Related Manuals for Technosoft iPOS4803-SY
Summary of Contents for Technosoft iPOS4803-SY
- Page 1 Multi Axis System, EtherCAT Intelligent Servo Drives Intelligent Servo Drive for DC, Brushless DC and AC Motors Technical Reference Technosoft 2022 P091.020.iPOS4803-SY.UM.0822...
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Page 2: Table Of Contents
Pinouts for iPOS4803-SY3 Multi Axis System ............... 13 ..3.3.2 Pinouts for iPOS4803-SY4 Multi Axis System ............... 14 ..3.3.3 Mating Connectors for iPOS4803-SY Multi-Axis System ............15 Connection diagrams ....................16 Digital I/O Connection ....................17 ..3.5.1 NPN inputs ..........................17 .. - Page 3 Disabling the setup table at startup ............... 29 ..3.12.1 Disabling the setup table at startup ..................29 3.13 Axis ID Selection for CAT drives ................29 3.14 Electrical Specifications ..................31 Memory Map ......................36 Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT 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: If You Need Assistance
NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER CONNECT / WARNING! DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE WARNING! THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION. Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
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
Product Overview Introduction The iPOS4803-SY is a family of fully digital intelligent servo drives, based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller. Suitable for control of brushless DC, brushless AC (vector control) and DC brushed motors the iPOS4803-SY Multi Axis System accept as position feedback incremental encoders, absolute encoders (SSI, BiSS-C, EnDAT, TAMAGAWA, Panasonic, Nikon, Sanyo Denki), digital and linear Hall signals. -
Page 9: Product Features
Fully digital servo multi axis system 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
Identification Labels Figure 1 iPOS4803-SY Multi Axis System, EtherCAT identification labels The iPOS4803 can have the following part numbers and names on the identification label: • P020.200.E403 – iPOS4803-SY3 – 3 Axis Motion System, 3A nominal, EtherCAT®, hardware AxisID •... -
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 Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 12: Hardware Installation
All dimensions are in mm. The drawings are not to scale. Mechanical Mounting The iPOS4803-SY Multi Axis System is intended to be mounted vertically or horizontally on a metallic support using the provided mounting holes and the recommended mating connectors. -
Page 13: Connectors And Pinouts
Connectors and Pinouts 3.3.1 Pinouts for iPOS4803-SY3 Multi Axis System • Where “x” can be 1, 2 or 3 Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 14: Pinouts For Ipos4803-Sy4 Multi Axis System
3.3.2 Pinouts for iPOS4803-SY4 Multi Axis System Where “x” can be 1, 2, 3 or 4 • Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 15: Mating Connectors For Ipos4803-Sy Multi-Axis System
Nano-Fit 105300 Series 26- Molex 638276000 J8#x 24AWG Socket Contacts, Nano Fit 207129 Series • Where “x” can be 1, 2 or 3 for iPOS4803-SY3 or 1, 2, 3 or 4 for iPOS4803-SY4 Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 16: Connection Diagrams
Connection diagrams Figure 3 iPOS4803-SY Multi Axis System Connection diagram *Where “x” can be 1, 2 or 3 for iPOS4803-SY3 or 1, 2, 3 or 4 for iPOS4803-SY4 **For other available feedback / motor options, check the detailed diagrams below ***Pins are software selectable individually as NPN inputs/outputs ... -
Page 17: Digital I/O Connection
Digital I/O Connection 3.5.1 NPN inputs Figure 4 Digital NPN Inputs connection for iPOS4803-SY Remarks: The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state). The I/O pins are individually software selectable as either NPN inputs or outputs. -
Page 18: Analog Inputs Connection
÷1K Ω & ESD +3.3V Figure 6 0-5V Analog inputs connection for iPOS4803-SY 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 19: Motor Connections
Motor connections 3.7.1 Brushless Motor connection Figure 7 Brushless motor connection for iPOS4803-SY 3.7.2 DC Motor connection Figure 8 DC Motor connection for iPOS4803-SY 3.7.2.1 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 20: Feedback Connections
Figure 10 Feedback #1 - Differential Incremental Encoder Connection for iPOS4803-SY Remarks: For iPOS4803-SY Multi Axis System Feedback #1 differential connection, 120Ω (0.25W) termination resistors are internally added by putting the SW1#x pins 1,2 and 3 on “ON” position. Length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. -
