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Technosoft IO iMOTIONCUBE CAN, Technical Reference

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Technosoft IO iMOTIONCUBE CAN Technical Reference Download Page 18

 

 Technosoft 2020 

18 

IO-iMOTIONCUBE 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

DC

 (position 1-2) or 

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 

JP6 

JP5 

L0 

Connect input directly to ground  

1-2 

2-3 

L1 

Connect input through a 4.7K

Ω

 resistor to ground 

2-3 

2-3 

L2 

Connected input through a 22K

Ω 

resistor to ground 

OFF 

2-3 

L3 

Nothing connected – leave input open 

- 

OFF 

L4 

Connect input through a 22K

Ω 

resistor to +5V

DC

  

OFF 

1-2 

L5 

Connect input through a 4.7Kohm resistor to +5V

DC

 

2-3 

1-2 

L6 

Connect input directly to +5V 

1-2 

1-2 

 

Table 3.7.2 

–Jumper setting for the seven voltage levels of AxisID1

  

Level 

Connection needed 

JP8 

JP7 

L0 

Connect input directly to ground  

1-2 

2-3 

L1 

Connect input through a 4.7K

Ω

 resistor to ground 

2-3 

2-3 

L2 

Connected input through a 22K

Ω 

resistor to ground 

OFF 

2-3 

L3 

Nothing connected – leave input open 

- 

OFF 

L4 

Connect input through a 22K

Ω 

resistor to +5V

DC

  

OFF 

1-2 

L5 

Connect input through a 4.7Kohm resistor to +5V

DC

 

2-3 

1-2 

L6 

Connect input directly to +5V 

1-2 

1-2 

 

Table 3.7.3 

–Jumper setting for the seven voltage levels of AxisID2

  

Level 

Connection needed 

JP10 

JP9 

L0 

Connect input directly to ground  

1-2 

2-3 

L1 

Connect input through a 4.7K

Ω

 resistor to ground 

2-3 

2-3 

L2 

Connected input through a 22K

Ω 

resistor to ground 

OFF 

2-3 

L3 

Nothing connected – leave input open 

- 

OFF 

L4 

Connect input through a 22K

Ω 

resistor to +5V

DC

  

OFF 

1-2 

L5 

Connect input through a 4.7Kohm resistor to +5V

DC

 

2-3 

1-2 

L6 

Connect input directly to +5V 

1-2 

1-2 

 

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.

 

Summary of Contents for IO iMOTIONCUBE CAN

Page 1: ...IO iMOTIONCUBE v10A I O Board for iMOTIONCUBE CAN CAN STO CAT CAT Intelligent Servo Drives Technical Reference Technosoft 2020 P091 084 IO iMOTIONCUBE UM 0520 ...

Page 2: ...CAT P025 326 E221 Ethernet connectors are EtherCAT compatible The IO iMOTIONCUBE CAN extension board is compatible with Compatible Product Name Part Number Description iMOTIONCUBE CAN P025 126 E101 or P025 126 E141 Drive with CAN without STO inputs iMOTIONCUBE CAN STO P025 126 E111 Drive with CAN and STO inputs The IO iMOTIONCUBE CAT extension board is compatible with Compatible Product Name Part ...

Page 3: ...ives using CoE protocol and describes the associated object dictionary TML_LIB v2 0 part no P091 040 v20 UM xxxx explains how to program in C C C Visual Basic or Delphi Pascal a motion application for the Technosoft intelligent drives using TML_LIB v2 0 motion control library for PCs The TML_lib includes ready to run examples that can be executed on Windows or Linux x86 and x64 TML_LIB_LabVIEW v2 ...

Page 4: ...uchatel NE Switzerland Contents Read This First II About This Manual II Notational Conventions II Related Documentation II If you Need Assistance IV Contents IV 1 Safety information 6 1 1 Warnings 6 1 2 Cautions 7 2 Product Overview 8 2 1 Introduction 8 2 2 Key Features 8 2 3 IO iMOTIONCUBE Board Dimensions 9 2 3 1 Dimensions without iMOTIONCUBE mounted 9 2 3 2 Dimensions with iMOTIONCUBE mounted ...

Page 5: ...tor output connector 14 3 3 8 J13 Feedback 1 connector 2x5 pin 14 3 3 9 J14 Feedback 2 connector 2x5 pin 15 3 3 10 J15 Digital hall connector 15 3 3 11 J17 STO Safe Torque Off connector 15 3 3 12 J18 USB connector 15 3 3 13 J19 RS232 connector 16 3 3 14 SS1 Sliding Switch 1 STO Enable bypass 16 3 4 Mating connectors 16 3 5 Jumper settings 17 3 6 Default jumper settings 17 3 7 Axis ID and CAN Proto...

Page 6: ...rives 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 SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION CAUTION Indicates areas SENSITIVE TO electrostatic discharges ESD WHICH REQUIRE...

Page 7: ... TECHNOSOFT CAUTION THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS WHICH MAY BE DAMAGED BY INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT To prevent electrostatic damage avoid contact with insulating materials such as synthetic fabrics or plastic surfaces In order to discharge static electricity build up place the d...

