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Motor outputs must be separated from any nearby track (on the same layer) by a guard ring / track / area
connected to ground. It is recommended to use the same guarding precaution also for tracks on nearby layers,
i.e. use intermediate guard layer(s) connected to ground. The motor outputs must be treated as first source of
noise on the motherboard. Second source of noise is the current flow between each iMOTIONCUBE and it's
decoupling V
MOT
•
For best EMC performance, it is strongly recommended to provide an un-interrupted ground plane on one of
the inner layers.
•
All GND pins of the iMOTIONCUBE are galvanically connected together on-board the iMOTIONCUBE. If the
motherboard provides an uninterrupted ground plane, it is recommended to connect all GND pins to the ground
plane, and use the ground plane to distribute GND wherever needed. If the motherboard does not provide an
uninterrupted ground plane, it is best to use each GND pin for its intended purpose, as described in par. 0.
This will create local "star point" ground connection on-board each iMOTIONCUBE. For a multi-axis
motherboard with one common power supply for all motors, each motor power supply return track shall be
routed separately for each iMOTIONCUBE, and star-point connected at the power supply terminal.
•
The following signal pairs must be routed differentially, i.e. using parallel tracks with minimal loop area:
A1+/Sin+, A1-/Sin- ; B1+/Cos+, B1-/Cos- ; Z1+, Z1- ; A2; B2 ; Z2-, CAN-Hi, CAN-Lo.
•
CAN-Bus tracks must be routed with a bus topology, without branches / bifurcations, in a daisy-chain fashion.
The bus ends must be at the termination resistor(s) and/or external connectors.
•
When using +5V
protection: use series resettable (PTC) fuses to add short-circuit protection; use transient absorbers to protect
against ESD and over-voltage; add high-frequency filtering to protect against external noise injected on
+5V
.
OUT
•
The outer box / case / cabinet must be connected to the motherboard ground either galvanically (directly) or
through high-frequency decoupling capacitors, rated at an appropriate voltage.
CAUTION!
Technosoft 2019
capacitor.
as supply for external devices (like encoders, Hall sensors, etc.) provide extra filtering and
OUT
WHEN THE iMOTIONCUBE IS SET IN TMLCAN MODE, IT STARTS TO
EXECUTE AUTOMATICALLY AT POWER ON THE TML APPLICATION
FROM ITS EEPROM. ADD ON THE MOTHERBOARD THE POSSIBILITY
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.
17
iMOTIONCUBE Technical Reference
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