Related Manuals for Technosoft iPOS4803P
Summary of Contents for Technosoft iPOS4803P
- Page 1 Microdrive EtherCAT iPOS4803S Microdrive EtherCAT Intelligent Servo Drives Intelligent Servo Drive for DC, Brushless DC and AC Motors Technical Reference Technosoft 2021 P091.020.iPOS4803.UM.0921...
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Page 2: Table Of Contents
Recommendations for the PCB Design ................15 3.3.2.3 EtherCAT signals PCB routing indications ..............16 Connectors and Pinouts .................... 19 ..3.4.1 Pinouts for iPOS4803P Microdrive ..................19 ..3.4.2 Pinouts for iPOS4803S Microdrive (P/N: P020.801.E222) ............ 20 ..3.4.3 Pinouts for iPOS4803S Microdrive (P/N: P020.801.P222) ............ - Page 3 Feedback #1 - Single-ended Incremental Encoder Connection ..........31 ..3.9.2 Feedback #1 - Differential Incremental Encoder Connection ..........32 ..3.9.3 Feedback #2 - Single-ended Incremental Encoder Connection (iPOS4803P Microdrive only) ....33 ..3.9.4 Feedback #2 - Differential Incremental Encoder Connection ..........34 ..
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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: 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
(Registration, 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
Hence neither the iPOS481x 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 9: Product Features
Fully digital servo drive suitable for the control of rotary or linear brushless and DC brush • Very compact design • Sinusoidal (FOC) or trapezoidal (Hall-based) control of brushless motors • Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences • Standalone operation with stored motion sequences • Communication: •... -
Page 10: Identification Labels
Figure 1 iPOS4803P microdrive identification labels Figure 2 iPOS4803S microdrive identification labels The iPOS4803 can have the following part numbers and names on the identification label: P020.001.E122 name iPOS4803P Microdrive EtherCAT– Pins version, 3A nominal, EtherCAT® • • P020.801.P222 name iPOS4803S Microdrive EtherCAT– Standalone version, 3A nominal, EtherCAT®... -
Page 11: Supported Motor-Sensor Configurations
Each defined motor type can have any combination of the supported feedbacks either on motor or on load. Example: PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from feedback#2) on load Single-Ended encoder compatible with iPOS4803P (P020.001.E122) only Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 12: Hardware Installation
Hardware Installation iPOS4803P Microdrive Dimensions Figure 3 iPOS4803P Microdrive dimensions All dimensions are in mm. The drawings are not to scale. iPOS4803S Microdrive Dimensions Figure 4 iPOS4803S Microdrive dimensions All dimensions are in mm. The drawings are not to scale. -
Page 13: Mechanical Mounting
Mechanical Mounting The iPOS4803P Microdrive is intended to be mounted horizontally on a motherboard equipped with the recommended mating connectors, as specified in chapter 3.3.2.1. Motherboard PCB Design. Several drives can be hosted by a single motherboard. The iPOS4803S Microdrive is intended to be mounted vertically or horizontally on a metallic support using the provided mounting holes and the recommended mating connectors. -
Page 14: Ipos4803P Microdrive
The iPOS4803P Microdrive is intended to be mounted on a mainboard. The recommended method of electrical connection is to use sockets on the mainboard. It is also possible to directly solder the iPOS4803P Microdrive module into the mainboard. To secure the module to the mainboard, it is recommended to have the mainboard equipped with 3 self-clinching nut inserts, with internal thread M2. -
Page 15: Recommendations For The Pcb Design
It is recommended to use the same guarding precaution also for tracks on nearby layers, i.e. use intermediate guard layer(s) connected to ground. The motor outputs must be treated as first source of noise on the motherboard. Second source of noise is the current flow between each iPOS4803P Microdrive and it’s decoupling V capacitor. -
Page 16: Ethercat Signals Pcb Routing Indications
= 4.8 ( ��������4 ) → ���� = 100.2 Ω ���� ⎨ �������� ���� ���� ���� ���� = 4�������� ���� ⎪ ⎩ ���� = 4 �������� ���� Figure 9 Stripline Differential Impedance Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... - Page 17 • To save board space and reduce component count, RJ45 connectors with integrated magnetics may be used. Check the PoE compliance where applicable. Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference...
