Technosoft iMOTIONCUBE BX-CAN Technical Reference Download

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iMOTIONCUBE

CAN/

CAN-STO/

CAT-STO

Intelligent Servo Drive for

Step, DC, Brushless DC

and AC Motors

Intelligent Servo Drives

Technical

Reference



Technosoft 2019

P091.027.iMOTIONCUBE.CAN.CAT.UM.0319

Summary of Contents for iMOTIONCUBE BX-CAN

Page 1: ...iMOTIONCUBE CAN CAN STO CAT STO Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drives Technical Reference Technosoft 2019 P091 027 iMOTIONCUBE CAN CAT UM 0319 ...

Page 2: ...ule 13 3 Hardware Installation 14 3 1 iMOTIONCUBE Board Dimensions all versions 14 3 2 Mechanical Mounting 14 3 2 1 iMOTIONCUBE CAN PCB Footprint 15 3 2 2 iMOTIONCUBE CAN STO PCB Footprint 15 3 2 3 MOTIONCUBE CAT STO PCB Footprint 16 3 3 Motherboard PCB Design 16 3 4 Connectors and Pinouts 18 3 4 1 Pinouts for iMOTIONCUBE CAN 18 3 4 2 Mating Connectors 18 3 4 3 Pinouts for iMOTIONCUBE CAN STO 19 3...

Page 3: ...33 3 5 9 2 Supply Connection STO version 33 3 5 9 3 Recommendations for Supply Wiring 34 3 5 9 4 Recommendations to limit over voltage during energy regeneration 34 3 5 10 Serial RS 232 connection 36 3 5 10 1 Serial RS 232 connection 36 3 5 10 2 Recommendation for wiring 36 3 5 11 CAN bus connection for CAN drives only 36 3 5 11 1 CAN connection 36 3 5 11 2 Recommendation for wiring 36 3 5 12 Ethe...

Page 4: ...ONCUBE Technical Reference 3 8 14 Sin Cos Encoder Inputs Sin Sin Cos Cos 47 3 8 15 Analog 0 5V Inputs REF FDBK 48 3 8 16 RS 232 48 3 8 17 CAN Bus for CAN drives 48 3 8 21 Safe Torque OFF STO1 STO1 STO2 STO2 49 4 Memory Map 50 ...

Page 5: ...CAT master2 The drives built in motion controller executing a Technosoft Motion Language TML program developed using Technosoft EasyMotion Studio software A TML_LIB motion library for PCs Windows or Linux A TML_LIB motion library for PLCs A distributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in TML This manual cove...

Page 6: ...ing in Technosoft Motion Language TML EasyMotion Studio platform includes EasySetUp for the drive motor setup and a Motion Wizard for the motion programming The Motion Wizard provides a simple graphical way of creating motion programs and automatically generates all the TML instructions With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives their capability to execu...

Page 7: ...sted hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive 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 SITUATION CAUTION SIGNALS...

Page 8: ... came into force on 01 06 2007 RoHS Compliance Technosoft SA here with declares that this product is manufactured in compliance with the RoHS directive 2002 95 EC on the restriction of the use of certain hazardous substances in electrical and electronic equipment RoHS Technosoft SA hereby declares that this product conforms to the following European applicable directives 2014 30 EU Electromagnetic...

Page 9: ...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 ...

Page 10: ...Motion Studio offers the possibility to quickly download and test a cam profile and also to create a sw file with the cam data The sw file can be afterwards stored in a master and downloaded to the drive wherever needed A demo version of EasyMotion Studio with EasySetUp part fully functional can be downloaded free of charge from Technosoft web page 2 2 Product Features Fully digital servo drive su...

Page 11: ... operation modes selectable by HW pin only for CAN drives CANopen conforming with CiA 301 v4 2 CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 TMLCAN intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN bus EtherCAT with CAN application protocol over EtherCAT CoE and File over EtherCAT FoE for CAT drives 16K 16 internal SRAM memory for data acquisition 16K 16 E2 ROM to...

Page 12: ...igurations The motor speed control loop is closed on one feedback connected on the motor while the motor position control loop is closed on the other available feedback which is placed on the load There is usually a transmission between the load and the motor Motor type Feedback 1 Feedback 2 PMSM Incremental encoder single ended or differential Analogue Sin Cos encoder Linear Halls only on motor I...

Page 13: ...iple connectors for easier access Figure 2 5 1 iMOTIONCUBE BX CAN with external connector Ordering information Part number Description P025 126 E201 iMOTIONCUBE BX CAN standard execution with IO connectors and CAN P025 126 E211 iMOTIONCUBE BX CAN STO standard execution with IO connectors STO inputs and CAN P025 326 E221 iMOTIONCUBE BX CAT STO standard execution with IO connectors STO inputs and Et...

