Technosoft IO iMOTIONCUBE CAT Technical Reference

IO

iMOTIONCUBE

v10A

I/O Board for

iMOTIONCUBE

CAN/

CAN-STO/

CAT-CAT

Intelligent

Servo Drives

T

echnical

Reference

 Technosoft 2020

P091.084.IO-iMOTIONCUBE.UM.0520

Read This First

Whilst Technosoft believes that the information and guidance given in this manual is correct, all

parties must rely upon their own skill and judgment when making use of it. Technosoft does not assume any

liability to anyone for any loss or damage caused by any error or omission in the work, whether such error

or omission is the result of negligence or any other cause. Any and all such liability is disclaimed.

or by any means, electrical or mechanical including photocopying, recording or by any information-retrieval

system without permission in writing from Technosoft S.A.

The information in this document is subject to change without notice.

About This Manual

This book is a technical reference manual for the IO-iMOTIONCUBE extension boards version 10A

that are included in the iMOTIONCUBE intelligent servo drives starter kits.

This book is a technical reference manual for:

Product Name Part Number Description

IO iMOTIONCUBE CAN P025.326.E201 Ethernet connectors are CAN compatible

IO iMOTIONCUBE 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 Number Description

iMOTIONCUBE CAT-STO P025.326.E121 Drive with EtherCAT and STO inputs

Notational Conventions

This document uses the following conventions:

iMOTIONCUBE

– any iMOTIONCUBE-CAN or CAT drive that can be connected to this I/O board

TML – Technosoft Motion Language

Related Documentation

iMOTIONCUBE Technical Reference (

part no. P025.126.E101.DSH

P025.126.E111.DSH

P025.326.E121.DSH)

– describes the hardware connections of the iMOTIONCUBE family of intelligent servo drives

including the technical data and connectors.

Help of the EasySetUp software – describes how to use EasySetUp to quickly setup any

Technosoft drive for your application using only 2 dialogues. The output of EasySetUp is a set

of setup data that can be downloaded into the drive EEPROM or saved on a PC file. At power-

on, the drive is initialized with the setup data read from its EEPROM. With EasySetUp it is also

possible to retrieve the complete setup information from a drive previously programmed.

EasySetUp includes a firmware programmer with allows you to update your drive firmware to

the latest revision. EasySetUp can be downloaded free of charge from Technosoft web

page

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 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 execute complex motions without requiring an external motion

controller, thanks to their built-in motion controller. A demo version of EasyMotion Studio

(with EasySetUp part fully functional) can be downloaded free of charge from

Technosoft web page

iPOS CANopen Programming (part no. P091.063.iPOS.UM.xxxx) – explains how to program the

iPOS drives using CANopen protocol and describes the associated object dictionaries for the

supported profiles.

CAN application layer over EtherCAT Programming (part no. P091.064.UM.xxxx) – explains

how to program the Technosoft intelligent drives 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 v2.0 (part no. P091.040.LABVIEW.v20.UM.xxxx) – explains how to program

in LabVIEW a motion application for the Technosoft intelligent drives using TML_LIB_Labview

v2.0 motion control library for PCs. The TML_Lib_LabVIEW includes over 40 ready-to-run

examples.

TML_LIB_S7 (part no. P091.040.S7.UM.xxxx) – explains how to program in a PLC Siemens

series S7-300 or S7-400 a motion application for the Technosoft intelligent drives using

TML_LIB_S7 motion control library. The TML_LIB_S7 library is IEC61131-3 compatible.

TML_LIB_CJ1 (part no. P091.040.CJ1.UM.xxxx) – explains how to program in a PLC Omron

series CJ1 a motion application for the Technosoft intelligent drives using TML_LIB_CJ1

motion control library for PCs. The TML_LIB_CJ1 library is IEC61131-3 compatible.