- Page 18 Figure 10 EtherCAT bus to RJ45 connection PoE compliant Figure 11 EtherCAT bus to RJ45 connection non-compliant with PoE additional details regarding signal swapping, please check • considerations EtherCAT signals schematic chapter. Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference...
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Page 19: Connectors And Pinouts
Connectors and Pinouts 3.4.1 Pinouts for iPOS4803P Microdrive Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 20: Pinouts For Ipos4803S Microdrive (P/N: P020.801.E222)
3.4.2 Pinouts for iPOS4803S Microdrive (P/N: P020.801.E222) Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 21: Pinouts For Ipos4803S Microdrive (P/N: P020.801.P222)
3.4.3 Pinouts for iPOS4803S Microdrive (P/N: P020.801.P222) Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 22: Mating Connectors For Ipos4803S Microdrive
Pico-Clasp 501193 & 501334 Molex 638191500 Pico-Clasp Series 32-28AWG Contacts Crimp Tool, Ratchet, Molex J3, J4, Crimp tool Nano-Fit 105300 Series 26- Molex 638276000 J5, J6 Nano Fit 24AWG Socket Contacts, 207129 Series Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 23: Connection Diagrams
Connection diagrams 3.5.1 iPOS4803P Microdrive connection diagram Figure 12 iPOS4803P Microdrive Connection diagram * For other available feedback / motor options, check the detailed diagrams below Pins are software selectable individually as NPN inputs/outputs Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 24: Ipos4803S Microdrive Connection Diagram
Microdrive connection diagram Figure 13 iPOS4803S Microdrive Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below ** Pins are software selectable individually as NPN inputs/outputs Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 25: Digital I/O Connection
24V Digital I/O Connection 3.6.1 NPN inputs Figure 14 Digital NPN Inputs connection for iPOS4803P Figure 15 Digital NPN Inputs connection for iPOS4803S Remarks: The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state). -
Page 26: Npn Outputs
3.6.2 NPN outputs Figure 16 Digital NPN Outputs connection for iPOS4803P Figure 17 Digital NPN Outputs connection for iPOS4803S 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). -
Page 27: Solenoid Driver Connection For Motor Brake
3.6.3 Solenoid driver connection for motor brake Figure 18. Solenoid driver connection for IPOS4803P Figure 19. Solenoid driver connection for IPOS4803S Remarks: The firmware can control the Brake- output automatically to engage/disengage a mechanical brake when motor control is started/stopped. -
Page 28: Analog Inputs Connection
Analog Inputs Connection Figure 21 0-5V Analog inputs connection for iPOS4803P Figure 22 0-5V Analog inputs connection for iPOS4803S Remarks: The analog input range is configurable by software: 16bit ±10V or 12-bit 0-5V: Reference, Feedback or general purpose input. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. -
Page 29: Motor Connections
Motor connections 3.8.1 Brushless Motor connection Figure 23 Brushless motor connection for iPOS4803P Figure 24 Brushless motor connection for iPOS4803S Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 30: Dc Motor Connection
3.8.2 DC Motor connection Figure 25 DC Motor connection for iPOS4803P Figure 26 DC Motor connection for iPOS4803S 3.8.2.1 Recommendations for motor wiring Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters. If this situation cannot be avoided, use a shielded cable for the motor wires. -
Page 31: Feedback Connections
Feedback connections 3.9.1 Feedback #1 - Single-ended Incremental Encoder Connection Figure 27 Feedback #1 - Single-ended Incremental Encoder Connection for iPOS4803P DO NOT CONNECT UNTERMINATED WIRES TO PINS J2.10, J2.12 CAUTION! AND J2.18. THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS. -
