Related Manuals for Technosoft iPOS481 XZ Series
Summary of Contents for Technosoft iPOS481 XZ Series
- Page 1 XZ Intelligent Servo Drive for Step, DC, Brushless DC and AC Motors Intelligent Servo Drives Technical Reference © Technosoft 2025 P091.022.iPOS481x.XZ.UM.0625...
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Page 2: Table Of Contents
Brushless Motor connection ....................22 ..3.6.2 2-phase Step Motor connection .................... 22 ..3.6.3 3-Phase Step Motor connection .................... 23 ..3.6.4 DC Motor connection ......................23 3.6.4.1 Recommendations for motor wiring ................23 © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... - Page 3 CAN-Bus (for CAN drives) ....................38 3.16.21 EtherCAT ports J21 and J22 (for CAT drives)............... 39 3.16.22 Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ............. 39 3.16.23 Conformity..........................39 3.17 Derating curves ..................................40 Memory Map ......................46 © Technosoft 2025 iPOS481x XZ-CAT/-CAN 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: 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 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: sales@technosoftmotion.com Ask questions about product Tel: +41 (0)32 732 5500... -
Page 7: Cautions
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
XZ drives combine controller, drive and 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
While the LITE version includes only the setup functionality, making it suitable for scenarios where motion programming is managed through a CANopen/EtherCAT master or a PC/PLC using Technosoft's TML_LIB motion libraries, it can be upgraded to the FULL version by entering a license number obtained from Technosoft. -
Page 10: Identification Labels
For CAN executions - two CAN operation modes selectable by HW pin: • 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 •... -
Page 11: Supported Motor-Sensor Configurations
Digital Halls are available only on Feedback #2 Linear Halls are available only on Feedback #1 Load encoder is on Feedback 2 / 1, if motor encoder is on Feedback 1 / 2 © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 12: Hardware Installation
Figure 2. iPOS481x XZ-CAT drive dimensions All dimensions are in mm. The drawings are not to scale. iPOS481x XZ-CAN Board Dimensions Figure 3. iPOS481x XZ-CAN drive dimensions All dimensions are in mm. The drawings are not to scale. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 13: Connectors And Pinouts
Connectors and Pinouts 3.3.1 Pinouts for iPOS481x XZ-CAT © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 14: Pinouts For Ipos481X Xz-Can
3.3.2 Pinouts for iPOS481x XZ-CAN © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 15: Mating Connectors For Cat And Can Versions
For an easier evaluation of the iPOS481x XZ drive, a complete cable set is available. For orders, reference the following part numbers: Part Number Description P038.020.C007 CCS iPOS481x ZX-CAT (Complete cable set 100 cm) P038.020.C017 CCS iPOS481x ZX-CAN (Complete cable set 100 cm) © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 16: Connection Diagrams
XZ-CAT connection diagram Figure 4. iPOS481x XZ-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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 17: Ipos481X Xz-Can Connection Diagram
XZ-CAN connection diagram Figure 5. iPOS481x XZ-CAN Connection diagram * For other available feedback / motor options, check the detailed connection diagrams below ** Pins are software selectable individually as NPN inputs/outputs © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 18: 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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 19: Pnp Outputs
The outputs are selectable as PNP/ NPN by software. 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) © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 20: Solenoid Driver Connection For Motor Brake
The pin can also be used as the PNP or NPN general-purpose digital output. To enable the mechanical brake functionality select the following checkbox from EasyMotion Studio II: Figure 11. Motor brake checkbox in EasyMotion Studio II © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 21: 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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 22: Motor Connections
Figure 14. 2-phase step motor connection, one coil per phase Remark: To hardware enable the motor outputs, the STO circuit must be supplied with minimum +18V. Figure 15. 2-phase step motor connection, two coils per phase © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 23: 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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 24: Feedback Connections
Feedback#1 – Differential Incremental Encoder connection 3.7.2 Figure 19. Feedback#1 – Differential Incremental Encoder connection Encoder cable shield must be connected to system PE to avoid CAUTION! disturbances / noise induced by nearby cables. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 25: Feedback#2 - Differential Incremental Encoder Connection
/ noise induced by nearby cables. Feedback#1 – Sine-Cosine Encoder connection 3.7.4 Figure 21. Sine-Cosine analogue encoder connection Encoder cable shield must be connected to system PE to avoid CAUTION! disturbances / noise induced by nearby cables. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 26: Feedback#2 - Absolute Encoder Connection: Ssi, Biss-C, Endat
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 PE to avoid CAUTION! disturbances / noise induced by nearby cables. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 27: Feedback#1 - Linear Hall Connection
The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment. Digital Hall cable shield must be connected to system GND to avoid CAUTION! disturbances / noise induced by nearby cables. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 28: Digital Hall Connection For Direct Motor Control Without An Encoder
Digital Hall cable shield must be connected to system GND to avoid CAUTION! disturbances / noise induced by nearby cables. 3.7.10 Digital Hall Connection for direct motor control without an encoder Figure 27. Digital Hall connection for Motor + Hall control © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 29: General Recommendations For Feedback Wiring
When the STO inputs are left unconnected, the motor outputs will be disabled. This provides a dual redundant hardware protection that cannot be overdriven by the software or other hardware components. The STO circuit must be supplied with minimum 18V to enable PWM output. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 30: Recommendations For Supply Wiring
[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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... - Page 31 2. Connect a chopping resistor R 2.1 To the BC90100 BX module: Codified as P038.100.E201, the brake chopper module is compatible with all Technosoft Intelligent Drives and supports currents up to 100 A . The module must be connected to one of the drive’s digital outputs. When the...
