Ultra-compact and powerful servo controller with integrated MotionChip ™ controller, CAN / CANopen interface and STO safety function. Universal use thanks to the support of various motor technologies and feedback sensors. The extremely compact design enables easy integration in the smallest of spaces. Designed as a plug-in module (only 60 x 40 x 28.2 mm), the iMotionCube offers the ideal solution for critical room conditions.
Electrical characteristics:
      Motor supply / logic supply: 11 – 80 VDC / 9 – 36 VDC
      Output current: 20 A continuous, 40 A peak current
Motor types:
      Brushless DC motors (BLDC, PMSM motors)
      Brushed DC motors (DC motors)
      Stepper motors (2- or 3-phase)
      Voice coil actuators
      Linear motors
Feedback options:
      1st Feedback:
            Incremental encoder
            SinCos 1Vpp
            Digital Hall-sensors
      2nd Feedback:
            Incremental encoder
            SSI / BiSS-C
            EnDat 2.2
Control:
      Via CAN Bus, pulse and direction or analog/digital inputs
      Autonomous execution of complex motion sequences stored in the nonvolatile memory of the drive.
Communication:
      RS232 - up to 115 Kbit/s
      CANopen - according to CiA profiles 301, 305 and 402
      TMLCAN - Technosoft proprietary CAN protocol
      Ethernet - optional via an additional communication module
Digital and analog inputs/outputs:
      4 digital inputs: 5-36 V, NPN or PNP configurable
      4 digital outputs: 5-36 V, 0.5 A, NPN Open-Collector
      2 analog input: 12 bit, 0-5 V
      Possibility to use a digital output for controlling an external motor/holding brake
      Integrated brake chopper function for controlling an external braking resistor
Safety:
      Protection against over-current, over-temperature, under-voltage and over-voltage, I2t and following error.
      STO - Safe Torque Off with safety integrity level SIL 3, category 3, PLe.
Control features:
      Sinusoidal commutation with field-oriented control (FOC) via encoder, Hall sensors or sensorless.
      Fast and accurate control loop structure with customizable sampling rate and PWM frequency up to 100KHz
      Outstanding resonance and vibration suppression through the flexible, simultaneous use of 10 BiQuad filters.
      Gain scheduling for dynamic adjustment of the PID controller parameters for optimal positioning performance.
      Dual loop with simultaneous evaluation of two different feedback sensors to compensate for gear backlash and mechanical elasticities.
      Closed-loop with sinusoidal commutation and field-oriented control (FOC) when encoder available.
      Open loop with up to 512 microsteps per full step, step loss detection and automatic position compensation when encoder available on the load.
Operating modes:
      Position, speed and torque control
      Path generator with trapezoidal and sinusoidal ramps
      Profile Position Mode, Velocity Mode, Homing Mode
      Interpolated position with linear (PT) and cubic splines (PVT)
      Cyclic Synchronous Position (CSP)
      Electronic gears (EGEAR) and cams (ECAM)
      Motion contouring via position, speed, torque or voltage
      Analogue external reference, pulse and direction
EasyMotion Studio-Software:
    Graphic programming interface with many functions and wizards for simple commissioning, configuration and local programming of complex sequence programs in single-axis or multi-axis systems.
      Enables the selection of motor type, encoder interface and control structure as well as the setting of protection and controller parameters.
      Automatic determination of the PID controller parameters (autotuning).
      Extended analysis and optimization tools integrated using the control panels, loggers and scope functionalities.
TML Library: The TML Motion Libraries can work under Windows (32-bit and 64-bit versions available), or Linux operating system and can be included in an application developed under C/C++, C#, Visual Basic, Delphi Pascal, or LabVIEW. TML_Lib is a collection of high-level functions allowing to control, from a PC, the Technosoft intelligent drives and motors. The protocol is TML and communication can take place via RS232, CAN bus, Ethernet or USB.
Technosoft Motion Language (TML) programming language: Using the TML language, different operating modes, movement profiles, reference runs or the control of complex sequence programs can be graphically programmed and executed autonomously. The drive controllers can process analog and digital I / O signals, perform arithmetic and logical operations, and also exchange data and commands between the axes. Single-axis and multi-axis stand-alone applications can be easily implemented with self-created sequence programs, even without the use of a complex CANopen or EtherCAT master controller.
MotionChip ™ technology: The main core of all Technosoft servo controllers is the MotionChip ™ - an intelligent, freely programmable motion controller specially designed for complex motion control tasks. The MotionChip ™ offers the possibility to use the powerful digital signal processors (DSP) from Texas Instruments as an independent, intelligent unit. As a result, many tasks of a complex master control are solved directly by the MotionChip ™, so that the global function of a machine is relieved and the management of a master application can be optimized. All-important control functions of a controller such as a multitude of operating modes, PLC properties, protection and safety functions as well as support for the different interface and motor technologies are accommodated on the MotionChip ™, thus enabling flexible use in a wide variety of drive systems.