P091.042.IM23x-IS MA - UM

IM23x-IS
IM23x-MA
Version 1.1 & 2.0
Intelligent Brushless DC
Motor
Intelligent Motor
Technical
Reference
Technosoft 2006
TECHNOSOFT
IM23x-IS / MA
v1.1 & v2.0
Technical Reference
P091.042.IM23x-IS_MA.UM.0806
Technosoft S.A.
Buchaux 38
CH-2022 Bevaix, NE
Switzerland
Tel.: +41 (0) 32 732 5500
Fax: +41 (0) 32 732 5504
contact@technosoftmotion.com
www.technosoftmotion.com/
Read This First

About This Manual
This book is a technical reference manual for the IM23x intelligent servo drive. It describes the
IM23x operation and provides basic information needed to program the IM23X in the Technosoft
Motion Language (TML) environment.
There are currently two versions (revisions) of the afore-mentioned motors:
IM23x-IS / IM23x-MA v1.1
IM23x-IS / IM23x-MA v2.0
Both versions are fully electrical-, mechanical- and software-compatible. The changes between
the two versions consist only in a different placement of the connectors on the backside of the
motor.
Except where clearly shown, this manual applies to both versions.
Notational Conventions
This document uses the following conventions:
The Technosoft Motion Language will be referred to as TML

TML variables, parameters or instructions are shown in special italic typeface.
Here is a sample:
SETIO#4 IN;
UPD;
Information about Cautions

This book may contain cautions.
CAUTION ! This is an example of a caution statement.

A caution statement describes a situation that could potentially
cause harm to you, or to the IM23X intelligent servo drive unit
Technosoft 2006
III
IM23x-IS/MA Technical Reference
Related Documentation from Technosoft

MotionChip II TML Programming (part no. P091.055.MCII.TML.UM.xxxx)
describes in detail TML basic concepts, motion programming, functional
description of TML instructions for high level or low level motion programming,
communication channels and protocols. Also give a detailed description of each
TML instruction including syntax, binary code and examples.
MotionChip II Configuration Setup (part no. P091.055.MCII.STP.UM.xxxx)
describes the MotionChip II operation and how to setup its registers and
parameters starting from the user application data. This is a technical reference
manual for all the MotionChip II registers, parameters and variables.
Help of the EasyMotion Studio software platform describes how to use the
EasyMotion Studio the complete development platform for IM23x-IS / IM23xMA which support all new features added to revision H of firmware. It includes:
motion system setup & tuning wizard, motion sequence programming wizard,
testing and debugging tools like: data logging, watch, control panels, on-line
viewers of TML registers, parameters and variables, etc.
Help of the IPM Motion Studio software platform describes how to use the IPM
Motion Studio the complete development platform for IM23x-IS / IM23x-MA. It
includes: motion system setup & tuning wizard, motion sequence programming
wizard, testing and debugging tools like: data logging, watch, control panels, online viewers of TML registries, parameters and variables, etc.
Technosoft 2006
IV
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)
World Wide Web: http://www.technosoftmotion.com/

Email: contact@technosoftmotion.com
Ask questions about

product operation or report
suspected problems
(see Note)
Fax: (41) 32 732 55 04

Email: hotline@technosoftmotion.com
Make suggestions about or

report errors in
documentation (see Note)
Mail: Technosoft SA
Buchaux 38
CH-2022 Bevaix, NE
Switzerland
Note: You need to register your IM23x system in order to get free assistance and
support. Use the License No. of the IPM Motion Studio.
Technosoft 2006
Contents
1. Key Features
2. IM23x-IS Connection Diagrams
2.1.
Connectors Diagram
2.2.
IM23x-IS - Connector pins description
2.2.1.
J1 connector
2.2.2.
J2 connector
2.2.3.
J3 connector
2.3.
Digital output connection
2.4.
Analog inputs connection
2.5.
5V Digital inputs connection
2.6.
2.7.
Pulse & Direction inputs connection
10
2.8.
Master encoder outputs connection
11
2.9.
Supply connection
12
2.10.
Serial RS-232 connection
13
2.11.
Special connection (Not-Autorun)
13
2.12.
Master - Slave encoder connection
14
3. IM23x-MA Connection Diagrams
15
3.1.
Connectors Diagram
15
3.2.
IM23x-MA - Connector pins description
16
3.2.1.
J1 connector
16
3.2.2.
J2 connector
16
3.2.3.
J3 connector
17
3.3.
Analog inputs connection
18
3.4.
Digital I/O connection
19
3.5.
Pulse & Direction inputs connection
20
3.6.
Master Slave encoder connection
21
3.7.
Supply connection
22
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VI
3.8.
Serial RS-232 connection
23
3.9.
CAN connection
23
3.10.
Special connection (Not-Autorun)
25
4. IM23x-IS Electrical Specifications
26
5. IM23x-MA Electrical Specifications
29
6. Torque - speed Diagrams
33
7. IM23x Dimensions
33
8. Mating Connectors
34
9. Scaling factors
35
9.1.
Supply / DC-bus Voltage Measurement Scaling
35
9.2.
Motor Currents Scaling
35
9.3.
Motor Speed Scaling
35
9.4.
Motor Position Scaling
36
9.5.
Drive Temperature Scaling
36
10. Available Memory Areas
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VII
1. Key Features
General Features
Fully digital intelligent brushless motor with embedded power and motion control
Low system cost due to compactness and reduced wiring
Available in 3 motor lengths, offering from 0.1 to 0.3 Nm of continuous torque (models
IM231, IM232, IM233)
Logic and Motor power supply: 12-48VDC;
1.5K16 internal SRAM memory
8K16 E2ROM to store TML programs and data
RS232 interface, up to 115kbps communication speed
Integrated 2000 bits/revolution quadrature encoder
Integrated Protections for over current, over temperature, i2 t, control error
Nominal PWM switching frequency: 20kHz
Nominal update frequency for torque loop: 10kHz
Nominal update frequency for speed/position loop: 1kHz
Operating ambient temperature: 0-40C
IM23x-IS The Intelligent Servo Motor

