Technosoft iMOTIONCUBE BX-CAN Use and care manual

iMOTIONCUBE
CAN/
CAN-STO/
CAT-STO
Intelligent Servo Drive for
Step, DC, Brushless DC
and AC Motors
Intelligent Servo Drives
T
echnical
Reference
Technosoft 2019 P091.027.iMOTIONCUBE.CAN.CAT.UM.0319

Technosoft 2019 2 iMOTIONCUBE Technical Reference
Table of contents
Table of contents ...........................................................................................................2
Read This First...............................................................................................................5
About This Manual.................................................................................................................5
Notational Conventions.........................................................................................................5
Trademarks ............................................................................................................................5
Related Documentation.........................................................................................................6
If you Need Assistance ….....................................................................................................7
1Safety information....................................................................................................7
1.1 Warnings.......................................................................................................................7
1.2 Cautions........................................................................................................................8
1.3 Quality system, conformance and certifications .......................................................8
2Product Overview.....................................................................................................9
2.1 Introduction..................................................................................................................9
2.2 Product Features........................................................................................................10
2.3 Identification Labels...................................................................................................11
2.4 Supported Motor-Sensor Configurations.................................................................12
2.4.1 ..... Single loop configurations...................................................................................................... 12
2.4.2 ..... Dual loop configurations ........................................................................................................ 12
2.5 iMOTIONCUBE BX Evaluation module.....................................................................13
3Hardware 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
3.4.4 ..... Pinouts for iMOTIONCUBE CAT-STO .................................................................................. 20
3.5 Connection diagrams.................................................................................................21
3.5.1 ..... iMOTIONCUBE CAN connection diagram ............................................................................ 21
3.5.2 ..... iMOTIONCUBE CAN-STO connection diagram.................................................................... 22
3.5.3 ..... iMOTIONCUBE CAT-STO connection diagram .................................................................... 23
3.5.4 ..... 24V Digital I/O Connection .................................................................................................... 24
3.5.4.1 PNP inputs...................................................................................................................... 24
3.5.4.2 NPN inputs ..................................................................................................................... 24
3.5.4.3 NPN outputs ................................................................................................................... 24
3.5.4.4 PNP outputs (NPN to PNP outputs conversion)............................................................. 25

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3.5.5 ..... 5V Digital I/O Connection ...................................................................................................... 25
3.5.6 ..... Analog Inputs Connection...................................................................................................... 26
3.5.6.1 0-5V Input Range ........................................................................................................... 26
3.5.6.2 +/- 10V to 0-5V Input Range Adapter............................................................................. 26
3.5.6.3 Recommendation for wiring............................................................................................ 26
3.5.7 ..... Motor connections ................................................................................................................. 27
3.5.7.1 Brushless Motor connection........................................................................................... 27
3.5.7.2 2-phase Step Motor connection ..................................................................................... 27
3.5.7.3 3-Phase Step Motor connection..................................................................................... 28
3.5.7.4 DC Motor connection...................................................................................................... 28
3.5.7.5 Recommendations for motor wiring................................................................................ 28
3.5.8 ..... Feedback connections........................................................................................................... 29
3.5.8.1 Single ended Incremental Encoder #1 Connection........................................................ 29
3.5.8.2 Differential Incremental Encoder #1 Connection............................................................ 29
3.5.8.3 Single ended Incremental Encoder #2 TTL Connection ................................................ 30
3.5.8.4 Differential Incremental Encoder #2 TTL Connection .................................................... 30
3.5.8.5Differential BiSS/SSI Feedback#2 Connection .............................................................. 30
3.5.8.6 Sine-Cosine Analog Encoder Connection...................................................................... 31
3.5.8.7 Digital Hall Connection for Motor + Hall + Incremental Encoder.................................... 31
3.5.8.8 Digital Hall Connection for direct motor control without an encoder .............................. 32
3.5.8.9 Linear Hall Connection................................................................................................... 32
3.5.8.10 Recommendations for wiring.......................................................................................... 32
3.5.9 ..... Power Supply Connection ..................................................................................................... 33
3.5.9.1 Supply Connection (non STO version)........................................................................... 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 ... EtherCAT bus connection (for CAT drives)........................................................................... 37
3.5.13 ... Removal from Autorun Mode................................................................................................. 38
3.6 CAN Operation Mode and Axis ID Selection for CAN drives...................................39
3.6.1 ..... Selection Levels on Axis ID Inputs ........................................................................................ 39
3.6.2 ..... Axis ID Settings (possible values) ......................................................................................... 42
3.6.2.1 Axis ID Settings for CANopen mode or for EtherCAT drives......................................... 42
3.6.2.2 Axis ID Settings for TMLCAN mode............................................................................... 43
3.7 Axis ID Selection for CAT drives...............................................................................44
3.8 Electrical Specifications............................................................................................44
3.8.1 ..... Operating Conditions............................................................................................................. 44
3.8.2 ..... Storage Conditions ................................................................................................................ 44
3.8.3 ..... Mechanical Mounting............................................................................................................. 45
3.8.4 ..... Environmental Characteristics............................................................................................... 45
3.8.5 ..... Logic Supply Input (+VLOG) .................................................................................................... 45
3.8.6 ..... Motor Supply Input (+VMOT) ................................................................................................... 45
3.8.7 ..... Motor Outputs (A/A+, B/A-, C/B+, BR/B-).............................................................................. 45
3.8.8 ..... Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN) .......................................................................... 46
3.8.9 ..... Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT4)...................................... 46
3.8.10 ... Digital Hall Inputs (Hall1, Hall2, Hall3)................................................................................... 46
3.8.11 ... Encoder #1 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,)............................................................... 47
3.8.12 ... Encoder #2 Inputs (A2, B2, Z2)............................................................................................. 47
3.8.13 ... Linear Hall Inputs (LH1, LH2, LH3)........................................................................................ 47

Technosoft 2019 4 iMOTIONCUBE 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
4Memory Map...........................................................................................................50

Technosoft 2019 5 iMOTIONCUBE Technical Reference
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.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any form 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:
Product Name Part Number Description
iMOTIONCUBE CAN P025.126.E101 Pin plug version, CAN
iMOTIONCUBE CAN-STO P025.126.E111 Pin plug version, CAN, STO inputs
iMOTIONCUBE CAT-STO P025.326.E121 Pin plug version, EtherCAT®, STO inputs
In order to operate the iMOTIONCUBE drives, you need to pass through 3 steps:
Step 1 Hardware installation
Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning
Step 3 Motion programming using one of the options:
A CANopen master1or an EtherCAT® 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 covers Step 1 in detail. It describes the iMOTIONCUBE hardware including the technical data, the
connectors and the wiring diagrams needed for installation.
For Step 2 and 3, please consult the document iPOS Dual Loop drives Software reference
( 091.027.DL.Software.xxxx). It also includes the scaling factors between the real SI units and the drive internal
units. For detailed information regarding the next steps, refer to the related documentation.
Notational Conventions
This document uses the following conventions:
•iMOTIONCUBE– all products described in this manual
•IU units –Internal units of the drive
•SI units –International standard units (meter for length, seconds for time, etc.)
•STO – Safe Torque Off
•TML – Technosoft Motion Language
•CANopen – Standard communication protocol that uses 11-bit message identifiers over CAN-bus
•TMLCAN – Technosoft communication protocol for exchanging TML commands via CAN-bus, using
29bit message identifiers
•CoE – CAN application protocol over EtherCAT®
Trademarks
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
1when the iMOTIONCUBE CAN is set in CANopen mode
2when using an iMOTIONCUBE-CAT

Technosoft 2019 6 iMOTIONCUBE Technical Reference
Related Documentation
iMOTIONCUBE CAN Datasheet ( P025.126.E101.DSH)
iMOTIONCUBE CAN-STO Datasheet ( P025.126.E111.DSH)
iMOTIONCUBE CAT-STO Datasheet ( P025.326.E121.DSH)
– describes the hardware connections of the iMOTIONCUBE intelligent servo drive including the
technical data and connectors.
iPOS Dual Loop drives Software reference (091.027.DL.Software.xxxx)
– describes the compatible software installation, drive software setup commissioning, introduction to
TML motion programming, includes the scaling factors between the real SI units and the drive internal
units.
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 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
family of intelligent drives using CANopen protocol and describes the associated object dictionary for
CiA 301 v.4.2 application layer and communication profile, CiA WD 305 v.2.2.13 layer settings services
and protocols and CiA DSP 402 v3.0 device profile for drives and motion control now included in IEC
61800-7-1 Annex A, IEC 61800-7-201 and IEC 61800-7-301 standards
CoE Programming (part no. P091.064.UM.xxxx) – explains how to program the Technosoft intelligent drives
using CAN application protocol over EtherCAT® and describes the associated object dictionary.
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/motorsetup, 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 the
Technosoft web page
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_Labviewv2.0 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
PLCs. 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 PLC B&R series X20 a
motion application for the Technosoft intelligent drives using TML_LIB_X20 motion control library for
PLCs. 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

Technosoft 2019 7 iMOTIONCUBE Technical Reference
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: [e-mail]
Fax: [phone]
Email: [e-mail]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000 Neuchatel, NE
Switzerland
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.
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 SENS
ITIVE 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, NE
VER CONNECT /
DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON
WARNING! THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION.

Technosoft 2019 8 iMOTIONCUBE Technical Reference
WARNING! DURING DRIVE OPERATION, THE CONTROLLED MOTOR WILL MOVE. KEEP
AWAY FROM ALL MOVING PARTS TO AVOID INJURY
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 PERMIT
TED ONLY FOR
PERSONNEL AUTHORISED BY TECHNOSOFT
CAUTION!
THE DRIVE CONTAINS ELECTROSTATICALLY SENS
ITIVE COMPONENTS
WHICH MAY BE DAMAGED BY INCORRECT HANDLING. THEREFORE THE DRIVE
SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN A
N 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.
1.3 Quality system, conformance and certifications
IQNet and Quality Austria certification about the implementation and maintenance of the
Quality Management System which fulfills the requirements of Standard ISO 9001:2015.
Quality Austria Certificate about the application and further development of an effective
Quality Management System complying with the requirements of Standard ISO 9001:2015
REACH Compliance - TECHNOSOFT hereby confirms that this product comply with the
legal obligations regarding Article 33 of the European REACH Regulation 1907/2006
(Registration, Evaluation, Authorization and Restriction of Chemicals), which 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 Compatibility (EMC) Directive
2014/35/EU Low Voltage Directive (LVD)
93/68/EEC CE Marking Directive
EC 428/2009 Non dual-use item, output frequency limited to 590Hz
Conflict minerals statement - Technosoft declares that the company does not purchase
3T&G (tin, tantalum, tungsten & gold) directly from mines or smelters...
We have no indication that Technosoft products contain minerals from conflict mines or
smelters in and around the DRC.
STO compliance – TUV SUD certifies that this product is SIL 3 / Cat 3 / PL e compatible and
is in conformity with the following safety – related directives:
EN ISO 13849-1:2015 Safety of machinery - Safety-related parts of control systems - Part 1: General principles
for design
EN 61800-5-1:2007 Adjustable speed electrical power drive systems — Safety requirements — Electrical,
thermal and energy
EN 61800-5-2:2007 Adjustable speed electrical power drive systems - Safety requirements –Functional
EN 61508:2010 Functional safety of electrical/electronic/programmable electronic safety-related systems
EN ISO 13849-1:2008 Safety of machinery - Safety-related parts of control systems
EN 61326-3-1:2008 - General industrial applications - EMC - Immunity requirements for functional safety
For other certifications visit: http://technosoftmotion.com/en/quality-system

