Technosoft iPOS360x MX Use and care manual

© Technosoft 2023 - 1 - IO-iPOS360x Technical Reference
IO
iPOS360x
v.11A
I/O Board for
iPOS360x CAN/CAT
Intelligent
Servo Drives
Technical
Reference
©Technosoft 2023 P091.084.IO-iPOS360x.UM.0623

© Technosoft 2023 - 2 - IO-iPOS360x Technical Reference
1. 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. Any and all such liability
is disclaimed.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any form or
by any means, electrical or mechanical including photocopying, recording or by any information-
retrieval system without permission in writing from Technosoft S.A.
The information in this document is subject to change without notice.
About This Manual
This book is a technical reference manual for the iPOS360x VX-CAN/CAT extension boards version
11A that are included in the iPOS360x intelligent servo drives Starter Kits.
The IO iPOS360x extension board can be one of the following products:
iPOS360x VX-CAN IO
p/n P028.002.E880
For drives with CAN.
iPOS360x VX-CAT IO
p/n P028.002.E890
For drives with EtherCAT.
Paragraph 3.3 shows how to quickly identify the IO-iPOS360x version. If your IO-iPOS360x is
an older version, you can find the appropriate manual on the Technosoft web page.
Notational Conventions
This document uses the following conventions:
iPOS360x –any iPOS3602 or iPOS3604 drive that can be connected to this I/O extension
iPOS360x VX-CAN –iPOS3602 VX-CAN and iPOS3604 VX-CAN drives with CAN
iPOS360x VX-CAT –iPOS3602 VX-CAT and iPOS3604 VX-CAT drives with EtherCAT.
Require presence of the EtherCAT interface card.
TML –Technosoft Motion Language
Related Documentation
iPOS360x VX Technical Reference (part no. P091.028.iPOS360x.VX.UM.xxxx) –
describes the hardware installation of the iPOS360x VX family of intelligent servo drives
including the technical data, the connectors and the wiring diagrams needed for
installation and an overview of the setup steps and motion programming options
iPOS360x MX Technical Reference (part no. P091.028.iPOS360x.MX.UM.xxxx) –
describes the hardware installation of the iPOS360x MX family of intelligent servo drives
including the technical data, the connectors and the wiring diagrams needed for
installation and an overview of the setup steps and motion programming options
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. At power-on, the drive is initialized with the setup data read from its EEPROM. With
EasySetUp it is also possible to retrieve the complete setup information from a drive
previously programmed. EasySetUp includes a firmware programmer with allows you to
update your drive firmware to the latest revision. EasySetUp can be downloaded free
of charge from Technosoft web page
Motion Programming using EasyMotion Studio (part no. P091.034.ESM.UM.xxxx) –
describes how to use the EasyMotion Studio to create motion programs using in
Technosoft Motion Language (TML). EasyMotion Studio platform includes EasySetUp
for the drive/motor setup, and a Motion Wizard for the motion programming. The Motion
Wizard provides a simple, graphical way of creating motion programs and automatically

© Technosoft 2023 - 3 - IO-iPOS360x Technical Reference
generates all the TML instructions. With EasyMotion Studio you can fully benefit from a
key advantage of Technosoft drives –their capability to execute complex motions
without requiring an external motion controller, thanks to their built-in motion controller.
A demo version of EasyMotion Studio (with EasySetUp part fully functional) can
be downloaded free of charge from Technosoft web page
iPOS CANopen Programming (part no. P091.063.iPOS.UM.xxxx) –explains how to
program the iPOS drives using CANopen protocol and describes the associated object
dictionaries for the supported profiles
CANopen over EtherCAT Programming (part no. P091.064.UM.xxxx) –explains how to
program the Technosoft intelligent drives using CoE protocol and describes the
associated object dictionary.
TML_LIB v2.0 (part no. P091.040.v20.UM.xxxx) –explains how to program in C, C++,C#,
Visual Basic or Delphi Pascal a motion application for the Technosoft intelligent drives
using TML_LIB v2.0 motion control library for PCs. The TML_lib includes ready-to-run
examples that can be executed on Windows or Linux (x86 and x64).
TML_LIB_LabVIEW v2.0 (part no. P091.040.LABVIEW.v20.UM.xxxx) –explains how to
program in LabVIEW a motion application for the Technosoft intelligent drives using
TML_LIB_Labview v2.0 motion control library for PCs. The TML_Lib_LabVIEW includes
over 40 ready-to-run examples.
TML_LIB_S7 (part no. P091.040.S7.UM.xxxx) –explains how to program in a PLC Siemens
series S7-300 or S7-400 a motion application for the Technosoft intelligent drives using
TML_LIB_S7 motion control library. The TML_LIB_S7 library is IEC61131-3
compatible.
TML_LIB_CJ1 (part no. P091.040.CJ1.UM.xxxx) –explains how to program in a PLC
Omron series CJ1 a motion application for the Technosoft intelligent drives using
TML_LIB_CJ1 motion control library for PCs. The TML_LIB_CJ1 library is IEC61131-3
compatible.
TML_LIB_X20 (part no. P091.040.X20.UM.xxxx) –explains how to program in a B&R PLC
series X20 a motion application for the Technosoft intelligent drives using TML_LIB_X20
motion control library for PCs. The TML_LIB_X20 library is IEC61131-3 compatible
TechnoCAN (part no. P091.063.TechnoCAN.UM.xxxx) –presents TechnoCAN protocol –
an extension of the CANopen communication profile used for TML commands
If you Need Assistance …
If you want to …
Contact Technosoft at …
Visit Technosoft online
World Wide Web: http://www.technosoftmotion.com/
Receive general information
or assistance (see Note)
Ask questions about product
operation or report suspected
problems (see Note)
Make suggestions about,
or report errors in documentation.
World Wide Web: http://www.technosoftmotion.com/
Email: [email protected]
Tel: [phone]
Email: [email protected]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000 Neuchatel, NE
Switzerland

© Technosoft 2023 - 4 - IO-iPOS360x Technical Reference
Contents
1. Read This First .......................................................................................- 2 -
2. Safety information......................................................................................5
2.1. Warnings ..................................................................................................... 5
2.2. Cautions ...................................................................................................... 5
3. Product Overview.......................................................................................6
3.1. Introduction.................................................................................................. 6
3.2. Key Features ............................................................................................... 6
IO-iPOS360x Board Dimensions............................................................................. 7
3.3. IO-iPOS360x Board Version Identification .................................................. 8
4. Hardware Installation .................................................................................9
4.1. Mounting the iPOS360x VX board............................................................... 9
4.2. Mounting the iPOS360x MX board .............................................................. 9
4.3. Mounting the EtherCAT interface module ................................................. 10
4.4. Connectors ................................................................................................ 11
4.4.1. Connectors Layout........................................................................................... 11
4.4.2. J4 and J5 –CAN connectors ........................................................................... 11
4.4.3. J6 –Analog inputs connector........................................................................... 12
4.4.4. J7 –Digital I/O connector................................................................................. 12
4.4.5. J8 –Linear Hall, single-ended encoder and differential encoder connector...... 13
4.4.6. J9 –Motor supply and digital hall connector .................................................... 13
4.4.7. J11 –USB connector....................................................................................... 14
4.4.8. J12 –Power supply connector ......................................................................... 14
4.4.9. J13 and J14 –EtherCAT connectors ............................................................... 14
4.5. Jumper Settings ........................................................................................ 14
4.6. Axis ID Selection and CAN Protocol for iPOS360x VX-CAN drives .......... 16
4.7. Axis ID Selection for iPOX360x VX-CAT drives with EtherCAT protocol... 21
4.8. Installing and configuring the USB drivers................................................. 22
4.8.1. Installing the USB drivers................................................................................. 22
4.8.2. USB driver configuration .................................................................................. 23
4.9. First Power Up........................................................................................... 25
Appendix 1: IO-iPOS360x schematics............................................................. 26
Appendix 2: iPOS360x VX Plug-in Connector Pins ........................................27
J1 Connector pinout (A Side) ................................................................................ 27
J1 Connector pinout (B side)................................................................................. 28

© Technosoft 2023 5 IO-iPOS360x Technical Reference
2. Safety information
Read carefully the information presented in this chapter before carrying out the drive
installation and setup! It is imperative to implement the safety instructions listed hereunder.
This information is intended to protect you, the drive and the accompanying equipment during the
product operation. Incorrect handling of the drive can lead to personal injury or material damage.
Only qualified personnel may install, setup, operate and maintain the drive. A “qualified person” has
the knowledge and authorization to perform tasks such as transporting, assembling, installing,
commissioning and operating drives.
The following safety symbols are used in this manual:
WARNING!
SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE
BODILY INJURY. MAY INCLUDE INSTRUCTIONS TO PREVENT
THIS SITUATION
CAUTION!
SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE
THE PRODUCT OR OTHER EQUIPMENT. MAY INCLUDE
INSTRUCTIONS TO AVOID THIS SITUATION
CAUTION!
INDICATES AREAS SENSITIVE TO ELECTROSTATIC
DISCHARGES (ESD) WHICH REQUIRE HANDLING IN AN ESD
PROTECTED ENVIRONMENT
2.1. Warnings
WARNING!
THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE ELECTRICAL
SHOCKS. DO NOT TOUCH LIVE PARTS WHILE THE POWER
SUPPLIES ARE ON
WARNING!
TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER CONNECT
/ DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER
SUPPLIES ARE ON
WARNING!
THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION.
WARNING!
DURING DRIVE OPERATION, THE CONTROLLED MOTOR WILL
MOVE. KEEP AWAY FROM ALL MOVING PARTS TO AVOID
INJURY
2.2. Cautions
CAUTION!
THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST
COMPLY WITH THE PARAMETERS SPECIFIED IN THIS
DOCUMENT
CAUTION!
TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY
FOR PERSONNEL AUTHORISED BY TECHNOSOFT
CAUTION!
ALWAYS REMOVE THE JUMPERS: JP11, JP12, JP13, JP14, JP15,
JP16 WHEN THE ETHERCAT INTERFACE MODULE IS INSERTED

