Related Manuals for Technosoft iMOTIONCUBE BX-CAN
Summary of Contents for Technosoft iMOTIONCUBE BX-CAN
- Page 1 CAN/ CAN-STO/ CAT-STO Intelligent Servo Drives Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Technical Reference Technosoft 2019 P091.027.iMOTIONCUBE.CAN.CAT.UM.0319...
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Page 2: Table Of Contents
CAT-STO connection diagram ..............23 ..3.5.4 24V Digital I/O Connection ....................24 3.5.4.1 PNP inputs ........................24 3.5.4.2 NPN inputs ........................24 3.5.4.3 NPN outputs ........................24 3.5.4.4 PNP outputs (NPN to PNP outputs conversion)............. 25 Technosoft 2019 iMOTIONCUBE Technical Reference... - Page 3 Digital Hall Inputs (Hall1, Hall2, Hall3) ................... 46 3.8.11 Encoder #1 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,) ............... 47 3.8.12 Encoder #2 Inputs (A2, B2, Z2) ..................... 47 3.8.13 Linear Hall Inputs (LH1, LH2, LH3)..................47 Technosoft 2019 iMOTIONCUBE Technical Reference...
- Page 4 Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) ..............47 3.8.15 Analog 0…5V Inputs (REF, FDBK)..................48 3.8.16 RS-232 ........................... 48 3.8.17 CAN-Bus (for CAN drives) ..................... 48 3.8.21 Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ............. 49 Memory Map ......................50 Technosoft 2019 iMOTIONCUBE Technical Reference...
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Page 5: 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 6: Related Documentation
TML motion programming, includes the scaling factors between the real SI units and the drive internal units. 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 7: 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 8: Cautions
(Registration, 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 9: Product Overview
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: ... -
Page 10: Product Features
Hence neither the iMOTIONCUBE TML programming capability nor the drive camming mode are used. EasySetUp can be downloaded free of charge from Technosoft web page. EasyMotion Studio platform includes EasySetUp for the drive setup, and a Motion Wizard for the motion programming. -
Page 11: Identification Labels
• CANopen – conforming with CiA 301 v4.2, CiA WD 305 v2.2.13 and CiA DSP 402 v3.0 • TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN-bus • EtherCAT® with CAN application protocol over EtherCAT (CoE) and File over EtherCAT (FoE) for CAT drives •... -
Page 12: Supported Motor-Sensor Configurations
-PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from feedback#2) on load -DC brush motor with Incremental encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1) on load. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 13: Imotioncube Bx Evaluation Module
Figure 2.5.1. iMOTIONCUBE BX-CAN with external connector Ordering information Part number Description P025.126.E201 iMOTIONCUBE BX-CAN – standard execution with IO connectors and P025.126.E211 iMOTIONCUBE BX-CAN STO – standard execution with IO connectors, STO inputs and CAN P025.326.E221 iMOTIONCUBE BX-CAT STO – standard execution with IO connectors, STO inputs and EtherCAT ... -
Page 14: Hardware Installation
IOs, as specified in chapter 3.4.2 Mating Connectors. For full current capability, the motor output and power input pins are meant to be soldered directly on the motherboard. Also, a heat sink must be mounted on the back plate of the drive. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 15: Imotioncube Can Pcb Footprint
For iMOTIONCUBE CAN-STO motherboard PCB design, use the dimensional drawing from below or request Figure 3.3 a .dxf file at support@technosoftmotion.com. Figure 3.3 iMOTIONCUBE CAN-STO PCB Footprint All dimensions are in mm. Holes are marked with RED. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 16: Motioncube Cat-Sto Pcb Footprint
For stringent EMI requirements, it may be necessary to add common-mode inductors on the motor outputs. Place these filters near the iMOTIONCUBE, not near the external connector, to reduce radiation from the PCB tracks. Technosoft 2019 iMOTIONCUBE Technical Reference... - Page 17 EXECUTE AUTOMATICALLY AT POWER ON THE TML APPLICATION FROM ITS EEPROM. ADD ON THE MOTHERBOARD THE POSSIBILITY CAUTION! TO DISABLE THIS FEATURE AS SHOWN PAR. 3.5.12. THIS MIGHT BE NEEDED DURING DEVELOPMENT PHASE IN CASE THE EEPROM CONTENT IS ACCIDENTALLY CORRUPTED. Technosoft 2019 iMOTIONCUBE Technical Reference...
