Technosoft iPOS3602 BX-CAN Use and care manual

Technosoft 2022 1 iPOS360x BX-CAN Technical Reference
iPOS3602 BX-CAN/
iPOS3604 BX-CAN
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drives
T
echnical
Reference
Technosoft 2022 P091.028.iPOS360X.BX.CAN.UM.0722

Technosoft 2022 2 iPOS360x BX-CAN Technical Reference
Table of contents
Table of contents ........................................................................................................... 2
Read This First ............................................................................................................... 4
About This Manual................................................................................................................. 4
Notational Conventions......................................................................................................... 4
Related Documentation ......................................................................................................... 5
If you Need Assistance … ..................................................................................................... 6
1Safety information.................................................................................................... 6
1.1 Warnings....................................................................................................................... 6
1.2 Cautions........................................................................................................................ 7
1.3 Quality system, conformance and certifications ....................................................... 7
2Product Overview..................................................................................................... 8
2.1 Introduction .................................................................................................................. 8
2.2 Product Features.......................................................................................................... 9
2.3 Identification Labels................................................................................................... 10
2.4 Supported Motor-Sensor Configurations ................................................................. 11
3Hardware Installation............................................................................................. 11
3.1 iPOS360X BX-CAN Board Dimensions ..................................................................... 11
3.2 Mechanical Mounting................................................................................................. 12
3.3 EMC recommendations.............................................................................................. 13
3.4 Connectors and Pinouts ............................................................................................ 14
3.4.1...... Pinouts for iPOS360x BX-CAN (standard differential encoder version; P028.00x.E201) ..... 14
3.4.2...... Pinouts for iPOS360x BX-CAN (linear halls encoder version; P028.00x.E701) ................... 15
3.4.3...... Pinouts for iPOS360x BX-CAN (single-ended encoder version; P028.00x.E601) ................ 16
3.4.4...... Mating Connectors (for all versions) ...................................................................................... 17
3.5 Connection diagrams................................................................................................. 17
3.5.1...... iPOS360X BX-CAN connection diagram (differential encoder input version) ....................... 17
3.5.2...... iPOS360X BX-CAN connection diagram (Linear Halls input version) ................................... 18
3.5.3...... iPOS360X BX-CAN connection diagram (single-ended encoder input version) ................... 19
3.5.4...... 24V Digital I/O Connection .................................................................................................... 20
3.5.4.1 PNP inputs...................................................................................................................... 20
3.5.4.2 NPN inputs...................................................................................................................... 20
3.5.4.3 NPN outputs ................................................................................................................... 21
3.5.5...... 5V Digital I/O Connection ...................................................................................................... 21
3.5.6...... Analog Inputs Connection...................................................................................................... 22
3.5.6.1 0-5V Input Range............................................................................................................ 22
3.5.6.2 +/-10V to 0-5V Input Range Adapter .............................................................................. 22
3.5.6.3 Recommendation for wiring............................................................................................ 22
3.5.7...... Motor connections.................................................................................................................. 23
3.5.7.1 Brushless Motor connection ........................................................................................... 23
3.5.7.2 2-phase Step Motor connection...................................................................................... 23
3.5.7.3 3-Phase Step Motor connection ..................................................................................... 24
3.5.7.4 DC Motor connection ...................................................................................................... 24

Technosoft 2022 3 iPOS360x BX-CAN Technical Reference
3.5.7.5 Recommendations for motor wiring................................................................................ 24
3.5.8...... Feedback connections ........................................................................................................... 25
3.5.8.1Single-ended Incremental Encoder Connection ( only with P028.00x.E601) ................ 25
3.5.8.2 Differential Incremental Encoder Connection ( only with P028.00x.E201)..................... 25
3.5.8.3 Digital Hall Connection for Motor + Hall + Incremental Encoder.................................... 26
3.5.8.4 Digital Hall Connection for direct motor control without an encoder ( only with
P028.00x.E601) ................................................................................................................................ 26
3.5.8.5 Linear Hall Connection ( only with P028.00x.E701) ....................................................... 27
3.5.8.6 Sin-Cosine Analog Encoder Connection ( only with P028.00x.E201)............................ 27
3.5.8.7 Recommendations for wiring .......................................................................................... 27
3.5.9...... Power Supply Connection ..................................................................................................... 28
3.5.9.1 Supply Connection ......................................................................................................... 28
3.5.9.2 Recommendations for Supply Wiring ............................................................................. 28
3.5.9.3 Recommendations to limit over-voltage during energy regeneration............................. 28
3.5.10.... Serial RS-232 connection ...................................................................................................... 30
3.5.10.1 Serial RS-232 connection............................................................................................... 30
3.5.10.2 Recommendation for wiring............................................................................................ 30
3.5.11.... CAN-bus connection .............................................................................................................. 31
3.5.11.1 CAN connection.............................................................................................................. 31
3.5.11.2 Recommendation for wiring............................................................................................ 31
3.5.12.... Disable of Autorun Mode ....................................................................................................... 32
3.6 CAN Operation Mode and Axis ID Selection ............................................................ 32
3.6.1...... Selection of the Operation Mode ........................................................................................... 32
3.6.2...... Selection of the Axis ID.......................................................................................................... 33
3.6.3...... LED indicators........................................................................................................................ 33
3.7 Electrical Specifications ............................................................................................ 34
3.7.1...... Operating Conditions ............................................................................................................. 34
3.7.2...... Storage Conditions ................................................................................................................ 34
3.7.3...... Mechanical Mounting ............................................................................................................. 34
3.7.4...... Environmental Characteristics ............................................................................................... 34
3.7.5...... Logic Supply Input (+VLOG) .................................................................................................... 34
3.7.6...... Motor Supply Input (+VMOT).................................................................................................... 35
3.7.7...... Motor Outputs (A/A+, B/A-, C/B+, CR/B-).............................................................................. 35
3.7.8...... Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable) ...................................................... 35
3.7.9...... Digital Outputs (OUT0, OUT2/Error, OUT3/ Ready) ............................................................. 36
3.7.10.... Digital Hall Inputs (Hall1, Hall2, Hall3)................................................................................... 36
3.7.11.... Analog 0..5V Input (REF/FDBK) ........................................................................................... 36
3.7.12.... Linear Hall Inputs (LH1, LH2, LH3) for PN P028.00x.E701................................................... 37
3.7.13.... Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) for PN P028.00x.E201 ............................ 37
3.7.14.... Differential encoder inputs (A1+, A1-, B1+, B1-, Z1+, Z1-) for PN P028.00x.E201 .............. 37
3.7.15.... Single-ended encoder inputs (A, B, Z) for PN P028.00x.E601 ............................................. 37
3.7.16.... RS-232................................................................................................................................... 37
3.7.17.... CAN-Bus ................................................................................................................................ 37
3.7.18.... Supply Output (+5V) .............................................................................................................. 38
4Memory Map ........................................................................................................... 40