Page 8: ... o 2 limit switch inputs IN2 LSP positive and IN3 LSN negative 4 digital outputs 5 36V 0 5A NPN open collector TTL pull up o 2 general purpose outputs OUT0 OUT1 o One Error output OUT2 Error o One Ready output OUT3 Ready 2 analog inputs 0 5V 12 bit used to read o One analogue Reference REF or general purpose o One analogue Feedback sensor FBDK or general purpose Micro USB connector for communicati...

Page 9: ...the IO iMOTIONCUBE CAN CAT board dimensions without the iMOTIONCUBE mounted All dimensions are in mm Figure 2 3 1 IO iMOTIONCUBE board dimensions 2 3 2 Dimensions with iMOTIONCUBE mounted Figure 2 3 1 presents the IO iMOTIONCUBE CAN CAT board dimensions with the iMOTIONCUBE mounted All dimensions are in mm Figure 2 3 2 IO iMOTIONCUBE iMOTIONCUBE dimensions ...

Page 10: ...s through connectors it must be used with a current limit of 2A not more This current limit is set by software in Drive Setup Warning using more than 2A on the motor phases might damage the pass through connectors 3 2 2 Using the iMOTIONCUBE with full current capability 20A nom 40A peak To be able to use the iMOTIONCUBE connected to the IO with full current capabilities two requirements must be me...

Page 11: ...96 48 10 3 80 7 59 48 10 4 20 6 67 48 10 4 40 7 53 48 10 4 60 8 40 48 10 4 80 9 20 80 10 3 20 6 15 80 10 3 40 7 19 80 10 3 60 8 28 80 10 3 80 9 32 80 10 4 20 7 25 80 10 4 40 8 63 80 10 4 60 10 06 80 10 4 80 11 50 48 20 3 20 12 77 48 20 3 40 13 57 48 20 3 60 14 38 48 20 3 80 15 24 48 20 4 20 16 10 48 20 4 40 17 19 48 20 4 60 18 29 48 20 4 80 19 38 80 20 3 20 13 28 80 20 3 40 14 66 80 20 3 60 16 10 ...

Page 12: ... Connectors 3 3 1 Connectors Layout and Description Figure 3 3 1 IO Back side where J1 to J7 connectors are present The J1 to J7 connector pinouts are explained in the iMOTIONCUBE User Manual or Datasheet Figure 3 3 2 Top view of the IO iMOTIONCUBE connectors ...

Page 13: ...IN connector J9 EtherCAT OUT connector 3 3 5 J10 Digital I O and analog inputs connector Pin Pin name Type Function 1 5VOUT O 5V output supply for I O usage 2 REF I Analogue input 12 bit 0 5V Used to read an analog position speed or torque reference or used as general purpose analogue input 3 IN0 I 5 36V general purpose digital PNP NPN input 4 GND Return ground for I O pins 5 IN3 LSN I 5 36V digit...

Page 14: ...B for step motors 5 Earth Earth connection 3 3 8 J13 Feedback 1 connector 2x5 pin Pin Pin name Type Function 1 GND Return ground for sensors supply 2 5V Out O 5VOUT output supply generated by iPOS drive 3 GND Return ground for sensors supply 4 Temp Mot I NTC PTC input Used to read an analog temperature value 5 A1 Sin LH1 I Incr encoder1 A diff input or analog encoder Sin diff input or Linear Hall ...

Page 15: ...r between pins 7 and 8 9 Z2 I Incr encoder2 Z diff input has 120Ω resistor between pins 9 and 10 10 Z2 I Incr encoder2 Z diff input has 120Ω resistor between pins 9 and 10 3 3 10 J15 Digital hall connector Pin Pin name Type Function 1 5ViPOS O 5VOUT output supply generated by iPOS drive 2 GND Ground 3 GND Ground 4 HALL1 I Hall 1 digital sensor input 5 HALL2 I Hall 2 digital sensor input 6 HALL3 I ...

Page 16: ...r PN P025 126 E101 3 STO1 to GND Connects the STO1 input to GND 4 STO2 to GND Connects the STO2 input to GND 5 STO1 to Vlog Connects the STO1 input to Vlog 6 STO2 to Vlog Connects the STO2 input to Vlog 3 4 Mating connectors Image Connector Description Manufacturer Part Number Image J12 Supply input 4x5 08 female counter part for cable Camden CTBA9208 4FL J11 Motor power 5x5 08 female counter part...

Page 17: ... JP7 AxisID1_MSB 1 2 Connect AxisID1 input to 5VDC 2 3 Connect AxisID1 to GND OFF Leave input unconnected JP8 AxisID1_LSB 1 2 Don t connect a pull up pull down resistor to AxisID1 2 3 Connect a pull up pull down 4 7K Ω resistor to AxisID1 OFF Connect a pull up pull down 22K Ω resistor to AxisID1 JP9 AxisID2_MSB 1 2 Connect AxisID2 to 5VDC 2 3 Connect AxisID2 to GND OFF Leave input unconnected JP10...