Embedded Intelligence with trajectories generation
Stand-alone operation capability with local sequential high level TML motion language
programs execution
Execution of on-line TML motion commands via RS-232
Internal reference for profiles and contouring modes
Position, speed or torque control
9 digital I/Os (05V; 024V):
3 general-purpose inputs / outputs:
2 inputs
1 output
6 dedicated inputs / outputs:
ENABLE input
Positive Limit Switch input
Negative Limit Switch input
READY output
PULSE input
DIR input
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2 analog inputs (two 0-5 V and one +/-10V)

High-level PC programming tools, including TML code generator for motion sequences
programming
IM23x-MA The Multi-axis Motor

Ideal for distributed control (multiple-axis configurations)
High-level PC programming tools, including TML code generator for motion sequences
programming
Isolated CAN-Bus 2.0B interface up to 1Mbit/s
On-line motion programming through TML commands
Electronic gearing and cam, profiling and contouring
Position, speed or torque control
9 Isolated digital I/Os ( 024V):
3 general-purpose inputs / outputs:
2 inputs
1 output
6 dedicated inputs / outputs:
ENABLE input
Positive Limit Switch input
Negative Limit Switch input
READY output
Master encoder outputs / Slave encoder inputs / Pulse & Direction inputs,
differential signals
1 analog input, 0-5 V
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2. IM23x-IS Connection Diagrams

2.1. Connectors Diagram
J1 Connector
J2 Connector
6
1
3
6
1
9
5
J3 Connector
Figure 2.1.1. IM23x-IS v1.1 backward view

J1 Connector
J2 Connector
6
9
5
3
1
6
5
9
J3 Connector
Figure 2.1.2. IM23x-IS v2.0 backward view
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2.2. IM23x-IS - Connector pins description

CAUTION ! BEFORE THE CONNECTING / DISCONNECTING ANY OF THE
SIGNALS PLEASE TURN OFF ALL POWER SUPPLIES. ELSE SEVER
DAMAGE MAY OCCUR.
2.2.1. J1 connector
Pin
Pin name
TML name
Type
Function / Alternate function / Comments
+MOT
Motor supply - 12VMIN 48VMAX
+LOG
Logic supply - 24VTYP, 12VMIN 48VMAX
GND
Ground
2.2.2. J2 connector
Pin
Pin name
TML name
Type
REF
AD5
Analogue reference input - 05V
Tx232
RS232 Transmit
Rx232
RS232 Receive
ENABLe
Enable digital input - 05/24V; 5V pull-up
GND
IN#16 /
ENABLE
-
Ground
PULSe
IN#38 /
PULSE
Pulse digital input - 05/24V; 5V pull-up
DIR/FDBK
IN#37/DIR
Direction digital input - 05/24V; 5V pull-up
READY
OUT#12
Ready digital output - open-collector
5V/DEF
+5V output for potentiometer (5V @ 1mA)
Can be used as second encoder input A line.
Can be used as second encoder input B line.
Not-Autorun - Strap to GND and reset in order to

stop automatically execution of TML program
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2.2.3. J3 connector
Pin
Pin name
TML name
Type
ENCA
Encoder channel A output - open-collector
LSP
IN#2
Limit switch P digital input - 05/24V; 5V pull-up
REF2
AD2
Reference 2 analogue input - 10V
GPI1
IN#29
General purpose digital input - 05/24V; 5V pull-up
GND
Ground
ENCB
Encoder channel B output - open collector
LSN
IN#24
Limit switch N digital input - 05/24V; 5V pull-up
GPO
OUT#26
General purpose digital output - open-collector
GPI2
IN#30
General purpose digital input - 05/24V; 5V pull-up
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2.3. Digital output connection

