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Summary of Contents for Technosoft iPOS4808 VX-CAN
- Page 1 VX- CAN / CAT Intelligent Servo Drive for Step, DC, Brushless DC Intelligent Servo Drives and AC Motors Technical Reference © Technosoft 2024 P091.028.iPOS4808.VX.CAN.CAT.UM.0124 © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
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Page 2: Table Of Contents
VX I/O Evaluation board ................12 2.5.1 Starter Kit ordering information ....................12 ..Hardware Installation ..................... 13 iPOS4808 VX-CAN/CAT Board Dimensions .............. 13 ECAT-VX EtherCAT adapter dimensions ..............13 Mechanical Mounting ....................14 3.3.1 Vertical Mounting ........................14 .. - Page 3 Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2) ................ 45 3.10.16 RS-232 ........................... 45 3.10.17 CAN-Bus (for CAN drives) ..................... 45 3.10.18 Supply Output (+5V) ......................46 3.11 De-rating curves ...................... 46 Memory Map ......................47 © Technosoft 2024 iPOS4808 VX-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
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
DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON WARNING! THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION. DURING DRIVE OPERATION, THE CONTROLLED MOTOR WILL MOVE. KEEP WARNING! AWAY FROM ALL MOVING PARTS TO AVOID INJURY © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
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
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 iPOS4808 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
CANopen – conforming with CiA 301 v4.2 and CiA DSP 402 v3.0 • • TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN-bus • EtherCAT® with CAN application protocol over EtherCAT (CoE) for CAT drives •... -
Page 11: Supported Motor-Sensor Configurations
Starter Kit ordering information Part number Description P091.084.IO-iPOS4808.UM.xxxx Evaluation board User Manual (available for download on our website) P027.014.E801 iPOS4808 VX-CAN starter kit with brushless motor P027.014.E811 iPOS4808 VX-CAT starter kit EtherCAT with brushless motor P027.014.E800 iPOS4808 VX-CAN starter kit without motor P027.014.E810 iPOS4808 VX-CAT starter kit EtherCAT without motor P027.014.E880... -
Page 12: Hardware Installation
3 ±0 .1 1 .6 ±0 .1 5 2 .4 ±0 .1 0 .6 Figure 3.1.1. iPOS4808 VX-CAN/-CAT drive dimensions All dimensions are in mm. The drawings are not to scale. ECAT-VX EtherCAT adapter dimensions Figure 3.2.1. ECAT-VX adapter dimensions All dimensions are in mm. -
Page 13: Mechanical Mounting
Remark: In case of using a metallic box, with ventilation openings, all spacing values may be reduced substantially. With proper ventilation, keeping the air surrounding the iPOS4808 inside the limits indicated. The spacing values may be reduced down to the mechanical tolerance limits of Figure 3.3.1. © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 14: Horizontal Mounting
Figure 3.3.3. The iPOS4808 has 6 fixing tabs and one groove that may be used to secure the drive. Figure 3.3.4. details the fixing tabs and groove position shown with red arrows. 36.8 - 56.4 typ Figure 3.3.3 Overall dimensions for horizontal mounting © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... - Page 15 With proper ventilation, keep the air surrounding the iPOS4808 inside the limits indicated. The spacing values may be reduced down to the mechanical tolerance limits of Figure 3.3.1. Figure 3.3.5 Spacing to assure proper airflow by natural convection (worst case scenario) © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
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Page 16: Motherboard Pcb Design
ESD and over-voltage; add high-frequency filtering to protect against external noise injected on +5V The outer box / case / cabinet must be connected to the motherboard ground either galvanically (directly) or through high-frequency decoupling capacitors, rated at an appropriate voltage. © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 17: Emc Recommendations
* 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 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 18: Connectors And Pinouts
Mating Connectors for iPOS4808 VX Producer Part Number Description Images Tyco 3-1775801-4 PCIe 8x vertical card edge connector,1.0mm Samtec PCIE-098-02-F-D-TH pitch, 2x49 contacts Tyco 1761465-3 PCIe 8x horizontal card edge connector,1.0 mm Samtec PCIE-098-02-F-D-RA pitch, 2x49 contacts © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 19: Ecat-Vx Ethercat Adapter Pinouts
EtherCAT VX adapter to iPOS4808 VX interconnections ECAT Signal Name ← Data In → Data Out ← Clock Chip ← Select → Interrupt → Sync ECAT A21 (add 2.2KΩ → Ready resistor) ← +5V In ← © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 20: Ecat-Vx Adapter To Rs45 Interface Connection Diagram
Figure 3.8 ECAT-VX to RS45 interface connection diagram Connection diagrams 3.7.1 iPOS4808 VX-CAN connection diagram Figure 3.9. iPOS4808 VX-CAN Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 21: Ipos4808 Vx-Cat Connection Diagram
3.7.2 iPOS4808 VX-CAT connection diagram Figure 3.10. iPOS4808 VX-CAT Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 22: Digital I/O Connection
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) The maximum sink current is 0.5A continuous, up to 1A pulsed for less than 5 seconds © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 23: Digital I/O Connection
