01. Which are the main features of the IM23x?
02. Which are the main benefits offered by the IM23x?
03. Which are the main features of the IM23x-DS motors?
04. Which are the main features of the IM23x-IS motors?
05. Which are the main features of the IM23x-MA motors?
06. What type of motor is used in the IM23x?
07. Which are the torque, voltage and currents of the IM23x?
08. Which are the maximum ratings of the IM23x?
09. Which is the temperature range?
10. Which is the size of the IM23x?
11. What types of control modes are possible?
12. What kind of internal motion reference generator can be used?
13. If I need a special control function, can the IM23x be adapted upon request?
14. What type of feedback is used on the IM23x?
15. What kinds of I/Os are available?
16. Are opto-isolated inputs / outputs available?
17. Are there any schematics available for the I/Os?
18. Is it possible to implement PLC functionality on the motor?
19. Is the IM23x programmable? How can I program it?
20. What types of commands are possible using the TML language?
21. What kind of software do I need, to program the motor?
      Can I control the IM23x with my own commands, or do I need to use the EasyMotion Studio?
22. Are there any tools to help me control Technosoft drives from a PC computer?
23. What type of communication is available?
24. What communication protocol is used on the CAN-bus?
25. How can I interface your CAN network with my specific field bus network?
26. Is stand-alone operation possible?
27. Can I drive the IM23x with an analogue signal?
28. Does the IM23x have a pulse and direction input? Which is the maximum input frequency?
29. How can I parameterize the motor?
30. How can I test / diagnose the system?
31. How can I control several motors?
32. Can the motor be driven by a PLC? Or by another processor?
33. What type of protections are integrated into the motor? With which settings?
34. Where can I find additional application information?
35. Where can I find product literature?
36. Where can I buy a motor and the relative software?
37. Do you have any distributors in my country?
38. Is the IM23x available from stock?
39. Where can I get assistance if needed?
40. Do you provide application development assistance?
41. Do you provide training about your products and/or on Motion Control in general?
42. In case I have different motors to drive of different technology and power, which solutions does Technosoft propose?

01. Which are the main features of the IM23x?

IM23x are members of a fully digital programmable servomotor family from Technosoft, with embedded power and intelligence, based on the latest DSP controller technology.
From basic pulse and direction (the IM23x-DS models), intelligent servomotors (the IM23x-IS models), and going up to multiple-axis intelligent motors (the IM23x-MA models), this family of products represents a cost-effective and compact solution for a wide range of applications.
Based on an AC brushless motor, the IM23x motors can be controlled in torque, speed or position control modes, using high-level motion commands and offering PLC-specific functionality.

02. Which are the main benefits offered by the IM23x?

The IM23x represent a flexible, easy to implement, compact solution – from low-level to distributed and coordinated intelligent drives. Typical applications range from pulse and direction control to distributed motion control, with possibilities of gearing and electronic CAM functions, in a CAN network operation.
The IM23x hardware structure integrates all the motor, power electronics, controller, position sensor and interface, on the same unit, providing by this a very compact high-level intelligent motion control device.

03. Which are the main features of the IM23x-DS motors?

The IM23x-DS are digital servo motors, usable with a pulse and direction input, or a +/- 10V analog reference input, and they are controllable in speed or torque mode.
These motors are ideal replacements or substitution solutions for stepper axes, with no hardware or software changes of the indexing system.
A motor setup Windows program is provided, including control loops tuning on an RS-232 line.

04. Which are the main features of the IM23x-IS motors?

The IM23x-DS are servo motors with embedded intelligence and trajectory generation. The IM23x-DS motors can execute on-line motion language commands sent via an RS-232 line. Stand-alone operation is also possible, with a local motion program stored into the E2ROM memory.
Position, speed or torque modes are possible with these motors. Internal reference generators, with profiling and contouring modes, are implemented.
5 programmable I/Os and 2 analog inputs allow the implementation of basic PLC functionality at motor level.
The EasyMotion Studio high-level programming environment can be used to set up the motor and automatically generate the motion language sequences.