Digital outputs connection
IM23x - IS v1.1
+LOG
J2
+LOG
LOAD
READY
MotionChip
TM
50mA max
J3
+LOG
GND
+LOG
LOAD
GPO
50mA max
+3.3V
Figure 2.2. IM23x-IS Digital output connection
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2.4. Analog inputs connection

IM23x - IS v1.1
Analog Inputs
Connection
30K
J2
REF
1
10K
GND
30K
J3
+
10V
0..5V
TM
REF2
10K
MotionChip
+
5V
+/- 10V
+
10V
+3.3V
Figure 2.3. IM23x-IS Analog inputs connection
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2.5. 5V Digital inputs connection

470 R
J2
ENABLE
+5V
Internally Generated
0 ... 5/24V
470 R
PULSE
IM23x - IS v1.1
+5V
0 ... 5/24V
LSP
470 R
0 ... 5/24V
470 R
LSN
+5V
+5V
MotionChip
J3
TM
GND
0 ... 5/24V
470 R
GPIN1
+5V
0 ... 5/24V
470 R
GPIN2
+5V
0 ... 5/24V
GND
+3.3V
Figure 2.4. IM23x-IS - 5V Digital inputs connection
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2.6. 24V Digital inputs connection

470 R
J2
ENABL
0 ... 5/24V
J3
470 R
0 ... 5/24V
470 R
LSN
TM
GND
LSP
+5V
+5V
0 ... 5/24V
470 R
GPI1
+5V
0 ... 5/24V
470 R
GPI2
+
5...24V
+5V
MotionChip
+
5...24V
+5V
0 ... 5/24V
470 R
PULS
IM23x - IS v1.1
+5V
0 ... 5/24V
GND
+3.3V
Figure 2.5. IM23x-IS - 24V Digital inputs connection
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2.7. Pulse & Direction inputs connection

Pulse & Direction Connection
470R
0 ... 5/24V
Pulse & Direction

Generator
Direction
(0...5V/24V)
470R
DIR/FDBK
+5V (Internally Generated)
0 ... 5/24V
TM
PULS
MotionChip
Pulse
J2
IM23x - IS v1.1
GND
+3.3V
Figure 2.6. IM23x-IS Digital pulse & direction connection
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2.8. Master encoder outputs connection

Master encoder output connection
IM23x - IS v1.1
J3
5V
24V
-
GND
+VLOG
1K
220R
ENCA
1
50mA max
+VLOG
1K
220R
ENCB
6
50mA max
Integrated Quadrature
Encoder - 500 lines
To a slave drive
Figure 2.7. IM23x-IS Master encoder outputs connection
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2.9. Supply connection

Power supply connection
IM23x - IS v1.1
12...48VDC
+3.3V
+5V
DC
GND
12...48VDC
VLOG
DC
DC
GND
DC
GND
MotionChip
+LOG
TM
J1
+MOT
VMOT
A
B
C
Figure 2.8. IM23x-IS Power supply connection
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2.10. Serial RS-232 connection

RS-232 Serial connection
IM23x - IS v1.1
Rx232
RS-232
Transceiver
GND
5 4 3 2 1
MotionChip
Tx232
TM
J2
9 8 7 6
RS-232
+3.3V
Figure 2.8. IM23x-IS Serial RS-232 connection
2.11. Special connection (Not-Autorun)

Not-Autorun connection
IM23x - IS v1.1
J2
470 R
5V/DEF
+5V
DEFAULT
MotionChip
TM
GND
+3.3V
Figure 2.9. IM23x-IS Special connection (Not-Autorun)

At power-on, the Intelligent Motor automatically executes a TML program located in the E2ROM
memory, at address 0x4000. The special connection presented here can be used to stop the
automatical execution of this TML program.
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13
2.12. Master - Slave encoder connection
Master
IM23x - IS v1.1
J3
ENCA
1
+VLOG
50mA max
+VLOG
ENCB
6
50mA max
Encoder - 500 lines
GND
IM23x - IS v1.1
Slave
0 ... 5/24V
470R
DIR/FDBK
TM
PULSe
470R
MotionChip
J2
0 ... 5/24V
GND
+3.3V
Figure 2.10. IM23x-IS Master - Slave encoder connection
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3. IM23x-MA Connection Diagrams

3.1. Connectors Diagram
J1 Connector
J2 Connector
6
1
3
11
6
1
15
10
5
J3 Connector
Figure 3.1.1. IM23x-MAv1.1 drawing backward view

J3 Connector
J1 Connector
6
1
11
15
10
5
5
9
J2 Connector
Figure 3.1.2. IM23x-MAv2.0 drawing backward view
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3.2. IM23x-MA - Connector pins description

