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to coordinate both the network communication/synchronization and the motion application via TML commands sent
directly to the other drives.
When higher level coordination is needed, apart from a CANopen master, the iMOTIONCUBE drives can also be
controlled via a PC or a PLC using one of the TML_LIB motion libraries.
For iMOTIONCUBE commissioning EasySetUp or EasyMotion Studio PC applications may be used.
EasySetUp is a subset of EasyMotion Studio, including only the drive setup part. 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 shall be used for drive setup in all cases where the motion commands
are sent exclusively from a master. 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. The Motion Wizard provides a simple, graphical way of creating motion programs and automatically
generates all the TML instructions. With EasyMotion Studio you can execute complex motions, thanks to their built-in
motion controllers. EasyMotion Studio, may be used to program motion sequences in TML. This is the iMOTIONCUBE
typical CAN operation mode when TMLCAN protocol is selected. EasyMotion Studio can also be used with the
CANopen protocol, if the user wants to call TML functions stored in the drive EEPROM or to use the camming mode.
With camming mode, EasyMotion Studio offers the possibility to quickly download and test a cam profile and also to
create a .sw file with the cam data. The .sw file can be afterwards stored in a master and downloaded to the drive,
wherever needed.
A demo version of EasyMotion Studio (with EasySetUp part fully functional) can be
downloaded free of charge from Technosoft web page.
2.2
Product Features
•
Fully digital servo drive suitable for the control of rotary or linear brushless, DC brush, and step motors
•
Very compact design
•
Sinusoidal (FOC) or trapezoidal (Hall-based) control of brushless motors
•
Open or closed-loop control of 2 and 3-phase steppers
•
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 encoder feedback) 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
•
Motor supply: 12-80V
•
Logic supply: 12-36V.
•
Output current: 20A
•
PWM switching frequency up to 120kHz
•
Communication:
•
RS-232 serial up to 115kbits/s
•
CAN-bus 2.0B up to 1Mbit/s (for CAN drives)
•
Digital and analog I/Os:
•
4 digital inputs: 5-36 V, programmable polarity: sourcing/NPN or sinking/PNP: 2 Limit switches, 2 general-
purpose
•
4 digital outputs: 5-36 V, with 0.5 A, sinking/NPN open-collector (Ready, Error and 2 general-purpose)
•
NTC/PTC analogue Motor Temperature sensor input
•
Electro-Mechanical brake support: software configurable digital output to control motor brake
•
Feedback devices (dual-loop support)
st
1
feedback devices supported:
•
Incremental encoder interface (single ended or differential)
•
Analog sin/cos encoder interface (differential 1V
•
Linear Hall sensors interface
•
Pulse & direction interface (single ended) for external (master) digital reference
nd
2
feedback devices supported:
1
20A cont. with DC, step and BLDC motors (trapezoidal), 20A amplitude (14.2A
Technosoft 2019
1
continuous; 40A peak
10
)
PP
) for PMSM (sinusoidal)
RMS
iMOTIONCUBE Technical Reference
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