© Technosoft 2023 6 IO-iPOS360x Technical Reference
CAUTION!
THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE
COMPONENTS WHICH MAY BE DAMAGED BY INCORRECT
HANDLING. THEREFORE THE DRIVE SHALL BE REMOVED
FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED
ENVIRONMENT
To prevent electrostatic damage, avoid contact with insulating materials, such as synthetic fabrics or
plastic surfaces. In order to discharge static electricity build-up, place the drive on a grounded
conductive surface and also ground yourself.
3. Product Overview
3.1. Introduction
The IO-iPOS360x I/O extension board is an auxiliary module allowing rapid evaluation of the
iPOS360x VX-CAN/ MX-CAN and iPOS360x VX-CAT Intelligent Servo Drives.
On the IO-iPOS360x, the iPOS360x drives are connected to J1 connector. In case of iPOS360x VX-
CAT drives, an additional EtherCAT interface module is needed to be plugged into J3 connector.
The IO-iPOS360x offers the user an easy and direct access to the main signals available on the
iPOS360x connector like: USB, CAN or EtherCAT communication, motor and feedback connections,
digital I/Os and analogue inputs. The IO-iPOS360x can be used in many ways starting from basic
evaluation purposes up to complete implementation of motion control applications.
3.2. Key Features
•Motor supply: +9…. +36 VDC
•Logic supply: +7…. +36 VDC
•Direct access to the following iPOS360x I/O signals, via screw-terminals connectors:
•5 digital inputs, 5-36 V (compatible with NPN outputs):
o2 general –purpose inputs: IN0 and IN1
o2 limit switch inputs: IN2/LSP (positive) and IN3/LSN (negative)
oOne Enable input: IN4/Enable
•4 digital outputs, 5-36 V, 0.5 A (NPN open-collector/TTL pull-up):
o2 general-purpose outputs: OUT0 and OUT1
oOne Error output: OUT2/Error
oOne Ready output: OUT3/Ready
•2 analog inputs, 0-5 V,12-bit used to read:
oOne analogue Reference: REF
oOne analogue Feedback sensor: FBDK
o2 general-purpose analogue inputs
•Emulation of external inputs commutation via 4 push-buttons: connected to inputs: IN0,
IN2/LSP, IN3/LSN, IN4/Enable
•Emulation of external analogue reference command via potentiometer VR1
•USB type ‘B’ female connector for communication with the PC
•Two RJ10 connectors for CAN communication
•Two RJ45 connectors for EtherCAT communication1
•2x5 motor feedback connector accepting
oSingle-ended or RS-422 differential incremental digital encoder
o1Vpp differential Sine/cosine incremental encoder
oLinear Hall sensors
•HDB15 motor feedback connector
1Available only on the iPOS360x VX-CAT IO board. Usable only when the EtherCAT extension
module is present.

© Technosoft 2023 7 IO-iPOS360x Technical Reference
IO-iPOS360x Board Dimensions
Figure 0.1 presents the IO-iPOS360x board dimensions.
All dimensions are in mm.
105.62
107.60
64.9872.18
4.55
4.55
23.40
Figure 0.1. IO-iPOS360x board dimensions
Remark:
The iPOS360x VX-CAN IO (p/n P028.002.E880) does not have EtherCAT connectors. The dimension
107.60 mm does not apply on the CAN version.

© Technosoft 2023 8 IO-iPOS360x Technical Reference
3.3. IO-iPOS360x Board Version Identification
Figure 3.3.1 shows how to identify the IO-iPOS360x board version on its back side.
This manual refers to IO-iPOS360x version 11A. If your IO-iPOS360x version differs, please refer to
the appropriate IO-iPOS360x Technical Reference Manual, that can be freely downloaded from
Technosoft web page.
SJ1
Version No.
Figure 3.3.1. IO-iPOS360x board version identification
Remark:
The iPOS360x VX-CAN IO (p/n: 028.002.E880) does not have EtherCAT connectors.