TML_LIB_X20 (part no. P091.040.X20.UM.xxxx) – explains how to program in a B&R PLC series

X20 a motion application for the Technosoft intelligent drives using TML_LIB_X20 motion

control library for PCs. The TML_LIB_X20 library is IEC61131-3 compatible

TechnoCAN (part no. P091.063.TechnoCAN.UM.xxxx) – presents TechnoCAN protocol – an

extension of the CANopen communication profile used for TML commands

If you Need Assistance …

If you want to … Contact Technosoft at …

Visit Technosoft online

World Wide Web:

http://www.technosoftmotion.com/

Receive general information

or assistance (see Note)

Ask questions about product

operation or report suspected

problems (see Note)

Make suggestions about,

or report errors in

documentation.

World Wide Web:

http://www.technosoftmotion.com/

Email: contact@technosoftmotion.com

Fax: (41) 32 732 55 04

Email:

hotline@technosoftmotion.com

Mail: Technosoft SA

Avenue des Alpes 20

CH-2000 Neuchatel, 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 .............................................................. 9

3 Hardware Installation .................................................................................... 10

3.1 Connecting the iMOTIONCUBE to the IO board ................................................ 10

3.2 Mounting/using instructions for different power levels ........................................ 10

3.2.1 Using the iMOTIONCUBE as a starter kit with low currents (MAX 2A) ................... 10

3.2.2 Using the iMOTIONCUBE with full current capability (20A nom, 40A peak) ........... 10

3.2.3 iMOTIONCUBE CAN/CAT power losses for heat sink scaling ............................... 11

3.3 Connectors ......................................................................................................... 12

3.3.1 Connectors Layout and Description ....................................................................... 12

3.3.2 J1..J7 – iMOTIONCUBE pass through connectors ................................................. 13

3.3.3 J8, J9 – CAN connector for -CAN drives and IO PN P025.326.E201 ..................... 13

3.3.4 J8, J9 – EtherCAT connector for -CAT drives and IO PN P025.326.E221 .............. 13

3.3.5 J10 – Digital I/O and analog inputs connector ........................................................ 13

3.3.6 J11 – Power supply input connector ...................................................................... 14

3.3.7 J12 – Motor 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 Protocol selection for CAN drives ........................................... 18

3.8 Axis ID Selection for iMOTIONCUBE-CAT-STO drives with EtherCAT.............. 23

3.9 First Power Up ................................................................................................... 23

Appendix 1: IO-iMOTIONCUBE schematics ....................................................... 24

Appendix 2: iMOTIONCUBE Plug-in Connector Pin-out ..................................... 25

 Technosoft 2020 6 IO-iMOTIONCUBE Technical Reference

1 Safety information

Read carefully the information presented in this chapter before carrying out the drive

installation and setup! It is imperative to implement the safety instructions listed 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.

Only qualified personnel may install, setup, operate and maintain the drive. A “qualified person” has

the knowledge and authorization to perform tasks such as transporting, assembling, installing,

commissioning and operating drives.

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 HANDLING IN AN ESD PROTECTED

ENVIRONMENT

1.1 Warnings

WARNING!

THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE

ELECTRICAL SHOCKS. DO NOT TOUCH LIVE PARTS WHILE

THE POWER SUPPLIES ARE ON

WARNING!

TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER

CONNECT / DISCONNECT WIRES FROM THE DRIVE WHILE

THE POWER SUPPLIES ARE ON

WARNING!

THE DRIVE MAY HAVE HOT SURFACES DURING

OPERATION.

WARNING!

DURING DRIVE OPERATION, THE CONTROLLED MOTOR

WILL MOVE. KEEP AWAY FROM ALL MOVING PARTS TO

AVOID INJURY

 Technosoft 2020 7 IO-iMOTIONCUBE Technical Reference

1.2 Cautions

CAUTION!

THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST

COMPLY WITH THE PARAMETERS SPECIFIED IN THIS

DOCUMENT

CAUTION!

TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY

FOR PERSONNEL AUTHORISED BY 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 drive on a grounded

conductive surface and also ground yourself.

 Technosoft 2020 8 IO-iMOTIONCUBE Technical Reference

2 Product Overview

2.1 Introduction

The IO-iMOTIONCUBE extension board is an auxiliary module allowing rapid evaluation of the

iMOTIONCUBE-CAN or iMOTIONCUBE-CAT, Intelligent Servo Drives.