Technosoft 2019 9 iMOTIONCUBE Technical Reference
2 Product Overview
2.1 Introduction
The iMOTIONCUBE is part of the iPOS family of fullydigital intelligent servo drives, based onthe latest DSP technology
and they offer unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushless DC, brushless AC (vector control), DC brushed motors and step motors, the
iMOTIONCUBE drives accept as position feedback incremental encoders (quadrature orsine/cosine), linear Hall signals
abd absolute encoders (SSI and BiSS-C) using additional circuit.
All drives perform position, speed or torque control and work in single, multi-axis or stand-alone configurations. Thanks
to the embeddedmotioncontroller, the iMOTIONCUBE drives combinecontroller, drive and PLC functionalityin a single
compact unit and are capable to execute complex motions without requiring intervention of an external motion controller.
Using the high-level Technosoft Motion Language (TML) the following operations can be executed directly at drive level:
Setting various motion modes (profiles, PVT, PT, electronic gearing1or camming1, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences
Controlling the program flow through:
Conditional jumps and calls of TML functions
TML interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)
Waits for programmed events to occur
Handling of digital I/O and analogue input signals
Executing arithmetic and logic operations
Performing data transfers between axes
Controlling motion of an axis from another one via motion commands sent between axes2
Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously
motion sequences on all the axes from the group2
Synchronizing all the axes from a network
By implementing motion sequences directly at drive level you 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 master job may be reduced at: calling TML functions stored in the drive EEPROM and waiting for a message, which
confirms the TML functions execution completion.
All iMOTIONCUBE CAN drives are equipped with a serial RS232 and a CAN 2.0B interface that can be set by hardware
pins to operate in 2 communication protocol modes:
CANopen
TMLCAN
The iMOTIONCUBE CAT drives support only the EtherCAT® communication protocol. They communicate through the
serial RS232 interface for software commissioning and the EtherCAT® interface. The CAT veriosn also supports FoE
protocol which allows firmware update and setup download using directly an EtherCAT master.
When CANopen mode is selected, the iMOTIONCUBE conforms to CiA 301 v4.2 application layer communication
profile, the CiA WD 305 v2.2.13 and CiA DSP 402 v3.0 device profile for drives and motion control, now included in
IEC 61800-7-1 Annex A, IEC 61800-7-201 and IEC 61800-7-301 standards. In this mode, the iMOTIONCUBE may be
controlled via a CANopen master. The iPOS drive offers the possibility for a CANopen master to call motion sequences/
functions, written in TML and stored in the drive EEPROM, using manufacturer specific objects. Also, the drives can
communicate separately between each other by using non reserved 11 bit identifiers.
When TMLCAN mode is selected, the iMOTIONCUBE behaves as standard Technosoft intelligent drive and conforms
to Technosoft protocol for exchanging TML commands via CAN-bus. When TMLCAN protocol is used, it is not
mandatory to have a master. Any iMOTIONCUBE can be set to operate standalone, and may play the role of a master
1Available if the master axis sends its position via a communication channel, or by using the secondary encoder input
2Available only for CAN drives