© Technosoft 2023 9 IO-iPOS360x Technical Reference
4. Hardware Installation
4.1. Mounting the iPOS360x VX board
Push the iPOS360x VX drive into IO-iPOS360x board J1 connector until the retainer enters in the
fixing hole of the drive.
iPOS360x VX
I/O Board
P028.002.E890 rev.11A
Figure 4.1.1 Installing an iPOS360x VX drive in the IO-iPOS360x
4.2. Mounting the iPOS360x MX board
For the iPOS360x MX drives, first plug the drive into the MX to VX adapter (p/n P028.101.E101), then
press the assembly into the IO iPOS360x J1 connector until the retainer enters the fixing hole of the
adapter.
MX to VX Adapter Card
P028.101.E101
I/O Board
P028.002.E890 rev.11A
iPOS360x MX
Figure 4.2.1 Installing an iPOS360x MX drive in the IO-iPOS360xusing the MX to VX adapter

© Technosoft 2023 10 IO-iPOS360x Technical Reference
4.3. Mounting the EtherCAT interface module1
Insert the EtherCAT interface into J3 board connector.
EtherCAT
Interface Module
I/O Board
P028.002.E890 rev.11A
Figure 4.3.1 Installing an EtherCAT interface module in the IO iPOS360x VX-CAT
1Available only on the iPOS360x VX-CAT board

© Technosoft 2023 11 IO-iPOS360x Technical Reference
4.4. Connectors
4.4.1. Connectors Layout
The Figure 3.2.1. shows the top view of the IO iPOS360x VX Extension Board.
Figure 4.4.1. Top view of the iPOS360x VX-CAT/CAN extension board
Remark:
Pin1 on any connector is represented by a black square.
*The EtherCAT connectors are present only on the iPOS360x VX-CAT IO board.
CAUTION!
BEFORE CONNECTING / DISCONNECTING ANY OF THE
SIGNALS TURN OFF ALL POWER SUPPLIES!
4.4.2. J4 and J5 –CAN connectors
Pin
Pin name
Type
Function
1
CAN_V+
I
+24 VDC isolated supply input
2
CAN-Hi
I/O
CAN-Bus positive line (positive during dominant bit)
3
CAN-Lo
I/O
CAN-Bus negative line (negative during dominant bit)
4
GND
-
Ground
iPOS360x
connector
Motor and digital
Hall connector
Push
buttons
Power
LED
Reference
potentiometer
0…5V
EtherCAT
Connectors*
USB
connector
Encoder and
linear Halls
feedback
connector
Supply
connector
Digital I/O
Analogue
Inputs
connector
CAN
connectors
EtherCAT
LEDs*
EtherCAT
interface card
connector*
Feedback
extension
connector

© Technosoft 2023 12 IO-iPOS360x Technical Reference
Remarks:
1. Put JP1 jumper to add a 120Ω terminal resistor in your CAN network. Leave JP1 open if the CAN
network already has terminal resistors.
2. Put JP2 jumper to connect the IOiPOS360x logic supply +VLOG to CAN_V+. Leave JP2 open if the
CAN network has a separate supply connected to CAN_V+.
4.4.3. J6 –Analog inputs connector
Pin
Pin name
Type
Function
1
GND
-
Ground
2
R05
I
External reference signal (mono-polar 0 to +5 V ). See
JP19 jumper selection for additional details.
3
R10
I
External reference signal (bipolar -10 V to +10 V ). See
JP19 jumper selection for additional details.
4
+5V
O
+5 VOUT output supply (generated by iPOS360x drive)
5
IN1
I
General-purpose digital input IN1
6
F10
I
External feedback signal (bipolar -10 V to +10 V)
7
F05
I
External feedback signal (mono-polar 0 to +5 V)
8
GND
-
Ground
4.4.4. J7 –Digital I/O connector
Pin
Pin name
Type
Function
1
GND
-
Ground
2
ENA
I
Drive enable digital input IN4/Enable
3
LSP
I
Positive limit switch digital input IN2/LSP
4
LSN
I
Negative limit switch digital input IN3/LSN
5
IN0
I
General-purpose digital input IN0
6
IN1
I
General-purpose digital input IN11
7
+24
O
Logical supply
8
OUT1
O
General-purpose digital output OUT1
9
OUT0
O
General-purpose/ digital output OUT0
10
ERR
O
Drive error digital output OUT2/Error
11
Ready
O
Drive ready digital output OUT3/Ready
12
GND
-
Ground
1Also available at J6 pin 5.