3.2.1. J1 connector
Pin
Pin name
TML name
Type
+MOT
Motor supply - 12VMIN 48VMAX
+LOG
Logic supply - 24VTYP, 12VMIN 48VMAX
GND
Ground
3.2.2. J2 connector
Pin
Pin name
TML name
Type
REF
AD5
Analog reference input - 05 V
Tx232
RS232 Transmit
Rx232
RS232 Receive
CANGND
CAN-Bus isolated ground
GND
Ground
CANHI
CAN-Bus Positive; isolated - referred to CANGND
CANLO
CAN-Bus Negative; isolated - referred to CANGND
+VCAN
CAN-Bus isolated supply; 24VTYP, 12VMIN 36VMAX
5V/DEF
+5V output for potentiometer (5V @ 1mA)

Not-Autorun - Strap to GND and reset, in order to
stop automatical execution of TML program
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16
3.2.3. J3 connector
Pin
Pin name
TML name
Type
+VIO
Input / output isolated supply
ENABLe
IN#16
Enable digital input
READY
OUT#12
Ready digital output; isolated; PNP output from +VIO
GPO
OUT#26
General purpose output; isolated; PNP output from

+VIO
GNDIO
Input/output isolated ground
LSP
IN#2
Limit switch P input; isolated; 0 24V referred to

GNDIO
LSN
IN#24
Limit switch N input; isolated; 024V referred to

GNDIO
GPI1
IN#29
General purpose input; isolated; 0 24V referred to

GNDIO
GPI2
IN#30
General purpose input; isolated; 024V referred to

GNDIO
10
ENCDIR
Select Encoder Output or Master Encoder (Pulse)

input; Strap to GND to select input
11
ENCA/P+
I/O
Encoder A+ input / output (pulse+); RS422 (differential

0 5V)
12
ENCA/P-
I/O
Encoder A- input / output (pulse-); RS422 (differential 0

5V)
13
ENCB/D+
I/O
Encoder B+ input / output (dir+); RS422 (differential 0

5V)
14
ENCB/D-
I/O
Encoder B- input . output (dir-); RS422 (differential 0

5V)
15
GND
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Ground
17
3.3. Analog inputs connection
Analog Inputs
Connection
J2
10K
REF
TM
30K
MotionChip
+
5V
IM23x - MA v1.1
0..5V
GND
+3.3V
Figure 3.2. IM23x-MA Analog input connection
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3.4. Digital I/O connection

Digital I/O connection
IM23x - MA v1.1
J3
24V_IO
1
LOAD
READY
Optical
isolation
OUT#12
50 mA max
LOAD
Optical
isolation
GPO
OUT#26
50 mA max
GNDIO
MotionChipTM
5...24V
+
GNDIO
ENABL
LSP
LSN
GPI1
GPI2
2
6
2.5 K
7
Optical
isolation
8
GNDIO
GND
+3.3V
Figure 3.3. IM23x-MA Digital I/O connection
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3.5. Pulse & Direction inputs connection

Pulse & Direction Connection
IM23x - MA v1.1
+5V
J3
ENCDIR
Diferential
Pulse & Direction
Generator
TTL compatible
(0...5V)
Direction
Pulse
ENCA/P+
DIR
ENC2B
ENC2A
PULSE
Selection
signal
10
MotionChip
Connected to GND !
TM
+3.3V
11
A
ENCA/P-
12
ENCB/D+
13
ENCB/D-
14
GND
15
B
Encoder - 500 lines
Figure 3.4. IM23x-MA Pulse & Direction connection
CAUTION ! Connect ENCDIR pin to GND ! Else sever damage will occur on the
IM23x and Pulse & Direction generator !
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3.6. Master Slave encoder connection

IM23x - MA v1.1
- Slave Intelligent Motor -
Terminators - 120
(recommended)
J3
ENCDIR
A/PLS+
DIR
ENC2B
ENC2A
PULSE
Selection
signal
10
TM
MotionChip
+5V
+3.3V
11
A
A/PLSB/PLS+
12
13
GND
14
Encoder - 500 lines
15
IM23x - MA v1.1
- Master Intelligent Motor -
+5V
Leave open !
J3
ENCDIR
(not connected)
Selection
signal
10
A/PLS+
11
A/PLS-
12
B/PLS+
13
+3.3V
DIR
ENC2B
ENC2A
PULSE
TM
MotionChip
B/PLS-
B
B/PLSGND
14
encoder 500 lines
15
Figure 3.5. IM23x-MA Master Slave encoder connection
CAUTION ! Leave ENCDIR pin unconnected on master, or severe damage will occur!
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3.7. Supply connection

Power supply connection
IM23x - MA v1.1
12...48VDC
+3.3V
+5V
DC
GND
12...48VDC
VLOG
DC
DC
GND
DC
GND
MotionChip
+LOG
TM
J1
+MOT
VMOT
A
B
C
Figure 3.6. IM23x-MA Power supply connection
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3.8. Serial RS-232 connection