05. Which are the main features of the IM23x-MA motors?

The IM23x-MA are servo motors with embedded intelligence and trajectory generation, dedicated to multiple-axis operation in distributed control structures. The IM23x-MA motors can execute on-line motion language commands sent via a CAN-bus network. Stand-alone operation is also possible, with local motion program stored into the E2ROM memory.
Position, speed or torque modes are possible with these motors. Electronic gearing or cam, as well as internal reference generator, profiling and contouring modes are implemented.
5 programmable I/Os and 2 analog inputs allow the implementation of basic PLC functionality at motor level.
The EasyMotion Studio high-level programming environment can be used to set up the motor and automatically generate the motion language sequences.

06. What type of motor is used in the IM23x?

The IM23x are based on a Permanent Magnet synchronous motor (sinusoidal commutation - or AC brushless).

07. Which are the torque, voltage and currents of the IM23x?

Depending on the model, the IM23x can provide from 0.1 Nm continuous / 0.3 Nm peak (the IM231 models), 0.2 Nm continuous / 0.6 Nm peak (the IM232 models), up to 0.3 Nm continuous / 0.9 Nm peak (the IM233 models). The motors can be driven with voltages in the range of 12 to 48 V_DC, and can provide from 1 A continuous / 3 A peak), 2 A continuous / 6 A peak (the IM232 models), up to 3 A continuous / 9 A peak (the IM233 models).
Other characteristics can also be provided, upon specific user request.

08. Which are the maximum ratings of the IM23x?

The IM23x can be operated up to the following maximum ratings: Supply voltage: 48 V_DC
Supply current, peak: 3/6/9 A
Output current, continuous: 1/2/3 A; peak current: 3/6/9 A

09. Which is the temperature range?

The IM23x can operate in an industrial environment with an ambient temperature from 0°C to 50°C. Some products are available, upon request, with extended temperature ranges.

10. Which is the size of the IM23x?

The IM23x are packed in open cases, with the following dimensions (Length x Width x Height):

• IM231 models: 105mm x 57mm x 57mm
• IM232 models: 125mm x 57mm x 57mm
• IM233 models: 145mm x 57mm x 57mm

11. What types of control modes are possible?

Any of the IM23x can be configured to operate in one of speed, or torque control modes, which can be freely changed during the operation of the drive, based on application requirements. The IM23x-IS and IM23x-MA models can also be used in positioning mode.

12. What kind of internal motion reference generator can be used?

Depending on the motor model and the active control mode, several motion references can be selected: profiles (with trapezoidal speed), contouring (with linear interpolation), external (from an analog input, pulse&direction, or on-line - through a communication channel), or test (saturated ramp). For multiple axis configurations, electronic gearing or electronic CAM is also possible.
Note that you can change the reference type “on-the-fly”, without needing to wait for the end of the currently executed motion, usually based on the occurrence of an internal or external event.

13. If I need a special control function, can the IM23x be adapted upon request?

If you need a specific control function, not implemented on the standard IM23x, Technosoft can adapt the existing functionality of the motor on request.

14. What type of feedback is used on the IM23x?

The IM23x is equipped with an internal position transducer providing 2000 bit/revolution. The structure offers an equivalent of up to 11-bit resolution for motor position measurement.

15. What kinds of I/Os are available?

By default, besides the power and CAN communication signals (for the IM23x-MA models), the IM23x can handle two limit switch inputs, a motor Enable, and Pulse and Direction inputs. Two analog input signals are also available on the motor I/O connector.

16. Are opto-isolated inputs / outputs available?

No opto-isolation is available on the I/Os of the IM23x module, which can be accessed via the motor I/O connector. In cases justified by quantities, special executions of the electronic module, including opto-isolation, can be done.

17. Are there any schematics available for the I/Os?

The IM23x User’s Manual includes the complete connection scheme for the I/O interfaces, as well as the electrical specifications (logic, voltage and current limits), thus providing all the required information you need to supply the motor, and connect the communication and I/O signals.

