Related Manuals for Technosoft Micro 4804 MZ-CAT
Summary of Contents for Technosoft Micro 4804 MZ-CAT
- Page 1 Micro 4804 MZ / PZ / CZ / LZ Intelligent Servo Drives Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Technical Reference Technosoft 2024 P091.020.Micro 4804 MZ.PZ.CZ.LZ.UM.0424...
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Page 2: Table Of Contents
Mating Connectors for Micro 4804 CZ ................... 27 Connection diagrams ....................28 ..3.7.1 Micro 4804 MZ/PZ-CAN connection diagram ................ 28 ..3.7.2 Micro 4804 MZ/PZ-CAT connection diagram ................ 28 Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... - Page 3 Axis ID Selection for Micro 4804 CZ - CAT ................61 ..3.19.5 Axis ID Selection and Operation Mode for Micro 4804 CZ - CAN ......... 61 Electrical Specifications ..................61 Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
- Page 4 CAN-Bus for CAN executions ................65 4.18 EtherCAT ports for CAT execution ................ 65 4.19 Conformity ....................... 65 De-rating curves ..................... 66 Memory Map ......................68 Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
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Page 5: 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 6: Trademarks
TML motion programming and motion evaluation tools. Help of the EasyMotion Studio II software – EasyMotion Studio II simplifies the setup process for any Technosoft drive, enabling quick configuration. The software generates setup data that can be downloaded into the drive's EEPROM or saved as a file on a PC. -
Page 7: 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: sales@technosoftmotion.com Ask questions about product Tel: +41 (0)32 732 5500... -
Page 8: 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 9: Product Overview
11 bit identifiers. When TMLCAN mode is selected, the unit behaves as standard Technosoft intelligent drive and conforms to Technosoft protocol for exchanging TML commands via CAN-bus. When TMLCAN protocol is used, it is not mandatory to have a master. -
Page 10: Product Features
EEPROM. Additionally, the LITE version allows for the retrieval of complete setup information from a previously programmed drive and is available for free download from the Technosoft website. The FULL version of EasyMotion Studio II is designed for commissioning and advanced motion programming. It supports the development of complex motion programs using TML, which are executed locally by the drive's integrated motion controller. - Page 11 For CAN executions - two CAN operation modes selectable by HW pin: • CANopen – conforming with CiA 301 v4.2, CiA DSP 402 v3.0 and CiA 305 v.2.2.13 • TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via CAN-bus • For CAT executions - supported protocols: •...
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Page 12: Identification Labels
Figure 2-2 Micro 4804 PZ identification labels Figure 2-3 Micro 4804 CZ identification labels The Micro 4804 can have the following part numbers and names on the identification label: Product Name Part Number Micro 4804 MZ-CAT P020.002.E122 Micro 4804 MZ-CAN P020.002.E102 Micro 4804 PZ-CAT P020.002.E322... -
Page 13: Supported Motor-Sensor Configurations
Load encoder is on Feedback 2 / 1, if motor encoder is on Feedback 1 / 2 Load encoder can be only on Feedback 1 Load encoder can be only on Feedback 2 Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 14: Hardware Installation
Hardware Installation Micro 4804 MZ and LZ Dimensions Figure 3-1 Micro 4804 MZ dimensions Micro 4804 PZ Dimensions Figure 3-2 Micro 4804 PZ dimensions Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 15: Micro 4804 Cz-Can Dimensions
Micro 4804 CZ-CAN Dimensions Figure 3-3 Micro 4804 CZ-CAN dimensions Micro 4804 CZ-CAT Dimensions Figure 3-4 Micro 4804 CZ-CAT dimensions Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 16: 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 drive inside the limits indicated, the spacing values may be reduced down to zero. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 17: Pcb Design
Figure 3-6 Micro 4804 MZ PCB Footprint For the Micro 4804 PZ motherboard PCB design, please refer to the following dimensional drawing: Figure 3-7 Micro 4804 PZ PCB Footprint Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 18: Motherboard Pcb Design
Its purpose is only for thermal dissipation, EMC shielding, ESD protection and mechanical/environmental protection. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 19: Ethercat Signals Pcb Routing Indications
→ ���� = 100.2 Ω ���� ⎨ �������� ���� ���� ���� ���� = 4�������� ���� ⎪ ⎩ ���� = 4 �������� ���� Figure 3-10 Stripline Differential Impedance Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... - Page 20 A possible method is to connect the local return plane(s) using capacitors of 10nF...22nF, connected at both ends (drives) of the local return plane(s). This will break the unwanted current paths, while keeping the high- frequency return path. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
- Page 21 Figure 3-12 EtherCAT bus to RJ45 connection non-compliant with PoE Figure 3-13 EtherCAT wiring for connection between Micro 4804 MZ/PZ/LZ drives For additional details regarding signal swapping, please check the EtherCAT signals schematic considerations chapter Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
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Page 22: Connectors And Pinouts
Connectors and Pinouts 3.6.1 Pinouts for Micro 4804 MZ/PZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 23: Pinouts For Micro 4804 Lz
3.6.2 Pinouts for Micro 4804 LZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 24: Pinouts For Micro 4804 Cz-Can
3.6.3 Pinouts for Micro 4804 CZ-CAN Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 25: Pinouts For Micro 4804 Cz-Cat
3.6.1 Pinouts for Micro 4804 CZ-CAT Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 26: Mating Connectors For Micro 4804 Mz/Pz/Lz