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Page 18: Connectors And Pinouts
High-current socket, 2 pins (J4), 2x2 pins (J5), 2.54 mm pitch, square 0.635 mm pins - use only if needed nominal current is 8A - Connector Header Through Hole 4 position Samtec TSW-102-14-F-D 0.100" (2.54mm) Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 19: Pinouts For Imotioncube Can-Sto
3.4.3 Pinouts for iMOTIONCUBE CAN-STO Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 20: Pinouts For Imotioncube Cat-Sto
3.4.4 Pinouts for iMOTIONCUBE CAT-STO Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 21: Connection Diagrams
N O M ***1 Figure 3.5. iMOTIONCUBE CAN Connection diagram ** For other available feedback / motor options, check the detailed connection diagrams below *** Connector J7 is not available on previous versions of iMOTIONCUBE v2.0 Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 22: Imotioncube Can-Sto Connection Diagram
3.5.2 iMOTIONCUBE CAN-STO connection diagram Figure 3.6. iMOTIONCUBE CAN-STO Connection diagram ** For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 23: Imotioncube Cat-Sto Connection Diagram
3.5.3 iMOTIONCUBE CAT-STO connection diagram Figure 3.7. iMOTIONCUBE CAT-STO Connection diagram ** For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 24: 24V Digital I/O Connection
The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state) The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. 3.5.4.3 NPN outputs Figure 3.10. 24V Digital NPN Outputs connection Remarks: Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 25: Pnp Outputs (Npn To Pnp Outputs Conversion)
The outputs are compatible with TTL (5V) and CMOS (5V) inputs The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. The output loads can be individually and independently connected to +5V or to GND. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 26: Analog Inputs Connection
(GND); shield is connected only at the drive side, to the drive GND, and is left unconnected at the source side. The source minus (negative, out-of-phase) output remains unconnected. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 27: Motor Connections
Figure 3.16. 2-phase step motor connection, one coil per phase Figure 3.17. 2-phase step motor connection, two coils per phase Remark: In case J7 (Earth) is not present, connect the Shield (if present) to GND instead. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 28: 3-Phase Step Motor Connection
The inductors must be magnetically shielded (toroidal, for example), and must be rated for the motor surge current. Typically the necessary values are around 100 μH. A good shielding can be obtained if the motor wires are running inside a metallic cable guide. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 29: Feedback Connections
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment In case J7 (Earth) is not present, connect the Shield (if present) to GND instead. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 30: Single Ended Incremental Encoder #2 Ttl Connection
+5V signals. Remarks: -The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. 3.5.8.5 Differential BiSS/SSI Feedback#2 Connection Figure 3.24. Differential BiSS/SSI Feedback#2 Connection Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 31: Sine-Cosine Analog Encoder Connection
The digital halls are not used in this case as a feedback measurement device. The actual motor control is done with an incremental encoder. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 32: Digital Hall Connection For Direct Motor Control Without An Encoder
If the iMOTIONCUBE 5V supply output is used by another device (like for example an encoder) and the connection cable is longer than 5 meters, add a decoupling capacitor near the supplied device, between the +5V and GND lines. The capacitor value can be 1...10 μF, rated at 6.3V. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 33: Power Supply Connection
Supply Connection (non STO version) Figure 3.29. Supply connection for the non-STO version Remark: Connector J7 is not available on previous versions of iMOTIONCUBE v2.0 3.5.9.2 Supply Connection (STO version) Figure 3.30. Supply connection for STO versions Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 34: Recommendations For Supply Wiring
The chopping will occur when DC bus voltage increases over U . This parameter (U ) should be adjusted CHOP CHOP depending on the nominal motor supply. Optimally (from a braking point of view), U should be a few volts above CHOP Technosoft 2019 iMOTIONCUBE Technical Reference... - Page 35 (see Remark 1) or t – the time CYCLE × × CYCLE interval between braking cycles must be increased THE CHOPPING RESISTOR MAY HAVE HOT SURFACES DURING WARNING! OPERATION. Technosoft 2019 iMOTIONCUBE Technical Reference...