2.2 Key Features

• Motor supply: +11…. +80 V

DC

• Logic supply: +9…. +36 V

DC

• STO supply: +18…. +40 V

DC

(if available on the drive)

• Direct access to the following iMOTIONCUBE I/O signals, via spring type terminals

connectors:

• 4 digital inputs, 12-36V (PNP or NPN):

o 2 general – purpose inputs: IN0, IN1

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 communication with the PC

• Two RJ 45 for EtherCAT communication

1

or CAN

2

communication

• Feedback #1 available connectors: 2x5 pin shrouded header, 2.54mm pitch

• Feedback #2 connector: 2x5 pin shrouded header, 2.54mm pitch

1

Usable only with the IO-CAT version (p.n. P025.326.E221)

2

Usable only with the IO-CAN version (p.n. P025.326.E201)

 Technosoft 2020 9 IO-iMOTIONCUBE Technical Reference

2.3 IO-iMOTIONCUBE Board Dimensions

2.3.1 Dimensions without iMOTIONCUBE mounted

Figure 2.3.1 presents 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

 Technosoft 2020 10 IO-iMOTIONCUBE Technical Reference

3 Hardware Installation

3.1 Connecting the iMOTIONCUBE to the IO board

Push down the iMOTIONCUBE drive into the IO-iMOTIONCUBE board. J1,2,4,5,6,7 of the

iMOTIONCUBE into J1,2,4,5,6,7 the IO. Be careful to align all the pins with their connectors and

not to bend them.

Figure 3.1.1 Installing an iMOTIONCUBE CAN/CAT-STO drive in the IO-iMOTIONCUBE

3.2 Mounting/using instructions for different power levels

The IO iMOTIONCUBE can be used in the following ways:

3.2.1 Using the iMOTIONCUBE as a starter kit with low currents (MAX 2A)

The IO iMOTIONCUBE has low current pass through connectors for J1 to J7. These connectors

allow the drive to be connected to the IO without soldering needed.

While the iMOTIONCUBE is connected to the IO only through the pass 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 met:

1. The iMOTIONCUBE must be cooled.

Fit the iMOTIONCUBE onto a heat sink that must keep the outside metal case temperature to

max. 70⁰C. It is up to the user to scale the radiator depending on the material type, conductivity,

passive or active cooling and motor current amplitudes. In the end, the case temperature must not

exceed 70⁰C.

2. The iMOTIONCUBE power and motor connectors must be soldered to the IO board on the

specific golden pads of each connector in order not to damage the existing pass-through

connectors.

Figure 3.2.1

shows which pads must be soldered after the iMOTIONCUBE is mounted on the board.

 Technosoft 2020 11 IO-iMOTIONCUBE Technical Reference

Figure 3.2.1 Specific golden power pads on the IO which must be soldered after the

iMOTIONCUBE is plugged in

3.2.3 iMOTIONCUBE CAN/CAT power losses for heat sink scaling

The following table presents an estimation of power losses of the iMOTIONCUBE CAN or CAT.

Table 3.2.1 –iMOTIONCUBE CAN/CAT Power losses estimation

Vmot

Voltage

(V)

Phase

Current

(A)

Phases

PWM

(kHz)

Power

losses

(W)

48

10

3

20

5.69

48

10

3

40

6.33

48

10

3

60

6.96

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

80

20

3

80

17.42

80

20

4

20

16.79

80

20

4

40

18.63

80

20

4

60

20.47

80

20

4

80

22.31

Power losses might depend also on:

· 5V extra load

· Value of +Vlog (18V offers better efficiency than 24V which is much better than 36V)

· Steady state working temperature (cooler means better efficiency)

 Technosoft 2020 12 IO-iMOTIONCUBE Technical Reference

3.3 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

 Technosoft 2020 13 IO-iMOTIONCUBE Technical Reference

3.3.2 J1..J7 – iMOTIONCUBE pass through connectors

The J1 to J7 connector pinouts are explained in the iMOTIONCUBE User Manual or Datasheet.

These connectors cannot hold the full current capability of the iMOTIONCUBE. The power pins have to be

soldered to their specific pads. Read Chapter 3.2.2 for more information.