© Technosoft 2023 13 IO-iPOS360x Technical Reference
4.4.5. J8 –Linear Hall, single-ended encoder and differential encoder connector
Pin
Pin name
Type
Function
1
GND
-
Ground
2
+5VOUT
O
+5 VOUT output supply (generated by iPOS360x drive)
3
GND
-
Ground for AvagoTech Option (solder SJ1)
4
+5VOUT
O
+5 VOUT output supply (generated by iPOS360x drive)
5
A-/Sin-/LH1
I
Incremental encoder A- differential input, or analogue
encoder Sin- differential input, or linear Hall 1 input
6
A/A+/Sin+
I
Incremental encoder A single-ended, or A+ differential
input, or analogue encoder Sin+ differential input
7
B-/Cos-
/LH2
I
Incremental encoder B- differential input, or analogue
encoder Cos- differential input, or linear Hall 2 input
8
B/B+/Cos+
I
Incremental encoder B single-ended, or B+ differential
input, or analogue encoder Cos+ differential input
9
Z-/LH3
I
Incremental encoder Z- (index) differential input, or linear
Hall 3 input
10
Z/Z+
I
Incremental encoder Z (index) single-ended, or Z+
differential input
Remark:
For direct connection of AvagoTech HEDL encoders, you need to connect pin 3 to GND.
4.4.6. J9 –Motor supply and digital hall connector
Pin
Pin name
Type
Function
1
A
O
Phase A for 3-phase motors
Phase A+ for 2-phase steppers
Motor+ for DC brushed motors
2
B
O
Phase B for 3-phase motors
Phase A- for 2-phase steppers
Motor- for DC brushed motors
3
C
O
Phase C for 3-phase motors
Phase B+ for 2-phase steppers
4
D
O
External brake resistor
Phase B- for 2-phase steppers
5
GND
-
Ground
6
+5ViPOS
O
+5 VOUT output supply (generated by iPOS360x drive)
7
Hall1
I
Hall 1 digital sensor input
8
HALL2
I
Hall 2 digital sensor input
9
HALL3
I
Hall 3 digital sensor input
10
GND
-
Ground

© Technosoft 2023 14 IO-iPOS360x Technical Reference
4.4.7. J11 –USB connector
J11 is a standard USB B connector, used for communication between the iPOS and PC.
A USB A - B cable type is required.
4.4.8. J12 –Power supply connector
Pin
Pin name
Type
Function
1
LOG
I
Positive terminal of the logic supply +VLOG: +7 to +36VDC
2
GND
-
Ground
3
GND
-
Ground
4
MOT
I
Positive terminal of the motor supply +VMOT:+9 to +36VDC
4.4.9. J13 and J14 –EtherCAT connectors1
J13 and J14 are standard RJ45 Ethernet connectors, compatible with IEEE802.3 100BASE-T
(100Mbit/s). Accepts STP/UTP wiring.
4.5. Jumper Settings
Jumper
Name
Jumper Function
Option
Result
JP1
CAN termination
02
Do not connect a CAN terminator
1
Connect a CAN terminator (120 Ω resistor)
JP2
CAN supply
0
Do not connect CAN Supply to +VLOG
1
Connect CAN Supply to +VLOG
JP3
AutoRun
0
Enable AutoRun (normal operation)
1
Disable AutoRun
JP4
EncA/Sin
termination
0
Don’t connect a 120 Ω resistor between A+/Sin+ and
A-/Sin-
1
Connect a 120 Ω resistor between A+/Sin+ and A-/Sin-
JP5
EncB/Cos
termination
0
Don`t connect a 120 Ω resistor between B+/Cos+ and
B-/Cos-
1
Connect a 120 Ω resistor between B+/Cos+ and B-
/Cos-
JP6
EncZ termination
0
Don`t connect a 120 Ω resistor between Z+ and Z-
1
Connect a 120 Ω resistor between Z+ and Z-
JP7
Sine+
0
reserved
1
Sin+ is 1 Vpp and goes from J10 to iPOS360x
JP8
Sine-
0
reserved
1The EtherCAT connectors are available only on the iPOS360x VX-CAT (p/n P028.002.E890) board
20 = Jumper OFF, 1 = Jumper ON

