Read This First; About This Manual; Notational Conventions; Trademarks - Technosoft iMOTIONCUBE BX-CAN Technical Reference

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. Any and all such liability is disclaimed.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any form or by any
means, electrical or mechanical including photocopying, recording or by any information-retrieval system without
permission in writing from Technosoft S.A.
The information in this document is subject to change without notice.

About This Manual

This book is a technical reference manual for:
Product Name
iMOTIONCUBE CAN
iMOTIONCUBE CAN-STO
iMOTIONCUBE CAT-STO
In order to operate the iMOTIONCUBE drives, you need to pass through 3 steps:
 Step 1 Hardware installation
 Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning
 Step 3 Motion programming using one of the options:

A CANopen master

The drives built-in motion controller executing a Technosoft Motion Language (TML) program
developed using Technosoft EasyMotion Studio software

A TML_LIB motion library for PCs (Windows or Linux)

A TML_LIB motion library for PLCs

A distributed control approach which combines the above options, like for example a host calling motion
functions programmed on the drives in TML
This manual covers Step 1 in detail. It describes the iMOTIONCUBE hardware including the technical data, the
connectors and the wiring diagrams needed for installation.
For Step 2 and 3, please consult the document iPOS Dual Loop drives Software reference
( 091.027.DL.Software.xxxx). It also includes the scaling factors between the real SI units and the drive internal
units. For detailed information regarding the next steps, refer to the related documentation.

Notational Conventions

This document uses the following conventions:
•
iMOTIONCUBE– all products described in this manual
•
IU units – Internal units of the drive
•
SI units – International standard units (meter for length, seconds for time, etc.)
•
STO – Safe Torque Off
•
TML – Technosoft Motion Language
•
CANopen – Standard communication protocol that uses 11-bit message identifiers over CAN-bus
•
TMLCAN – Technosoft communication protocol for exchanging TML commands via CAN-bus, using
29bit message identifiers
•
CoE – CAN application protocol over EtherCAT®

Trademarks

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
1
when the iMOTIONCUBE CAN is set in CANopen mode
2
when using an iMOTIONCUBE-CAT
 Technosoft 2019
Part Number
P025.126.E101
P025.126.E111
P025.326.E121
1
or an EtherCAT® master
5
Description
Pin plug version, CAN
Pin plug version, CAN, STO inputs
Pin plug version, EtherCAT®, STO inputs
2
iMOTIONCUBE Technical Reference