Technosoft Imot series Use and care manual

iMOT

line

Intelligent Motors

echnical

Reference

Technosoft 2018 P091.042.iMOT.UM.0918

Technosoft 2018 2 iMOT Intelligent Motors Line Technical Reference

Table of contents

Table of contents ........................................................................................................... 2

Read This First ............................................................................................................... 4

About This Manual................................................................................................................. 4

Notational Conventions......................................................................................................... 5

Trademarks ............................................................................................................................ 5

Related Documentation ......................................................................................................... 5

If you Need Assistance … ..................................................................................................... 6

1Safety information.................................................................................................... 6

1.1 Warnings....................................................................................................................... 6

1.2 Cautions........................................................................................................................ 7

1.3 Quality system, conformance and certifications ....................................................... 7

2Product Overview..................................................................................................... 9

2.1 Introduction .................................................................................................................. 9

2.2 Product Features........................................................................................................ 10

2.3 Identification Labels................................................................................................... 11

3Hardware Installation............................................................................................. 12

3.1 iMOT17xB TM-CAN and TM-CAT models dimensions............................................. 12

3.2 iMOT17xB XM-CAN models dimensions................................................................... 12

3.3 iMOT172S XM-CAN model dimensions..................................................................... 13

3.4 MOT172S TM-CAN and TM-CAT models dimensions .............................................. 13

3.5 iMOT23xS XM-CAN models dimensions................................................................... 14

3.6 Mechanical Mounting................................................................................................. 15

3.7 Connectors and Pinouts ............................................................................................ 16

3.7.1...... Connectors and pinouts for iMOT17xB/iMOT172S TM-CAN models ................................... 16

3.7.2...... Connectors and pinouts for iMOT17xB/iMOT172S TM-CAT models.................................... 17

3.7.3...... Connectors and pinouts for iMOT17xB/iMOT172S XM-CAN models ................................... 18

3.7.4...... Connectors and pinouts for iMOT23xS XM-CAN models...................................................... 19

3.8 Connection diagrams................................................................................................. 20

3.8.1...... iMOT17xB/iMOT172S TM-CAN connection diagram ............................................................ 20

3.8.2...... iMOT17xB/iMOT172S TM-CAT connection diagram ............................................................ 21

3.8.3...... iMOT17xB/iMOT172S XM-CAN connection diagram............................................................ 22

3.8.4...... iMOT23xS XM-CAN connection diagram .............................................................................. 23

3.8.5...... Analog Inputs Connection Recommendations ...................................................................... 24

3.8.5.1 0-5V Input Range............................................................................................................ 24

3.8.5.2 +/- 10V to 0-5V Input Range Adapter ............................................................................. 24

3.8.5.3 Recommendation for wiring............................................................................................ 24

3.8.6...... Power Supply Connection Recommendations ...................................................................... 25

3.8.6.1 Recommendations for Supply Wiring ............................................................................. 25

3.8.6.2 Recommendations to limit over-voltage during braking ................................................. 25

Technosoft 2018 3 iMOT Intelligent Motors Line Technical Reference

3.8.7...... Serial RS-232 connection Recommendations ....................................................................... 25

3.8.8...... CAN-bus connection (for CAN motors only) Recommendations........................................... 26

3.8.9...... Removal from Autorun Mode for CAN motors ....................................................................... 26

3.9 CAN Protocol Selection for CAN motors. TMLCAN/CANopen ................................ 27

3.10 Axis ID Selection for CAN motors(SW1 settings) ................................................. 27

3.11 Recommendations for EtherCAT® Wiring ............................................................ 28

3.12 EtherCAT® LED indicators..................................................................................... 28

3.12.1.... EtherCAT® LED indicator states ........................................................................................... 29

3.13 Electrical Specifications......................................................................................... 29

3.13.1.... Operating Conditions ............................................................................................................. 29

3.13.2.... Storage Conditions ................................................................................................................ 29

3.13.3.... Environmental Characteristics ............................................................................................... 30

3.13.4.... Logic Supply Input (+VLOG) .................................................................................................... 30

3.13.5.... Motor Supply Input (+VMOT).................................................................................................... 30

3.13.6.... Digital Inputs .......................................................................................................................... 31

3.13.7.... Digital Outputs ....................................................................................................................... 31

3.13.8.... Analog 0…5V Input (ANLG) .................................................................................................. 32

3.13.9.... RS-232................................................................................................................................... 32

3.13.10.. EARTH Connection................................................................................................................ 32

3.13.11.. CAN-Bus (for CAN motors).................................................................................................... 32

3.13.12.. EtherCAT (for CAT motors) ................................................................................................... 32

3.14 Torque – Speed characteristic ............................................................................... 33

3.14.1.... iMOT17xB XM/TM-CAN/CAT ................................................................................................ 33

3.14.2.... iMOT172S XM/TM-CAN/CAT ................................................................................................ 33

3.14.3.... iMOT23xS XM-CAN............................................................................................................... 33

4Memory Map ........................................................................................................... 34

Technosoft 2018 4 iMOT Intelligent Motors Line 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.

