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Summary of Contents for Technosoft iPOS3602 HX-CAN
- Page 1 HX-CAN/ iPOS3604 HX-CAN Intelligent Servo Drive for Step, DC, Brushless DC and Intelligent Servo Drives AC Motors Technical Reference Technosoft 2021 P091.028.iPOS360X.HX.CAN.UM.0621...
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Page 2: Table Of Contents
+/-10V to 0-5V Input Range Adapter ................22 3.5.6.3 Recommendation for wiring .................... 22 ..3.5.7 Motor connections ........................23 3.5.7.1 Brushless Motor connection ................... 23 3.5.7.2 2-phase Step Motor connection ..................23 3.5.7.3 3-Phase Step Motor connection ..................24 Technosoft 2021 iPOS360x HX-CAN Technical Reference... - Page 3 3.7.15 Single-ended encoder inputs (A, B, Z) for PN P028.00x.E561 ..........38 ..3.7.16 RS-232 ........................... 38 ..3.7.17 CAN-Bus ..........................39 ..3.7.18 Supply Output (+5V) ......................39 Memory Map ......................41 Technosoft 2021 iPOS360x HX-CAN 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: Related Documentation
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
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
Using the high-level Technosoft Motion Language (TML) the following operations can be executed directly at drive level: Setting various motion modes (profiles, PVT, PT, electronic gearing or camming , etc.) -
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
Two CAN operation modes selectable by jumper: CANopen – conforming with CiA 301 v4.2 and CiA DSP 402_2 v4.1 • TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via • CAN-bus 2K × 16 internal SRAM memory for data acquisition •... -
Page 11: Supported Motor-Sensor Configurations
Open-loop with incr. encoder on load *Linear Halls are supported with a different part number Hardware Installation iPOS360X HX-CAN Board Dimensions Figure 3.1.1. iPOS360X HX-CAN drive dimensions All dimensions are in mm. The drawings are not to scale. Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 12: Mechanical Mounting
* 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 2021 iPOS360x HX-CAN Technical Reference... -
Page 13: Connectors And Pinouts
Connectors and Pinouts 3.4.1 Pinouts for iPOS360x HX-CAN (differential encoder version; P028.00x.E501) Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 14: Pinouts For Ipos360X Hx-Can (Single-Ended Encoder Version; P028.00X.e561)
3.4.2 Pinouts for iPOS360x HX-CAN (single-ended encoder version; P028.00x.E561) Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 15: Pinouts For Ipos360X Hx-Can (Linear Halls Encoder Version; P028.00X.e571)
3.4.3 Pinouts for iPOS360x HX-CAN (linear halls encoder version; P028.00x.E571) Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 16: Mating Connectors
CA RS232 cable Molex 2x2 M-Fit to DB9 cable P028.040.C030 CAN interconnection CAN2CAN Cable 10cm Molex 2x2 M-Fit drive to drive P038.001.E136 RS232 - USB adapter Standard USB to RS232 adapter with FTDI chipset Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 17: Connection Diagrams
3.5.1 iPOS360X HX-CAN connection diagram (differential encoder version; P028.00x.E501) Figure 3.5.1. iPOS360X HX-CAN Connection diagram with a differential encoder * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 18: Ipos360X Hx-Can Connection Diagram (Single-Ended Encoder Version; P028.00X.e561)
3.5.2 iPOS360X HX-CAN connection diagram (single-ended encoder version; P028.00x.E561) Figure 3.5.2 iPOS360X HX-CAN Connection diagram with a single-ended encoder * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 19: Ipos360X Hx-Can Connection Diagram (Linear Halls Encoder Version; P028.00X.e571)
HX-CAN connection diagram (linear halls encoder version; P028.00x.E571) Figure 3.5.3 iPOS360X HX-CAN Connection diagram with a linear halls encoder * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 20: 24V Digital I/O Connection
If Vlog is not supplied, the digital inputs will not work. The inputs are selectable as PNP/ NPN by software. When sets as NPN, the inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state) Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 21: Npn Outputs
2. The inputs are compatible with TTL(5V), LVTTL(3.3V), CMOS and open collector outputs 3. The outputs are compatible with TTL (5V) inputs 4. The output loads can be individually and independently connected to +5V or to GND. Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 22: 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 2021 iPOS360x HX-CAN Technical Reference... -
Page 23: Motor Connections
Brushless Motor connection Figure 3.5.7.1. Brushless motor connection 3.5.7.2 2-phase Step Motor connection Figure 3.5.7.2. 2-phase step motor connection, one coil per phase Figure 3.5.7.3 2-phase step motor connection, two coils per phase Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 24: 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 2021 iPOS360x HX-CAN Technical Reference... -
Page 25: Feedback Connections
Remarks: For the encoder differential connection, 120Ω (0.25W) terminators are included in the drive. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 26: 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. For this type of motor control use firmware F523/F524 instead of F518x/F519x. Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 27: P028.00X.e501)
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 3.5.9 Power Supply Connection Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 28: Supply Connection
= 38V is the over-voltage protection limit is the nominal motor supply voltage = 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: Technosoft 2021 iPOS360x HX-CAN Technical Reference... - Page 29 CHOP where C is the capacitance on the motor supply (external), i.e: < CHOP × to limit the average current below the drive nominal current I =2A for iPOS3602 and 4A for iPOS3604 Technosoft 2021 iPOS360x HX-CAN Technical Reference...
