Technosoft iPOS4808MY Use and care manual

IO
iPOS4808MY
v0.1C
I/O Board for
iPOS4808 MY
Intelligent
Servo Drives
T
echnical
Reference
Technosoft 2016 P091.084.IO-iPOS4808MY.UM.0116

© Technosoft 2016 II IO-iPOS4808MY Technical Reference
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 IO-iPOS4808 MY extension boards version 0.1C
that are included in the iPOS4808MY intelligent servo drives starter kits.
The IO iPOS4808MY extension board is compatible with the following products:
iPOS4808 MY-CAN v20 p/n P027.414.E101 For drives with CAN
without STO inputs
iPOS4808 MY-CAN-STO p/n P027.314.E111 or
P027.324.E111
For drives with CAN and
STO inputs
iPOS4808 MY-CAT-STO p/n P027.314.E121 For drives with EtherCAT
and STO inputs
Paragraph 2.4 shows how to quickly identity the IO-iPOS4808MY version. If your IO-iPOS4808MY is
an older version, you can find the appropriate manual on the Technosoft web page.
Notational Conventions
This document uses the following conventions:
iPOS4808 – any iPOS4808 MY-CAN or CAT drive that can be connected to this I/O board
TML – Technosoft Motion Language
Related Documentation
iPOS4808 MY Technical Reference (
part no. P027.414.E101.iPOS4808.MY-CAN.DSH
P027.314.E111.iPOS4808.MY-CAN-STO.DSH
P027.314.E121.iPOS4808.MY-CAT-STO.DSH )
– describes the hardware connections of the iPOS4808 MY family of intelligent servo drives
including the technical data and connectors.
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 generates all the TML

© Technosoft 2016 III IO-iPOS4808MY Technical Reference
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.
CAN application layer 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: [e-mail]
Fax: [phone]
Email: [e-mail]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000 Neuchatel, NE
Switzerland

© Technosoft 2016 IV IO-iPOS4808MY Technical Reference
Contents
Read This First...................................................................................................... II
About This Manual ........................................................................................................ II
Notational Conventions ................................................................................................. II
Related Documentation................................................................................................. II
If you Need Assistance …............................................................................................ III
Contents...............................................................................................................IV
1Safety information ........................................................................................... 6
1.1 Warnings .............................................................................................................. 6
1.2 Cautions............................................................................................................... 7
2Product Overview............................................................................................ 8
2.1 Introduction .......................................................................................................... 8
2.2 Key Features........................................................................................................ 8
2.3 IO-iPOS4808MY Board Dimensions .................................................................... 9
2.4 IO-iPOS4808MY Board Version Identification...................................................... 9
3Hardware Installation .................................................................................... 10
3.1 Mounting the iPOS4808 MY-CAx-STO .............................................................. 10
3.2 Mounting the iPOS4808 MY-CAN ...................................................................... 10
3.3 Connectors......................................................................................................... 11
3.3.1 Connectors Layout and Description ....................................................................... 11
3.3.2 J6 – Feedback#1 single ended and Digital hall connector...................................... 12
3.3.3 J7 – STO (Safe Torque Off) connector................................................................... 12
3.3.4 J8 – CAN connector............................................................................................... 12
3.3.5 J9 – Digital outputs connector................................................................................ 13
3.3.6 J10 – Digital outputs connector.............................................................................. 13
3.3.7 J11 – Supply I/O connector.................................................................................... 13
3.3.8 J12 – Digital inputs connector ................................................................................ 13
3.3.9 J13 – Digital inputs connector ................................................................................ 13
3.3.10 J14 – Analog inputs connector............................................................................ 13
3.3.11 J15 – Analog inputs connector............................................................................ 14
3.3.12 J16 – Feedback #2 connector (DB15) ................................................................ 14
3.3.13 J17 – Feedback #2 connector (2x5 pin) .............................................................. 14
3.3.14 J18 – Feedback #1 connector (DB15) ................................................................ 15
3.3.15 J19 – Feedback #1 connector (2x5 pin) .............................................................. 15
3.3.16 J20 – Power supply and motor connector ........................................................... 16
3.3.17 J21 and J22 – EtherCAT connectors .................................................................. 16
3.3.18 J23 – USB connector.......................................................................................... 16
3.3.19 J24 – RS232 connector ...................................................................................... 16
3.3.20 SS1 – Sliding Switch 1 – Axis ID selection.......................................................... 17
3.3.21 SS2 – Sliding Switch 2 – STO bypass ................................................................ 17