Page 18: ...t through a 4 7Kohm resistor to 5VDC 2 3 1 2 L6 Connect input directly to 5V 1 2 1 2 Table 3 7 2 Jumper setting for the seven voltage levels of AxisID1 Level Connection needed JP8 JP7 L0 Connect input directly to ground 1 2 2 3 L1 Connect input through a 4 7KΩ resistor to ground 2 3 2 3 L2 Connected input through a 22KΩ resistor to ground OFF 2 3 L3 Nothing connected leave input open OFF L4 Connec...

Page 19: ...3 1 2 1 2 OFF 2 3 44 1 2 2 3 1 2 1 2 OFF OFF 45 1 2 2 3 1 2 1 2 OFF 1 2 46 1 2 2 3 1 2 1 2 2 3 1 2 47 1 2 2 3 1 2 1 2 1 2 1 2 48 2 3 2 3 1 2 2 3 1 2 2 3 49 Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen JP10 JP9 JP8 JP7 JP6 JP5 2 3 2 3 1 2 2 3 2 3 2 3 50 2 3 2 3 1 2 2 3 OFF 2 3 51 2 3 2 3 1 2 2 3 OFF OFF 52 2 3 2 3 1 2 2 3 OFF 1 2 53 2 3 2 3 1 2 2 3 2 3 1 2 54 2 3 2 3 1 2 2 3 1 2 1 2 55 2 3 2 3 2 3 2 3 ...

Page 20: ...18 OFF 2 3 OFF OFF 1 2 2 3 119 OFF 2 3 OFF OFF 2 3 2 3 120 OFF 2 3 OFF OFF OFF 2 3 121 OFF 2 3 OFF OFF OFF OFF 122 OFF 2 3 OFF OFF OFF 1 2 123 Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen JP10 JP9 JP8 JP7 JP6 JP5 OFF 2 3 OFF OFF 2 3 1 2 124 OFF 2 3 OFF OFF 1 2 1 2 125 OFF 2 3 OFF 1 2 1 2 2 3 126 OFF 2 3 OFF 1 2 2 3 2 3 255 OFF 2 3 OFF 1 2 OFF 2 3 255 OFF 2 3 OFF 1 2 OFF OFF 255 OFF 2 3 OFF 1 2 OFF 1 2...

Page 21: ...OFF 2 3 44 OFF OFF 1 2 1 2 OFF OFF 45 OFF OFF 1 2 1 2 OFF 1 2 46 OFF OFF 1 2 1 2 2 3 1 2 47 OFF OFF 1 2 1 2 1 2 1 2 48 OFF 1 2 1 2 2 3 1 2 2 3 49 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN JP10 JP9 JP8 JP7 JP6 JP5 OFF 1 2 1 2 2 3 2 3 2 3 50 OFF 1 2 1 2 2 3 OFF 2 3 51 OFF 1 2 1 2 2 3 OFF OFF 52 OFF 1 2 1 2 2 3 OFF 1 2 53 OFF 1 2 1 2 2 3 2 3 1 2 54 OFF 1 2 1 2 2 3 1 2 1 2 55 OFF 1 2 2 3 2 3 1 2 2 3 56 ...

Page 22: ... 1 2 OFF OFF 143 2 3 1 2 1 2 1 2 OFF 1 2 144 2 3 1 2 1 2 1 2 2 3 1 2 145 2 3 1 2 1 2 1 2 1 2 1 2 146 1 2 1 2 1 2 2 3 1 2 2 3 147 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN JP10 JP9 JP8 JP7 JP6 JP5 1 2 1 2 1 2 2 3 2 3 2 3 148 1 2 1 2 1 2 2 3 OFF 2 3 149 1 2 1 2 1 2 2 3 OFF OFF 150 1 2 1 2 1 2 2 3 OFF 1 2 151 1 2 1 2 1 2 2 3 2 3 1 2 152 1 2 1 2 1 2 2 3 1 2 1 2 153 1 2 1 2 2 3 2 3 1 2 2 3 154 1 2 1 2 2 ...

Page 23: ... 7 4 like for example the levels from Table 3 7 5 will set the axis ID equal with 255 b By software setting via EasySetUp a specific AxisID value in the range 1 255 3 9 First Power Up In order to setup the drive for your application you need to communicate with it The easiest way is via an USB link between your PC and the drive Before the first power up check the following 2 iMOTIONCUBE mounting i...

Page 24: ... Technosoft 2020 24 IO iMOTIONCUBE Technical Reference Appendix 1 IO iMOTIONCUBE schematics ...

Page 25: ... Technosoft 2020 25 IO iMOTIONCUBE Technical Reference Appendix 2 iMOTIONCUBE Plug in Connector Pin out Pinouts for iMOTIONCUBE CAN PN P025 126 E101 Pinouts for iMOTIONCUBE CAN STO PN P025 126 E111 ...

Page 26: ... Technosoft 2020 26 IO iMOTIONCUBE Technical Reference Pinouts for iMOTIONCUBE CAT STO PN P025 326 E121 ...

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