Speed characteristic 3.14.2 iMOT172S XM/TM-CAN/CAT Figure 3.13. iMOT172S Torque-Speed characteristic 3.14.3 iMOT23xS XM-CAN Figure 3.14. iMOT172S Torque-Speed characteristic Technosoft 2018 iMOT Intelligent Motors Line Technical Reference... -
Page 34: Memory Map
4000h ROM memory for: TML programs Cam tables Setup information 4FFFh 5000h Reserved 97FFh Data acquisitions 9800h cam tables at runtime SRAM memory TML Programs 9FCFh Figure 7.1. iMOT Memory Map Technosoft 2018 iMOT Intelligent Motors Line Technical Reference...
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