3.3.3 J8, J9 – CAN connector for -CAN drives and IO PN P025.326.E201

Pin Pin name Type Function

1 Can-Hi I/O CAN-Bus positive line (dominant high)

2 Can-Lo I/O CAN-Bus negative line (dominant low)

3 GND - Return ground for CAN-Bus

4, 5 - - Reserved. Do not use.

6..8 n.c. - Not connected

Remark: The CAN network must have at least one 120Ω terminal resistor connected between CAN-Hi and

CAN-Lo wires to function. JP11 can connect an on-board 120Ω resistor between CAN-Hi and CAN-Lo.

3.3.4 J8, J9 – EtherCAT connector for -CAT drives and IO PN P025.326.E221

J8 and J9 are standard RJ45 Ethernet connectors, compatible with IEEE802.3 100BASE-T (100Mbit/s). Accept

STP/UTP wiring.

J8 – EtherCAT IN connector

J9 – EtherCAT OUT connector

3.3.5 J10 – Digital I/O and analog inputs connector

Pin Pin name Type Function

1

+5V

OUT

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 digital PNP/NPN input. Negative limit switch input

6 OUT2/Error O

5-36V 0.5A, drive Error output, active low, NPN open-collector/TTL pull-up. Also

drives the red LED

7 +V

LOG

I

Positive terminal of the logic supply: 9 to 36V

DC

; Internally connected to all +V

LOG

pins

8 GND - Return ground for I/O pins

9 FDBK I

Analogue input, 12-bit, 0-5V. Used to read an analogue position or speed feedback

(as tacho), or used as general purpose analogue input

10 IN1 I 5-36V general-purpose digital PNP/NPN input

11 IN2/LSP I 5-36V digital PNP/NPN input. Positive limit switch input

12 OUT0 O 5-36V 0.5A, general-purpose digital output, NPN open-collector/TTL pull-up

13 OUT3/Ready O

5-36V 0.5A, drive Ready output, active low, NPN open-collector/TTL pull-up. Also

drives the green LED.

14 OUT1 O 5-36V 0.5A, general-purpose digital output, NPN open-collector/TTL pull-

up

 Technosoft 2020 14 IO-iMOTIONCUBE Technical Reference

3.3.6 J11 – Power supply input connector

Pin Pin name Type Function

1 Earth -

Earth connection

2 +V

LOG

I/O Logic supply: +9 to +36V

DC;

Internally connected to all +V

LOG

pins

3

GND

- Negative return (ground) of the power supply

4 +V

MOT

I Positive terminal of the motor supply: 12 to 80V

DC

.

3.3.7 J12 – Motor output connector

Pin Pin name Type Function

1 A/A+ O Phase A for 3-ph motors, A+ for 2-ph steppers, Motor+ for DC brush motors

2

B/A-

O

Phase B

for 3-ph motors, A- for 2-ph steppers, Motor- for DC brush motors

3 C/B+ O Phase C for 3-ph motors, B+ for 2-ph steppers

4 CR/B- O Chopping resistor / Phase 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

+5V

OUT

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 1

analogue input

6 A1+/Sin+

I

Incr. encoder1 A single-ended, or A+ diff. input, or analogue encoder Sin+ diff.

input

7 B1-/Cos-/LH2

I

Incr. encoder1 B- diff. input, or analogue encoder Cos- diff. input, or Linear Hall

2 analogue input

8

B1+/Cos+

I

Incr. encoder1 B single-ended, or B+ diff. input, or analogue encoder Cos+ diff.

input

9 Z1-/ LH3 I Incr. encoder1 Z- diff. input, or Linear Hall 3 analogue input

10 Z1+ I Incr. encoder1 Z single-ended, or Z+ diff. input

 Technosoft 2020 15 IO-iMOTIONCUBE Technical Reference

3.3.9 J14 – Feedback #2 connector (2x5 pin)

Pin Pin name Type Function

1

GND

-

Return ground for sensors supply

2

+5V Out O

+5V

OUT

output supply (generated by iPOS drive)