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Page 32: Usb Connection
EasyMotion Studio II can communicate either with RS232 or USB communication (not both at the same time). EasyMotion Studio II can communicate in parallel with RS232/USB communication while CAN or EtherCAT communication is active. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 33: Can-Bus Connection (Only For Can Executions)
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. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 34: Recommendations For Ethercat Wiring (Only For Cat Executions)
TIA/EIA-568-B specifications. Figure 34 EtherCAT network linear topology Figure 35 EtherCAT network ring topology Remark: EasyMotion Studio II can communicate in parallel with RS232 or USB communication while EtherCAT communication is active. © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 35: Disabling The Setup Table At Startup (Cat Drives); Disabling Autorun (Can Drives)
SW1 switch The communication protocol as well as the Hardware Axis ID can be set by the SW1 switch. • Switch ON -> Bit = 0 • Switch OFF -> Bit = 1 © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 36: Led Indicators For Can Drives
All pins are sampled at power-up, and the drive is configured accordingly. • When the drive setup is invalid, the drive AxisID is set according to HW AxisID Figure 39. SW1 – DIP Switch settings © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 37: Led Indicators For Cat Drives
1 in AL Status register No error The EtherCAT communication of the device is in working condition For a more detailed description of EtherCAT® LED functionalities please read ETG.1300 S (R) V1.0.1 available at www.EtherCAT.org © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 38: 3.16 Electrical Specifications
(no altitude restriction), but at altitudes over 2,500m, current and power rating are reduced due t o thermal dissipation efficiency. 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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 39: Motor Outputs (A/A+, B/A-, C/B+, Cr/B-)
Logic “LOW”, means High-Z µA Minimum pulse width µs ESD protection Human body model ±15 The digital inputs are software selectable as PNP or NPN The digital outputs are software selectable as PNP or NPN © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 40: Digital Outputs (Out0)
0.5÷4.5 Absolute maximum values, continuous Input voltage † Absolute maximum, surge (duration 1s) Input voltage 0…+5V Input current Interpolation Resolution Depending on software settings bits Frequency ESD protection Human body model ±1 © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 41: Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)
For full RS-422 compliance, 120Ω termination resistors must be connected across the differential pairs using DIN switch SW2. See Figure 19. Feedback#1 – Differential Incremental Encoder connection for more details. Encoder #2 differential input pins have internal 120Ω termination resistors connected across “FS” stands for “Full Scale” © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 42: Analog +/- 10V Input ( Ref)
Hardware: by H/W pins (SW1) (CANopen); Node addressing 1-127 & 255 (TMLCAN) Software 1 ÷ 127 (CANopen); 1- 255 (TMLCAN) Voltage, CAN-Hi or CAN-Lo to GND ESD protection Human body model ±15 “FS” stands for “Full Scale” © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 43: Ethercat Ports J21 And J22 (For Cat Drives)
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 2025 iPOS481x XZ-CAT/-CAN Technical Reference... -
Page 44: 3.17 Derating Curves
10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 PWM Frequency [KHz] Ambient Temperature [ºC] iPOS4815 – Current de-rating with iPOS4815 – Current de-rating with PWM frequency ambient temperature © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference... - Page 45 4.00 2.00 0.00 1000 2000 3000 4000 5000 6000 7000 1000 2000 3000 4000 5000 6000 7000 Altitude [m] Altitude [m] iPOS4810 – De-rating with the altitude iPOS4815 – De-rating with the altitude © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference...
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Page 46: Memory Map
2000h ROM memory for: TML programs Cam tables Setup information 7FFFh 8000h Reserved BFFFh Data acquisitions C000h cam tables at runtime SRAM memory TML Programs FFFFh Figure 42. iPOS481x XZ Memory Map © Technosoft 2025 iPOS481x XZ-CAT/-CAN Technical Reference...
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