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Summary of Contents for Technosoft iPOS4808 MYCAN-STO
- Page 1 MY- CAN-STO/ CAT-STO Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Intelligent Servo Drives Technical Reference Technosoft 2016 P091.027.iPOS4808.MY.STO.UM.1116...
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Page 2: Table Of Contents
24V Digital I/O Connection ....................21 3.6.3.1 PNP inputs ........................21 3.6.3.2 NPN inputs ........................21 3.6.3.3 NPN outputs ........................22 3.6.4 5V Digital I/O Connection ...................... 23 ..3.6.5 Analog Inputs Connection ...................... 24 .. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... - Page 3 3.9.17 ..Analog 0…5V Inputs (REF, FDBK) ..................43 3.9.18 RS-232 ........................... 43 ..3.9.19 ..CAN-Bus (for CAN drives) ..................... 43 3.9.23 Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ............. 44 .. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference...
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Page 4: 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. -
Page 5: Trademarks
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. -
Page 6: If You Need Assistance
If you Need Assistance … If you want to … Contact Technosoft at … Visit Technosoft online World Wide Web: http://www.technosoftmotion.com/ Receive general information World Wide Web: http://www.technosoftmotion.com/ or assistance (see Note) Email: contact@technosoftmotion.com Ask questions about product Fax: (41) 32 732 55 04... -
Page 7: Cautions
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... -
Page 8: Product Overview
PLC functionality in 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: ... -
Page 9: Product Features
Hence neither the iPOS4808 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. -
Page 10: Identification Labels
• 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) for CAT drives •... -
Page 11: Supported Motor-Sensor Configurations
-PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from feedback#2) on load -DC brush motor with SSI encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1) on load. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 12: Ipos4808 My I/O Evaluation Board
MY-CAN-STO Starter kit with step motor and encoder P027.314.E813 iPOS4808 MY-CAT-STO Starter kit without motor P027.314.E814 iPOS4808 MY-CAT-STO Starter kit with brushless motor and encoder P027.314.E815 iPOS4808 MY-CAT-STO Starter kit with step motor and encoder Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 13: Hardware Installation
Hardware Installation iPOS4808 MY-CAN-STO Board Dimensions Figure 3.1.1. iPOS4808 MY-CAN-STO drive dimensions All dimensions are in mm. The drawings are not to scale. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 14: Ipos4808 My-Cat-Sto Board Dimensions
MY-CAT-STO Board Dimensions Figure 3.2.1. iPOS4808 MY-CAT-STO drive dimensions All dimensions are in mm. The drawings are not to scale. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 15: Mechanical Mounting
MY-CAT-STO PCB Footprint For iPOS4808 MY-CAT-STO motherboard PCB design, use the dimensional drawing from below. Figure 3.3 Figure 3.3 iPOS4808 MY-CAT-STO PCB Footprint All dimensions are in mm. Holes are marked with RED. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 16: Motherboard Pcb Design
FROM ITS EEPROM. ADD ON THE MOTHERBOARD THE POSSIBILITY CAUTION! TO DISABLE THIS FEATURE AS SHOWN PAR. 0. THIS MIGHT BE NEEDED DURING DEVELOPMENT PHASE IN CASE THE EEPROM CONTENT IS ACCIDENTALLY CORRUPTED. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 17: Connectors And Pinouts
High-current socket 2.54mm-pitch accepting Samtec SSQ-116-01-G-D 0.635mm square pin; 2x16 pin High-current socket 2.54mm-pitch accepting Samtec SSQ-108-01-G-S 0.635mm square pin; 1x8 pin High-current socket 2.54mm-pitch accepting Samtec SSQ-114-01-G-S 0.635mm square pin; 1x14 pin Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 18: Pinouts For Ipos4808 My-Cat-Sto
3.5.3 Pinouts for iPOS4808 MY-CAT-STO Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 19: Connection Diagrams
Connection diagrams 3.6.1 iPOS4808 MY-CAN-STO connection diagram Figure 3.4. iPOS4808 MY-CAN-STO Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 20: Ipos4808 My-Cat-Sto Connection Diagram
Figure 3.5. iPOS4808 MY-CAT-STO Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below ** For a detailed EtherCAT bus connection diagram see 3.6.11 EtherCAT bus connection (for CAT drives). Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 21: 24V Digital I/O Connection
The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state) The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 22: Npn Outputs
Figure 3.8. 24V Digital NPN Outputs connection Remarks: The outputs are compatible with NPN type inputs (load is tied to common +V , output pulls to GND when active and is floating when inactive) Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 23: 5V Digital I/O Connection
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. The output loads can be individually and independently connected to +5V or to GND. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 24: Analog Inputs Connection
(GND); shield is connected only at the drive side, to the drive GND, and is left unconnected at the source side. The source minus (negative, out-of-phase) output remains unconnected. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 25: Motor Connections
Brushless Motor connection Figure 3.12. Brushless motor connection 3.6.6.2 2-phase Step Motor connection Figure 3.13. 2-phase step motor connection, one coil per phase Figure 3.14. 2-phase step motor connection, two coils per phase Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 26: 3-Phase Step Motor Connection
The inductors must be magnetically shielded (toroidal, for example), and must be rated for the motor surge current. Typically the necessary values are around 100 μH. A good shielding can be obtained if the motor wires are running inside a metallic cable guide. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 27: Feedback Connections
For encoder#1 differential connection, external 120Ω (0.25W) terminators are required for long encoder cables, or noisy environments. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 28: Differential Incremental Encoder #2 Connection
The encoder #2 input has internal terminators, equivalent to 120Ω (0.25W) , present in the drive. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. 3.6.7.4 Sine-Cosine Analog Encoder Connection Figure 3.20. Sine-Cosine analogue encoder connection Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 29: Ssi Encoder #2 Connection
The encoder #2 input has internal terminators, equivalent to 120Ω (0.25W) , present in the drive. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 30: Digital Hall Connection For Motor + Hall + Incremental Encoder
This connection is required when using only Digital hall signals as the main feedback device for motor control. In this case, no incremental encoder is needed. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 31: Linear Hall Connection
If the iPOS4808 5V supply output is used by another device (like for example an encoder) and the connection cable is longer than 5 meters, add a decoupling capacitor near the supplied device, between the +5V and GND lines. The capacitor value can be 1...10 μF, rated at 6.3V. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 32: Power Supply And Sto Connection
Option 1. Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply. The capacitor must be rated to a voltage equal or bigger than the maximum expected over-voltage and can be sized with the formula: × ≥ − Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... - Page 33 − − brake where C is the capacitance on the motor supply (external), i.e: BRAKE < × to limit the average current below the drive nominal current I Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference...
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Page 34: Serial Rs-232 Connection
Do not rely on an earthed PC to provide the iPOS4808 GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 35: Can-Bus Connection (For Can Drives Only)
For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters. The 120Ω termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive. Figure 3.29. Multiple-Axis CAN network Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 36: Ethercat Bus Connection (For Cat Drives)
3.6.11 EtherCAT bus connection (for CAT drives) Figure 3.30. EtherCAT bus to RJ45 connection PoE compliant Figure 3.31. EtherCAT bus to M8 circular connection Figure 3.32. EtherCAT bus to RJ45 connection alternative, non-compliant with PoE Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 37: 3.6.12 Removal From Autorun Mode
The axis ID is an 8 bit unsigned number. Its first 7 bits are controlled by the ID-bit0 to ID-bit6. Bit7 of this variable is always 0. In total, 127 axis ID HW values can result from the DIP switch combinations. When pins 3..9 remain unconnected, the drive Axis ID will be 255. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 38: Axis Id Selection For Cat Drives(J1 Pin Settings)
Operating temperature at higher temperatures is possible with reduced current and power ratings iPOS4808 can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, current and power rating are reduced due to thermal dissipation efficiency. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 39: Mechanical Mounting
(duration ≤ 10ms) In case of forced cooling (conduction or ventilation) the spacing requirements may drop down to mechanical tolerances as long as the ambient temperature is kept below the maximum operating limit Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 40: Motor Outputs (A/A+, B/A-, C/B+, Br/B-)
Logic “LOW”; Pulled to GND -1.6 Input current Logic “HIGH”; Pulled to +24V Input frequency Minimum pulse width µs ESD protection Human body model ±2 The digital inputs are software selectable as PNP or NPN Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 41: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready, Out4)
Encoder #1 differential input pins do not have internal 120Ω termination resistors connected across For full RS-422 compliance, 120Ω termination resistors must be connected across the differential pairs, as close as possible to the connection drive input pins. See Figure 3.18. Differential incremental encoder #1 Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 42: Encoder #2 Inputs (A2+, A2-, B2+, B2-, Z2+, Z2-)
Encoder #2 differential input pins have internal 120Ω termination resistors connected across For many applications, a 120Ω termination resistor should be connected across SIN+ to SIN-, and across COS+ to COS-. Please consult the feedback device datasheet for confirmation. Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 43: 3.9.16 Biss Encoder Interface
Hardware: by H/W pins (CANopen); Node addressing 1-127 & 255 (TMLCAN) Software 1 ÷ 127 (CANopen); 1- 255 (TMLCAN) Voltage, CAN-Hi or CAN-Lo to GND ESD protection Human body model ±15 “FS” stands for “Full Scale” Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... -
Page 44: Safe Torque Off (Sto1+; Sto1-; Sto2+; Sto2-)
ESD protection Human body model ±2 † Stresses beyond values 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 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference... - Page 45 4000h ROM memory for: TML programs Cam tables Setup information 7FFFh 8000h Reserved 8FFFh Data acquisitions C000h cam tables at runtime SRAM memory TML Programs FFFFh Figure 7.1. iPOS4808 MY Memory Map Technosoft 2016 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference...
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