Page 32: Feedback #1 - Differential Incremental Encoder Connection
Figure 30 Feedback #1 - Differential Incremental Encoder Connection for iPOS4803S Remarks: For iPOS4803P Feedback#1 differential connection, 120Ω (0.25W) terminators must be connected for long encoder cables, or noisy environments. For iPOS4803S Feedback #1 differential connection, 120Ω (0.25W) terminators are internally added by putting the SW1 pins 1,2 and 3 on “ON”... -
Page 33: Feedback #2 - Single-Ended Incremental Encoder Connection (Ipos4803P Microdrive Only)
3.9.3 Feedback #2 - Single-ended Incremental Encoder Connection (iPOS4803P Microdrive only) Figure 31 Feedback #2 - Single-ended Incremental Encoder Connection for iPOS4803P DO NOT CONNECT UNTERMINATED WIRES TO PINS J2.14 AND CAUTION! J2.16. THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS. -
Page 34: Feedback #2 - Differential Incremental Encoder Connection
Figure 33 Feedback #2 - Differential Incremental Encoder Connection for iPOS4803S Remarks: For iPOS4803P Feedback#2 differential connection, 120Ω (0.25W) terminators must be connected for long encoder cables, or noisy environments. For iPOS4803S Feedback#2 input has internal terminators, equivalent to 120Ω (0.25W) , present in the drive. -
Page 35: Feedback #1 - Absolute Encoder Connection: Ssi, Biss, Panasonic, Tamagawa, Endat, Nikon, Sanyo Denki
Figure 35 Feedback #1 – Absolute Encoder Connection for iPOS4803S Remarks: For iPOS4803P Feedback#1 absolute connection, 120Ω (0.25W) terminators must be connected for long encoder cables, or noisy environments. For iPOS4803S Feedback#1 absolute connection, 120Ω (0.25W) terminators are internally added by putting the SW1 pins 1 and 2 on “ON”... -
Page 36: Feedback #2 - Absolute Encoder Connection: Ssi, Biss, Panasonic, Tamagawa, Endat, Nikon, Sanyo Denki
Figure 37 Feedback #2 – Absolute Encoder Connection for iPOS4803S Remarks: For iPOS4803P Feedback#2 absolute connection, 120Ω (0.25W) terminators must be connected for long encoder cables, or noisy environments. For iPOS4803S Feedback #2 input has internal terminators, equivalent to 120Ω (0.25W) , present in the drive. -
Page 37: Linear Hall Connection
3.9.7 Linear Hall Connection Figure 38 Linear Hall connection for iPOS4803P Figure 39 Linear Hall connection for iPOS4803S Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 38: Digital Hall Connection For Motor + Hall + Incremental Encoder
3.9.8 Digital Hall Connection for Motor + Hall + Incremental Encoder Figure 40 Digital Hall connection for iPOS4803P Figure 41 Digital Hall connection for iPOS4803S Remarks: This connection is required when using Hall start method BLDC or PMSM and also for the Trapezoidal commutation method. -
Page 39: Digital Hall Connection For Direct Motor Control Without An Encoder
3.9.9 Digital Hall Connection for direct motor control without an encoder Figure 42 Digital Hall connection for iPOS4803P Figure 43 Digital Hall connection for iPOS4803S Remarks: This connection is required when using only Digital hall signals as the main feedback device for motor control. -
Page 40: Power Supply Connection
3.10 Power Supply Connection 3.10.1 Supply Connection Figure 44 Supply connection for iPOS4803P Figure 45 Supply connection for iPOS4803S Remarks: The +Vlog inputs can be supplied from the same power source as long as its output voltage is 6 to 48V DC from a SELV/ PELV power supply. -
Page 41: Recommendations For Supply Wiring
[kg], the angular speed ϖ will become linear speed measured in [m/s] and the friction torque T will become friction force measured in [N]. Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 42: Usb Connection