© Technosoft 2016 V IO-iPOS4808MY Technical Reference
3.4 Mating connectors.............................................................................................. 17
3.5 Jumper settings.................................................................................................. 17
3.6 Default jumper settings....................................................................................... 19
3.7 Axis ID and CAN Protocol selection for CAN drives........................................... 19
3.8 Axis ID Selection for iPOS4808 MY-CAT-STO drives with EtherCAT................ 19
3.9 Installing and configuring the USB drivers.......................................................... 20
3.9.1 Installing the USB drivers....................................................................................... 20
3.9.2 USB driver configuration ........................................................................................ 20
3.10 First Power Up ................................................................................................ 21
Appendix 1: IO-iPOS4808MY schematics........................................................... 22
Appendix 2: iPOS4808 MY Plug-in Connector Pin-out........................................ 23

Technosoft 2016 6 IO-iPOS4808MY Technical Reference
1 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
1.1 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 TH
E POWER
SUPPLIES ARE ON
WARNING! THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION.
WARNING! DURING DRIVE OPERATION, THE CONTROLLED M
OTOR WILL
MOVE. KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY

Technosoft 2016 7 IO-iPOS4808MY Technical Reference
1.2 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!
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.

Technosoft 2016 8 IO-iPOS4808MY Technical Reference
2 Product Overview
2.1 Introduction
The IO-iPOS4808MY extension board is an auxiliary module allowing rapid evaluation of the iPOS4808 MY-
CAN or iPOS4808 MY-CAT, Intelligent Servo Drives.
2.2 Key Features
•Motor supply: +11…. +50 VDC
•Logic supply: +9…. +36 VDC
•STO supply: +18…. +40 VDC (if available on the drive)
•Direct access to the following iPOS4808 I/O signals, via spring type terminals connectors:
•6 digital inputs, 12-36V (PNP or NPN):
o4 general – purpose inputs: IN0, IN1, IN4 and IN5
o2 limit switch inputs: IN2/LSP (positive) and IN3/LSN (negative)
•5 digital outputs, 5-36V, 0.5A (NPN open-collector/TTL pull-up):
o3 general-purpose outputs: OUT0, OUT1, OUT4
oOne Error output: OUT2/Error
oOne Ready output: OUT3/Ready
•2 analog inputs, 0-5V,12-bit used to read:
oOne analogue Reference: REF or general purpose
oOne analogue Feedback sensor: FBDK or general purpose
•Emulation of external PNP/NPN inputs commutation via 6 push-buttons connected to inputs:
IN0/home, IN1, IN2/LSP, IN3/LSN, IN4, IN5
•Emulation of external analogue command via potentiometer VR1, connectable to REF or FDBK
•USB B connector for communication with the PC
•One spring type terminal block connector for CAN communication
•One spring type terminal block connector for STO inputs (if available on the drive)
•Two RJ 45 for EtherCAT communication1
•Feedback #1 available connectors:
o2x5 pin shrouded header, 2.54mm pitch
oHDB15
o10 pin connector for pluggable terminal block with 2.5mm pin spacing
•Feedback #2 available connectors:
o2x5 pin shrouded header, 2.54mm pitch
oHDB15
1Usable only when the -CAT drive is present.

Technosoft 2016 9 IO-iPOS4808MY Technical Reference
2.3 IO-iPOS4808MY Board Dimensions
Figure 2.3.1 presents the IO-iPOS4808 board dimensions.
All dimensions are in mm.
Figure 2.3.1. IO-iPOS4808MY board dimensions
2.4 IO-iPOS4808MY Board Version Identification
Figure 2.4.1 shows how to identify the IO-iPOS4808MY board version.
This manual refers to IO-iPOS4808 version 0.1C.
Figure 2.4.1. IO-iPOS4808MY V0.1C board version identification

