Technosoft IO iPOS4808 Use and care manual

IO
iPOS4808
v1.0B
I/O Board for
iPOS4808
Intelligent
Servo Drives
Intelligent Drives
Technical
Reference
Technosoft 2013

TECHNOSOFT
IO-iPOS4808
Technical Reference
P091.084.IO-iPOS4808.UM.0113
Technosoft S.A.
Avenue des Alpes 20
CH-2000 NEUCHATEL
Switzerland
Tel.: [phone]
Fax: [phone]
[e-mail]
www.technosoftmotion.com

© Technosoft 2013 I IO-iPOS4808 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 VX-CAN/CAT extension boards
version 1.0B that are included in the iPOS4808 intelligent servo drives starter kits.
The IO iPOS360x extension board can be one of the following products:
iPOS480x VX-CAN IO
p/n P027.014.E880
For drives with CAN.
iPOS480x VX-CAT IO
p/n P027.014.E890
For drives with EtherCAT.
Paragraph 2.4 shows how to quickly identity the IO-iPOS4808 version. If your IO-iPOS4808
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 VX-CAN or VX-CAT drive that can be connected to this I/O
extension
TML –Technosoft Motion Language

© Technosoft 2013 II IO-iPOS4808 Technical Reference
Related Documentation
iPOS4808 VX Technical Reference (part no. P091.027.iPOS4808.VX.UM.xxxx) –
describes the hardware installation of the iPOS4808 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
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 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

© Technosoft 2013 III IO-iPOS4808 Technical Reference
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

© Technosoft 2013 IV IO-iPOS4808 Technical Reference
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: [email protected]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000 Neuchatel, NE
Switzerland

© Technosoft 2013 V IO-iPOS4808 Technical Reference
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© Technosoft 2013 VI IO-iPOS4808 Technical Reference
Contents
Read This First ..................................................................................................... I
About This Manual .............................................................................................. I
Notational Conventions....................................................................................... I
Related Documentation ..................................................................................... II
If you Need Assistance ….................................................................................IV
1. Safety information...................................................................................... 1
1.1. Warnings................................................................................................ 1
1.2. Cautions................................................................................................. 2
2. Product Overview....................................................................................... 3
2.1. Introduction ............................................................................................ 3
2.2. Key Features.......................................................................................... 3
2.3. IO-iPOS4808 Board Dimensions ........................................................... 5
2.4. IO-iPOS4808 Board Version Identification............................................. 6
3. Hardware Installation................................................................................. 7
3.1. Mounting ................................................................................................ 7
3.2. Connectors............................................................................................. 9
3.2.1. Connectors Layout .......................................................................................9
3.2.2. J2 and J3 –EtherCAT connectors..............................................................10
3.2.3. J6 –RS232 connector................................................................................ 10
3.2.4. J7 –Digital outputs connector .................................................................... 10
3.2.5. J8 –Power supply and motor connector..................................................... 11
3.2.6. J9 –Analog inputs connector ..................................................................... 11
3.2.7. J10 –Digital inputs connector #1 ............................................................... 12
3.2.8. J12 –Linear Halls, single-ended and differential encoder connector.......... 12
3.2.9. J13 –Digital inputs connector #2 ............................................................... 13
3.2.10. J14 and J15 –CAN connectors............................................................... 13
3.2.11. J17 –Digital hall connector .....................................................................14
3.2.12. J19 –USB connector .............................................................................. 14

© Technosoft 2013 VII IO-iPOS4808 Technical Reference
3.3. Jumper Settings ................................................................................... 14
3.4. Axis ID and CAN Protocol selection for iPOS4808 VX-CAN drives......17
3.5. Axis ID Selection for iPOS4808 VX-CAT drives with EtherCAT...........23
3.6. Installing and configuring the USB drivers............................................ 24
3.6.1. Installing the USB drivers ...........................................................................24
3.6.2. USB driver configuration.............................................................................25
3.7. First Power Up...................................................................................... 26
Appendix 1: IO-iPOS4808 schematics.............................................................28
Appendix 2: iPOS4808 VX Plug-in Connector Pins........................................ 29
J1 Connector pinout (A Side) ...........................................................................29
J1 Connector pinout (B side)............................................................................30