RS-232 Serial connection
IM23x - MA v1.1
Tx232
Rx232
MotionChip
TM
J2
RS-232
Transceiver
GND
5 4 3 2 1
9 8 7 6
RS-232
+3.3V
Figure 3.7. IM23x-MA Serial RS-232 connection
3.9. CAN connection

CAN connection
IM23x - MA v1.1
To Previous Node
J2
CANHI
CANLO
CAN
transceiver
Optical
Isolation
MotionChipTM
+UCAN
6
7
CANGND
To Next Node
+3.3V
Figure 3.8. IM23x-MA CAN connection

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23
CANHI
CANLO
IM232x-MA
AXISID = 1
Node
A
+VCAN
CANGND
120R
5%, 0.25W
CANHI
IM232x-MA
AXISID = 2
CANLO
Node
B
+VCAN
L < Lmax
CANGND
CANHI
IM232x-MA
AXISID = 3
Node
C
CANLO
+VCAN
CANGND
RS-232
120R
5%, 0.25W
PC
Host Address = 3
CANHI
CANLO
IM232x-MA
AXISID = 255
Node
Z
+VCAN
CANGND
+
10...28V
Figure 3.9. Multiple-Axis CAN network

Note1: The CAN network requires a 120-Ohm terminator. This is not included on board.
Note2: CAN signals are isolated from other IM23x circuits.
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3.10. Special connection (Not-Autorun)

Not-Autorun connection
IM23x - MA v1.1
MotionChip
TM
J2
GND
470 R
5V/DEF
+5V
DEFAULT
+3.3V
Figure 3.10. Special connection (Not-Autorun)

At power-on, the Intelligent Motor automatically executes a TML program located in the E2ROM
memory, at address 0x4000. The special connection presented here can be used to stop the
automatical execution of this TML program.
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25
4. IM23x-IS Electrical Specifications

Electrical characteristics:
All parameters measured under the following conditions (unless otherwise noted):
Tamb = 25C, logic supply (VLOG) = 24VDC, motor supply (VMOT) = 24VDC ;
Supplies start-up / shutdown sequence: -any- ;
Logic Supply Input

Nominal values
Supply voltage
Absolute maximum values, continuous

Absolute maximum values, surge
(duration 10mS)
Supply current
Min.
Typ.
Max.
12
24
48
VDC
55
VDC
-0.5
65
150
350
mA
Typ.
Max.
Units
Normal operation
Units
Motor Supply Input

Min.
Supply voltage
Nominal values
12
48
VDC
Absolute maximum values, continuous,

including ripple & braking-induced
55
VDC
-0.5
65
0.5
mA
+16.5
over-voltage
(duration 10mS)
Supply current
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Idle
Operating
-16.5
26
Digital Inputs (ENABL, PULS, DIR, 5V/DEF, LSP, LSN, GPI1, GPI2)
Logic LOW
Input voltage
Logic HIGH
Absolute maximum, surge (duration 1S)
Input current
Typ.
Max.
-5
VLOG
-12
Units
+65
Logic HIGH; Internal pull-up to +5V
Logic LOW
10
12
010 or 101
Input frequency
Pulse width
Min.
250
mA
KHz
S
Digital Outputs (READY, GPO, ENCA, ENCB)

Min.
Logic LOW; Output crt = 50mA
Output voltage
Absolute maximum, continuous

Output current
Typ.
Max.
0.3
0.5
VLOG +
0.5V
-0.5
Logic HIGH leakage current

(open collector); output voltage = 24V
Clamp diodes current
50
10A
Logic LOW
Output voltage (-0.5V) or (VLOG+0.5V);
Units
-100
+100
50
mA

Output frequency
220 Ohm external load to +5V
Pulse width
220 Ohm external load to +5V
10
KHz
S
Analog Inputs (REF, DIR, REF2)

Min.
Resolution
Typ.
Max.
Units
0.09
% FS
10
Differential linearity
Guaranteed 10-bit no-missing-codes
bits
Offset error
0.5
% FS
Gain error
0.5
% FS
Bandwidth (-3dB)
Input voltage Operating range
Input voltage Absolute Maximum,
250
Hz
REF
REF2
-10
+10
REF
-5
VLOG
continuous
REF2
-50
+50
Input impedance
REF, REF2
External potentiometer
Recommended resistance
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30
27
10
10
V
K
20
RS-232
Min.
Typ.
Standards compliance
Max.
Units
TIA/EIA-232-C
Bit rate
Depending on software settings
ESD Protection
Human Body Model (100pF, 1.5 K)
Input voltage
RX232 input
Output short-circuit withstand
TX232 output to GND
9600
-25
115200
Baud
15
KV
+25
Guaranteed
Others
Min.
Operating temperature
Typ.
Max.
40
IM231-IS
0.65
Weight
IM232-IS
0.9
Storage temperature
Not powered
Humidity
Not condensing
IM233-IS
Units
Kg
1.3
-40
85
90
%RH
Motor parameters
Units
IM231-IS
IM232- IS
IM233- IS
N of pole
N of phase
Rated voltage
36
36
36
Rated speed
4000
4000
4000
rpm
Rated torque
0,11
0,22
0,32
Nm
Max peak torque
0,35
0,68
0,98
Nm
Torque constant
0,063
0,063
0,061
Nm/A
Terminal Resistance
1,5
0,58
0,5
ohm
Line to line inductance
4,5
2,1
1,65
mH
B.E.M.F. at nominal speed
21
21
20,3
Vrms
Max peak current
5,5
9,8
15
Rotor Inertia
7,5
11,9
17,3
Kgmm
FS stands for Full Scale

Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device.
Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
Technosoft 2006
28
5. IM23x-MA Electrical Specifications

Electrical characteristics:
All parameters measured under the following conditions (unless otherwise noted):
Tamb = 25C, logic supply (VLOG) = 24VDC, motor supply (VMOT) = 24VDC ;
Supplies start-up / shutdown sequence: -any- ;
Logic Supply Input

All voltages referred to GND
Nominal values
Supply voltage

(duration 10mS)
Supply current
Min.
Typ.
Max.
12
24
48
VDC
55
VDC
-0.5
65
150
350
mA
Typ.
Max.
Units
Normal operation
Units
Motor Supply Input

Supply voltage
Min.
Nominal values
12
48
VDC
Absolute maximum values, continuous,

including ripple & braking-induced
55
VDC
-0.5
65
0.5
mA
A
over-voltage
(duration 10mS)
Supply current
Idle
Operating
-16.5
+16.5
All voltages referred to GND_IO
Min.
Typ.
Max.
I/O Supply Input

Nominal values
Supply voltage

(duration 10mS)
Supply current
Normal operation
Isolation voltage
Between GND and GND_IO
Technosoft 2006
12
24
VDC
-30
+30
VDC
-50
35
100
29
Units
150
mA
500
VRMS
CAN-Bus Supply Input

All voltages referred to GND_CAN
Min.
Nominal values
Supply voltage

(duration 10mS)
Supply current
Normal operation
Isolation voltage
Between GND and GND_CAN
Typ.
Max.
Units
12
24
VDC
-30
+30
VDC
-50
+35
40
80
mA
500
VRMS
Max.
Units
Digital Inputs (5V/DEF, ENCDIR)

Min.
Logic LOW
Input voltage
Logic HIGH
Input current
Typ.
-0.5
+5.5
Logic HIGH; Internal pull-up to +5V
Logic LOW (strapped to GND)
10
12
Min.
Typ.
Max.
-5
0.5
12
24
VLOG
mA
Isolated Digital Inputs (ENABL, LSP, LSN, GPI1, GPI2)

Logic LOW
Input voltage
Logic HIGH
Input current
Input impedance
Logic HIGH
-12
4
10
25
0.5
Referred to GND_IO
2.5
0
mA
K
KHz
S
100
010 or 101
+65
Logic LOW
Input frequency
Pulse width
Units
Isolated Digital Outputs (READY, GPO)

Min.
Typ.
Logic HIGH; Output crt. = 50mA
VLOG-3
VLOG-1
Output voltage

Output current
Clamp diodes current
Logic HIGH; Output voltage VLOG-3V
VLOG +
0.5V
-0.5
50
Logic LOW (leakage current)
Max.
80
0.1
Output voltage (-0.5V) or (VLOG+0.5V);
Units
-100
+100
mA

Output frequency
External load 1K to GND_IO
Pulse width
010 or 101; no external load (5VPP)
Technosoft 2006
30
100
KHz
S
Differential Inputs / Outputs (ENCA/P+, ENCA/P-, ENCB/D+, ENCB/D-)

Min.
Typ.
0.1
0.2
+12
-25
+25
External 120 load
1.5
External 120 load
60
Output current
Input / Output frequency
0.5
-7
Input impedance
Differential output voltage
Units
TIA/EIA-422
Differential input voltage hysteresis

Input voltage common mode range
Max.
V
V
250
0
mA
500
KHz
Max.
Units
0.09
% FS
Analog Inputs (REF, DIR)

