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iMOT

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Intelligent Motors

Intelligent Motors

Technical

Reference

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Technosoft 2018

P091.042.iMOT.UM.0918

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Summary of Contents for iMOT Series

Page 1: ...iMOT line Intelligent Motors Intelligent Motors Technical Reference Technosoft 2018 P091 042 iMOT UM 0918 ...

Page 2: ...sions 14 3 6 Mechanical Mounting 15 3 7 Connectors and Pinouts 16 3 7 1 Connectors and pinouts for iMOT17xB iMOT172S TM CAN models 16 3 7 2 Connectors and pinouts for iMOT17xB iMOT172S TM CAT models 17 3 7 3 Connectors and pinouts for iMOT17xB iMOT172S XM CAN models 18 3 7 4 Connectors and pinouts for iMOT23xS XM CAN models 19 3 8 Connection diagrams 20 3 8 1 iMOT17xB iMOT172S TM CAN connection di...

Page 3: ...T LED indicators 28 3 12 1 EtherCAT LED indicator states 29 3 13 Electrical Specifications 29 3 13 1 Operating Conditions 29 3 13 2 Storage Conditions 29 3 13 3 Environmental Characteristics 30 3 13 4 Logic Supply Input VLOG 30 3 13 5 Motor Supply Input VMOT 30 3 13 6 Digital Inputs 31 3 13 7 Digital Outputs 31 3 13 8 Analog 0 5V Input ANLG 32 3 13 9 RS 232 32 3 13 10 EARTH Connection 32 3 13 11 C...

Page 4: ...ersion IP66 connectors iMOT173B XM CAN P042 131 E120 Brushless Nema 17 size 3 CAN version Molex connectors iMOT172S TM CAN P036 121 E320 Stepper Nema 17 size 2 CAN version IP66 connectors iMOT172S TM CAT P036 121 E323 Stepper Nema 17 size 2 EtherCAT version IP66 connectors iMOT172S XM CAN P036 121 E120 Stepper Nema 17 size 2 CAN version Molex connectors iMOT232S XM CAN P036 222 E120 Stepper Nema 2...

Page 5: ...l over EtherCAT and describes the associated object dictionary Since the iMOT Intelligent Motors are based on the iPOS family of drives this manual also applies to them Motion Programming using EasyMotion Studio part no P091 034 ESM UM xxxx describes how to use the EasyMotion Studio to create motion programs using in Technosoft Motion Language TML EasyMotion Studio platform includes EasySetUp for ...

Page 6: ... hereunder This information is intended to protect you the intelligent motor and the accompanying equipment during the product operation Incorrect handling of the intelligent motor can lead to personal injury or material damage The following safety symbols are used in this manual WARNING SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY INJURY MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUA...

Page 7: ...ments of Standard ISO 9001 2015 REACH Compliance TECHNOSOFT hereby confirms that this product comply with the legal obligations regarding Article 33 of the European REACH Regulation 1907 2006 Registration Evaluation Authorization and Restriction of Chemicals which came into force on 01 06 2007 RoHS Compliance Technosoft SA here with declares that this product is manufactured in compliance with the...

Page 8: ...e Criteria A Level 3 Criteria A 8KV Air Discharge Criteria A EN61800 3 Table 12 EN61000 4 3 2006 Amendment 2 2011 Radiated Radiofrequency Electromagnetic Field Immunity Level 3 Criteria A 10V m 80MHz 1GHz 3V m 1 4GHz 2GHz 1V m 2 2 7GHz EN61000 4 4 2004 Amendment 1 2010 Electrical Fast Transient Burst Immunity Level 3 Criteria A Supplu lines 2KV Galvanic coupling Level 3 Criteria A Signals lines 1K...

Page 9: ...e reduced at calling TML functions stored in the iMOT s EEPROM and waiting for a message which confirms the TML functions execution completion All iMOT Intelligent Motors are equipped with a serial RS232 and a CAN 2 0B EtherCAT interface depending on the model The CAN models can be set by hardware pins to operate in one of the 2 communication protocol modes CANopen TMLCAN When CANopen mode is sele...

Page 10: ...ication bus Technosoft Motion Language TML instruction set for the definition and execution of motion sequences Standalone operation with stored motion sequences Communication RS 232 serial up to 115kbits s CAN bus 2 0B up to 1Mbit s for CAN drives EtherCAT up to 100Mbit s for EtherCAT motors Digital and analog I Os 4 digital inputs 5 24V programmable polarity sourcing NPN or sinking PNP 5 digital...

Page 11: ...T172B TM CAT P042 121 E322 Brushless Nema 17 size 2 EtherCAT version IP66 connectors iMOT172B XM CAN P042 121 E120 Brushless Nema 17 size 2 CAN version Molex connectors iMOT173B TM CAN P042 131 E320 Brushless Nema 17 size 3 CAN version IP66 connectors iMOT173B TM CAT P042 131 E322 Brushless Nema 17 size 3 EtherCAT version IP66 connectors iMOT173B XM CAN P042 131 E120 Brushless Nema 17 size 3 CAN v...

Page 12: ...igure 3 1 iMOT17xB TM CAN and TM CAT models dimensions All dimensions are in mm The drawings are not to scale Tolerance 0 1mm unless otherwise noted TM CAN model shown 3 2 iMOT17xB XM CAN models dimensions 19 5 0 0 013 21 0 50 16 50 4 61 L 42 31 0 20 42 31 0 20 2 2 0 0 0 5 45 4 x M3 threaded holes depth 4mm 51 61 37 45 20 FR FA Model L mm iMOT171B 44 1 5 iMOT172B 62 1 5 iMOT173B 82 1 5 Axial force...

Page 13: ...CAN model dimensions All dimensions are in mm The drawings are not to scale Tolerance 0 1mm unless otherwise noted 3 4 MOT172S TM CAN and TM CAT models dimensions 5 0 0 012 61 24 0 50 22 48 1 50 16 50 4 42 30 42 30 22 0 0 05 31 0 20 31 0 20 4 x M3 threaded holes depth 4 5mm 51 61 37 45 20 FR FA Axial force FA N 7 Radial force FR N 20 Figure 3 4 iMOT172S TM CAN and TM CAT models dimensions All dime...

Page 14: ...0 56 47 20 0 20 563 8 0 0 5 45 4 x 5 holes 20 22 1 6 34 0 0 013 L 16 80 73 60 56 80 73 60 Model L mm iMOT232S 73 2 iMOT233S 48 2 20 FR FA Axial force FA N 15 Radial force FR N 75 Figure 3 5 iMOT23xS XM CAN models dimensions All dimensions are in mm The drawings are not to scale Tolerance 0 1mm unless otherwise noted ...

Page 15: ...ic encoder circuit surface marked with green The motor housing allows axial movements of the shaft big enough to hit and destroy the magnetic encoder circuit if a hammer or sufficient force is used Figure 3 1 Panel cut out The IMOT intelligent motor was designed to be cooled by natural convection It can be mounted horizontally or vertically Always bolt the motor to a metallic surface which will ac...

Page 16: ... Technosoft 2018 16 iMOT Intelligent Motors Line Technical Reference 3 7 Connectors and Pinouts 3 7 1 Connectors and pinouts for iMOT17xB iMOT172S TM CAN models ...

Page 17: ... Technosoft 2018 17 iMOT Intelligent Motors Line Technical Reference 3 7 2 Connectors and pinouts for iMOT17xB iMOT172S TM CAT models ...

Page 18: ... Technosoft 2018 18 iMOT Intelligent Motors Line Technical Reference 3 7 3 Connectors and pinouts for iMOT17xB iMOT172S XM CAN models ...

Page 19: ... Technosoft 2018 19 iMOT Intelligent Motors Line Technical Reference 3 7 4 Connectors and pinouts for iMOT23xS XM CAN models ...

Page 20: ... Technosoft 2018 20 iMOT Intelligent Motors Line Technical Reference 3 8 Connection diagrams 3 8 1 iMOT17xB iMOT172S TM CAN connection diagram Figure 3 2 iMOT17xB iMOT172S TM CAN connection diagram ...

Page 21: ... Technosoft 2018 21 iMOT Intelligent Motors Line Technical Reference 3 8 2 iMOT17xB iMOT172S TM CAT connection diagram Figure 3 3 iMOT17xB iMOT172S TM CAT connection diagram ...

Page 22: ... Technosoft 2018 22 iMOT Intelligent Motors Line Technical Reference 3 8 3 iMOT17xB iMOT172S XM CAN connection diagram Figure 3 4 iMOT17xB iMOT172S XM CAN connection diagram ...

Page 23: ... Technosoft 2018 23 iMOT Intelligent Motors Line Technical Reference 3 8 4 iMOT23xS XM CAN connection diagram Figure 3 5 iMOT23xS XM CAN connection diagram ...

Page 24: ...l to the drive input 2nd wire connects the source ground to the drive ground shield will be connected to PE protection earth iMOT chassis preferably at both ends b If the analogue signal source is differential and the signal source ground is isolated from the drive GND use a 2 wire twisted shielded cable as follows 1st wire connects the source plus positive in phase to the drive analogue input 2nd...

Page 25: ...o the supply in Joules In case of a rotary motor and load EM can be computed with the formula F M d d Ph 2 M final initial L M 2 M L M M T 2 t t R 3I h g h m m J J 2 1 E ϖ ϖ where JM total rotor inertia kgm2 JL total load inertia as seen at motor shaft after transmission kgm2 ϖM motor angular speed before deceleration rad s mM motor mass kg when motor is moving in a non horizontal plane mL load ma...

Page 26: ...f using both selection pins from both connectors make sure the selection is identical connected to GND for CANopen floating or connector to Vlog for TMLcan It is recommended to implement the daisy chain connection using 4 wires including the selection signal and the selection is done only at one bus end as described in figure CAN protocol selection for CAN motors can only be done through hardware ...

Page 27: ...ding on SW1 position the axis ID will be SW1 position AxisID in TMLCAN mode AxisID in CANopen mode 0x0 255 127 0x1 1 1 0x2 2 2 0x3 3 3 0x4 4 4 0x5 5 5 0x6 6 6 0x7 7 7 0x8 8 8 0x9 9 9 0xA 10 10 0xB 11 11 0xC 12 12 0xD 13 13 0xE 14 14 0xF 15 15 AxisID setting can be done also though software using EasySetup EasyMotion Software setting has precedence over hardware setting In order to use hardware SW1...

Page 28: ...ed above plus an extra connection between the master which has two RJ45 ports to J2 OUT of the last drive See Figure 3 9 for a visual representation of the ring topology e Ring topology is preferred for its added security since it is insensitive to one broken cable connection along the ring re routing of communication is done automatically so that to avoid the broken cable connection f It is highl...

Page 29: ...ETG 1000 part 6 EtherCAT State Machine Error Indicator bit is set to 1 in AL Status register Blinking Invalid Configuration General Configuration Error Flickering Booting Error Booting Error was detected INIT state reached but Error Indicator bit is set to 1 in AL Status register Off No error The EtherCAT communication of the device is in working condition For a more detailed description of EtherC...

Page 30: ...Width x Height 67 x 61 x 45 mm 2 64 x 2 4 x 1 78 inch Weight 413 g iMOT232 XM CAN Size Length x Width x Height 63 x 58 x 74 mm 2 48 x 2 28 x 2 91 inch Weight 750 g iMOT233 XM CAN Size Length x Width x Height 87 x 58 x 74 mm 3 43 x 2 28 x 2 91 inch Weight 1100 g Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to IEC60529 UL508 XM Motors IP20 TM Mo...

Page 31: ... Logic LOW Input current Logic HIGH 0 mA Logic LOW pulled to GND 6 8 Hysteresis 0 5 Input frequency 0 150 kHz Minimum pulse width 3 3 µs ESD protection Human body model 2 kV 3 13 7 Digital Outputs Min Typ Max Units Mode compliance TTL CMOS Open collector NPN 24V Default state Not supplied VLOG floating or to GND High Z floating Normal operation OUT0 Logic HIGH Output voltage Logic LOW output curre...

Page 32: ...tion 3 13 11 CAN Bus for CAN motors Min Typ Max Units Compliance ISO11898 CiA 301v4 2 402v3 0 Bit rate Software selectable 125 1000 Kbps Bus length 1Mbps 25 m 500Kbps 100 250Kbps 250 Resistor Between CAN Hi CAN Lo none on board Node addressing Hardware by H W means where SW1 is available 1 15 127 CANopen 1 15 255 TMLCAN Software 1 127 CANopen 1 255 TMLCAN ESD protection Human body model 15 kV 3 13...

Page 33: ...nce 3 14 Torque Speed characteristic 3 14 1 iMOT17xB XM TM CAN CAT Figure 3 12 iMOT17xB Torque Speed characteristic 3 14 2 iMOT172S XM TM CAN CAT Figure 3 13 iMOT172S Torque Speed characteristic 3 14 3 iMOT23xS XM CAN Figure 3 14 iMOT172S Torque Speed characteristic ...

Page 34: ...ring run time The E2 ROM is mapped in the address range 4000h to 4FFFh It is used to keep in a non volatile memory the TML programs the cam tables and the drive setup information Remark EasyMotion Studio handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application Figure 7 1 iMOT Memory Map TML Programs...

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