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

iMOT171B TM-CAN P042.111.E320 Brushless Nema 17, size 1, CAN version, IP66 connectors

iMOT171B TM-CAT P042.111.E322 Brushless Nema 17, size 1, EtherCAT version, IP66 connectors

iMOT171B XM-CAN P042.111.E120 Brushless Nema 17, size 1, CAN version, Molex connectors

iMOT172B TM-CAN P042.121.E320 Brushless Nema 17, size 2, CAN version, IP66 connectors

iMOT172B TM-CAT P042.121.E322 Brushless Nema 17, size 2, EtherCAT version, IP66 connectors

iMOT172B XM-CAN P042.121.E120 Brushless Nema 17, size 2, CAN version, Molex connectors

iMOT173B TM-CAN P042.131.E320 Brushless Nema 17, size 3, CAN version, IP66 connectors

iMOT173B TM-CAT P042.131.E322 Brushless Nema 17, size 3, EtherCAT version, IP66 connectors

iMOT173B XM-CAN P042.131.E120 Brushless Nema 17, size 3, CAN version, Molex connectors

iMOT172S TM-CAN P036.121.E320 Stepper Nema 17, size 2, CAN version, IP66 connectors

iMOT172S TM-CAT P036.121.E323 Stepper Nema 17, size 2, EtherCAT version, IP66 connectors

iMOT172S XM-CAN P036.121.E120 Stepper Nema 17, size 2, CAN version, Molex connectors

iMOT232S XM-CAN P036.222.E120 Stepper Nema 23, size 2, CAN version, Molex connectors

iMOT233S XM-CAN P036.232.E120 Stepper Nema 23, size 3, CAN version, Molex connectors

In order to operate any of the iMOT Intelligent Motors you need to pass through 3 steps:

Step 1 Hardware installation

Step 2 Drive setup using Technosoft EasySetUp / EasyMotion Studio software for drive commissioning

Step 3 Motion programming using one of the options:

The drive’s built-in motion controller executing a Technosoft Motion Language (TML) program

developed using Technosoft EasyMotion Studio software and stored in the local non-volatile memory

A TML_LIB motion library for PCs (Windows or Linux)

A TML_LIB motion library for PLCs1

A CANopen master2or an EtherCAT master – depending on the version of the iMOT

A distributed control approach which combines the above options, like for example a host handling the

upper level of the machine application and calling motion functions pre-programmed on the drive in TML

for lower level of the machine application

This manual covers Step 1 in detail. It describes the various models of the iMOT Intelligent Motors line hardware

including the technical data, the connectors and the wiring diagrams needed for installation.

For Step 2 and 3, please consult the related documentation.

1Available for Siemens SIMATIC S7-300, OMRON CJ1, and X20CS1070 from B&R

2Available only for CAN versions, configured for CANOpen operation

Technosoft 2018 5 iMOT Intelligent Motors Line Technical Reference

Notational Conventions

This document uses the following conventions:

•iMOT – 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.)

•TML – Technosoft Motion Language

•CANopen – Standard communication protocol that uses 11bit message identifiers over CAN-bus

and enables connection with different brand products

•TMLCAN – Technosoft’s own communication protocol for exchanging TML commands only

between Technosoft drives/motors via CAN-bus, using 29bit message identifiers

•CoE – CANopen over EtherCAT, CANopen application protocol via EtherCAT® layer

Trademarks

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany. In this document it will be further referenced as EtherCAT.

Related Documentation

iMOT Intelligent Motors line Datasheets

– describes the hardware connections of the iMOT Intelligent Motors line 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 can be downloaded free of charge from

Technosoft web page

iPOS CANopen Programming (part no. P091.063.CANopen.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. Since the iMOT Intelligent

Motors are based on the iPOS family of drives, this manual also applies to them.

CoE Programming (part no. P091.064.EtherCAT.iPOS.UM.xxxx) – explains how to program the Technosoft

intelligent drives using CAN application protocol over EtherCAT® and describes the associated object

dictionary. Since the iMOT Intelligent Motors are based on the iPOS family of drives, this manual also

applies to them.