Min.
Resolution
Typ.
10
Differential linearity
bits
Guaranteed 10-bits no-missing-codes
Offset error
0.5
% FS
Gain error
0.5
% FS
Bandwidth (-3dB)
250
Hz
Input voltage Operating range
REF
Input voltage Absolute Maximum,
REF
-5
VLOG
continuous
Input impedance
REF
External potentiometer
Recommended resistance
30
V
V
K
10
10
20
Min.
Typ.
Max.
Bit rate
9600
ESD Protection
Human Body Model (100pF, 1.5 K)
RS-232
TIA/EIA-232-C
Input voltage
RX232 input
Output short-circuit withstand
TX232 output to GND
Technosoft 2006
Units
-25
31
115200
Baud
15
KV
+25
Guaranteed
CAN-Bus
All voltages referred to GND_CAN
Min.
Typ.
Max.
Units
CAN-Bus 2.0B error active;
ISO 11898-2
Recommended transmission line

impedance
Measured at 1MHz
Bit rate
90
120
125K
150
1M
Baud
Number of network nodes
64
ESD Protection
Human Body Model
15
KV
Max.
Units
Others
Min.
Operating temperature
Typ.
40
IM231-MA
0.65
Weight
IM232-MA
0.9
Storage temperature
Not powered
Humidity
Notcondensing
IM233-MA
C
Kg
1.3
-40
85
90
%RH
Motor parameters
N of pole
IM231-MA
IM232- MA
IM233- MA
Units
N of phase
Rated voltage
36
36
36
Rated speed
4000
4000
4000
rpm
Rated torque
0,11
0,22
0,32
Nm
Max peak torque
0,35
0,68
0,98
Nm
Torque constant
0,063
0,063
0,061
Nm/A
Terminal Resistance
1,5
0,58
0,5
ohm
Line to line inductance
4,5
2,1
1,65
mH
B.E.M.F. at nominal speed
21
21
20,3
Vrms
Max peak current
5,5
9,8
15
Rotor Inertia
7,5
11,9
17,3
Kgmm
FS stands for Full Scale

Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device.
Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
Technosoft 2006
32
6. Torque - Speed Diagrams

RPM
RPM
RPM
4000
4000
4000
3000
3000
3000
Nm
0.4
0.2
0.6
0.8
1.0
IM231
PEAK
2000
1000
CONTINUOUS
1000
PEAK
2000
CONTINUOUS
PEAK
CONTINUOUS
2000
1000
Nm
0.2
0.4
0.6
0.8
1.0
Nm
0.2
0.4
IM232
0.6
0.8
1.0
IM233
Figure 6.1. IM23x Torque - speed diagrams
7. IM23x Dimensions
L
3.6
4 x O 5.2
0
O 38.1 -0.025
O 57
11
6
1
O 6.35 -0.013
15
10
5
1
3
1.6
IM23X - IS
L
IM231 IM232 IM233

102
122
142
20.6
11
6
1
15
10
5
1
3
47.2 x 47.2
4.5
57.2 x 57.2
All dimensions in mm
9
IM23X - MA
Figure 7.1. IM23x-IS and IM23x-MA Dimensions