638276000 Nano Fit 24AWG Socket Contacts, 207129 Series Crimp Tool, Ratchet, Molex Crimp tool Pico-Clasp 501193 & 501334 Molex 638191500 J5, J6 Pico-Clasp Series 32-28AWG Contacts Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 27: Connection Diagrams
Micro 4804 MZ/PZ-CAT connection diagram * For other available feedback / motor options, check the detailed diagrams below ** Pins are software selectable individually as NPN inputs/outputs Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 28: Micro 4804 Lz-Can Connection Diagram
Micro 4804 LZ-CAN connection diagram * For other available feedback / motor options, check the detailed diagrams below ** Pins are software selectable individually as NPN inputs/outputs Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 29: Micro 4804 Cz-Can Connection Diagram
Micro 4804 CZ-CAT connection diagram * For other available feedback / motor options, check the detailed connection diagrams below ** Pins are software selectable individually as NPN inputs/outputs Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 30: Digital I/O Connection
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. 3.8.2 NPN outputs Figure 3-16 Digital NPN Outputs connection for Micro 4804 MZ/PZ/LZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 31: Solenoid Driver Connection For Motor Brake
The Brake- pin can also be used as the NPN digital output OUT0. To enable the mechanical brake functionality select the following checkbox from EasyMotion Studio II: Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 32: Analog Inputs Connection
(GND); shield is connected only at the drive side, to the drive PE, and is left unconnected at the source side. The source minus (negative, out-of-phase) output remains unconnected. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 33: Motor Connections
Figure 3-24 Brushless motor connection for Micro 4804 CZ 3.10.2 2-phase Step Motor connection Figure 3-25 2-phase step motor connection, one coil per phase for Micro 4804 MZ/PZ/LZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 34: 3-Phase Step Motor Connection
Figure 3-28 2-phase step motor connection, two coils per phase for Micro 4804 CZ 3.10.3 3-Phase Step Motor connection Figure 3-29 3-phase step motor connection for Micro 4804 MZ/PZ/LZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 35: Dc Motor Connection
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 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 36: Feedback Connections
They might pick up unwanted noise and give false encoder readings. CAUTION! Encoder cable shield must be connected to system GND to avoid disturbances / noise induced by nearby cables. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 37: Feedback #1 - Differential Incremental Encoder Connection
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Encoder cable shield must be connected to system GND to avoid CAUTION! disturbances / noise induced by nearby cables. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... - Page 38 Encoder cable shield must be connected to system GND to avoid disturbances / noise induced by nearby cables. Feedback #2 is not available for Micro 4804 LZ (P020.022.E102 and P020.022.E122) Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
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Page 39: Feedback #2 - Differential Incremental Encoder Connection
Encoder cable shield must be connected to system GND to avoid CAUTION! disturbances / noise induced by nearby cables. Feedback #2 is not available for Micro 4804 LZ (P020.022.E102 and P020.022.E122) Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 40: Feedback #1 - Absolute Encoder Connection: Ssi, Biss, Endat
Absolute encoders (SSI / EnDAT2.2 / BiSS-C / Tamagawa / Panasonic / Nikon / Sanyo Denki) are not supported by the Micro 4804 LZ (P020.022.E102 and P020.022.E122). Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... - Page 41 Absolute encoders (SSI / EnDAT2.2 / BiSS-C / Tamagawa / Panasonic / Nikon / Sanyo Denki) are not supported by the Micro 4804 LZ (P020.022.E102 and P020.022.E122). Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
- Page 42 Encoder cable shield must be connected to system GND to avoid CAUTION! disturbances / noise induced by nearby cables. Feedback #2 is not available for Micro 4804 LZ (P020.022.E102 and P020.022.E122) Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
- Page 43 Encoder cable shield must be connected to system GND to avoid CAUTION! disturbances / noise induced by nearby cables. Feedback #2 is not available for Micro 4804 LZ (P020.022.E102 and P020.022.E122) Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
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Page 44: Linear (Analog) Hall Connection
Figure 3-50 Linear Hall connection for Micro 4804 CZ Analog Hall cable shield must be connected to system GND to CAUTION! avoid disturbances / noise induced by nearby cables. cccc Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 45: Digital Hall Connection For Motor + Hall + Incremental Or Absolute Encoder
/ noise induced by nearby cables. In case of an absolute encoder connection, if only just one wire is missing from a pair the breakage can’t be detected. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 46: Digital Hall Connection For Motor + Digital Hall Only Control
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 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 47: Power Supply Connection
It is recommended to connect the negative motor supply return (GND) to the Earth protection near the power supply terminals. The logic and motor power supply cables shield must be connected to GND at both ends. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 48: Recommendations To Limit Over-Voltage During Braking
CR / B- and ground, and activate the software option of dynamic braking (see below). Figure 3-57 Chopping resistor connection for Micro 4804 MZ/PZ/LZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... - Page 49 The BC90100 module (P038.100.E201) is a brake chopper module compatible with all Technosoft Intelligent drives, supporting up to 160A. For more details, refer to the "BC90100 brake chopper module datasheet" (codified as P038.100.E201.DSH.xx).
