Technosoft 2020
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IO-iMOTIONCUBE Technical Reference
3.8 Axis ID Selection for iMOTIONCUBE-CAT-STO drives with EtherCAT
The iMOTIONCUBE CAT drives support all EtherCAT standard addressing modes. In case of device addressing
mode based on node address, the iMOTIONCUBE CAT drive sets the
configured station alias
address with its
AxisID value. The drive AxisID value is set after power on in one of the following ways:
a) By hardware, function of the voltage levels of the AxisID0, AxisID1 and AxisID2 inputs. The AxisID value
is computed in the same way as in the case of iMOTIONCUBE CAN drives using the CANopen protocol
(see
Table 3.7.4 – Axis ID setting in CANopen mode
)
Remark:
any other combination of voltage levels not included in Table 3.7.4
,
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: it shall be fully inserted in the
IO-iMOTIONCUBE
board. J1 of drive to J1 of IO,
J2 to J2, etc.
3. Motor connections
4. USB cable connections
5.
IO-iMOTIONCUBE
board jumpers settings.
The default axisID settings select the TMLCAN protocol with the axisID is 255. In order to quickly change to
CANopen protocol, set JP9 to pos 2-3 and JP10 to pos 1-2. The CANopen axisID set will be 127.
6. SS1 (STO bypass settings) has all switches set to OFF by default.
7. Power on the
IO-iMOTIONCUBE
board, the
OUT2/ Ready
LED and the +Vlog LED should light up as green.