Page 14: ...re not to scale 3 2 Mechanical Mounting The iMOTIONCUBE drive is intended to be mounted horizontally on a motherboard equipped with the recommended mating connectors for the IOs as specified in chapter 3 4 2 Mating Connectors For full current capability the motor output and power input pins are meant to be soldered directly on the motherboard Also a heat sink must be mounted on the back plate of t...

Page 15: ...Figure 3 2 iMOTIONCUBE CAN PCB Footprint All dimensions are in mm Holes are marked with RED J7 is not available on previous versions of iMOTIONCUBE v2 0 3 2 2 iMOTIONCUBE CAN STO PCB Footprint For iMOTIONCUBE CAN STO motherboard PCB design use the dimensional drawing from Figure 3 3 below or request a dxf file at support technosoftmotion com Figure 3 3 iMOTIONCUBE CAN STO PCB Footprint All dimensi...

Page 16: ... close as physically possible to the iMOTIONCUBE to minimize EM radiated emissions For un shielded applications no metallic box and typical EMC regulations the spacing between iMOTIONCUBE and capacitors must be less than 3 centimeters In multi axis applications multiple iMOTIONCUBE drives on the same motherboard it is preferable to have a separate decoupling capacitor for each drive s VMOT For VLO...

Page 17: ...ne common power supply for all motors each motor power supply return track shall be routed separately for each iMOTIONCUBE and star point connected at the power supply terminal The following signal pairs must be routed differentially i e using parallel tracks with minimal loop area A1 Sin A1 Sin B1 Cos B1 Cos Z1 Z1 A2 B2 Z2 CAN Hi CAN Lo CAN Bus tracks must be routed with a bus topology without br...

Page 18: ...J2 Socket 2x20 pins 1 27x1 27mm pitch square 0 40 mm pins pass through SMD socket WPPro 6062 040 00 10 PPST Harwin M50 3152042 Samtec CLP 120 02 F D BE J3 To use full current capabilities of the drive solder the pins directly to the motherboard without using socket connectors High current socket 8 pins 2 54 mm pitch square 0 635 mm pins use only if needed nominal current is 8A J4 J5 J7 To use full...

Page 19: ... Technosoft 2019 19 iMOTIONCUBE Technical Reference 3 4 3 Pinouts for iMOTIONCUBE CAN STO ...

Page 20: ... Technosoft 2019 20 iMOTIONCUBE Technical Reference 3 4 4 Pinouts for iMOTIONCUBE CAT STO ...

Page 21: ...J1 ENA 5VO U T REF 100Ω Ω 1K GND 0 5V FDBK 0 5V 100Ω Ω 1K 22 19 35 36 20 J1 Analog Inputs 29 34 40 J2 CAN Connection 31 CAN_GND CAN_L CAN_H 120R 5 0 25W CAN terminator for the first and the last node ofthe network 2 4 6 8 10 12 46 35 36 J1 Primary Feedback Connector J1 Secondary Feedback Connector 41 43 45 J4 J5 1 2 46 35 36 11 35 36 J1 CAN Connection 13 CAN_GND CAN_L CAN_H CAN_V 22 Logic power su...

Page 22: ... 22 iMOTIONCUBE Technical Reference 3 5 2 iMOTIONCUBE CAN STO connection diagram Figure 3 6 iMOTIONCUBE CAN STO Connection diagram For other available feedback motor options check the detailed connection diagrams below ...

Page 23: ... 23 iMOTIONCUBE Technical Reference 3 5 3 iMOTIONCUBE CAT STO connection diagram Figure 3 7 iMOTIONCUBE CAT STO Connection diagram For other available feedback motor options check the detailed connection diagrams below ...

Page 24: ... state 3 The length of the cables must be up to 30m reducing the exposure to voltage surge in industrial environment 3 5 4 2 NPN inputs Figure 3 9 24V Digital NPN Inputs connection Remarks 1 The inputs are selectable as PNP NPN by software 2 The inputs are compatible with NPN type outputs input must be pulled to GND to change its default state 3 The length of the cables must be up to 30m reducing ...