© Technosoft 2013 1 IO-iPOS4808 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

© Technosoft 2013 2 IO-iPOS4808 Technical Reference
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
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 2013 3 IO-iPOS4808 Technical Reference
2. Product Overview
2.1. Introduction
The IO-iPOS4808 I/O extension board is an auxiliary module allowing rapid evaluation of the
iPOS4808 VX-CAN or iPOS4808 VX-CAT Intelligent Servo Drives.
On the IO-iPOS4808, the iPOS4808 drives are connected directly to J1 connector. The EtherCAT
extension module allows EtherCAT communication through connectors J2 and J3 if the product ID
of the board is iPOS4808 VX-CAT IO.
The IO-iPOS4808 offers the user an easy and direct access to the main signals available on the
iPOS4808 connector like: USB and CAN communication, motor and feedback connections, digital
I/Os and analogue inputs. The IO-iPOS4808 can be used in many ways starting from basic
evaluation purposes up to complete implementation of motion control applications.
2.2. Key Features
Motor supply: +11…. +50 VDC
Logic supply: +9…. +36 VDC
Direct access to the following iPOS4808 I/O signals, via screw-terminals connectors:
8 digital inputs, 5-36V (compatible with NPN outputs):
o5 general –purpose inputs: IN0, IN1, IN5, IN6 and IN7
o2 limit switch inputs: IN2/LSP (positive) and IN3/LSN (negative)
oOne Enable input: IN4/Enable
5 digital outputs, 5-36V, 0.5A (NPN open-collector/TTL pull-up):
o3 general-purpose outputs: OUT0, OUT1, OUT5
oOne Error output: OUT2/Error
oOne Ready output: OUT3/Ready
2 analog inputs, 0-5V,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 8 push-buttons: connected to inputs: IN0,
IN1, IN5, IN6, IN7, IN2/LSP, IN3/LSN, IN4/Enable
Emulation of external analogue reference command via potentiometer VR1
USB A connector for communication with the PC

© Technosoft 2013 4 IO-iPOS4808 Technical Reference
Two RJ10 connectors for CAN communication
Two RJ 45 for EtherCAT communication1
2x5 pin 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 iPOS4808 VX-CAT IO board. Usable only when the EtherCAT extension
module is present.

© Technosoft 2013 5 IO-iPOS4808 Technical Reference
2.3. IO-iPOS4808 Board Dimensions
Figure 2.3.1 presents the IO-iPOS4808 board dimensions.
All dimensions are in mm.
85
92.58
116
3.30
3.30
20.90
Figure 2.3.1. IO-iPOS4808 board dimensions

© Technosoft 2013 6 IO-iPOS4808 Technical Reference
2.4. IO-iPOS4808 Board Version Identification
Figure 2.4.1 shows how to identify the IO-iPOS4808 board version on its back side.
This manual refers to IO-iPOS4808 version 1.0B. If your IO-iPOS4808 version differs, you can
find the appropriate manual on the Technosoft web page.
SJ1
Version no.
Figure 2.4.1. IO-iPOS4808 V1.0B board version identification
This manual refers to IO-iPOS4808 version 1.0B. If your IO-iPOS4808 version differs, please
refer to the appropriate IO-iPOS4808 Technical Reference Manual, that can be freely downloaded
from Technosoft web page.
Remark:
The iPOS4808 VX-CAN IO (p/n: 027.014.E880) does not have EtherCAT connectors.

© Technosoft 2013 7 IO-iPOS4808 Technical Reference
3. Hardware Installation
3.1. Mounting
Press the iPOS4808 VX drive into IO-iPOS4808 board J1 connector.
iPOS4808 VX
I/O Board
P084.710.E027
Figure 3.1.1 Installing an iPOS4808 VX drive in the IO-iPOS4808