© Technosoft 2023 15 IO-iPOS360x Technical Reference
1
Sin- is 1 Vpp and goes from J10 to iPOS360x
JP9
Cosine+
0
reserved
1
Cos+ is 1 Vpp and goes from J10 to iPOS360x
JP10
Cosine-
0
reserved
1
Cos- is 1 Vpp and goes from J10 to iPOS360x
JP11
AxisID0_MSB
1-2
Connect AxisID0 input to +5 VDC
2-3
Connect AxisID0 input to GND
OFF
Leave input unconnected
JP12
AxisID0_LSB
1-2
Don’t connect a pull-up/pull-down resistor to AxisID0
2-3
Connect a pull-up/pull-down 4.7K Ω resistor
(depending on jumper 3) to AxisID0
OFF
Connect a pull-up/pull-down 22K Ω resistor (depending
on jumper 3) to AxisID0
JP13
AxisID1_MSB
1-2
Connect AxisID1 input to +5 VDC
2-3
Connect AxisID1 to GND
OFF
Leave input unconnected
JP14
AxisID1_LSB
1-2
Don’t connect a pull-up/pull-down resistor to AxisID1
2-3
Connect a pull-up/pull-down 4.7K Ω resistor
(depending on jumper 9) to AxisID1
OFF
Connect a pull-up/pull-down 22K Ω resistor (depending
on jumper 9) to AxisID1
JP15
AxisID2_MSB
1-2
Connect AxisID2 to +5 VDC
2-3
Connect AxisID2 to GND
OFF
Leave input unconnected
JP16
AxisID2_LSB
1-2
Don’t connect a pull-up/pull-down resistor to AxisID2
2-3
Connect a pull-up/pull-down 4.7K Ω resistor
(depending on jumper 13) to AxisID2
OFF
Connect a pull-up/pull-down 22K Ω resistor (depending
on jumper 13) to AxisID2
JP17
Ref. 5/10
1-2
Select 0…+5 V Reference
2-3
Select -10…+10 V Reference
JP18
Ref. Int/Ext
1-2
Select Internal Reference
2-3
Select External Reference
JP19
Fdbk. 5/10
1-2
Select 0…+5 V Feedback
2-3
Select -10…+10 V Feedback
JP20
Reserved
-
-
Remark:
Remove the jumpers: JP11, JP12, JP13, JP14, JP15, JP16 when using the EtherCAT Interface
Module.

© Technosoft 2023 16 IO-iPOS360x Technical Reference
4.6. Axis ID Selection and CAN Protocol for iPOS360x VX-CAN drives
The iPOS360x VX-CAN drives use 3 analogue inputs named AxisID0, AxisID1 and AxisID2 inputs to
select the CAN protocol: CANopen or Technosoft TMLCAN and the drive address or axis ID. The
iPOS360x VX-CAN drive can detect up to 7 different voltage levels on these 3 inputs. On the IO
iPOS360x VX-CAN module the 7 voltage levels can be selected via the jumpers: JP11-JP16 . Each
AxisID input has 2 jumpers associated. A 3-pin jumper (JP11 / JP13 / JP15) is used to connect the
input to GND (position 2-3), +5 VDC (position 1-2) or leave unconnected (OFF). Another 3-pin jumper
(JP12 / JP14 / JP16) is used to select how to do the connection: directly (position 1-2), via a pull-up /
pull-down resistor 4.7K Ω(position 2-3) or 22K resistor when left unconnected (OFF). The 7 levels
can be obtained using the following jumper positions:
Table 4.1 Jumper setting for the seven voltage levels of AxisID0
Level
Connection needed
JP12
JP11
L0
Connect input directly to ground
1-2
2-3
L1
Connect input through a 4.7 KΩresistor to ground
2-3
2-3
L2
Connected input through a 22 KΩ resistor to ground
OFF
2-3
L3
Nothing connected –leave input open
-
OFF
L4
Connect input through a 22 KΩ resistor to +5 VDC
OFF
1-2
L5
Connect input through a 4.7 Kohm resistor to +5 VDC
2-3
1-2
L6
Connect input directly to +5 V
1-2
1-2
Table 4.2 Jumper setting for the seven voltage levels of AxisID1
Level
Connection needed
JP14
JP13
L0
Connect input directly to ground
1-2
2-3
L1
Connect input through a 4.7 KΩresistor to ground
2-3
2-3
L2
Connected input through a 22 KΩ resistor to ground
OFF
2-3
L3
Nothing connected –leave input open
-
OFF
L4
Connect input through a 22 KΩ resistor to +5 VDC
OFF
1-2
L5
Connect input through a 4.7 Kohm resistor to +5 VDC
2-3
1-2
L6
Connect input directly to +5 V
1-2
1-2
Table 4.3 Jumper setting for the seven voltage levels of AxisID2
Level
Connection needed
JP16
JP15
L0
Connect input directly to ground
1-2
2-3
L1
Connect input through a 4.7 KΩresistor to ground
2-3
2-3
L2
Connected input through a 22 KΩ resistor to ground
OFF
2-3
L3
Nothing connected –leave input open
-
OFF
L4
Connect input through a 22 KΩ resistor to +5 VDC
OFF
1-2
L5
Connect input through a 4.7 Kohm resistor to +5 VDC
2-3
1-2
L6
Connect input directly to +5 V
1-2
1-2
Table 4.4. Axis ID setting in CANopen mode

