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Summary of Contents for Technosoft iPOS80 0 BX-CAN Series
- Page 1 BX- CAN / CAT Intelligent Servo Drive Intelligent Servo Drives for Step, DC, Brushless DC and AC Motors Technical Reference Technosoft 2021 P091.029.iPOS80x0.BX.UM.0521...
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Page 2: Table Of Contents
3.4.5.2 2-phase Step Motor connection ......................20 3.4.5.3 3-Phase Step Motor connection ......................21 3.4.5.4 DC Motor connection ........................21 3.4.5.5 Recommendations for motor wiring ....................21 3.4.6 ..Feedback connections .......................... 22 Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... - Page 3 3.8.18 RS-232 ..............................38 ..3.8.19 CAN-Bus (for CAN drives) ........................38 ..3.8.22 Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ................39 ..3.8.24 De-rating graphs ........................... 40 Memory Map ......................41 Technosoft 2020 iPOS80x0 BX-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: 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
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 iPOS80x0 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 • CANopen – conforming with CiA 301 v4.2, CiA WD 305 v2.2.13 and CiA DSP 402 v4.1.1 • TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN-bus • EtherCAT® supported protocols for for CAT drives: •...
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Page 11: Identification Labels
FDBK #2 (diff.) BiSS-C FDBK #2 (diff.) Analogue Sin/Cos encoder FDBK #1* (diff.) Tacho Analogue input: Feedback Open-loop (no sensor) Open-loop (with step loss detection FDBK #1* (diff.) using FDBK #2 (diff.) Incr. Encoder/SinCos/SSI/BiSS) Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 12: Dual Loop Configurations
-DC brush motor with SSI encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1) on load. Hardware Installation iPOS80x0 BX-CAN/CAT Board Dimensions Figure 3.1.1. iPOS80x0 BX-CAN/CAT drive dimensions Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 13: Mechanical Mounting
The metallic support must act as a cooling heat sink. For thermal calculations, use the graphs below. Power Losses @10A applies to iPOS8010 and Power Losses @20A applies to iPOS8020. Connectors and Pinouts 3.3.1 Pinouts for iPOS80x0 BX-CAN Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 14: Mating Connectors For Can And Cat
15-pin D-Sub I/O ; Analog male, DB15 MICROFIT RECEPTACLE MOLEX 43025-0400 HOUSING, 2x2 WAY CRIMP PIN, MICROFIT, 5A MOLEX 43030-0007 Standard 8P8C modular jack J6,J7 (RJ-45) male 3.3.3 Pinouts for iPOS80x0 BX-CAT Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 15: Connection Diagrams
Figure 3.2. iPOS80x0 BX-CAN Connection diagram * The digital inputs can be configured as PNP/NPN type in software setup * For other available feedback / motor options, check the detailed connection diagrams below Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 16: Ipos80X0 Bx-Cat Connection Diagram
* The digital inputs can be configured as PNP/NPN type in software setup * For other available feedback / motor options, check the detailed connection diagrams below * For a detailed EtherCAT bus connection diagram see Figure 3.26. EtherCAT wiring. Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 17: 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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 18: Npn Outputs
Figure 3.6. 24V Digital NPN Outputs connection Remark: 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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 19: Analog Inputs Connection
For all of the above cases, connect the cable shield to the drive GND and leave the other shield end unconnected to the signal source. To further increase the noise protection, use a double shielded cable with inner shield connected to drive GND and outer shield connected to the motor chassis (earth). Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 20: Motor Connections
Figure 3.10. 2-phase step motor connection, one coil per phase Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ pins to +Vlog and STO1- and STO2- to GND. Figure 3.11. 2-phase step motor connection, two coils per phase Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 21: 3-Phase Step Motor Connection
Connect the cable shield to the iPOS80x0 GND pin. Leave the other end disconnected. A good shielding can be obtained if the motor wires are running inside a metallic cable guide. Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 22: Feedback Connections
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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 23: Pulse And Direction Connection
Figure 3.16. J4 – Master – Slave connection using encoder#2 input 3.4.6.3 Pulse and direction connection Figure 3.17. Pulse and direction connection Remark: the same pulse and direction connection can be done on J3 Encoder#1 using the same pin numbers as for Encoder#2 Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 24: Sine-Cosine Analog Encoder Connection
The digital halls are not used in this case as a feedback measurement device. The actual motor control is done with an incremental encoder. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 25: Ssi Encoder #2 Connection
The encoder #2 input has an internal terminator between pins 2 and 3, 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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 26: Power Supply And Sto Connection
= 84V 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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... - Page 27 C is the capacitance on the motor supply (external), i.e: < CHOP × to limit the average current below the drive nominal current I =20A (for 8010) and 20A (for 8020) × > × CYCLE Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference...