Technosoft 2016 10 IO-iPOS4808MY Technical Reference
3 Hardware Installation
3.1 Mounting the iPOS4808 MY-CAx-STO
Push down the iPOS4808 MY drive into the IO-iPOS4808MY board. J1,2,4,5 and 33 of the MY into J1,2,4,5
and 33 of the IO.
Figure 3.1.1 Installing an iPOS4808 MY-CAN/CAT-STO drive in the IO-iPOS4808MY
3.2 Mounting the iPOS4808 MY-CAN
Push down the iPOS4808 MY drive into the IO-iPOS4808MY board. J1,2,4,5 of the MY into J1,2,4,5 of the
IO.
Figure 3.2.1 Installing an iPOS4808 MY-CAN/CAT-STO drive in the IO-iPOS4808MY

Technosoft 2016 11 IO-iPOS4808MY Technical Reference
3.3 Connectors
3.3.1 Connectors Layout and Description
Figure 3.3.1. Top view of the IO-iPOS4808MY extension board
*IN5 is used as the Enable input if the drive does not have STO inputs

Technosoft 2016 12 IO-iPOS4808MY Technical Reference
3.3.2 J6 – Feedback#1 single ended and Digital hall connector
Pin Pin name Type Function
1 +5ViPOS O +5VOUT output supply (generated by iPOS drive)
2 HALL1 I Hall 1 digital sensor input
3 HALL2 I Hall 2 digital sensor input
4 HALL3 I Hall 3 digital sensor input
5 GND - Ground
6 GND - Ground
7 A1 I Incremental encoder A1 single-ended encoder
8 B1 I Incremental encoder B1 single-ended encoder
9 Z1 I Incremental encoder Z1 (index) single-ended
10 +5V iPOS O +5VOUT output supply (generated by iPOS drive)
Remarks: -Feedback#1 signals are also available at J18 and J19 connectors.
-When using pins 7,8,9, JP15,16,17 must be OFF
3.3.3 J7 – STO (Safe Torque Off) connector
Pin Pin name Type Function
1 STO1- I Safe Torque Off input 1, negative return
(opto-isolated, 0V)
Apply between both STO1+, STO2+ and STO1-,
STO2- 24V DC for motor PWM output operation
2 STO1+ I Safe Torque Off input 1, positive input
(opto-isolated, 18÷40V)
3 STO2+ I Safe Torque Off input 2, positive
input(opto-isolated, 18÷40V)
4 STO2- I Safe Torque Off input 2, negative return
(opto-isolated, 0V)
Remarks: - This connector is valid only for drives with STO inputs.
- The STO inputs can be bypassed using the SS2 sliding switch functions.
3.3.4 J8 – CAN connector
Pin Pin name Type Function
1 CAN_V+ O If JP2 = 1, +VLOG will be connected to this pin
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
Remarks:
1. Connect the JP3 jumper to add an 120Ω terminal resistor in your CAN network. Leave JP3 open if the
network already has terminal resistors.
2. Connect JP2 jumper to connect the IOiPOS4808MY logic supply +VLOG to CAN_V+. Leave open if the
network already has a separate supply connected to CAN_V+.

Technosoft 2016 13 IO-iPOS4808MY Technical Reference
3.3.5 J9 – Digital outputs connector
Pin Pin name Type Function
1 GND - Ground
2 OUT0 O General-purpose/ digital output OUT0
3 OUT1 O General-purpose/ digital output OUT1
3.3.6 J10 – Digital outputs connector
Pin Pin name Type Function
1 OUT2/ Error O Drive error digital output OUT2/Error
2 OUT3/ Ready O Drive ready digital output OUT3/Ready
3 OUT4 O General-purpose/ digital output OUT4
3.3.7 J11 – Supply I/O connector
Pin Pin name Type Function
1 +VLOG I/O Logic supply: +9 to +36VDC; Internally connected to all +VLOG pins
2 +12V In I External supply input. Internally connected to J16 pin 6.
3 GND - Ground
3.3.8 J12 – Digital inputs connector
Pin Pin name Type Function
1 GND - Ground
2 IN0 I General-purpose digital input IN0
3 IN1 I General-purpose digital input IN1
4 IN2/ LSP I Positive limit switch digital input IN2/LSP
3.3.9 J13 – Digital inputs connector
Pin Pin name Type Function
1 LSN I Negative limit switch digital input IN3/LSN
2 IN4 I General-purpose digital input IN4
3 IN5/ ENA I Drive enable digital input IN5. If the drive does not have STO inputs, the pin is used
as Drive Enable
4 +VLOG I/O Logic supply: +9 to +36VDC; Internally connected to all +VLOG pins
3.3.10 J14 – Analog inputs connector
Pin Pin name Type Function
1 GND - Ground
2 Ref 0-5V I External analogue reference signal (mono-polar 0 to +5V )
3 Ref ±10V I External analogue reference signal (bipolar -10V to +10V )
4 +5V Out O +5VOUT output supply (generated by iPOS drive)