3

GND

- Return ground for sensors supply

4 FDBK I

Analogue input, 12-bit, 0-5V. Used to read an analogue position or speed

feedback (as tacho), or used as general purpose analogue input;

5

A2- /Pulse-/ Data-

/SL-

I

Incr. encoder2 A- diff. input, or Pulse-, or Data- for SSI, or Slave- for BiSS; has

120Ω resistor between pins 5 and 6

6

A2+/Pulse+/

Data+/SL+

I

Incr. encoder2 A+ diff. input, or Pulse+, or Data+ for SSI, or Slave+ for BiSS;

has 120Ω resistor between pins 5 and 6

7 B2-/Dir-/CLK-/MA-

I/O

Incr. encoder2 B- diff. input, or Dir-, or Clock- for SSI, or Master- for BiSS; has

120Ω resistor between pins 7 and 8

8

B2+/Dir+/CLK+/MA+

I/O

Incr. encoder2 B+ diff. input, or Dir+, or Clock+ for SSI, or Master+ for BiSS; has

120Ω resistor 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 +5V

OUT

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 Hall 3 digital sensor input

3.3.11 J17 – STO (Safe Torque Off) connector

Pin Pin name Type Function

1 STO2+ I

Safe Torque Off input 2, positive

input(opto-isolated, 18÷40V)

Apply between both STO1+, STO2+ and STO1-,

STO2- 24V DC for motor PWM output operation

2 STO1+ I

Safe Torque Off input 1, positive input

(opto-isolated, 18÷40V)

3 STO2- I

Safe Torque Off input 2, negative return

(opto-isolated, 0V)

4 STO1-

I

Safe Torque Off input 1, negative return

(opto-isolated, 0V)

Remarks: - This connector is valid only for drives with STO inputs.

- The STO inputs can be bypassed using the SS1 sliding switch functions.

3.3.12 J18 – USB connector

J18 is a standard micro USB connector, used for communication between the iPOS and PC.

 Technosoft 2020 16 IO-iMOTIONCUBE Technical Reference

3.3.13 J19 – RS232 connector

Pin Pin name Type Function

1 TX232 O RS-232 Data Transmission

2 GND - Ground

3 RX232 I RS-232 Data Reception

CAUTION!

WHILE USING CONNECTOR J19, THE J18

USB CONNECTOR

MUST REMAIN UNCONNECTED.

3.3.14 SS1 – Sliding Switch 1 – STO/Enable bypass

This switch serves as an alternative to connecting wires to J17.

Pin Pin name Type Function

1 ENA1 bypass

-

Connects the ENA1 input to STO1+ pin; Remark - do not set this pin when working

with iMOTIONCUBE STO version; This setting is for PN P025.126.E101

2 ENA2 bypass

-

Connects the ENA2 input to STO2+ pin; Remark - do not set this pin when working

with iMOTIONCUBE STO version; This setting is for 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 for cable Camden

CTBA9208/5FL

J3, J4

C-Grid III™ Crimp Terminal

MOLEX

90119-0109

J3, J4

C

-Grid III™ Crimp Housing Dual Row, 10 Circuits, with retention

MOLEX

90142-0010

C-Grid III™ Crimp Housing Dual Row, 10 Circuits, without

ention

90143-0010

J15

MICROFIT RECEPTACLE HOUSING, 2x3 WAY

MOLEX

43025-0600

J10

MICROFIT RECEPTACLE HOUSING, 2x

7 WAY MOLEX 43025-1400

J17

MICROFIT RECEPTACLE HOUSING, 2x2 WAY

MOLEX

43025-0400

J10, J15,

J17

CRIMP

PIN, MICROFIT, 5A MOLEX 43030-0007

J8, J9

Standard 8P8C modular jack (RJ

-45) male - -

 Technosoft 2020 17 IO-iMOTIONCUBE Technical Reference

3.5 Jumper settings

0 = Jumper OFF; 1 = Jumper ON; 1-2 – pin 1 and 2 connected; 2-3 – pin 2 and 3 connected

