Product Overview; Introduction - Technosoft iMOTIONCUBE BX-CAN Technical Reference

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Product Overview

2.1

Introduction

The iMOTIONCUBE is part of the iPOS family of fully digital intelligent servo drives, based on the latest DSP technology
and they offer unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushless DC, brushless AC (vector control), DC brushed motors and step motors, the
iMOTIONCUBE drives accept as position feedback incremental encoders (quadrature or sine/cosine), linear Hall signals
abd absolute encoders (SSI and BiSS-C) using additional circuit.
All drives perform position, speed or torque control and work in single, multi-axis or stand-alone configurations. Thanks
to the embedded motion controller, the iMOTIONCUBE drives combine controller, drive and 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:

Setting various motion modes (profiles, PVT, PT, electronic gearing

Changing the motion modes and/or the motion parameters

Executing homing sequences

Controlling the program flow through:
 Conditional jumps and calls of TML functions
 TML interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)
 Waits for programmed events to occur

Handling of digital I/O and analogue input signals

Executing arithmetic and logic operations

Performing data transfers between axes

Controlling motion of an axis from another one via motion commands sent between axes

Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously
motion sequences on all the axes from the group

Synchronizing all the axes from a network
By implementing motion sequences directly at drive level you can really distribute the intelligence between the master
and the drives in complex multi-axis applications, reducing both the development time and the overall communication
requirements. For example, instead of trying to command each movement of an axis, you can program the drives using
TML to execute complex motion tasks and inform the master when these tasks are done. Thus, for each axis control
the master job may be reduced at: calling TML functions stored in the drive EEPROM and waiting for a message, which
confirms the TML functions execution completion.
All iMOTIONCUBE CAN drives are equipped with a serial RS232 and a CAN 2.0B interface that can be set by hardware
pins to operate in 2 communication protocol modes:
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CANopen
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TMLCAN
The iMOTIONCUBE CAT drives support only the EtherCAT® communication protocol. They communicate through the
serial RS232 interface for software commissioning and the EtherCAT® interface. The CAT veriosn also supports FoE
protocol which allows firmware update and setup download using directly an EtherCAT master.
When CANopen mode is selected, the iMOTIONCUBE conforms to CiA 301 v4.2 application layer communication
profile, the CiA WD 305 v2.2.13 and CiA DSP 402 v3.0 device profile for drives and motion control, now included in
IEC 61800-7-1 Annex A, IEC 61800-7-201 and IEC 61800-7-301 standards. In this mode, the iMOTIONCUBE may be
controlled via a CANopen master. The iPOS drive offers the possibility for a CANopen master to call motion sequences/
functions, written in TML and stored in the drive EEPROM, using manufacturer specific objects. Also, the drives can
communicate separately between each other by using non reserved 11 bit identifiers.
When TMLCAN mode is selected, the iMOTIONCUBE 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 iMOTIONCUBE can be set to operate standalone, and may play the role of a master
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Available if the master axis sends its position via a communication channel, or by using the secondary encoder input
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Available only for CAN drives
 Technosoft 2019
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or camming , etc.)
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iMOTIONCUBE Technical Reference