Page 25: ... 5V VLOG 26 1K 24 1K 470R 1K 1K 5V VLOG 470R 5V VLOG Green LED Red LED GND IN LSN 3 IN LSP 2 Inputs 5V GND GND LOAD max 4mA LOAD max 4mA GND GND 0 5A max LOAD 5V 0 5A max LOAD 5V 0 5A max LOAD 5V 0 5A max OUT0 OUT1 IN0 IN1 3 3V VLOG 46 35 5V Out 12K Figure 3 12 5V Digital I O connection Remarks 1 The inputs are selectable as PNP NPN by software For the 5V connection they are selected as PNP NPN is...

Page 26: ... source ground to the drive ground shield will be connected to the drive ground terminal 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 wire connects the source minus negative out of phase to the drive ground...

Page 27: ... connection Remark In case J7 Earth is not present connect the Shield if present to GND instead 3 5 7 2 2 phase Step Motor connection Figure 3 16 2 phase step motor connection one coil per phase Figure 3 17 2 phase step motor connection two coils per phase Remark In case J7 Earth is not present connect the Shield if present to GND instead ...

Page 28: ...istance longer than 2 meters If this situation cannot be avoided use a shielded cable for the motor wires Connect the cable shield to the iMOTIONCUBE GND pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 10nF If very long cables tens of meters are used this condition may not be met In this case add series inductors between the iMOTIONCUBE outp...

Page 29: ...WIRES THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS 3 5 8 2 Differential Incremental Encoder 1 Connection Figure 3 21 Differential incremental encoder 1 connection Remarks 1 For encoder 1 differential connection external 120Ω 0 25W terminators are required for long encoder cables or noisy environments 2 The length of the cables must be up to 30m reducing the exposure to voltage...

Page 30: ... to 5V signals 3 5 8 4 Differential Incremental Encoder 2 TTL Connection Figure 3 23 Differential incremental encoder 2 connection Warning The encoder 2 inputs are connected directly to the DSP inputs and support only 3 3V Do not connect directly to 5V signals Remarks The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 3 5 8 5 Differential B...

Page 31: ...nnection for Motor Hall Incremental Encoder Figure 3 26 Digital Hall connection Remarks 1 This connection is required when using Hall start method BLDC or PMSM and also for the Trapezoidal commutation method The digital halls are not used in this case as a feedback measurement device The actual motor control is done with an incremental encoder 2 The length of the cables must be up to 30m reducing ...

Page 32: ...e position sensor is differential and provides them Use one twisted pair for each differential group of signals as follows A Sin with A Sin B Cos with B Cos Z with Z Use another twisted pair for the 5V supply and GND b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the GND at ...

Page 33: ...y Connection 3 5 9 1 Supply Connection non STO version Figure 3 29 Supply connection for the non STO version Remark Connector J7 is not available on previous versions of iMOTIONCUBE v2 0 3 5 9 2 Supply Connection STO version Figure 3 30 Supply connection for STO versions ...

Page 34: ...voltage EM the overall energy flowing back to 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...

Page 35: ...AK MAX CR I U R 2 to sustain the required braking power d CHOP MAX M CR t U U C E P 2 1 2 2 where C is the capacitance on the motor supply external i e CR CHOP CR P U R 2 2 3 to limit the average current below the drive nominal current INOM 0 9A 2 NOM CYCLE d CR CR I t t P R where tCYCLE is the time interval between 2 voltage increase cycles in case of repetitive moves 4 to be rated for an average...

Page 36: ...3 33 shows how to connect it on your network 2 CAN signals are not insulated from other iMOTIONCUBE circuits 3 5 11 2 Recommendation for wiring a Build CAN network using cables with twisted wires 2 wires pair with CAN Hi twisted together with CAN Lo It is recommended but not mandatory to use a shielded cable If so connect the shield to GND The cable impedance must be 105 135 ohms 120 ohms typical ...

Page 37: ... Technosoft 2019 37 iMOTIONCUBE Technical Reference Figure 3 33 Multiple Axis CAN network 3 5 12 EtherCAT bus connection for CAT drives Figure 3 34 EtherCAT bus connection to RJ45 connectors ...

Page 38: ...location from address 0x4000 b Hardware by temporary connecting all digital Hall inputs to GND during the power on for about 1s until the green led is turned on as shown in Figure 3 35 This option is particularly useful when it is not possible to communicate with the drive After the drive is set in non Autorun slave mode using 2nd method the 1st method may be used to invalidate the TML application...

Page 39: ...ting 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 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 transmi...

Page 40: ... Technosoft 2019 40 iMOTIONCUBE Technical Reference Figure 3 36 Axis ID Setting Examples CANopen mode or EtherCAT drive ...

Page 41: ... Technosoft 2019 41 iMOTIONCUBE Technical Reference Figure 3 37 Axis ID Setting Examples TMLCAN mode ...