18. Is it possible to implement PLC functionality on the motor?

For the IM23x-IS and IM23x-MA series, the TML environment offers you the possibility of combining motion control commands with PLC-specific operations, mainly related to handling of I/Os, events occurring, arithmetic operations, interrupts, functions and decision features.
This gives you a lot of flexibility through the embedded intelligence at motor level, covering most cases where an additional PLC controller might be needed.

19. Are the IM23x programmable? How can I program them?

The IM23x-IS and IM23x-MA series are programmable using the Technosoft Motion Language (TML). The motor can execute binary TML code, stored in the local E2ROM memory (stand-alone mode), or sent on-line via the CAN communication line from a PC or an external host.
The TML instruction set is a high-level, motion-oriented language, allowing you to setup, parameterize and implement advanced motion commands, in a very straightforward manner.
Note that the IM23x-DS motors are also parameterized via an RS-232 communication channel.

20. What types of commands are possible using the TML language?

The TML instruction set comprises more than 90 instructions, grouped as: assignment, arithmetic, decision, reference mode setting, I/O treatment, event, configuration, command, communication and multiple axes categories.

21. What kind of software is needed to program the motor? Can I control the IM23x with my own commands, or do I need to use the EasyMotion Studio?

EasyMotion Studio is an advanced development platform for Technosoft intelligent drives. Including automatic TML code generation tools, it allows you to program the IM23x-IS and IM23x-MA series without even writing TML code. During system testing, the simplest way is to use EasyMotion Studio, which can directly generate the TML code (automatic code generation), and then download and execute the code onto the motor.
This does not exclude the possibility of sending binary TML commands to the motor from another external host, in order to setup / modify motor parameters, or to get status information about its operation.

22. Are there any tools to help me control Technosoft drives from a PC computer?

Yes, you can use the TML_LIB library for this purpose. TML_LIB library is a collection of functions allowing you to implement motion control applications on a PC computer, in order to drive Technosoft intelligent drives based on the MotionChipTM technology.

Implemented as a .dll file, the library can be included in a user-defined Windows application developed in C/C++, Basic, Delphi or LabVIEW, and will allow you to communicate with a drive, set up its parameters, interrogate about its status, send motion commands, define motion events, test input and set output ports status, etc.

23. What type of communication is available?

A CAN field bus interface is available on the IM23x-MA motors. Communication speeds of up to 1 MHz are possible on this channel, and up to 256 axes can be connected on the CAN network.

24. What communication protocol is used on the CAN-bus?

The communication protocol used on the CAN-bus is adapted to the Technosoft TML instruction set, and is based on the CAN 2.0B protocol (29 bits standard).
A CANopen communication protocol implementation is currently under development.

25. How can I interface your CAN network with my specific field bus network?

Technosoft offers the CMC207 Can Master Controller card. This dual processor card can be programmed, upon request, to be used as a gateway between a local Technosoft CAN network, and external field bus networks as CANopen or DeviceNet.

26. Is stand-alone operation possible?

An important advantage of the IM23x-IS and IM23x-MA series is the possibility of combining the stand-alone operating mode (executing local program) with the on-line / slave operating mode (executing on-line commands).
The stand-alone operating mode is possible due to the local E2ROM memory, which can be loaded with a local TML program, executed by the motor if configured in the “Autorun” mode. At power-on, the motor will immediately start the execution of the local application.

27. Can I drive the IM23x with an analog signal?

The IM23x-DS models accept external commands from a non-isolated analog signal which can be provided on the I/O connector of the motor.

28. Do the IM23x have a pulse and direction input? Which is the maximum input frequency?

The Pulse and Direction operating mode is a standard configuration of the IM23x-DS motors.
In this operating mode, the motion reference (position or speed, as configured by the user) is imposed via pulses applied on the Pulse input pin of the module. The pulses are used to increase or decrease the reference value, in correlation with the status of the Direction pin (0 or 1).
The maximum frequency of the Pulse signal is 5 MHz.