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3.3.11 J15 – Analog inputs connector
Pin Pin name Type Function
1 GND - Ground
2 Temp Mot I NTC/PTC input. Used to read an analog temperature value
3 Fdbk ±10V I External analogue feedback signal (bipolar -10V to +10V )
4 Fdbk 0-5V I External analogue feedback signal (mono-polar 0 to +5V )
3.3.12 J16 – Feedback #2 connector (DB15)
Pin Pin name Type Function
1 +5V Out O +5VOUT output supply (generated by iPOS drive)
2 DT+/SL+ I/O Data+ diff. input for SSI; or Slave+ for BiSS encoders
3 DT-/SL- I/O Data- diff. input for SSI; or Slave- for BiSS encoders
4 B2+/Dir+ I Incr. encoder2 B+ diff. input, or Dir+ diff input
5 A2+/Pulse+ I Incr. encoder2 A+ diff. input, or Pulse+ diff. input
6 +12V Out O External power supply output for encoders which require other voltages than +5V.
Internally connected to J11 pin 2 where the external supply can be connected.
7 CLK+/MA+ I/O Clock+ diff. input for SSI encoders; or Master+ for BiSS encoders
8 CLK-/MA-
I/O
Clock- diff. input for SSI encoders; or Master- for BiSS encoders
9 Z2+ I Incr. encoder2 Z+ diff. input
10 Z2- I Incr. encoder2 Z- diff. input
11 GND - Return ground for sensors supply
12 FDBK I Analogue input, 12-bit, 0-5V. Used to read an analogue position or speed feedback
(as tacho), or used as general purpose analogue input
13 n.c. - not connected
14 B2-/Dir- I Incr. encoder2 B- diff. input, or Dir- diff input
15 A2- /Pulse- I Incr. encoder2 A- diff. input, or Pulse- diff input
Remark: Feedback#2 signals are also available at J17.
3.3.13 J17 – Feedback #2 connector (2x5 pin)
Pin Pin name Type Function
1 GND - Return ground for sensors supply
2 +5V Out O +5VOUT output supply (generated by iPOS drive)
3 GND - Return ground for sensors supply
4 FDBK I Analogue input, 12-bit, 0-
5V. Used to read an analogue position or speed
feedback (as tacho), or used as general purpose analogue input;
5 A2- /Pulse-/ Data-
/SL- I Incr. encoder2 A- diff. input, or Pulse-, or Data-for SSI, or Slave- for BiSS; has
150Ω resistor between pins 5 and 6
6 A2+/Pulse+/
Data+/SL+ I
Incr. encoder2 A+ diff. input, or Pulse+, or Data+ for SSI, or Slave+ for BiSS;
has 150Ω resistor between pins 5 and 6
7 B2-/Dir-/CLK-/MA- I/O Incr. encoder2 B- diff. input, or Dir-, or Clock-for SSI, or Master- for BiSS; has
150Ω resistor between pins 7 and 8
8 B2+/Dir+/CLK+/MA+ I/O Incr. encoder2 B+ diff. input, or Dir+, or Clock+ for SSI, or Master+ for BiSS; has
150Ω resistor between pins 7 and 8
9 Z2- I Incr. encoder2 Z- diff. input; has 150Ω resistor between pins 9 and 10
10 Z2+ I Incr. encoder2 Z+ diff. input ; has 150Ω resistor between pins 9 and 10