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. It is recommended to connect the negative motor supply return (GND) to the Earth protection near the external motor power supply terminals, i.e. between EARTH and minus of V external power supply. © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 24: 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 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 25: Motor Connections
Brushless Motor connection Figure 3.15. Brushless motor connection 3.7.6.2 2-phase Step Motor connection Figure 3.16. 2-phase step motor connection, one coil per phase Figure 3.17. 2-phase step motor connection, two coils per phase © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 26: 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 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 27: Feedback Connections
For the encoder differential connection, external 120Ω (0.25W) terminators are required for long encoder cables, or noisy environments. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 28: Digital Hall Connection For Direct Motor Control Without An 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. © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... - Page 29 © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
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Page 30: Linear Hall Connection
If the iPOS4808 5V supply output is used by another device (like for example an encoder) and the connection cable is longer than 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 © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 31: Power Supply Connection
− − )g(h initial f inal Kinetic energy Potential energy Copper losses Friction losses where: – total rotor inertia [kgm – total load inertia as seen at motor shaft after transmission [kgm © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... - Page 32 PEAK CYCLE Remarks: CHOP – the time to decelerate the braking power P must be reduced by increasing either t PEAK or C – the external capacitor on the motor supply © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
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Page 33: Serial Rs-232 Connection
Do not rely on an earthed PC to provide the iPOS4808 GND connection! The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 34: Can-Bus Connection (For Can Drives Only)
For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters. The 120 termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive. Figure 3.29. Multiple-Axis CAN network © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 35: Disable Of Autorun Mode (For Can) / Disable Setup (For Cat)
Remark: Some EtherCAT masters consider having the same station alias (with non-zero values) on multiple drives as an Error. It is recommended to use separate setup files on each drive with individual Axis IDs, to quickly determine the identity and location of each drive in the network. © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 36: Operation Mode And Axis Id Selection For Can Drives
0 to 6 (0 for L0, 1 for L1, 2 for L2, etc.) If the resulting AxisID value is 0, the axis ID will be set to 255 © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... - Page 37 Figure 3.31. Axis ID Setting Examples. CANopen mode © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
- Page 38 Figure 3.32. Axis ID Setting Examples. TMLCAN mode © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
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Page 39: Axis Id Settings For Can Drives And Canopen Mode
3.9.1 Axis ID Settings for CAN drives and CANopen mode Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 40: Axis Id Settings For Can Drives And Tmlcan Mode
Axis ID Settings for CAN drives and TMLCAN mode Axis Axis Axis Axis Axis Axis Axis Axis Axis ID 2 ID 1 ID 0 CANopen ID 2 ID 1 ID 0 CANopen ID 2 ID 1 ID 0 CANopen © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 41: 3.10 Electrical Specifications
56 x 44 x 6.9 Without mating connector / retainer ~2.2 x 1.73 x 0.27 inch iPOS4808 VX-CAN / -CAT 56 x 48.1 x 8.9 With recommended mating vertical connector and retainer. Height Size ( Length x Width x Height ) above PCB surface. -
Page 42: Motor Supply Input
OUT2/Error, OUT3/ Ready Logic “HIGH”; output current = 0, no load OUT0, OUT1, OUT5 Output voltage Logic “HIGH”, external load to +V Absolute maximum, continuous -0.5 +0.5 Absolute maximum, surge (duration 1s) † © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 43: Digital Hall Inputs (Hall1, Hall2, Hall3)
±5 For many applications, an 120Ω termination resistor should be connected across SIN+ to SIN-, and across COS+ to COS-. Please consult the feedback device datasheet for confirmation. “FS” stands for “Full Scale” © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 44: Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-)
For full RS-422 compliance, 120Ω termination resistors must be connected across the differential pairs, as close as possible to the drive input pins. See Figure 3.21. Differential incremental encoder connection “FS” stands for “Full Scale” © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference... -
Page 45: Supply Output (+5V)
† 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. De-rating curves 3.11 Figure 3.33. iPOS4808 VX-CAN Output Voltage De-rating with Figure 3.34. iPOS4808 VX-CAN De-rating with ambient PWM frequency temperature Figure 3.35. -
Page 46: Memory Map
4000h ROM memory for: TML programs Cam tables Setup information 4FFFh 5000h Reserved 5FFFh Data acquisitions 9800h cam tables at runtime SRAM memory TML Programs 9FCFh Figure 4.1. iPOS4808 VX Memory Map © Technosoft 2024 iPOS4808 VX-CAN/CAT Technical Reference...
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