29. How can I parameterize the motor?

The most effective way of parameterizing the IM23x motors is via the EasyMotion Studio environment. Based on predefined templates of the program, you only need to add some basic parameters of the motor/load, or use the parameter identification functionality of the program. Then, advanced tuning features will help you to setup and test the controller parameters.
Once the system is parameterized, you will only need to focus on the motion definition.

30. How can I test / diagnose the system?

EasyMotion Studio offers you the possibility of testing, in a logical succession, the functionality of all the basic components of the motion system. This goes from the integrity of sensor signals, through the detection of sensor parameters and motor/load electrical and mechanical parameter identification, to the automatic tuning and testing of control loops performances.

31. How can I control several motors?

For multiple-axis configurations (implemented using the CAN communication channel), you can send TML commands from a master axis to slave axes, including electronic gearing or electronic CAM information. Also, from a PC connected to the network, EasyMotion Studio offers the possibility of settting up, controlling and examining any of the axes that are active at that moment.

32. Can the motor be driven by a PLC? Or by another processor?

You can use two means of driving the IM23x-MA from an external PLC or host processor. You can do it by sending TML commands (including download of a TML program) on the serial communication channel (on the CAN-bus). Eventually, the existing external I/O signals can be used to select / activate specific TML functions previously stored on the IM23x.

33. What type of protections are integrated into the motor? With which settings?

There are several protections that can be integrated in the IM23x motors. They include: limit current, short-circuit, under- and over-voltage, and I²t protections. The parameterization of these protections can easily be accomplished at high-level, in engineering units, from the EasyMotion Studio platform.

34. Where can I find additional application information?

Complete module information can be found in the User Manual of the motors. Additional information, including application examples, application notes, complete project files for specific cases, executable in EasyMotion Studio, together with specific technical FAQ lists, can be found on the product CD-ROM and on the Technosoft WEB site, www.technosoftmotion.com.
Consulting the User Information Page for intelligent drives will help you to find the latest updates and information related to them.

35. Where can I find product literature?

Complete product literature is included in the product CD-ROM delivered to you when buying our product. The most recent updates can be downloaded from our WEB site, www.technosoftmotion.com.
Registering in our WEB database will allow Technosoft to keep you informed about the most recent product updates and news regarding product releases.

36. Where can I buy a motor and the related software?

You can order the motor and associated software directly from one of the Technosoft sales offices, or from one of our distributors in your area. Please consult our sales addresses for more detailed information.

37. Do you have any distributors in my country?

Technosoft’s distribution network is continuously increasing, covering most of the regions worldwide. Please consult our sales address directory for the most recent update of this information.

38. Is the IM23x available from stock?

Up to 5 pieces can be ordered from stock. For larger quantities, please consult our sales offices.

39. Where can I get assistance if needed?

Our technical support specialists are ready to help you to use our drives. Get assistance via e-mail, by contacting our hotline at support@technosoftmotion.com. We’ll be glad to provide furhter details and examples, or answer your specific questions related to the configuration and programming of our drives.

40. Do you provide application development assistance?

A dependable team of Technosoft experienced specialists is available and can assist you, on request, to implement your specific application. From support in system configuration and setup, to the development of a complete motion application, we can do it or help you to do it, on a case-by-case base.

41. Do you provide training about your products and/or on Motion Control in general?

Upon request, Technosoft provides training in the field of digital motion control (DMC). Based on the several dozens of experience years in this domain, we can organize workshops and seminars in the DMC field.
Ranging from generic DMC design, to specific Technosoft intelligent drives workshops, we bring you the essential information needed to start working in this challenging activity domain.

42. In case I have different motors to drive, of different technologies and powers, which solutions does Technosoft propose?

Technosoft provides a large variety of products that covers different power levels. The family of Technosoft intelligent power drives ranges from 100W to 640W, for brushless or step motors, with encoder, Hall or resolver transducers.
Based on your application’s specific requirements, Technosoft will assist you to select the most appropriate solution.