3.11 USB connection 3.11.1 USB connection Figure 46 USB connection for iPOS4803P For iPOS4803P Microdrive, high-speed signals (USB DP, USB DM) must be routed as differential pairs, with controlled impedance, microstrip or stripline. Figure 47 USB connection for iPOS4803S For the USB connection a standard USB cable is required. The drivers are found automatically in Windows 10 and the device is identified as a COM port. -
Page 43: Ethercat Connection
RJ45 connector as shown in Figure 48 EtherCAT wiring. Figure 50 EtherCAT network ring topology Figure 49 EtherCAT network linear topology Figure 51 EtherCAT wiring for iPOS4803P Microdrive Figure 52 EtherCAT wiring for iPOS4803S Microdrive Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 44: Ethercat Signals Schematic Considerations
For all 4 differential channels, positive and negative lines can be swapped freely. For example, it is possible to swap Tx0+ with Tx0-. This feature, which is specific to iPOS4803 Microdrives (both iPOS4803P and iPOS4803S) and not to all EtherCAT devices, makes wiring errors transparent, without any hidden consequence. -
Page 45: Disabling The Setup Table At Startup
Data ”. After a new valid setup table is loaded onto the drive, disconnect the hall sensors from GND and execute a new power off/ power on cycle. Figure 55 Temporary connection during power-on to invalidate the Setup table for iPOS4803P Figure 56 Temporary connection during power-on to invalidate the Setup table for iPOS4803S ... -
Page 46: Axis Id Selection For Cat Drives(Sw1 Pin Settings)
The default Axis ID for all iPOS4803 Microdrives is 255. When Axis ID is 255, the EtherCAT register called “configured station alias” will be 0. All pins are sampled at power-up, and the drive is configured accordingly. Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 47: Electrical Specifications
Extraction force 3.15.4 Environmental Characteristics Min. Typ. Max. Units 38.1 x 25 x 8.4 iPOS4803P Microdrive Global size ~1.5 x 0.98 x 0.33 inch Size ( Length x Width x Height ) (Without connectors) 40.6 x 38.6 x 22.8 iPOS4803S Microdrive ~1.6 x 1.52 x 0.9... -
Page 48: Motor Outputs (A/A+, B/A-, C/B+, Cr/B-)
Operational range Absolute maximum values, continuous Input voltage † Absolute maximum, surge (duration ≤ 1s) Input current Input voltage 0…+5V Interpolation Resolution Depending on software settings bits Frequency ESD protection Human body model Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... -
Page 49: Encoder #1 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,)
Bandwidth (-3dB) Software selectable ESD protection Human body model For full RS-422 compliance, 120Ω termination resistors must be connected across the differential pairs (iPOS4803P). See Figure connection 3.6.6.3. Feedback #1 - Differential Incremental Encoder “FS” stands for “Full Scale” Technosoft 2021... -
Page 50: Ssi/Biss/Panasonic/Tamagawa/Endat/Nikon/Sanyo Denki Encoder Interface
† 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. Check Figure 63- "iPOS4803 Microdrive PWM Frequency De-rating @48V, 40 C” for more details Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference... - Page 51 Figure 59 iPOS4803 Microdrive De-rating with PWM frequency Micro 20KHz, 24V Ambient Temperature [ºC] iPOS4803 Microdrive De-rating with ambient temperature Figure 60 Micro 20KHz Vmot [V] iPOS4803 Microdrive De-rating with motor supply Figure 61 Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference...
- Page 52 Microdrive Output Voltage De-rating with PWM frequency Figure 62 Micro PWM Frequency [KHz] Current capability for external loads on 50mA 200mA 375mA iPOS4803 Microdrive PWM Frequency De-rating @48V, 40 Figure 63 Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference...
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Page 53: Memory Map
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 iPOS4803 Microdrive Memory Map Figure 64 Technosoft 2021 iPOS4803 Microdrive EtherCAT Technical Reference...
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