- Page 30 (see Remark 1) or t – the time CYCLE × × CYCLE interval between braking cycles must be increased THE CHOPPING RESISTOR MAY HAVE HOT SURFACES DURING WARNING! OPERATION. Technosoft 2021 iPOS360x HX-CAN Technical Reference...
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Page 31: 3.5.10 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 2021 iPOS360x HX-CAN Technical Reference... -
Page 32: 3.5.11 Can-Bus Connection
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 3.5.11.2 Multiple-Axis CAN network Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 33: 3.5.12 Disable Of Autorun Mode
On iPOS360x HX-CAN, the selection of the operation mode CANopen or TMLCAN is done by setting the JP1 position: CANopen mode, JP1 = position 1-2 • TMLCAN mode, JP1 = position 2-3 or OFF • Figure 3.6.1.1 JP1 Location Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 34: Selection Of The Axis Id
Turned off when an error occurs. Drive Error Turned on when the drive detects an error condition or when OUT2/Error is set to +Vlog with OUT(2)=0 TML instruction. Figure 3.6.3.1 LED indicators Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 35: 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 2021 iPOS360x HX-CAN Technical Reference... -
Page 36: Motor Supply Input
Logic “LOW”; Pulled to GND Logic “HIGH”; Internal 4.7KΩ pull-up to +3.3 Input current Logic “HIGH”; Pulled to +5V 0.15 Logic “HIGH”; Pulled to +24V Input frequency Minimum pulse width µs ESD protection Human body model ±2 Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 37: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready)
Offset error Assuming parameter RFOFFSET=0 ±4 ±24 bits Gain error Assuming parameter RFGAIN=0x7EB8 (32440) ±1.5% ±4% % FS Bandwidth (-3dB) Software selectable ESD protection Human body model ±2 “FS” stands for “Full Scale” Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 38: 3.7.12 Linear Hall Inputs (Lh1, Lh2, Lh3) For Pn P028.00X.e571
Human body model ±1 3.7.16 RS-232 Min. Typ. Max. Units Standards compliance TIA/EIA-232-C Bit rate Depending on software settings 9600 115200 Baud Short-circuit protection 232TX short to GND Guaranteed ESD protection Human body model ±2 Technosoft 2021 iPOS360x HX-CAN Technical Reference... -
Page 39: 3.7.17 Can-Bus
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 2021 iPOS360x HX-CAN Technical Reference... - Page 40 KHZ, CORRELATE THE PWM FREQUENCY WITH THE MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE. Current [A] Figure 3.11. iPOS3604 HX Over-current diagram – the output voltage, V – the motor supply voltage Technosoft 2021 iPOS360x HX-CAN Technical Reference...
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Page 41: Memory Map
000h ROM memory for: TML programs Cam tables Setup information 4FFFh 5000h Reserved 5FFFh Data acquisitions 9800h cam tables at runtime SRAM memory 9FCFh TML Programs Figure 4.1. iPOS360X HX Memory Map Technosoft 2021 iPOS360x HX-CAN Technical Reference...
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