Page 42: ... L1 L3 59 L1 L1 L4 60 L1 L1 L5 61 L1 L1 L6 62 L1 L2 L0 63 L1 L2 L1 64 L1 L2 L2 65 L1 L2 L3 66 L1 L2 L4 67 L1 L2 L5 68 L1 L2 L6 69 L1 L3 L0 70 L1 L3 L1 71 L1 L3 L2 72 L1 L3 L3 73 L1 L3 L4 74 L1 L3 L5 75 L1 L3 L6 76 L1 L4 L0 77 L1 L4 L1 78 L1 L4 L2 79 L1 L4 L3 80 L1 L4 L4 81 L1 L4 L5 82 L1 L4 L6 83 L1 L5 L0 84 L1 L5 L1 85 L1 L5 L2 86 L1 L5 L3 87 L1 L5 L4 88 L1 L5 L5 89 L1 L5 L6 90 L1 L6 L0 91 L1 L6 ...

Page 43: ...5 L4 88 L4 L5 L5 89 L4 L5 L6 90 L4 L6 L0 91 L4 L6 L1 92 L4 L6 L2 93 L4 L6 L3 94 L4 L6 L4 95 L4 L6 L5 96 L4 L6 L6 97 L5 L0 L0 98 L5 L0 L1 99 L5 L0 L2 100 L5 L0 L3 101 L5 L0 L4 102 L5 L0 L5 103 L5 L0 L6 104 L5 L1 L0 105 L5 L1 L1 106 L5 L1 L2 107 L5 L1 L3 108 L5 L1 L4 109 L5 L1 L5 110 L5 L1 L6 111 L5 L2 L0 112 L5 L2 L1 113 L5 L2 L2 114 L5 L2 L3 115 L5 L2 L4 116 L5 L2 L5 117 L5 L2 L6 118 L5 L3 L0 119 ...

Page 44: ... 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 i...

Page 45: ...cuit condition duration 10ms 45 A 3 8 7 Motor Outputs A A B A C B BR B Min Typ Max Units Nominal output current continuous for DC brushed steppers and BLDC motors with Hall based trapezoidal control 20 A for PMSM motors with FOC sinusoidal control sinusoidal amplitude value 20 for PMSM motors with FOC sinusoidal control sinusoidal effective value 14 2 Motor output current peak maximum 2 5s 40 40 A...

Page 46: ...its Mode compliance All outputs OUT0 OUT1 OUT2 Error OUT3 Ready NPN 24V Default state Not supplied VLOG floating or to GND High Z floating Immediately after power up OUT0 OUT1 OUT4 Logic HIGH OUT2 Error OUT3 Ready Logic LOW Normal operation OUT0 OUT1 OUT2 Error Logic HIGH OUT3 Ready Logic LOW Output voltage Logic LOW output at nominal current 0 5A 0 8 V Logic HIGH external load to VLOG VLOG Absolu...

Page 47: ...2 Logic LOW 0 1 mA Logic HIGH 0 1 3 8 13 Linear Hall Inputs LH1 LH2 LH3 Min Typ Max Units Input voltage Operational range 0 0 5 4 5 4 9 V Absolute maximum values continuous 7 7 Absolute maximum surge duration 1s 11 14 Input current Input voltage 0 5V 1 0 9 1 mA Interpolation Resolution Depending on software settings 11 bits Frequency 0 1 kHz ESD protection Human body model 1 kV 3 8 14 Sin Cos Enco...

Page 48: ...istor Between CAN Hi CAN Lo none on board Node addressing Hardware by H W pins 1 127 255 LSS non configured CANopen 1 127 255 TMLCAN Software 1 127 CANopen 1 255 TMLCAN ESD protection Human body model 15 kV 3 8 18 Supply Output 5V Min Typ Max Units 5V output voltage Current sourced 250mA 4 8 5 5 2 V 5V output current iMOTIONCUBE CAN 600 650 mA Short circuit protection Yes Over voltage protection N...

Page 49: ... to dangerous failure 377 years Mode compliance PNP Default state Input floating wiring disconnected Logic LOW Input voltage Logic LOW PWM operation disabled 20 5 6 V Logic HIGH PWM operation enabled 18 36 Absolute maximum continuous 20 40 Input current Logic LOW pulled to GND 0 mA Logic HIGH pulled to Vlog 5 13 Repetitive test pulses high low high Ignored high low high 5 ms 20 Hz Fault reaction t...

Page 50: ... time The E2 ROM is mapped in the address range 4000h to 7FFFh 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 iMOTIONCUBE Memory Map TML Programs ...

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