Technosoft 2019 10 iMOTIONCUBE Technical Reference
to coordinate both the network communication/synchronization and the motion application via TML commands sent
directly to the other drives.
When higher level coordination is needed, apart from a CANopen master, the iMOTIONCUBE drives can also be
controlled via a PC or a PLC using one of the TML_LIB motion libraries.
For iMOTIONCUBE commissioning EasySetUp or EasyMotion Studio PC applications may be used.
EasySetUp is a subset of EasyMotion Studio, including only the drive setup part. 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 thecomplete setup information
from a drive previously programmed. EasySetUp shall be used for drive setup in all cases where the motion commands
are sent exclusively from a master. Hence neither the iMOTIONCUBE TML programming capability nor the drive
camming mode are used. EasySetUp can be downloaded free of charge from Technosoft web page.
EasyMotion Studio platform includes EasySetUp for the drive 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 execute complex motions, thanks to their built-in
motion controllers. EasyMotion Studio, may be used to program motion sequences in TML. This is the iMOTIONCUBE
typical CAN operation mode when TMLCAN protocol is selected. EasyMotion Studio can also be used with the
CANopen protocol, if the user wants to call TML functions stored in the drive EEPROM or to use the camming mode.
With camming mode, EasyMotion 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 suitable for the control of rotary or linear brushless, DC brush, and step motors
•Very compact design
•Sinusoidal (FOC) or trapezoidal (Hall-based) control of brushless motors
•Open or closed-loop control of 2 and 3-phase steppers
•Various modes of operation, including: torque, speed or position control; position or speed profiles, Cyclic
Synchronous Position (CSP) for CANopen mode, external reference mode (analogue or encoder feedback) or
sent via a communication bus
•Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences
•Standalone operation with stored motion sequences
•Motor supply: 12-80V
•Logic supply: 12-36V.
•Output current: 20A1continuous; 40A peak
•PWM switching frequency up to 120kHz
•Communication:
•RS-232 serial up to 115kbits/s
•CAN-bus 2.0B up to 1Mbit/s (for CAN drives)
•Digital and analog I/Os:
•4 digital inputs: 5-36 V, programmable polarity: sourcing/NPN or sinking/PNP: 2 Limitswitches, 2 general-
purpose
•4 digital outputs: 5-36 V, with 0.5 A, sinking/NPN open-collector (Ready, Error and 2 general-purpose)
•NTC/PTC analogue Motor Temperature sensor input
•Electro-Mechanical brake support: software configurable digital output to control motor brake
•Feedback devices (dual-loop support)
1st feedback devices supported:
•Incremental encoder interface (single ended or differential)
•Analog sin/cos encoder interface (differential 1VPP)
•Linear Hall sensors interface
•Pulse & direction interface (single ended) for external (master) digital reference
2nd feedback devices supported:
120A cont. with DC, step and BLDC motors (trapezoidal), 20A amplitude (14.2ARMS) for PMSM (sinusoidal)

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•Incremental encoder interface (single ended 3.3V TTL)
•Pulse & direction interface (single ended 3.3V TTL) for external (master) digital reference
•SSI/BiSS interface (only with additional circuit)
•Separate feedback devices supported:
•Digital Hall sensor interface (single-ended and open collector)
•4 analogue inputs: 12 bit, 0-5V: Reference and Feedback (for Tacho) or general purpose, Anlg 3 and
Anlg 4
•Various motion programming modes:
•Position profiles with trapezoidal or S-curve speed shape
•Position, Velocity, Time (PVT) 3rd order interpolation
•Position, Time (PT) 1st order interpolation
•Cyclic Synchronous Position (CSP) for CANopen mode and EtherCAT® drives.
•Cyclic Synchronous Velocity (CSV) only for EtherCAT® drives.
•Cyclic Synchronous Torque (CST) only for EtherCAT® drives.
•Electronic gearing and camming
•35 Homing modes
•127 h/w selectable addresses in CANopen mode and 196 h/w addresses in TMLCAN mode
•Two CAN 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 E2ROM to store TML motion programs, cam tables and other user data
•Operating ambient temperature: 0-40°C (over 40°C with derating)
•Protections:
•Short-circuit between motor phases
•Short-circuit from motor phases to ground
•Over-voltage
•Under-voltage
•Over-current
•Over-temperature
•Communication error
•Control error
2.3 Identification Labels
Figure 2.3.1. iMOTIONCUBE CAN identification labels
The iMOTIONCUBE family can have the following part numbers and names on the identification label:
p.n. P025.126.E101 name iMOTIONCUBE CAN – standard pin plug CAN execution
p.n. P025.126.E111name iMOTIONCUBE CAN-STO – standard pin plug CAN execution with STO input pins
p.n. P025.326.E121name iMOTIONCUBE CAT-STO – standard pin plug EtherCAT execution with STO input
pins