© Technosoft 2023 17 IO-iPOS360x Technical Reference
The CAN protocol selection is done via AxisID2:
•CANopen mode, if the input levels are: L0, L1 or L2
•TMLCAN mode, if the input levels are L3, L4, L5, L6
Remark: In CANopen mode, if the AxisID is set to 255, the drive remains “non-configured” waiting for
a CANopen master to configure it using CiA-305 protocol. A “non-configured” drive answers only to
CiA-305 commands. All other CANopen commands are ignored and transmission of all
other messages (including boot-up) is disabled until the drive is configured with a new AxisID.
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID CANopen
L0
L0
L0
127
L0
L0
L1
1
L0
L0
L2
2
L0
L0
L3
3
L0
L0
L4
4
L0
L0
L5
5
L0
L0
L6
6
L0
L1
L0
7
L0
L1
L1
8
L0
L1
L2
9
L0
L1
L3
10
L0
L1
L4
11
L0
L1
L5
12
L0
L1
L6
13
L0
L2
L0
14
L0
L2
L1
15
L0
L2
L2
16
L0
L2
L3
17
L0
L2
L4
18
L0
L2
L5
19
L0
L2
L6
20
L0
L3
L0
21
L0
L3
L1
22
L0
L3
L2
23
L0
L3
L3
24
L0
L3
L4
25
L0
L3
L5
26
L0
L3
L6
27
L0
L4
L0
28
L0
L4
L1
29
L0
L4
L2
30
L0
L4
L3
31
L0
L4
L4
32
L0
L4
L5
33
L0
L4
L6
34
L0
L5
L0
35
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID CANopen
L0
L5
L1
36
L0
L5
L2
37
L0
L5
L3
38
L0
L5
L4
39
L0
L5
L5
40
L0
L5
L6
41
L0
L6
L0
42
L0
L6
L1
43
L0
L6
L2
44
L0
L6
L3
45
L0
L6
L4
46
L0
L6
L5
47
L0
L6
L6
48
L1
L0
L0
49
L1
L0
L1
50
L1
L0
L2
51
L1
L0
L3
52
L1
L0
L4
53
L1
L0
L5
54
L1
L0
L6
55
L1
L1
L0
56
L1
L1
L1
57
L1
L1
L2
58
L1
L1
L3
59
L1
L1
L4
60
L1
L1
L5
61
L1
L1
L6
62
L1
L2
L0
63
L1
L2
L1
64
L1
L2
L2
65
L1
L2
L3
66
L1
L2
L4
67
L1
L2
L5
68
L1
L2
L6
69
L1
L3
L0
70
L1
L3
L1
71

©Technosoft 2013 18 iPOS360x VX Technical Reference
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID CANopen
L1
L3
L2
72
L1
L3
L3
73
L1
L3
L4
74
L1
L3
L5
75
L1
L3
L6
76
L1
L4
L0
77
L1
L4
L1
78
L1
L4
L2
79
L1
L4
L3
80
L1
L4
L4
81
L1
L4
L5
82
L1
L4
L6
83
L1
L5
L0
84
L1
L5
L1
85
L1
L5
L2
86
L1
L5
L3
87
L1
L5
L4
88
L1
L5
L5
89
L1
L5
L6
90
L1
L6
L0
91
L1
L6
L1
92
L1
L6
L2
93
L1
L6
L3
94
L1
L6
L4
95
L1
L6
L5
96
L1
L6
L6
97
L2
L0
L0
98
L2
L0
L1
99
L2
L0
L2
100
L2
L0
L3
101
L2
L0
L4
102
L2
L0
L5
103
L2
L0
L6
104
L2
L1
L0
105
L2
L1
L1
106
L2
L1
L2
107
L2
L1
L3
108
L2
L1
L4
109
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID CANopen
L2
L1
L5
110
L2
L1
L6
111
L2
L2
L0
112
L2
L2
L1
113
L2
L2
L2
114
L2
L2
L3
115
L2
L2
L4
116
L2
L2
L5
117
L2
L2
L6
118
L2
L3
L0
119
L2
L3
L1
120
L2
L3
L2
121
L2
L3
L3
122
L2
L3
L4
123
L2
L3
L5
124
L2
L3
L6
125
L2
L4
L0
126
L2
L4
L1
255
L2
L4
L2
255
L2
L4
L3
255
L2
L4
L4
255
L2
L4
L5
255
L2
L4
L6
255
L2
L5
L0
255
L2
L5
L1
255
L2
L5
L2
255
L2
L5
L3
255
L2
L5
L4
255
L2
L5
L5
255
L2
L5
L6
255
L2
L6
L0
255
L2
L6
L1
255
L2
L6
L2
255
L2
L6
L3
255
L2
L6
L4
255
L2
L6
L5
255
L2
L6
L6
255