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Page 36: 3.5.10 Serial Rs-232 Connection
For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters. The 120Ω termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 37: Ethercat Bus Connection (For Cat Drives)
Figure 3.33. Multiple-Axis CAN network 3.5.12 EtherCAT bus connection (for CAT drives) Figure 3.34. EtherCAT bus connection to RJ45 connectors Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 38: 3.5.13 Removal From Autorun Mode
EEPROM. On next power on, in absence of a valid TML application, the drive enters in the non- Autorun/slave mode independently of the digital Hall inputs status. Figure 3.35. Temporary connection during power-on to remove the drive from Autorun mode Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 39: Can Operation Mode And Axis Id Selection For Can Drives
CANopen master to configure it, using CiA-305 protocol. A “non-configured” drive answers only to CiA-305 commands. All other CANopen commands are ignored and transmission of all other messages (including boot-up) is disabled. The Ready (green) LED will flash at 1 second time intervals while in this mode Technosoft 2019 iMOTIONCUBE Technical Reference... - Page 40 Figure 3.36. Axis ID Setting Examples. CANopen mode or EtherCAT drive Technosoft 2019 iMOTIONCUBE Technical Reference...
- Page 41 Figure 3.37. Axis ID Setting Examples. TMLCAN mode Technosoft 2019 iMOTIONCUBE Technical Reference...
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Page 42: Axis Id Settings (Possible Values)
3.6.2 Axis ID Settings (possible values) 3.6.2.1 Axis ID Settings for CANopen mode or for EtherCAT drives Axis Axis Axis ID 2 ID 1 ID 0 CANopen Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 43: Axis Id Settings For Tmlcan Mode
3.6.2.2 Axis ID Settings for TMLCAN mode Axis Axis Axis ID 2 ID 1 ID 0 TMLCAN Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 44: Axis Id Selection For Cat Drives
Operating temperature at higher temperatures is possible with reduced current and power ratings iMOTIONCUBE 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 2019 iMOTIONCUBE Technical Reference... -
Page 45: Mechanical Mounting
= 80 kHz = 100 kHz It is mandatory to mount the IMOTIONCUBE on a metallic support using the provided mounting holes, in order to achieve rated current capability Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 46: Digital Inputs (In0, In1, In2/Lsp, In3/Lsn)
Logic “LOW”; Pull to GND Input current Logic “HIGH”; Internal 1KΩ pull-up to +5 Minimum pulse width µs ESD protection Human body model ±5 The digital inputs are software selectable as PNP or NPN Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 47: Encoder #1 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,)
See Figure 3.18. Differential incremental encoder #1 connection For many applications, a 120Ω termination resistor should be connected across SIN+ to SIN-, and across COS+ to COS-. Please consult the feedback device datasheet for confirmation. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 48: Analog 0
NOT compliant to IEEE802.3af mode B “DC on Spares” Isolation GND0,GND1 Requirement for motherboard PCB routing peak Maximum cable length 2-pair UTP Cat5 ±4 ESD protection Human body model “FS” stands for “Full Scale” Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 49: Safe Torque Off (Sto1+; Sto1-; Sto2+; Sto2-)
ESD protection Human body model ±2 † 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. Technosoft 2019 iMOTIONCUBE Technical Reference... -
Page 50: Memory Map
4000h ROM memory for: TML programs Cam tables Setup information 7FFFh 8000h Reserved 8FFFh Data acquisitions C000h cam tables at runtime SRAM memory TML Programs FFFFh Figure 7.1. iMOTIONCUBE Memory Map Technosoft 2019 iMOTIONCUBE Technical Reference...