Technosoft 2006
33
8.
Device
Mating Connectors
Connector
IM23x-IS
Details
J1
Phoenix Contact
MC1,5/3-STF-3,81
J2
Fischer Elektronik DS09-L
Sub-D 9-pin male
J3
J3 - Fischer Elektronik
DB-09-L
Sub-D 9-pin female
J1
Phoenix Contact
MC1,5/3-STF-3,81
J2
Fischer Elektronik DS09-L
Sub-D 9-pin male
W+P Products 108-151-3-0
Sub-D 15-pin male high-density
IM23x-MA
J3
Technosoft 2006
Manufacturer and
part number
3-pin screw-terminal plug, 3.81mm-pitch
3-pin screw-terminal plug, 3.81mm-pitch
(High-density D-Sub
15-pin male)
34
9. Scaling factors
9.1.
Supply / DC-bus Voltage Measurement Scaling
The IM23x includes a supply / DC-bus voltage feedback. In the TML environment, the A/D
converted value of the supply / DC-bus voltage feedback can be read as the TML variable AD4.
The scaling factor for the DC-bus voltage measurement is:
DC-bus [V] =
Vmm [V ]
AD4 [bits]
65472[bits ]
where:
Vmm is the maximum measurable DC-bus voltage; this value is 79.5 V
65472 is the AD4 value for DC-bus voltage = Vmm
Remark: AD4 value is the result of a 10-bit A/D conversion, left-shifted by 6. The 6 LSB of AD6
are always 0. If the A/D conversion result varies by 1 LSB, this translates into a variation of the
AD4 value by 26 = 64.
9.2.
Motor Currents Scaling
The IM23x measures motor currents through shunts placed in the lower-legs of the inverter. Only
currents measured on phases A and B are connected to 2 A/D inputs, with a current gain factor of
0.1 V/A. The shunt from phase C is used only to sense a short-circuit. In applications with 3phase AC motors, the TML variables IA and IB provide the motor currents in phases A and B. In
applications with DC or brushless DC motors, TML variable IQ gives the motor current. The
scaling factor for the motor currents is:
1.65[V ]
TML current [bits], or
32704 [bits ] 0.1[V / A]
Motor current [A] = 16.5[ A] TML current [bits]
32704[bits ]
Remark: The A/D conversion result has 10-bit resolution and is used left-shifted by 6. The 6 LSB
of TML currents are always 0. If the A/D conversion result varies by 1 LSB, this translates into a
variation of the TML current value by 26 = 64.
Motor current [A] =
9.3.
Motor Speed Scaling
TML variable ASPD gives the motor speed. The scaling factor depends on the speed sensor.
Technosoft 2006
35
When the motor has a position sensor like an encoder, the speed can be estimated as position
increment per speed-loop sampling period (set by default to 1ms). In this case the scaling factor
is
60
ASPD [bits]
4 N [lines] T[s]
where N = 500 lines - is the number of encoder lines
T is the speed-loop sampling period in seconds
4 is the multiplication ratio of the position resolution done in the encoder interface
Motor speed [rpm] =
Example: If T = 1 ms, and N = 500 lines, motor speed [rpm] = 30 ASPD [bits]
Remark: In speed control motion modes, the speed reference should be provided in the same
units as ASPD, i.e. based on the same scaling as for the speed measurement.
9.4.
Motor Position Scaling
TML variable APOS gives the motor position. When encoder feedback is used, APOS is
measured in encoder counts (1 encoder count = 1 bit). The scaling factor is:
Motor position [revolutions] =
9.5.
1
APOS [bits]
4 N [lines]
Drive Temperature Scaling
The IM23x-IS / IM23x-MA have built-in temperature sensors. TML variable AD7 gives the drive
temperature. The scaling factor is:
3.3[V ]
AD7 [bits] - 50 [C]
Drive temperature [C] =
65472[bits ] 0.01[V / C ]
Technosoft 2006
36
10.
Available Memory Areas
The IM23x-IS / IM23x-MA has 2 types of memory: a 1.5K16 SRAM (internal) memory and an
8K16 serial E2ROM (external) memory.
The SRAM memory is mapped both in the program space (from 8270h to 87FFh) and in the data
space (from A70h to FFFh). The data memory can be used for real-time data acquisition and to
temporarily save variables during a TML program execution. The program space can be used to
download and execute TML programs. It is the users choice to decide how to split the 1.5-K
SRAM into data and program memory.
The E2ROM is seen as 8K16 program memory mapped in the address range 4000h to 5FBEh. It
offers the possibility to keep TML programs in a Non-volatile memory. Read and write accesses
to the E2ROM locations, as well as TML programs downloading and execution, are done from the
users point of view similarly to those in the SRAM program memory. The E2ROM SPI serial
access is completely transparent to the user.
Physical memory
4000h
E2ROM (SPI)
Memory
5FBEh
Internal SRAM
Memory
Program Memory
(PM)
Data Memory
(DM)
8270h
A70h
Program Memory
for TML programs
Not used as
Data Memory
Not used as
Program Memory
Data Memory
for data
acquisition
87FFh
FFFh
Figure 9.1. IM23x Memory Map
Technosoft 2006
37
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Technosoft 2006
38

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IM23x-IS

Read This First

IM23x-IS / IM23x-MA v1.1

IM23x-IS / IM23x-MA v2.0

The Technosoft Motion Language will be referred to as TML

Information about Cautions

CAUTION ! This is an example of a caution statement.

IM23x-IS/MA Technical Reference

Related Documentation from Technosoft

IM23x-IS/MA Technical Reference

If you Need Assistance

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IM23x-IS/MA Technical Reference

2. IM23x-IS Connection Diagrams

IM23x-IS - Connector pins description

Digital output connection

Analog inputs connection

5V Digital inputs connection

24V Digital inputs connection

Pulse & Direction inputs connection

Master encoder outputs connection

Serial RS-232 connection

Special connection (Not-Autorun)

Master - Slave encoder connection

3. IM23x-MA Connection Diagrams

IM23x-MA - Connector pins description

Analog inputs connection

Digital I/O connection

Pulse & Direction inputs connection

Master Slave encoder connection

IM23x-IS/MA Technical Reference

Serial RS-232 connection

Special connection (Not-Autorun)

4. IM23x-IS Electrical Specifications

5. IM23x-MA Electrical Specifications

6. Torque - speed Diagrams

Supply / DC-bus Voltage Measurement Scaling

Motor Currents Scaling

Motor Speed Scaling

Motor Position Scaling

Drive Temperature Scaling

10. Available Memory Areas

IM23x-IS/MA Technical Reference

IM23x-IS The Intelligent Servo Motor

IM23x-IS/MA Technical Reference

2 analog inputs (two 0-5 V and one +/-10V)

IM23x-MA The Multi-axis Motor

IM23x-IS/MA Technical Reference

2. IM23x-IS Connection Diagrams

Figure 2.1.1. IM23x-IS v1.1 backward view

Figure 2.1.2. IM23x-IS v2.0 backward view

IM23x-IS/MA Technical Reference

2.2. IM23x-IS - Connector pins description

Function / Alternate function / Comments

Motor supply - 12VMIN 48VMAX

Logic supply - 24VTYP, 12VMIN 48VMAX

Function / Alternate function / Comments