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2.4 Supported Motor-Sensor Configurations
2.4.1 Single loop configurations
The position and/or speed are controlled using one feedback sensor. The other available feedback sensor
input can be used for External reference Position or Velocity, Pulse and Direction, Electronic Gearing or Camming.
Motor
Sensor Brushless PMSM Brushless BLDC DC Brush Stepper 2 phase Stepper 3 phase
Sensor type Sensor location
Incr. encoder FDBK #1 (single ended or diff.) Yes - Yes Yes -
FDBK #2 (single ended 3.3V TTL)
Incr. encoder + Digital Hall FDBK #1 (single ended or
diff.) Digital
halls
interface Yes Yes - - -
FDBK #2 (
single ended
3.3V TTL)
Digital halls only Digital halls interface Yes - - - -
Linear halls (analogue) Linear halls interface Yes - - - -
SSI* FDBK #2 (diff.) Yes - Yes Yes -
BiSS-C* FDBK #2 (diff.) Yes - Yes Yes -
Analogue Sin/Cos encoder FDBK #1 (diff.) Yes - Yes Yes -
Tacho Analogue input: Feedback - - Yes - -
Open-loop (no sensor) - - - - Yes Yes
Open-loop (with step loss
detection using
Incr. Encoder/SinCos)
FDBK #1 (single ended or diff.) - - - Yes Yes
FDBK #2 (single ended 3.3V TTL)
* Available only with an additional circuit. See Figure 3.24.
2.4.2 Dual loop configurations
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)
•Incremental encoder (single-ended 3.3V TTL)
•
*SSI/BiSS C encoder
BLDC
•Incremental encoder
(single-ended or differential) +
Digital halls
•Incremental encoder
(single-ended 3.3V TTL) + Digital Halls
•
*SSI/BiSS C encoder (only on load)
Stepper
2ph
•Incremental encoder
(single-ended or differential)
•Analogue Sin/Cos encoder
•Incremental encoder (single-ended 3.3V TTL)
•
*SSI/BiSS C encoder
DC
Brush
•Incremental encoder
(single-ended or differential)
•
Analogue Sin/Cos encoder
•Analogue Tacho (only on motor)
•Incremental encoder (single-ended 3.3V TTL)
•
*SSI/BiSS C encoder
* Available only with an additional circuit. See Figure 3.24.
Each defined motor type can have any combination of the supported feedbacks either on motor or on load.
Example:
-PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from feedback#2)
on load
-DC brush motor with Incremental encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1)
on load.

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2.5 iMOTIONCUBE BX Evaluation module
For evaluation, the iMOTIONCUBE can also be bought as a BX version. The BX version has mounted an
I/O board with multiple 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 EtherCAT

Technosoft 2019 14 iMOTIONCUBE Technical Reference
3 Hardware Installation
3.1 iMOTIONCUBE Board Dimensions (all versions)
Figure 3.1.1. iMOTIONCUBE CAN drive dimensions
All dimensions are in mm. The drawings are 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 the drive.

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3.2.1 iMOTIONCUBE CAN PCB Footprint
For iMOTIONCUBE CAN motherboard PCB design, use the dimensional drawing from Figure 3.2below or request a .dxf
file or at [e-mail].
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 3.3below or request
a .dxf file at [e-mail].
Figure 3.3 iMOTIONCUBE CAN-STO PCB Footprint
All dimensions are in mm. Holes are marked with RED.

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3.2.3 MOTIONCUBE CAT-STO PCB Footprint
For iMOTIONCUBE CAT-STO motherboard PCB design, use the dimensional drawing from Figure 3.4below or request
a .dxf file at [e-mail].
Figure 3.4 iMOTIONCUBE CAT-STO PCB Footprint
All dimensions are in mm. Holes are marked with RED.
3.3 Motherboard PCB Design
It is recommended to use a multi-layer PCB for the motherboard, in order to have enough room for routing all the pins
of the iMOTIONCUBE. Using a 2-layer PCB is possible when some of the iMOTIONCUBE pins remain un-connected.
Below is a list of recommendations for the PCB design of the motherboard:
•Motor supply and motor outputs: use islands / areas of copper to escape connector area; this will maximize
current capability. When using simple tracks, use at least 100mil cross section (75mil track width for 1oz/ft2
copper thickness) – for iMOTIONCUBE.
•Motorsupply and ground return tracksbetween iMOTIONCUBE and the nearbyVMOT decoupling capacitor are
to be considered as EMI sources, and kept to a minimum length.
•Place the decoupling capacitors on VMOT and VLOG (see also 0 Power Supply Connection) as 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 VLOG it is acceptable to share one decoupling
capacitor for two drives.
•For stringent EMI requirements, it may be necessary to add common-mode filtering on the motor and/or logic
supply inputs. Be sure to use 3-phase EMC filters, not 2-phase filters, in order to fulfill the basic requirement
of zero common-mode current through the filter. This is necessary because the ground negative return is
shared between VMOT and VLOG.
•Motor outputs shall be routed with parallel traces, and minimizing the loop area between these tracks. Avoid
placing components above or below the motor output tracks, as these components may become effective
antennas radiating EMI. If possible, route all 4 motor outputs in strip-line configuration (above or below a
ground plane).
•For stringent EMI requirements, it may be necessary to add common-mode inductors on the motor outputs.
Place these filters near the iMOTIONCUBE, not near the external connector, to reduce radiation from the PCB
tracks.