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Remark: Feedback#2 signals are also available at J16.
3.3.14 J18 – Feedback #1 connector (DB15)
Pin Pin name Type Function
1 +5V Out O +5VOUT output supply (generated by iPOS drive)
2 Hall 1 I Digital input Hall 1 sensor
3 Hall 2 I Digital input Hall 2 sensor
4 B1+/Cos+ I Incr. encoder1 B single-ended, or B+ diff. input, or analogue encoder Cos+ diff. input
5 A1+/Sin+ I Incr. encoder1 A single-ended, or A+ diff. input, or analogue encoder Sin+ diff. input
6 n.c.
7 GND - Return ground for sensors supply
8 GND - Return ground for sensors supply
9 Z1+ I Incr. encoder1 Z single-ended, or Z+ diff. input
10 Z1-/ LH3 I Incr. encoder1 Z- diff. input, or Linear Hall 3 analogue input
11 GND - Return ground for sensors supply
12 Temp Mot I NTC/PTC input. Used to read an analog temperature value
13 Hall 3 I Digital input Hall 3 sensor
14 B1-/Cos-/LH2 I Incr. encoder1 B- diff. input, or analogue encoder Cos- diff. input, or Linear Hall 2
analogue input
15 A1- /Sin-/ LH1 I Incr. encoder1 A- diff. input, or analog encoder Sin- diff. input, or Linear Hall 1
analogue input
Remark: Feedback#1 signals are also available at J19 and J6.
3.3.15 J19 – Feedback #1 connector (2x5 pin)
Pin Pin name Type Function
1 GND - Return ground for sensors supply
2 +5V Out O +5VOUT output supply (generated by iPOS drive)
3 GND - Return ground for sensors supply
4 Temp Mot I NTC/PTC input. Used to read an analog temperature value
5 A1- /Sin-/ LH1 I Incr. encoder1 A- diff. input, or analog encoder Sin- diff. input, or Linear Hall 1
analogue input
6 A1+/Sin+ I Incr. encoder1 A single-ended, or A+ diff. input, or analogue encoder Sin+ diff.
input
7 B1-/Cos-/LH2 I Incr. encoder1 B- diff. input, or analogue encoder Cos- diff. input, or Linear Hall
2 analogue input
8 B1+/Cos+ I Incr. encoder1 B single-ended, or B+ diff. input, or analogue encoder Cos+ diff.
input
9 Z1-/ LH3 I Incr. encoder1 Z- diff. input, or Linear Hall 3 analogue input
10 Z1+ I Incr. encoder1 Z single-ended, or Z+ diff. input
Remark: Feedback#1 signals are also available at J18 and J6.

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3.3.16 J20 – Power supply and motor connector
Pin Pin name Type Function
1 GND - Ground for logic supply; internally connected to all GND pins
2 +VLOG I Logic supply input: +9 to +36VDC; Internally connected to all + VLOG pins
3 +VMOT I Positive terminal of the motor supply +VMOT: +11 to +50VDC
4 GND - Ground for motor supply; internally connected to all GND pins
5 A O
Phase A for 3-phase motors
Phase A+ for 2-phase steppers
Motor+ for DC brushed motors
6 B O
Phase B for 3-phase motors
Phase A-for 2-phase steppers
Motor-for DC brushed motors
7 C O Phase C for 3-phase motors
Phase B+ for 2-phase steppers
8 D O External brake resistor
Phase B-for 2-phase steppers
3.3.17 J21 and J22 – EtherCAT connectors
J21 and J22 are standard RJ45 Ethernet connectors, compatible with IEEE802.3 100BASE-T (100Mbit/s).
Accept STP/UTP wiring.
J22 – EtherCAT IN connector
J21 – EtherCAT OUT connector
3.3.18 J23 – USB connector
J23 is a standard USB B connector, used for communication between the iPOS and PC.
An USB A - B cable type is required.
3.3.19 J24 – RS232 connector
Pin Pin name Type Function
1 TX232 O RS-232 Data Transmission
2 GND - Ground
3 RX232 I RS-232 Data Reception
CAUTION! WHILE USING CONNECTOR J24, THE J23 USB CONNECTOR
MUST REMAIN UNCONNECTED.