Jumper

Name

Jumper Function Option Result

JP1 Enc A1/Sin termination

1-2

Do not connect a 120Ω resistor between A1+/Sin+ and A1-/Sin-

2-3

Connect a 120Ω resistor between A1+/Sin+ and A1-/Sin-

OFF

Use J13 pin 5 as Linear Hall 1 input

JP2 Enc B1/Cos termination

1-2

Do not connect a 120Ω resistor between B1+/Cos+ and B1-/Cos-

2-3

Connect a 120Ω resistor between B1+/Cos+ and B1-/Cos-

OFF

Use J13 pin 3 as Linear Hall 2 input

JP3 Enc Z1 termination

1-2

Do not connect a 120Ω resistor between Z1+ and Z1-

2-3

Connect a 120Ω resistor between Z1+ and Z1-

OFF

Use J13 pin 1 as Linear Hall 3 input

JP5 AxisID0_MSB

1-2

Connect AxisID0 input to +5V

DC

2-3

Connect AxisID0 input to GND

OFF

Leave input unconnected

JP6 AxisID0_LSB

1-2

Don’t connect a pull-up/pull-down resistor to AxisID0

2-3

Connect a pull-up/pull-down 4.7K Ω resistor to AxisID0

OFF

Connect a pull-up/pull-down 22K Ω resistor to AxisID0

JP7 AxisID1_MSB

1-2

Connect AxisID1 input to +5V

DC

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 +5V

DC

2-3

Connect AxisID2 to GND

OFF

Leave input unconnected

JP10 AxisID2_LSB

1-2

Don’t connect a pull-up/pull-down resistor to AxisID2

2-3

Connect a pull-up/pull-down 4.7K Ω resistor AxisID2

OFF

Connect a pull-up/pull-down 22K Ω resistor to AxisID2

JP11 CAN termination

0

Do not connect an 120Ω termination resistor between CAN Hi and

CAN Lo

1

Connect an 120Ω termination resistor between CAN Hi and CAN Lo

3.6 Default jumper settings

By default the I/O board is delivered with the jumpers in the following positions:

a. JP9, JP10, JP11 = OFF

b. JP6, JP8 = pos 1-2

c. JP1, JP2, JP3, JP5, JP7 = pos 2-3

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.

SS1 (STO bypass settings) has all switches set to OFF.

JP11 is OFF so no CAN termination resistor is present.

 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 4.7KΩ resistor to ground

2-3

L2

Connected input through a 22KΩ resistor to ground

OFF

2-3

L3

Nothing connected – leave input open

-

OFF

L4

Connect input through a 22KΩ 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

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

L2

Connected input through a 22KΩ resistor to ground

OFF

2-3

L3

Nothing connected – leave input open

-

OFF

L4

Connect input through a 22KΩ 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

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 4.7KΩ resistor to ground

2-3

L2

Connected input through a 22KΩ resistor to ground

OFF

2-3

L3

Nothing connected – leave input open

-

OFF

L4

Connect input through a 22KΩ 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

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.

 Technosoft 2020 19 IO-iMOTIONCUBE Technical Reference

Table 3.7.4 – Axis ID setting in CANopen mode or EtherCAT drives

Axis

ID 2

Axis

ID 1

Axis

ID 0

ID

CANopen

JP10 | JP9

JP8 | JP7

JP6 | JP5

1-2 | 2-3 1-2 | 2-3 1-2 | 2-3 127

1-2 | 2-3

2-3 | 2-3

1

1-2 | 2-3

OFF | 2-3

2

1-2 | 2-3

OFF | OFF

3

1-2 | 2-3 1-2 | 2-3 OFF | 1-2 4

1-2 | 2-3

2-3 | 1-2

5

1-2 | 2-3

1-2 | 1-2

6

1-2 | 2-3

2-3 | 2-3

1-2 | 2-3

7

1-2 | 2-3 2-3 | 2-3 2-3 | 2-3 8

1-2 | 2-3

2-3 | 2-3

OFF | 2-3

9

1-2 | 2-3

2-3 | 2-3

OFF | OFF

10

1-2 | 2-3

2-3 | 2-3

OFF | 1-2

11

1-2 | 2-3 2-3 | 2-3 2-3 | 1-2 12

1-2 | 2-3

2-3 | 2-3

1-2 | 1-2

13

1-2 | 2-3

OFF | 2-3

1-2 | 2-3

14

1-2 | 2-3

OFF | 2-3

2-3 | 2-3

15

1-2 | 2-3 OFF | 2-3 OFF | 2-3 16

1-2 | 2-3

OFF | 2-3

OFF | OFF

17

1-2 | 2-3

OFF | 2-3

OFF | 1-2

18

1-2 | 2-3

OFF | 2-3

2-3 | 1-2

19

1-2 | 2-3 OFF | 2-3 1-2 | 1-2 20

1-2 | 2-3

OFF | OFF

1-2 | 2-3

21

1-2 | 2-3

OFF | OFF

2-3 | 2-3

22

1-2 | 2-3

OFF | OFF

OFF | 2-3

23

1-2 | 2-3 OFF | OFF OFF | OFF 24

1-2 | 2-3

OFF | OFF

OFF | 1-2

25

1-2 | 2-3

OFF | OFF

2-3 | 1-2

26

1-2 | 2-3

OFF | OFF

1-2 | 1-2

27

1-2 | 2-3 OFF | 1-2 1-2 | 2-3 28

1-2 | 2-3

OFF | 1-2

2-3 | 2-3

29

1-2 | 2-3

OFF | 1-2

OFF | 2-3

30

1-2 | 2-3

OFF | 1-2

OFF | OFF

31

1-2 | 2-3 OFF | 1-2 OFF | 1-2 32

1-2 | 2-3

OFF | 1-2

2-3 | 1-2

33

1-2 | 2-3

OFF | 1-2

1-2 | 1-2

34

1-2 | 2-3 2-3 | 1-2 1-2 | 2-3 35

1-2 | 2-3

2-3 | 1-2

2-3 | 2-3

36

1-2 | 2-3

2-3 | 1-2

OFF | 2-3

37

1-2 | 2-3

2-3 | 1-2

OFF | OFF

38

1-2 | 2-3 2-3 | 1-2 OFF | 1-2 39

1-2 | 2-3

2-3 | 1-2

40

1-2 | 2-3

2-3 | 1-2

1-2 | 1-2

41

1-2 | 2-3

1-2 | 1-2

1-2 | 2-3

42

1-2 | 2-3 1-2 | 1-2 2-3 | 2-3 43

1-2 | 2-3

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

48

2-3 | 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

1-2 | 2-3

56

2-3 | 2-3

57

2-3 | 2-3 2-3 | 2-3 OFF | 2-3 58

2-3 | 2-3

OFF | OFF

59

2-3 | 2-3

OFF | 1-2

60

2-3 | 2-3

2-3 | 1-2

61

2-3 | 2-3 2-3 | 2-3 1-2 | 1-2 62

2-3 | 2-3

OFF | 2-3

1-2 | 2-3

63

2-3 | 2-3

OFF | 2-3

2-3 | 2-3

64

2-3 | 2-3

OFF | 2-3

65

2-3 | 2-3 OFF | 2-3 OFF | OFF 66

2-3 | 2-3

OFF | 2-3

OFF | 1-2

67

2-3 | 2-3

OFF | 2-3

2-3 | 1-2

68

2-3 | 2-3

OFF | 2-3

1-2 | 1-2

69

2-3 | 2-3 OFF | OFF 1-2 | 2-3 70

2-3 | 2-3

OFF | OFF

2-3 | 2-3

71

2-3 | 2-3

OFF | OFF

OFF | 2-3

72

2-3 | 2-3

OFF | OFF

73

