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