Technosoft 2016 17 IO-iPOS4808MY Technical Reference
3.3.20 SS1 – Sliding Switch 1 – Axis ID selection
Pin Pin name Type Function
1 ID-Bit0 -
Hardware AxisID selection switches
They represent the first 7 bits of an 8 bit Axis ID number.
If all bits are 0, the Axis ID will be 255.
2 ID-Bi1 -
3 ID-Bit2-
4 ID-Bit3-
5 ID-Bit4-
6 ID-Bit5-
7 ID-Bit6-
8 CANopen -
ON (down): CANopen communication protocol
OFF(up): TMLCAN communication protocol
No function when using an EtherCAT (-CAT) drive
3.3.21 SS2 – Sliding Switch 2 – STO bypass
Pin Pin name Type Function
1 STO2- bypass - Connects the STO2- input to GND
2 STO2+ bypass - Connects the STO2+ input to +Vlog
3 STO1+ bypass - Connects the STO1+ input to +Vlog
4 STO1- bypass - Connects the STO1- input to GND
Remark: the functions of the switch are available only if the drive has STO inputs
3.4 Mating connectors
Connector Description Manufacturer Part Number
J6 10 socket pluggable terminal connector Wago 733-110
J16, J18 generic 15-pin High Density D-Sub male - -
J17, J19 2x5 pin wire to board connector Harting 0918-510-6803
J20 8 socket pluggable terminal connector Wago 734-108
J21, J22 Standard 8P8C modular jack (RJ-45) male - -
J23 Standard USB B type connector - -
3.5 Jumper settings
0 = Jumper OFF; 1 = Jumper ON; 1-2 – pin 1 and 2 connected; 2-3 – pin 2 and 3 connected
Jumper
Name Jumper Function Option Result
JP1 Factory setup 0 Normal operation
1 Factory setup1
JP2 CAN supply 0 Do not connect CAN Supply to +VLOG
1 Connect CAN Supply to +VLOG
JP3 CAN termination 0 Do not connect a CAN terminator
1 Connect a CAN terminator (120Ω resistor)
JP4 Fdbk#2 CLK+ position
1-2 Connect B2+/CLK+ input to J16 pin4
2-3 Connect B2+/CLK+ input to J16 pin7 and J17 pin 7 will be
disconnected
JP5 Fdbk#2 CLK- position 1-2 Connect B2-/CLK- input to J16 pin14
1Always leave open this jumper for normal operation

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2-3 Connect B2-/CLK- input to J16 pin8 and J17 pin 8 will be
disconnected
JP6 Fdbk#2 DAT+ position
1-2 Connect A2+/DAT+ input to J16 pin5
2-3 Connect A2+/DAT+ input to J16 pin2 and J17 pin 5 will be
disconnected
JP7 Fdbk#2 DAT- position
1-2 Connect A2-/DAT- input to J16 pin15
2-3 Connect A2-/DAT- input to J16 pin3 and J17 pin 6 will be
disconnected
JP8 Ref. 5/10
OFF Do not connect when JP9=2-3
1-2 Select 0…+5 V analogue Reference
2-3 Select -10…+10 V analogue Reference
JP9 VR1 selection
OFF Select External analogue Reference or. Feedback. VR1 is not
connected to either signal.
1-2 Select Internal anlg Feedback; use VR1 on analogue Feedback; JP10
must be OFF
2-3 Select Internal anlg Reference; use VR1 on analogue Reference; JP8
must be OFF
JP10 Fdbk. 5/10
OFF Do not connect when JP9=1-2
1-2 Select 0…+5 V analogue Feedback
2-3 Select -10…+10 V analogue Feedback
JP11 AutoRun 0 Enable AutoRun (normal operation with TMLCAN)
1 Disable AutoRun (if TMLCAN); Disable Setup (if EtherCAT)
JP12 LH3 source 1-2 Connect J18 pin 10 and J19 pin 9 to Z1- (on iPOS)
2-3 Connect J18 pin 10 and J19 pin 9 to LH3 (on iPOS)
JP13 LH1 source 1-2 Connect J18 pin 15 and J19 pin 5 to A1-/Sin- (on iPOS)
2-3 Connect J18 pin 15 and J19 pin 5 to LH1 (on iPOS)
JP14 LH2 source 1-2 Connect J18 pin 14 and J19 pin 7 to B1-/Cos- (on iPOS)
2-3 Connect J18 pin 14 and J19 pin 7 to LH2- (on iPOS)
JP15 Enc Z1 termination 0 Do not connect a 150Ω resistor between Z1+ and Z1-
1 Connect a 150Ω resistor between Z1+ and Z1-
JP16 Enc B1/Cos termination 0 Do not connect a 150Ω resistor between B1+/Cos+ and B1-/Cos-
1 Connect a 150Ω resistor between B1+/Cos+ and B1-/Cos-
JP17 Enc A1/Sin termination 0 Do not connect a 150Ω resistor between A1+/Sin+ and A1-/Sin-
1 Connect a 150Ω resistor between A1+/Sin+ and A1-/Sin-
JP18 Inputs PNP/NPN selection
1-2 Inputs are PNP type; connect to
+Vlog for state change The inputs type must also be
selected by software, in Setup
2-3 Inputs are NPN type; connect to
GND for state change
JP19 KTY83 sensor for Temp
Mot input
1-2 1mA reference current when using the KTY83 temperature sensor on
Temp Mot (J18 pin12 or J19 pin 4)
2-3 no function