2-3 | 2-3

OFF | OFF

OFF | 1-2

74

2-3 | 2-3 OFF | OFF 2-3 | 1-2 75

2-3 | 2-3

OFF | OFF

1-2 | 1-2

76

2-3 | 2-3

OFF | 1-2

1-2 | 2-3

77

2-3 | 2-3

OFF | 1-2

2-3 | 2-3

78

2-3 | 2-3 OFF | 1-2 OFF | 2-3 79

2-3 | 2-3

OFF | 1-2

OFF | OFF

80

2-3 | 2-3

OFF | 1-2

81

2-3 | 2-3

OFF | 1-2

2-3 | 1-2

82

2-3 | 2-3 OFF | 1-2 1-2 | 1-2 83

2-3 | 2-3

2-3 | 1-2

1-2 | 2-3

84

2-3 | 2-3

2-3 | 1-2

2-3 | 2-3

85

2-3 | 2-3

2-3 | 1-2

OFF | 2-3

86

2-3 | 2-3 2-3 | 1-2 OFF | OFF 87

2-3 | 2-3

2-3 | 1-2

OFF | 1-2

88

2-3 | 2-3

2-3 | 1-2

89

2-3 | 2-3

2-3 | 1-2

1-2 | 1-2

90

2-3 | 2-3 1-2 | 1-2 1-2 | 2-3 91

2-3 | 2-3

1-2 | 1-2

2-3 | 2-3

92

2-3 | 2-3

1-2 | 1-2

OFF | 2-3

93

2-3 | 2-3

1-2 | 1-2

OFF | OFF

94

2-3 | 2-3 1-2 | 1-2 OFF | 1-2 95

2-3 | 2-3

1-2 | 1-2

2-3 | 1-2

96

2-3 | 2-3

1-2 | 1-2

97

OFF | 2-3

1-2 | 2-3

98

OFF | 2-3 1-2 | 2-3 2-3 | 2-3 99

 Technosoft 2020 20 IO-iMOTIONCUBE Technical Reference

Axis

ID 2

Axis

ID 1

Axis

ID 0

ID

CANopen

JP10 | JP9

JP8 | JP7

JP6 | JP5

OFF | 2-3 1-2 | 2-3 OFF | 2-3 100

OFF | 2-3

1-2 | 2-3

OFF | OFF

101

OFF | 2-3

1-2 | 2-3

OFF | 1-2

102

OFF | 2-3

1-2 | 2-3

2-3 | 1-2

103

OFF | 2-3 1-2 | 2-3 1-2 | 1-2 104

OFF | 2-3

2-3 | 2-3

1-2 | 2-3

105

OFF | 2-3

2-3 | 2-3

106

OFF | 2-3

2-3 | 2-3

OFF | 2-3

107

OFF | 2-3 2-3 | 2-3 OFF | OFF 108

OFF | 2-3

2-3 | 2-3

OFF | 1-2

109

OFF | 2-3

2-3 | 2-3

2-3 | 1-2

110

OFF | 2-3

2-3 | 2-3

1-2 | 1-2

111

OFF | 2-3 OFF | 2-3 1-2 | 2-3 112

OFF | 2-3

2-3 | 2-3

113

OFF | 2-3

114

OFF | 2-3

OFF | OFF

115

OFF | 2-3 OFF | 2-3 OFF | 1-2 116

OFF | 2-3

2-3 | 1-2

117

OFF | 2-3

1-2 | 1-2

118

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

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

255

OFF | 2-3

OFF | 1-2

2-3 | 1-2

255

OFF | 2-3 OFF | 1-2 1-2 | 1-2 255

OFF | 2-3

2-3 | 1-2

1-2 | 2-3

255

OFF | 2-3

2-3 | 1-2

2-3 | 2-3

255

OFF | 2-3

2-3 | 1-2

OFF | 2-3

255

OFF | 2-3 2-3 | 1-2 OFF | OFF 255

OFF | 2-3

2-3 | 1-2

OFF | 1-2

255

OFF | 2-3

2-3 | 1-2

255

OFF | 2-3

2-3 | 1-2

1-2 | 1-2

255

OFF | 2-3 1-2 | 1-2 1-2 | 2-3 255

OFF | 2-3

1-2 | 1-2

2-3 | 2-3

255

OFF | 2-3

1-2 | 1-2

OFF | 2-3

255

OFF | 2-3

1-2 | 1-2

OFF | OFF

255

OFF | 2-3 1-2 | 1-2 OFF | 1-2 255

OFF | 2-3

1-2 | 1-2

2-3 | 1-2

255

OFF | 2-3

1-2 | 1-2

255

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