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 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 or motors 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 or motors 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 or motors 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 or motors 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 or motors 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 2018 6 iMOT Intelligent Motors Line 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: contact@technosoftmotion.com

Fax: (41) 32 732 55 04

Email: hotline@technosoftmotion.com

Email: support@technosoftmotion.com

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 intelligent motor installation

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

This information is intended to protect you, the intelligent motor and the accompanying equipment during the product

operation. Incorrect handling of the intelligent motor 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 INTELLIGENT MOTOR 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 INTELLIGENT MOTOR 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 INTELLIGENT MOTOR WHILE THE POWER

SUPPLIES ARE ON.

WARNING! THE INTELLIGENT MOTOR MAY HAVE HOT SURFACES DURING OPERATION.

Technosoft 2018 7 iMOT Intelligent Motors Line Technical Reference

WARNING! DURING OPERATION THE MOTOR WILL MOVE.

KEEP AWAY FROM ALL

MOVING PARTS TO AVOID INJURY.

WARNING! IN A DOMESTIC ENVIROMENT THIS PRODUCT MAY CAUSE INTERFERENCE IN

WHICH CASE SUPPLEMENTARY MITIGATION MEASURES MAY BE REQUIRED.

1.2 Cautions

CAUTION! THE POWER SUPPLIES CONNECTED TO THE INTELLIGENT MOTOR MUST

COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT

CAUTION! TROUBLESHOOTING AND SERVICING ARE PERMIT

TED ONLY FOR

PERSONNEL AUTHORISED BY TECHNOSOFT

CAUTION!

THE INTELLIGENT MOTOR CONTAINS ELECTROSTATICALLY SENSITIVE

COMPONENTS WHICH MAY BE DAMAGED BY INCOR

RECT HANDLING.

THEREFORE THE INTELLIGENT MOTOR SHALL BE REMOVED FR

OM 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 intelligent motor 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

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.

The following technical standards have been applied in the design and qualification of the iMOT family:

EN61800-3: 2004 + Amendment 1: 2011

Adjustable Speed Electrical Power Drive Systems - EMC Requirements

BDM (Basic Drive Module) / Category C3: intended for use in Second Environment

EN61800-5-1: 2007 + Amendment 1: 2016

Adjustable Speed Electrical Power Drive Systems - Safety Requirements: Electrical, Thermal and Energy

BDM (Basic Drive Module) / DVC A, Pollution Degree 2, Over-voltage Category I

EN60529: 1992 + Amendment 2: 2013

Degree of protection provided by enclosure

Technosoft 2018 8 iMOT Intelligent Motors Line Technical Reference

IP00

EN55011: 2009 + Amendment 2: 2010

Radiated Radio Disturbance Characteristics of Industrial, Scientific and Medical Equipment

Class A / Group 1: 30MHz...1GHz, 50...60dBμV/m @10m (EN61800-3 Table 18)

EN55011: 2009 + Amendment 1: 2010

Conducted Mains Terminal Radio Disturbance Measurement

Class A / Group 1: Supply lines, 0.15MHz...30MHz, 46...66dB (EN61800-3 Table 17 <=100A)

EN61000-4-2: 2009

Electrostatic Discharge (ESD) Immunity

Level 2, Criteria A: +/-4KV Contact Discharge, Criteria A

Level 3, Criteria A: +/-8KV Air Discharge, Criteria A (EN61800-3 Table 12)

EN61000-4-3: 2006 + Amendment 2: 2011

Radiated Radiofrequency Electromagnetic Field Immunity

Level 3, Criteria A: 10V/m 80MHz...1GHz, 3V/m 1.4GHz...2GHz, 1V/m 2...2.7GHz

EN61000-4-4: 2004 + Amendment 1: 2010

Electrical Fast Transient / Burst Immunity

Level 3, Criteria A: Supplu lines, +/-2KV, Galvanic coupling

Level 3, Criteria A: Signals lines, +/-1KV, Capacitive coupling

EN61000-4-5: 2014

Surge Immunity

Level 2, Criteria B: Supply lines, +/-1KV line-to-line

EN61000-4-6: 2009

Conducted Disturbances induced by Radiofrequency Fields Immunity

Level 3, Criteria A: Signal lines, 10V, 0.15MHz...80MHz

For other certifications visit: http://technosoftmotion.com/en/quality-system

Technosoft 2018 9 iMOT Intelligent Motors Line Technical Reference

2 Product Overview

2.1 Introduction

The iMOT line of intelligent brushless and step motors combines an intelligent drive, a motor and a position sensor into

a single unit. The result is a cost effective, compact solution that translates motion commands stored by the user in its

own memory or received through a communication channel into mechanical motion.