Page 21: Feedback #2 - Differential Incremental Encoder Connection
Figure 11 Feedback #2 - Differential Incremental Encoder Connection for iPOS4803-SY Remarks: For iPOS4803-SY Multi Axis System Feedback#2 input has internal termination resistors, 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. -
Page 22: Feedback #1 - Absolute Encoder Connection: Panasonic, Tamagawa, Nikon, Sanyo Denki
Figure 14 Feedback #2 – Absolute Encoder Connection for iPOS4803-SY Remarks: For iPOS4803-SY Multi Axis System Feedback #2 input has internal termination resistors, 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. -
Page 23: Linear (Analog) Hall Connection
Figure 15 Feedback #2 – Absolute Encoder Connection for iPOS4803-SY Remarks: For iPOS4803-SY Multi Axis System Feedback #2 input has internal termination resistors, 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. -
Page 24: Digital Hall Connection For Motor + Hall + Incremental Encoder
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 iPOS4803-SY are equipped with a feature that detects breakage of Hall wires and/or of incremental/absolute encoder wires. -
Page 25: General Recommendations For Feedback Wiring
Recommendations for Supply Wiring The iPOS4803-SY always requires two supply voltages: +V and +V Use short, thick wires between the iPOS4803-SY and the motor power supply. Connect power supply wires to all the indicated pins. Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 26: Recommendations To Limit Over-Voltage During Braking
[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 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 27: Usb Connection
EasyMotion Studio can communicate either with RS232 or USB communication (not both at the same time). EasyMotion Studio can communicate in parallel with RS232/USB communication while CAN or EtherCAT communication is active. Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 28: Ethercat Connection
(inactive). Swapping ports can lead to packet loss, see EtherCAT documentation on circulating packets. Remark: EasyMotion Studio can communicate in parallel with RS232 or USB communication while EtherCAT communication is active Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... -
Page 29: Disabling The Setup Table At Startup
Figure 24 Temporary connection during power-on to invalidate the Setup table for iPOS4803-SY 3.13 Axis ID Selection for CAT drives The iPOS4803-SY Multi Axis System support all EtherCAT standard addressing modes. In case of device addressing mode based on node address, the iPOS4803-SY Multi Axis System drives sets the EtherCAT register called “configured station alias address”... - Page 30 The drive axis/address number is set when H/W is selected in Drive Setup under AxisID field or when the Setup is invalid. The default Axis ID for all iPOS4803-SY is 255. When Axis ID is 255, the EtherCAT register called “configured station alias” will be 0.
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Page 31: 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 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference... - Page 32 232TX short to GND Guaranteed ESD protection Human body model ±2 3.14.1 USB Min. Typ. Max. Units Compliance USB 2.0 device (slave) End-point type Emulated UART (RS-232) ESD protection Human body model ±1 Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference...
- Page 33 Software selectable Full RS-422 compatibility, as well as noise rejection improvement requires an external 120Ω resistor connected across each signal pair (A+/A-, B+/ B-, Z+/Z-) “FS” stands for “Full Scale” Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference...
- Page 34 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 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference...
- Page 35 Figure 29 Micro 20KHz Vmot [V] iPOS4803 Microdrive De-rating with motor supply Figure 30 Output Voltage Derating Micro PWM Frequency [KHz] iPOS4803 Microdrive Output Voltage De-rating with PWM frequency Figure 31 Technosoft 2022 iPOS4803-SY Multi Axis System, EtherCAT Technical Reference...
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Page 36: Memory Map
Memory Map iPOS4803-SY has 2 types of memory available for user applications: 16K×16 SRAM and up to 24K×16 serial E ROM. The SRAM memory is mapped in the address range: C000h to FFFFh. It can be used to download and run a TML program, to save real-time data acquisitions and to keep the cam tables during run-time.
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