Axis Id And Can Protocol Selection For Can Drives - Technosoft IO iMOTIONCUBE CAN Technical Reference

3.7 Axis ID and CAN Protocol selection for CAN drives

The iMOTIONCUBE drive has 3 analogue inputs named AxisID0, AxisID1 and AxisID2 used to select the CAN
protocol: CANopen or Technosoft TMLCAN and the drive address or axis ID. The iMOTIONCUBE drive can
detect up to 7 different voltage levels on these 3 inputs. On the IO iMOTIONCUBE module the 7 voltage levels
can be selected via the jumpers: JP5, JP6, JP7, JP8, JP9 and JP10. Each AxisID input has 2 jumpers
associated. A 3-pin jumper is used to connect an Axis ID input to GND (position 2-3), +5V
leave it unconnected (OFF). Another 3-pin jumper is used to select how to do the connection: directly (position
1-2), via a pull-up / pull-down resistor of 4.7K Ω (position 2-3) or via a 22K resistor when left unconnected
(OFF). The 7 levels can be obtained using the following jumper positions:
Table 3.7.1 –Jumper setting for the seven voltage levels of AxisID0
Level Connection needed
L0 Connect input directly to ground
L1 Connect input through a 4.7KΩ resistor to ground
L2 Connected input through a 22KΩ resistor to ground
L3 Nothing connected – leave input open
L4 Connect input through a 22KΩ resistor to +5V
L5 Connect input through a 4.7Kohm resistor to +5V
L6 Connect input directly to +5V
Table 3.7.2 –Jumper setting for the seven voltage levels of AxisID1
Level Connection needed
L0 Connect input directly to ground
L1 Connect input through a 4.7KΩ resistor to ground
L2 Connected input through a 22KΩ resistor to ground
L3 Nothing connected – leave input open
L4 Connect input through a 22KΩ resistor to +5V
L5 Connect input through a 4.7Kohm resistor to +5V
L6 Connect input directly to +5V
Table 3.7.3 –Jumper setting for the seven voltage levels of AxisID2
Level Connection needed
L0 Connect input directly to ground
L1 Connect input through a 4.7KΩ resistor to ground
L2 Connected input through a 22KΩ resistor to ground
L3 Nothing connected – leave input open
L4 Connect input through a 22KΩ resistor to +5V
L5 Connect input through a 4.7Kohm resistor to +5V
L6 Connect input directly to +5V
The CAN protocol selection is done via AxisID2:
•
CANopen mode, if the input levels are: L0, L1 or L2
•
TMLCAN mode, if the input levels are L3, L4, L5, L6
Remark: In CANopen mode, if the AxisID is set to 255, the drive remains "non-configured" waiting for a
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.
 Technosoft 2020
DC
DC
DC
DC
DC
DC
18 IO-iMOTIONCUBE Technical Reference
(position 1-2) or
DC
JP6 JP5
1-2 2-3
2-3 2-3
OFF 2-3
- OFF
OFF 1-2
2-3 1-2
1-2 1-2
JP8 JP7
1-2 2-3
2-3 2-3
OFF 2-3
- OFF
OFF 1-2
2-3 1-2
1-2 1-2
JP10 JP9
1-2 2-3
2-3 2-3
OFF 2-3
- OFF
OFF 1-2
2-3 1-2
1-2 1-2