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Page 50: 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 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 51: Serial Rs-232 Connection
DO NOT CONNECT/DISCONNECT THE RS-232 CABLE WHILE THE DRIVE IS CAUTION! PWERED ON. THIS OPERATION CAN DAMAGE THE DRIVE RS-232 communication is not available for Micro 4804 LZ (P020.022.E102 and P020.022.E122) Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 52: Can-Bus Connection
For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters. The 120Ω termination resistors must be rated at 0.2W minimum. Do not use winded resistors, which are inductive. Figure 3-65 Multiple-Axis CAN network Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 53: Ethercat Connection
Figure 3-67 EtherCAT network ring topology Figure 3-66 EtherCAT network linear topology Remark: EasyMotion Studio can communicate via RS232 or USB while EtherCAT communication is active. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 54: Ethercat Signals Schematic Considerations
Port 0 (IN) have different polarity than both channels of Port 1 (OUT). Figure 3-68 Auto MDI/MDI-X Figure 3-69 Auto Polarity Detection and Correction Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 55: Disabling Autorun (For Can Drives); Disabling The Setup Table (For Cat Drives)
Figure 3-70 Temporary connection during power-on to invalidate the Setup table for Micro 4804 MZ/PZ/LZ Figure 3-71 Temporary connection during power-on to invalidate the Setup table for Micro 4804 CZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 56: Led Indicators
ECAT IN and OUT ports. LED7 ECAT ACT1 YELLOW LED4, LED5, LED6 and LED7 are not used for the CAN version Figure 3-73 LED indicators for Micro 4804 CZ Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 57: Ethercat® Run And Error Led Indicators
1 and 255 using J1 pins 10, 21, and 22. The AxisID is set by providing a voltage to the AxisID pins (ID0, ID1 and ID2) according to Table 5 – AxisID register. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 58: Axis Id Selection And Operation Mode For Micro 4804 Mz/Pz/Lz - Can
If the CANOpen mode is selected and the AxisID value is 255, drive will be in “LSS inactive” state and the Green LED will flash at 1 second intervals. * where “x” can be 1, 2 or 3 Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 59: Hardware Axis Id Implementation For Micro 4804 Mz/Pz/Lz
Figure 3-76. How to connect the AxisID pins to a HEX switch Remark : It is recommended to use resistors with a tolerance of +/-5% or higher for all the connections. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 60: Axis Id Selection For Micro 4804 Cz - Cat
ON = TMLCAN mode is selected OFF = CANOpen mode is selected Table 8 Axis ID switch settings for Micro 4804 CZ-CAN Figure 3-78 Sliding switch for Micro 4804 CZ-CAN Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 61: 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 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 62: Logic Supply Input (+V )
±2 ±3 Limited to 3A / 4.2A amplitude nominal using the recommended mating connectors; For current values >3A pins needs to be soldered instead of socketed Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 63: Digital Inputs (In0, In1, In2/Lsp, In3/Lsn, In4, In5)
0.5…4.5 4.95 Logic “LOW”; Pull to GND Input current Logic “HIGH”; Internal 2.2KΩ pull-up to +5V Minimum pulse width µs ±15 ESD protection Human body model Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 64: Encoder Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-, A2+, A2-, B2+, B2-)
Full RS-422 compatibility, as well as noise rejection improvement an 120Ω resistor must be connected across each signal pair (A+/A-, B+/ B-, Z+/Z-) – for Micro 4804 CZ check SW1 settings “FS” stands for “Full Scale” Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 65: Supply Output (+5V)
Micro 4804MZ/PZ/LZ-CAT EtherCAT connection requires external magnetics. The Micro 4804 CZ-CAT has the magnetics already included in the drive. Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... -
Page 66: Rating Curves
48V, Current Amplitude Sine 48V, Current BLDC 2.00 48V, Current RMS 24V, Current Amplitude Sine 1.00 24V, Current BLDC 24V, Current RMS 0.00 Ambient Temperature [°C] Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference... - Page 67 Micro 4804 MZ / LZ - Derating with altitude De-rating with altitude 3.50 3.00 2.50 2.00 1.50 1.00 0.50 0.00 1000 2000 3000 4000 5000 6000 7000 Altitude [m] Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
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Page 68: Memory Map
Cam tables Setup information 7FFFh 8000h Reserved BFFFh Data acquisitions C000h cam tables at runtime SRAM memory TML Programs FFFFh Micro 4804 Memory Map Figure 6-1 Technosoft 2024 Micro 4804 MZ / PZ / CZ / LZ Technical Reference...
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