Technosoft iPOS360 VX-CAN Series Technical Reference
Intelligent servo drive for step, dc, brushless dc and ac motors
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Summary of Contents for Technosoft iPOS360 VX-CAN Series
- Page 1 VX- CAN / CAT Intelligent Servo Drive for Step, DC, Brushless DC Intelligent Servo Drives and AC Motors Technical Reference Technosoft 2019 P091.028.iPOS360X.VX.CAN.CAT.UM.0619 Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
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Page 2: Table Of Contents
ECAT-VX adapter to RS45 interface connection diagram ............. 22 Connection diagrams ....................22 ..3.7.1 iPOS360X VX-CAN connection diagram ................22 ..3.7.2 iPOS360X VX-CAT connection diagram ................23 ..3.7.3 24V Digital I/O Connection ....................24 Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... - Page 3 Analog 0..5V/ ±10V Input (REF/FDBK) ................. 44 3.10.13 Encoder Inputs (A+, A-, B+, B-, Z+, Z-,) ................45 3.10.14 RS-232 ........................... 45 3.10.15 CAN-Bus (for CAN drives) ..................... 45 3.10.16 Supply Output (+5V) ......................45 Memory Map ......................48 Technosoft 2019 iPOS360x VX-CAN/CAT 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
IO-iPOS360X (part no. P091.028.IO-iPOS360X.UM.xxxx) – describes the IO iPOS360x I/O extension board included in the iPOS360X Starter Kits. 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/... -
Page 7: Cautions
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. -
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 iPOS360X 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 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
A circuit board is available for evaluating the iPOS3602 or 3604 VX CAN or CAT. It comes with multiple types of connectors for easy access to the iPOS360X features. iPOS360x VX-CAN/CAT ECAT VX adapter IO iPOS360x extension board Figure 2.5.1. iPOS360X VX-CAN/CAT mounted on the I/O iPOS360X extension board Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 12: Starter Kit Ordering Information
Figure 3.1.1. iPOS360X VX-CAN drive dimensions All dimensions are in mm. The drawings are not to scale. ECAT-VX EtherCAT adapter dimensions Figure 3.2.1. ECAT-VX adapter dimensions All dimensions are in mm. The drawings are not to scale. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 13: Mechanical Mounting
Whenever possible, ventilation openings shall be foreseen on the top side wall or the box and at the bottom of the lateral walls. When using a horizontal motherboard considerably larger than the size of the hosted iPOS360x drives, it is recommended to provide ventilation holes also in the motherboard PCB. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 14: Horizontal Mounting
Figure 3.5 iPOS360X VX-CAN/CAT Overall dimensions for horizontal mounting 4 typ. 25 typ. 2.5 typ. 9.4 typ. 2.7 typ. Figure 3.6 ECAT-VX adapter overall dimensions for horizontal mounting All dimensions are in mm. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 15: Motherboard Pcb Design
In multi-axis applications (multiple iPOS360X drives on the same motherboard), it is preferable to have a separate decoupling capacitor for each drive’s V . For V it is acceptable to share one decoupling capacitor for two drives. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... - Page 16 CONTENT IS ACCIDENTALLY CORRUPTED. THE iPOS360X IS AN ELECTROSTATICALLY SENSITIVE DEVICE, WHICH WILL BE DAMAGED BY INCORRECT HANDLING. THEREFORE CAUTION! THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT! Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
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Page 17: Emc Recommendations
* if +Vmot to capacitor wire length ≥ 2m, use twisted wires for the supply and ground return (Vmot and GND) * if +Vmot to capacitor wire length ≥ 20m, the capacitor value must be ≥ 2200 µF. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 18: Connectors And Pinouts
Images Tyco 2-1775801-4 PCIe 4x vertical card edge connector,1.0mm pitch, 2x32 contacts 10018784-11101TLF Tyco 1761465-2 PCIe 4x horizontal card edge Samtec PCIE-064-02-F-D-RA connector,1.0mm pitch, 2x32 contacts 10035591-001LF Retainer for vertical PCIe card 10042618-002LF Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 19: Pinouts For Ipos360X Vx-Cat
Images Tyco 2-1775801-4 PCIe 4x vertical card edge connector,1.0mm pitch, 2x32 contacts 10018784-11101TLF Tyco 1761465-2 PCIe 4x horizontal card edge connector,1.0mm pitch, 2x32 contacts Samtec PCIE-064-02-F-D-RA 10035591-001LF Retainer for vertical PCIe card 10042618-002LF Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 20: Ecat-Vx Ethercat Adapter Pinouts
EtherCAT VX adapter to iPOS360x interconnections ECAT Signal Name Data In <- Data Out -> Clock <- Chip <- Select Interrupt -> Sync -> ECAT -> Ready π <- π = Connect CS1 to ECAT VX pin A11(+3.3V) Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 21: Ecat-Vx Adapter To Rs45 Interface Connection Diagram
Figure 3.10 ECAT-VX to RS45 interface connection diagram Connection diagrams 3.7.1 iPOS360X VX-CAN connection diagram Figure 3.11. iPOS360X VX-CAN Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 22: Ipos360X Vx-Cat Connection Diagram
3.7.2 iPOS360X VX-CAT connection diagram Figure 3.12. iPOS360X VX-CAT Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 23: 24V Digital I/O Connection