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Page 28: Serial Rs-232 Connection
Do not rely on an earthed PC to provide the iPOS80x0 GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection Do NOT CONNECT/DISCONNECT THE RS-232 CABLE WHILE THE CAUTION! DRIVE IS PWERED ON. THIS OPERATION CAN DAMAGE THE DRIVE Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 29: Can-Bus Connection (For Can Drives Only)
105 ... 135 ohms (120 ohms typical) and a capacitance below 30pF/meter. The 120Ω termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive. Figure 3.25. Multiple-Axis CAN network Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 30: Recommendations For Ethercat Wiring (For Cat Drives)
NOT guarantee a stable and reliable connection! This can only be guaranteed by proper quality of cables used, according to TIA/EIA-568-B specifications. Figure 3.26. EtherCAT wiring Figure 3.27. EtherCAT network linear topology Figure 3.28. EtherCAT network ring topology Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 31: Disabling Autorun (For Can Drives); Disabling The Setup Table At Startup (For Cat Drives)
GND and execute a new power off/ power on cycle. Figure 3.29. Temporary connection during power-on to remove the drive from Autorun mode or disable Setup Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 32: Can Operation Mode And Axis Id Selection For Can Drives(Sw1 Settings)
0. In total, 127 axis ID HW values can result from the DIP switch combinations. When pins 2..8 remain OFF, the drive Axis ID will be 255 and configured station alias will be 0. All pins are sampled at power-up, and the drive is configured accordingly. Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 33: Led Indicators
STATUS indicator combines the behavior of the RUN indicator specified in Table 3.3 and the behavior of the ERROR indicator specified in Table 3.4. Figure 3.34. STATUS indicator Example Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 34: Electrical Specifications
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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 35: Logic Supply Input
Logic HIGH Logic “LOW” Logic “HIGH” Hysteresis Input voltage Floating voltage (not connected) Absolute maximum, continuous Absolute maximum, surge (duration ≤ 1s) † The digital inputs are software selectable as PNP or NPN Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 36: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready)
A1+, A2+, B1+, B2+, Z1+, Z2+ kΩ A1-, A2-, B1-, B2-, Z1-, Z2- Input impedance, differential Differential mode Differential mode ESD protection Human body model ±1 All differential input pins have internal 120 Ω termination resistors connected across Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 37: Encoder #2 Inputs (A2+, A2-, B2+, B2-, Z2+, Z2-)
For many applications, a termination resistor should be connected across SIN+ to SIN-, and across COS+ to COS-. This can be achieved by setting SW3 pins 3,4 and 5 to ON. Please consult the feedback device datasheet for confirmation. Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 38: 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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 39: Safe Torque Off (Sto1+; Sto1-; Sto2+; Sto2-)
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 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 40: Rating Graphs
FOR PWM FREQUENCIES LESS THAN 20 KHZ, CORRELATE THE PWM FREQUENCY WITH THE CAUTION! MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE. – the output voltage, V – the motor supply voltage Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference... -
Page 41: Memory Map
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. iPOS80x0 BX Memory Map Technosoft 2020 iPOS80x0 BX-CAN/-CAT Technical Reference...
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