All iMOTs perform position, speed or torque control and can be configured for either stand-alone or multi-axis operation.

Beside the motor and position sensor, thanks to the intelligent drive, the iMOTs combine motion controller PID, power

stage drive and PLC functionality in a single 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 gearing or camming, 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 axes

Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously

motion sequences on all the axes from the group

Synchronizing all the axes from a network

By implementing motion sequences directly at the iMOT level you can really distribute the intelligence between the

master and the iMOTs 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 iMOTs using TML to execute 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 iMOT’s EEPROM and waiting for a

message, which confirms the TML functions execution completion.

All iMOT Intelligent Motors are equipped with a serial RS232 and a CAN 2.0B / EtherCAT interface depending on the

model. The CAN models can be set by hardware pins to operate in one of the 2 communication protocol modes:

CANopen

TMLCAN

When CANopen mode is selected, the iMOT 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, it may be controlled via a CANopen master.

The iMOT 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 intelligent motors can communicate

separately between each other by using non reserved 11 bit identifiers (TechnoCAN protocol).

When TMLCAN mode is selected, the iMOT 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 iMOT can be set to operate standalone, and may play the role of a master to coordinate both the

network communication/synchronization and the motion application via TML commands sent directly to the other

intelligent motors.

When higher level coordination is needed, apart from a CANopen master, the iMOT intelligent motors can also be

controlled via a PC or a PLC using one of the TML_LIB motion libraries.

For the commissioning of the intelligent motors, EasySetUp or EasyMotion Studio PC applications may be used.

EasySetUp is a subset of EasyMotion Studio, containing only the setup part (drive + motor). The output of EasySetUp

is a set of setup data that can be downloaded into the iMOT EEPROM or saved on a PC file. At power-on, the intelligent

motor is initialized with the setup data read from its EEPROM. With EasySetUp it is also possible to retrieve the complete

setup information from an iMOT previously programmed. EasySetUp shall be used for drive setup + motor in all cases

where the motion commands are sent exclusively from a master. Hence neither the iMOT TML programming capability

nor the camming mode are used. EasySetUp can be downloaded free of charge from Technosoft web page.

Technosoft 2018 10 iMOT Intelligent Motors Line Technical Reference

EasyMotion Studio platform includes EasySetUp for the system 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. Beside the setup and motion wizards, EasyMotion Studio contain also various tools

for on-line monitoring and troubleshooting of the iMOT performance. EasyMotion Studio is usually the choice when it

comes to the CAN versions of the iMOT that are going to be used in TMLCAN mode. However, it 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 intelligent servo or stepper motor with embedded motion controller, drive and single turn absolute

position sensor

•Very compact design

•2 control options for stepper model: closed loop stepless servo / open loop microstepping (with steploss

detection)

•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 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

•Communication:

•RS-232 serial up to 115kbits/s

•CAN-bus 2.0B up to 1Mbit/s (for CAN drives)

•EtherCAT up to 100Mbit/s (for EtherCAT motors)

•Digital and analog I/Os:

•4 digital inputs: 5-24V, programmable polarity: sourcing/NPN or sinking/PNP (5 digital inputs for the

iMOT23xS models)

•2 digital outputs: 5-24V, with 0.5A capacity, sinking/NPN open-collector

•1 analogue input: 12 bits resolution, 0 … 5Vdc range

•Electro-Mechanical brake support: software configurable digital output to control motor brake

•Feedback device:

•Integrated absolute single-turn position sensor offering a resolution of 4096 counts/rev

•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/EtherCAT mode

•Electronic gearing and camming

•35 Homing modes

•16 h/w selectable addresses depending on model, otherwise 127/255 software selectable addresses

(CANopen / TMLCAN)

•Two CAN operation modes selectable by HW pin (only for CAN motors):

•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

•2.5K ×16 internal SRAM memory for data acquisition

•4K ×16 E2ROM to store TML motion programs, cam tables and other user data

•Motor supply: 12-48V

•Logic supply: 15-36V.

•Operating ambient temperature: 0-40°C (over 40°C with derating)

•Protections:

•Short-circuit between motor phases or between motor phases and ground

•Over and under-voltage

•Over-current and I2t

•Over-temperature

•Communication error

•Control error

Technosoft 2018 11 iMOT Intelligent Motors Line Technical Reference

2.3 Identification Labels

Figure 2.3.1. iMOT intelligent motors identification labels

The iMOT intelligent motors can have the following part numbers and names on the identification label: