Technosoft 2019
44
iMOTIONCUBE Technical Reference
3.7
Axis ID Selection for CAT drives
The iMOTIONCUBE CAT-STO drives support all EtherCAT standard addressing modes. In case of device
addressing mode based on node address, the iMOTIONCUBE drive sets the
configured station alias
address with
its AxisID value. The drive AxisID value is set after power on by:
-
Software, setting via EasySetUp a specific AxisID value in the range 1-255.
-
Hardware, by setting different voltage levels on the inputs AxisID 0 (J1 pin 5), AxisID 1(J1 pin 7) and AxisID 2
(J1 pin 9). Each input can be set to one of the following 7 levels:
Level
Connection needed
L0
Connect input directly to ground
L1
Connect input through a 4.7K
Ω resistor to ground
L2
Connected input through a 22K
Ω resistor to ground
L3
Nothing connected – leave input open
L4
Connect input through a 22K
Ω resistor to +5Vdc
L5
Connect input through a 4.7Kohm resistor to +5Vdc
L6
Connect input directly to +5V
shows how to set the 7 levels on the AxisID 0 input. Paragraph
shows how to set all 127 possible
values for the axis ID.
Remarks:
1. AxisID value is computed with formula: 49 x A 7 x A AxisID0, where each AxisID can have
one of the integer values: 0 to 6 (0 for L0, 1 for L1, 2 for L2, etc.)
2. If the resulting AxisID value is 0 (all 3 inputs are connected to GND), the axis ID will be set to 127. If the
resulting AxisID is greater than 127, the axis ID will be set to 255.
3. If the drive Axis ID will be 255, the configured station alias will be 0. Some EtherCAT masters can work with
multiple drives in a network having the same configured station alias only if it is 0.
3.8
Electrical Specifications
All parameters measured under the following conditions (unless otherwise specified):
T
amb
= 0…40
°
C, V
LOG
= 24 V
DC
; V
MOT
= 80V
DC
; Supplies start-up / shutdown sequence: -
any-
Load current (sinusoidal amplitude / continuous BLDC,DC,stepper) = 20A
3.8.1
Operating Conditions
Min.
Typ.
Max.
Units
Ambient temperature
0
+40
ºC
Heat sink temperature
0
+75
ºC
Ambient humidity
Non-condensing
0
90
%Rh
Altitude / pressure
Altitude (referenced to sea level)
-0.1
0 ÷ 2.5
2
Km
Ambient Pressure
0
2
0.75 ÷ 1
10.0
atm
3.8.2
Storage Conditions
Min.
Typ.
Max.
Units
Ambient temperature
-40
100
ºC
Ambient humidity
Non-condensing
0
100
%Rh
Ambient Pressure
0
10.0
atm
ESD capability (Human body model)
Not powered; applies to any accessible part
±
0.5
kV
Original packaging
±
15
kV
1
Operating temperature at higher temperatures is possible with reduced current and power ratings
2
iMOTIONCUBE can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, current and power rating are reduced
due to thermal dissipation efficiency.