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) 4. The maximum sink current is 0.5A continuous, up to 1A pulsed for less than 5 seconds Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 24: 5V Digital I/O Connection
3. The output loads can be individually and independently connected to +5V or to GND. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 25: 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 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 26: Motor Connections
Brushless Motor connection Figure 3.17. Brushless motor connection 3.7.6.2 2-phase Step Motor connection Figure 3.18. 2-phase step motor connection, one coil per phase Figure 3.19. 2-phase step motor connection, two coils per phase Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 27: 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 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 28: Feedback Connections
For the encoder 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 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 29: Digital Hall Connection For Motor + Hall + Incremental Encoder
Do not connect unterminated wires. They might pick up unwanted noise and give false encoder readings. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 30: Linear Hall Connection
If the iPOS360x 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 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 31: Power Supply Connection
= the overall energy flowing back to the supply in Joules. In case of a rotary motor and load, E can be computed with the formula: ϖ ϖ − − )g(h initial final Kinetic energy Potential energy Copper losses Friction losses where: Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... - Page 32 CYCLE where t is the time interval between 2 voltage increase cycles in case of repetitive moves. CYCLE × to be rated for an average power and a peak power PEAK CYCLE Remarks: Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
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Page 33: Serial Rs-232 Connection
Do not rely on an earthed PC to provide the iPOS360X GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 34: 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 3.31. Multiple-Axis CAN network Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 35: Disable Of Autorun Mode (For Can) / Disable Setup (For Cat)
If the Axis ID is set between 1 and 254, the “configured station alias” will be set accordingly. Remark: Some EtherCAT masters consider having the same station alias (with non-zero values) on multiple drives as an Error. Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 36: Operation Mode And Axis Id Selection For Can Drives
0 to 6 (0 for L0, 1 for L1, 2 for L2, etc.) If the resulting AxisID value is 0, the axis ID will be set to 255 Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... - Page 37 Figure 3.33. Axis ID Setting Examples. CANopen mode Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
- Page 38 Figure 3.34. Axis ID Setting Examples. TMLCAN mode Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
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Page 39: Axis Id Settings For Can Drives And Canopen Mode
Axis ID Settings for CAN drives and CANopen mode Axis Axis Axis Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 CANopen ID 2 ID 1 ID 0 CANopen ID 2 ID 1 ID 0 CANopen Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 40: Axis Id Settings For Can Drives And Tmlcan Mode
L4 L6 L3 L5 L6 L3 L3 L6 L4 L4 L6 L4 L5 L6 L4 L3 L6 L5 L4 L6 L5 L5 L6 L5 L3 L6 L6 L4 L6 L6 L5 L6 L6 Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 41: 3.10 Electrical Specifications
= 12V Supply current = 24V = 40V iPOS360x 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 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 42: Motor Supply Input
Logic “HIGH”; Pulled to +5V 0.15 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 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 43: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready)
To GND Resolution bits Integral linearity ±2 bits Offset error ±2 ±10 bits Gain error ±1% ±3% % FS Bandwidth (-3dB) Software selectable ESD protection Human body model ±2 “FS” stands for “Full Scale” Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... -
Page 44: Encoder Inputs (A+, A-, B+, B-, Z+, Z-,)
Encoder 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 drive input pins. See Figure 3.16. Differential incremental encoder connection Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference... - Page 45 EC 428/2009 (non dual-use item, output frequency limited to 590Hz) † 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 2019 iPOS360x VX-CAN/CAT Technical Reference...
- Page 46 KHZ, CORRELATE THE PWM FREQUENCY WITH THE MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE. Current [A] Figure 3.43. iPOS3604 VX Over-current diagram – the output voltage, V – the motor supply voltage Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
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Page 47: Memory Map
4000h ROM memory for: TML programs Cam tables Setup information 4FFFh 5000h Reserved 5FFFh Data acquisitions 9800h cam tables at runtime SRAM memory TML Programs 9FCFh Figure 4.1. iPOS360X VX Memory Map Technosoft 2019 iPOS360x VX-CAN/CAT Technical Reference...
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