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•Motor outputs must be separated from any nearby track (on the same layer) by a guard ring / track / area
connected toground. It is recommended to use the same guarding precaution also for trackson nearby layers,
i.e. use intermediate guard layer(s) connected to ground. The motor outputs must be treated as first source of
noise on the motherboard. Second source of noise is the current flow between each iMOTIONCUBE and it’s
decoupling VMOT capacitor.
•For best EMC performance, it is strongly recommended to provide an un-interrupted ground plane on one of
the inner layers.
•All GND pins of the iMOTIONCUBE are galvanically connected together on-board the iMOTIONCUBE. If the
motherboard provides anuninterrupted ground plane,it is recommended toconnect all GND pins to the ground
plane, and use the ground plane to distribute GND wherever needed. If the motherboard does not provide an
uninterrupted ground plane, it is best to use each GND pin for its intended purpose, as described in par. 0.
This will create local “star point” ground connection on-board each iMOTIONCUBE. For a multi-axis
motherboard with one 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 branches / bifurcations, in a daisy-chain fashion.
The bus ends must be at the termination resistor(s) and/or external connectors.
•When using +5VOUT as supply for external devices (like encoders, Hall sensors, etc.) provide extra filtering and
protection: use series resettable (PTC) fuses to add short-circuit protection; use transient absorbers to protect
against ESD and over-voltage; add high-frequency filtering to protect against external noise injected on
+5VOUT.
•The outer box / case / cabinet must be connected to the motherboard ground either galvanically (directly) or
through high-frequency decoupling capacitors, rated at an appropriate voltage.
CAUTION!
WHEN THE iMOTIONCUBE IS SET IN TMLCAN MODE, IT STARTS TO
EXECUTE AUTOMATICALLY AT POWER ON THE TML APPLICATION
FROM ITS EEPROM. ADD ON THE MOTHERBOARD THE POSSIBILITY
TO DISABLE THIS FEATURE AS SHOWN PAR. 3.5.12. THIS MIGHT BE
NEEDED DURING DEVELOPMENT PHASE IN CASE
THE EEPROM
CONTENT IS ACCIDENTALLY CORRUPTED.

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3.4 Connectors and Pinouts
3.4.1 Pinouts for iMOTIONCUBE CAN
*Remarks:
-Connector J7 is not available on previous versions of iMOTIONCUBE
-In case J7.pin1 (Earth) is not present, connect the cables Shield (if present) to GND instead.
3.4.2 Mating Connectors
Connector Description Manufacturer Part Number Image
J1
Socket 2x25 pins, 1.27x1.27mm pitch, square
0.40 mm pins
, pass-through SMD socket
WPPro
6062-050-00-10-PPST
Harwin M50-3152542
Samtec CLP-125-02-F-D-BE
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 current capabilities of the drive,
solder the pins directly to the motherboard
without using socket connectors
High-current socket, 2 pins (J4), 2x2 pins
(J5)
, 2.54 mm pitch, square 0.635 mm pins
- use only if needed nominal current is 8A -
J6
Connector Header Through Hole 4 position
0.100" (2.54mm)
Samtec TSW-102-14-F-D

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3.4.3 Pinouts for iMOTIONCUBE CAN-STO

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3.4.4 Pinouts for iMOTIONCUBE CAT-STO