©Technosoft 2023 19 iPOS360x VX Technical Reference
Table 4.5. Axis ID setting in TMLCAN mode
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID
TMLCAN
L3
L0
L0
255
L3
L0
L1
1
L3
L0
L2
2
L3
L0
L3
3
L3
L0
L4
4
L3
L0
L5
5
L3
L0
L6
6
L3
L1
L0
7
L3
L1
L1
8
L3
L1
L2
9
L3
L1
L3
10
L3
L1
L4
11
L3
L1
L5
12
L3
L1
L6
13
L3
L2
L0
14
L3
L2
L1
15
L3
L2
L2
16
L3
L2
L3
17
L3
L2
L4
18
L3
L2
L5
19
L3
L2
L6
20
L3
L3
L0
21
L3
L3
L1
22
L3
L3
L2
23
L3
L3
L3
24
L3
L3
L4
25
L3
L3
L5
26
L3
L3
L6
27
L3
L4
L0
28
L3
L4
L1
29
L3
L4
L2
30
L3
L4
L3
31
L3
L4
L4
32
L3
L4
L5
33
L3
L4
L6
34
L3
L5
L0
35
L3
L5
L1
36
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID
TMLCAN
L3
L5
L2
37
L3
L5
L3
38
L3
L5
L4
39
L3
L5
L5
40
L3
L5
L6
41
L3
L6
L0
42
L3
L6
L1
43
L3
L6
L2
44
L3
L6
L3
45
L3
L6
L4
46
L3
L6
L5
47
L3
L6
L6
48
L4
L0
L0
49
L4
L0
L1
50
L4
L0
L2
51
L4
L0
L3
52
L4
L0
L4
53
L4
L0
L5
54
L4
L0
L6
55
L4
L1
L0
56
L4
L1
L1
57
L4
L1
L2
58
L4
L1
L3
59
L4
L1
L4
60
L4
L1
L5
61
L4
L1
L6
62
L4
L2
L0
63
L4
L2
L1
64
L4
L2
L2
65
L4
L2
L3
66
L4
L2
L4
67
L4
L2
L5
68
L4
L2
L6
69
L4
L3
L0
70
L4
L3
L1
71
L4
L3
L2
72
L4
L3
L3
73

©Technosoft 2023 20 iPOS360x VX Technical Reference
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID
TMLCAN
L4
L3
L4
74
L4
L3
L5
75
L4
L3
L6
76
L4
L4
L0
77
L4
L4
L1
78
L4
L4
L2
79
L4
L4
L3
80
L4
L4
L4
81
L4
L4
L5
82
L4
L4
L6
83
L4
L5
L0
84
L4
L5
L1
85
L4
L5
L2
86
L4
L5
L3
87
L4
L5
L4
88
L4
L5
L5
89
L4
L5
L6
90
L4
L6
L0
91
L4
L6
L1
92
L4
L6
L2
93
L4
L6
L3
94
L4
L6
L4
95
L4
L6
L5
96
L4
L6
L6
97
L5
L0
L0
98
L5
L0
L1
99
L5
L0
L2
100
L5
L0
L3
101
L5
L0
L4
102
L5
L0
L5
103
L5
L0
L6
104
L5
L1
L0
105
L5
L1
L1
106
L5
L1
L2
107
L5
L1
L3
108
L5
L1
L4
109
L5
L1
L5
110
L5
L1
L6
111
L5
L2
L0
112
Axis
ID 2
Axis
ID 1
Axis
ID 0
ID
TMLCAN
L5
L2
L1
113
L5
L2
L2
114
L5
L2
L3
115
L5
L2
L4
116
L5
L2
L5
117
L5
L2
L6
118
L5
L3
L0
119
L5
L3
L1
120
L5
L3
L2
121
L5
L3
L3
122
L5
L3
L4
123
L5
L3
L5
124
L5
L3
L6
125
L5
L4
L0
126
L5
L4
L1
127
L5
L4
L2
128
L5
L4
L3
129
L5
L4
L4
130
L5
L4
L5
131
L5
L4
L6
132
L5
L5
L0
133
L5
L5
L1
134
L5
L5
L2
135
L5
L5
L3
136
L5
L5
L4
137
L5
L5
L5
138
L5
L5
L6
139
L5
L6
L0
140
L5
L6
L1
141
L5
L6
L2
142
L5
L6
L3
143
L5
L6
L4
144
L5
L6
L5
145
L5
L6
L6
146
L6
L0
L0
147
L6
L0
L1
148
L6
L0
L2
149
L6
L0
L3
150
L6
L0
L4
151