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Summary of Contents for Technosoft iPOS8015 BZ-CAT
- Page 1 BZ-CAT Intelligent Servo Drive for Step, DC, Brushless DC and Intelligent Servo Drives AC Motors Technical Reference Technosoft 2021 P091.023.iPOS8015.BZ.UM.0921...
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Page 2: Table Of Contents
2.4.1 Single loop configurations ........................10 ..2.4.2 Dual loop configurations ........................11 Hardware Installation ..................... 11 iPOS8015 BZ-CAT Board Dimensions ..............11 Mechanical Mounting ....................12 Connectors and Pinouts .................... 12 ..3.3.1 Pinouts for iPOS8015 BZ-CAT ......................12 .. - Page 3 Analog 0…5V Inputs (REF, FDBK) ....................... 32 3.15.15 Analog ±10V Input (REF) ........................32 3.15.16 RS-232 ..............................33 3.15.19 Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ................33 3.16 Memory Map ......................34 Technosoft 2021 iPOS8015 BZ-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
TML motion programming and motion evaluation tools. 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: Safety Information
To prevent electrostatic damage, avoid contact with insulating materials, such as synthetic fabrics or plastic surfaces. In order to discharge static electricity build-up, place the drive on a grounded conductive surface and also ground yourself. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 7: Quality System, Conformance And Certifications
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
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
EtherCAT version: position or speed profiles, Cyclic Synchronous Position (CSP), Cyclic Synchronous • Velocity (CSV) and Cyclic Synchronous Torque (CST) • Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences • Communication: • RS-232 serial up to 115kbits/s •... -
Page 10: Identification Labels
Identification Labels . iPOS8015 BZ-CAT identification labels Figure 1 The iPOS8015 BZ-CAT have the following part number and names on the identification label: P023.026.E221 name iPOS8015 BZ-CAT – EtherCAT® version, 80V, 15A • Supported Motor-Sensor Configurations 2.4.1 Single loop configurations The position and/or speed are controlled using one feedback sensor. -
Page 11: Dual Loop Configurations
DC brush motor with BISS encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1) on load. • Hardware Installation iPOS8015 BZ-CAT Board Dimensions . iPOS8015 BZ-CAT drive dimensions Figure 2 Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 12: Mechanical Mounting
The iPOS8015 BZ drive is intended to be mounted horizontally on a metallic support using the provided mounting holes and the recommended mating connectors, as specified in chapter 3.3.2. The metallic support must act as a cooling heat sink. Connectors and Pinouts 3.3.1 Pinouts for iPOS8015 BZ-CAT Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 13: Mating Connectors
Connection diagrams 3.4.1 iPOS8015 BZ-CAT connection diagram Figure 3. iPOS8015 BZ-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 ... -
Page 14: 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 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 15: Npn Outputs
Both pins can also be individually used as NPN general-purpose digital outputs. To enable the mechanical brake functionality select the following checkbox from EasyMotion Studio: Figure 8. Motor brake checkbox in EasyMotion Studio Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 16: Analog Inputs Connection
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. The switching between REF and FDBK signals can be done using the analog inputs setup selection in EasySetUp or EasyMotion Studio. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 17: Recommendation For Wiring
2-phase Step Motor connection Figure 12 2-phase step motor connection, one coil per phase Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ to +V and STO1- and STO2- to GND. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 18: 3-Phase Step Motor Connection
STO1- and STO2- to GND. 3.7.4 DC Motor connection Figure 15 DC Motor connection Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ to +V and STO1- and STO2- to GND. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 19: Recommendations For Motor Wiring
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. 3.8.2 Feedback #2 - Differential Incremental Encoder Connection Figure 17 Feedback #2 - Differential Incremental Encoder Connection Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 20: Feedback #2 - Pulse And Direction Connection
Feedback #2 - Pulse and direction connection Figure 19 Pulse and direction connection Remark: The same pulse and direction connection can be done on J3 - Feedback#1 using the same pin numbers as for Feedback#2. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 21: Feedback #1 - 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 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 22: Feedback #2 - Absolute Encoder Connection: Ssi, Biss, Panasonic, Tamagawa, Endat, Nikon, Sanyo Denki
Feedback #2 differential connection, 120Ω (0.25W) terminators are internally present in the drive. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Power Supply and STO Connection 3.9.1 Supply Connection Figure 23 Supply connection Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 23: Recommendations For Supply Wiring
ϖ the load mass measured in [kg], the angular speed will become linear speed measured in [m/s] and the friction torque T will become friction force measured in [N]. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... - Page 24 (see Remark 1) or t – the time CYCLE × × CYCLE interval between chopping cycles must be increased THE CHOPPING RESISTOR MAY HAVE HOT SURFACES DURING WARNING! OPERATION. Technosoft 2021 iPOS8015 BZ-CAT Technical Reference...
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Page 25: 3.10 Serial Rs-232 Connection
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 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 26: 3.11 Recommendations For Ethercat Wiring
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 25 EtherCAT network linear topology Figure 26 EtherCAT network ring topology Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 27: 3.12 Disabling The Setup Table At Startup
Temporary connection during power-on to invalidate the Setup table 3.13 Axis ID Selection The iPOS8015 BZ-CAT drive support all EtherCAT standard addressing modes. In case of device addressing mode based on node address, the drive sets the EtherCAT register called “configured station alias” address with its AxisID value. -
Page 28: 3.14 Led Indicators
Slave State Description INITIALISATION The drive is in state INIT Blinking PRE-OPERATIONAL The drive is in state PRE-OEPRATIONAL Single Flash SAFE-OPERATIONAL The drive is in state SAFE-OPERATIONAL OPERATIONAL The drive is in state OPERATIONAL Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 29: 3.15 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 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 30: Motor Supply Input
Logic “LOW”; Pulled to GND 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 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 31: Digital Outputs (Out0, Out1, Out2/Error, Out3/ Ready)
Resolution with interpolation Software selectable, for one sine/cosine period bits Sin-Cos interpolation Frequency Quadrature, no interpolation ESD protection Human body model ±2 All differential input pins have internal 120 Ω termination resistors connected across Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 32: 3.15.13 Absolute Encoder Interface: Ssi, Biss-C, Endat
Differential Linearity No missing codes ±1 Offset error Common-mode voltage = 0…10 V Gain error Common-mode voltage = 0…10 V ±10 ±12 Bandwidth (-3dB) Depending on software settings “FS” stands for “Full Scale” Technosoft 2021 iPOS8015 BZ-CAT Technical Reference... -
Page 33: Rs-232
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 iPOS8015 BZ-CAT Technical Reference... -
Page 34: 3.16 Memory Map
“Memory Settings” dialogue of each application 2000h 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 31. iPOS8015 BZ Memory Map Technosoft 2021 iPOS8015 BZ-CAT Technical Reference...
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