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3.6 Default jumper settings
By default the I/O board is delivered with the jumpers in the following positions:
a. 1, 8, 11, 15, 16 , 17, 19, 20 = OFF
b. 2, 3 = ON
c. 4, 5, 6, 7, 10, 12, 13, 14, 18 = pos 1-2
d. 9 = pos 2-3
The default SS1 settings select the TMLCAN protocol with the axisID is 255 (all switches are 0). In
order to quickly change to CANopen protocol, set switch 8 and 1 from SS1 = 1. The CANopen axisID
set will be 1 (because of switch 1=1).
SS2 (STO bypass settings) has all switches set to OFF.
3.7 Axis ID and CAN Protocol selection for CAN drives
The AxisID can be selected by using the sliding switches 1 to 7 on SS1.
Example:
Switch7
ID 6
Switch6
ID 5
Switch5
ID 4
Switch4
ID 3
Switch3
ID 2
Switch2
ID 1
Switch1
ID 0
8bit
binary
Resulting
AxisID (dec)
0
0
0
0
0
0
0
00000000
255
0
0
0
0
0
0
1
00000001
1
0
0
0
0
1
0
1
00000101
5
1
0
1
1
1
0
1
01011101
93
1
1
1
1
1
1
1
01111111
127
The CAN protocol selection is done via switch 8 of SS1:
•CANopen mode, if the switch is ON
•TMLCAN mode, if the switch is OFF
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 allother messages (including
boot-up) is disabled. The green Ready LED will blink at 1s intervals until the axisID is different than 255.
3.8 Axis ID Selection for iPOS4808 MY-CAT-STO drives with EtherCAT
The iPOS4808 MY-CAT-STO drives support all EtherCAT standard addressing modes. In case of device
addressing mode based on node address, the iPOS4808 MY-CAT drive sets at bootup the configured
station alias address with its AxisID value. The drive AxisID value is set after power on in one of the following
ways:
a) By hardware, function SS1 poition. The AxisID value is computed in the same way as in the case
of the CAN drives.
Remark: switch 8 on SS1 has no function if the drive is EtherCAT compatible.
b) By software, setting via EasySetUp a specific AxisID value in the range 1-255.
Remark: some EtherCAT masters do not work with drives having the configured station alias set as 255.

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3.9 Installing and configuring the USB drivers
3.9.1 Installing the USB drivers
Windows 7 and newer should find the drives automatically. In case your current version of Windows does
not automatically detect the USB drivers, download the latest version from here
http://www.ftdichip.com/Drivers/VCP.htm.
3.9.2 USB driver configuration
The FDTI drives are set by default with a latency of 16ms instead of 1. This leads to low communication
rates. To decrease this latency, follow the steps below to configure the USB driver:
1. Open Computer Management tool and select Device Manager. Expand Ports (COM & LPT) and double
click on the USB Serial Port (COMx).
2. Click the Port Settings tab and then the Advanced button.
3. Set the Latency Time (ms) to 1 instead of the default value. This will ensure optimal communication with
the drive.
Remark: The COM port number can be also changed from Advanced Settings dialog
4. Press OK button to complete the configuration of the COM port.