Technosoft 2022 4 iPOS360x BX-CAN 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:
Product Name
Part Number
Firmware
Description
iPOS3602 BX-CAN
P028.001.E201
F509x
2A nominal, Standard version, CAN, Differential
encoder input
iPOS3602 BX-CAN
P028.001.E601
F509x
2A nominal, Single-Ended encoder input, CAN
iPOS3602 BX-CAN
P028.001.E701
F524x
2A nominal, Linear Hall version, CAN
iPOS3604 BX-CAN
P028.002.E201
F508x
4A nominal, Standard version, CAN, Differential
encoder input
iPOS3604 BX-CAN
P028.002.E601
F508x
4A nominal, Single-Ended encoder input, CAN
iPOS3604 BX-CAN
P028.002.E701
F523x
4A nominal, Linear Hall version, CAN
In order to operate the iPOS360x drives, you need to pass through 3 steps:
Step 1 Hardware installation
Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning
Step 3 Motion programming using one of the options:
A CANopen master1
The drives built-in motion controller executing a Technosoft Motion Language (TML) program
developed using Technosoft EasyMotion Studio software
A TML_LIB motion library for PCs (Windows or Linux) 2
A TML_LIB motion library for PLCs 3
A distributed control approach which combines the above options, like for example a host calling motion
functions programmed on the drives in TML
This manual covers Step 1 in detail. It describes the iPOS360x hardware including the technical data, the connectors
and the wiring diagrams needed for installation.
For Step 2 and 3, please consult the document iPOS Single Loop drives Software reference
( 091.028.SL.Software.xxxx). It also includes the scaling factors between the real SI units and the drive internal units.
For detailed information regarding the next steps, refer to the related documentation.
Notational Conventions
This document uses the following conventions:
•iPOS360X– all products described in this manual
•IU units –Internal units of the drive
•SI units –International standard units (meter for length, seconds for time, etc.)
•TML – Technosoft Motion Language
•CANopen – Standard communication protocol that uses 11-bit message identifiers over CAN-bus
•TMLCAN – Technosoft communication protocol for exchanging TML commands via CAN-bus, using
29bit message identifiers
1when the iPOS360x BX-CAN is set in CANopen mode
2available only for TMLCAN protocol

Technosoft 2022 5 iPOS360x BX-CAN Technical Reference
Related Documentation
iPOS3602 BX-CAN Datasheet ( P028.001.E101.DSH)
– describes the hardware connections of the iPOS3602 BX CAN intelligent servo drive including the
technical data and connectors.
iPOS3604 BX-CAN Datasheet ( P028.002.E101.DSH)
– describes the hardware connections of the iPOS3604 BX CAN intelligent servo drive including the
technical data and connectors.
iPOS Single Loop drives Software reference (091.028.SL.Software.xxxx)
– describes the compatible software installation, drive software setup commissioning, introduction to TML
motion programming, includes the scaling factors between the real SI units and the drive internal units.
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 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
family of intelligent drives using CANopen protocol and describes the associated object dictionary for
CiA 301 v.4.2 application layer and communication profile and CiA DSP 402_2 v4.1 device profile for
drives and motion control now included in IEC 61800-7-1 Annex A, IEC 61800-7-201 and IEC 61800-7-
301 standards
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 the
Technosoft web page
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
PLCs. 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 PLC B&R series X20 a
motion application for the Technosoft intelligent drives using TML_LIB_X20 motion control library for
PLCs. 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
IO-iPOS360X (part no. P091.028.IO-iPOS360X.UM.xxxx) – describes the IO iPOS360x I/O extension board
included in the iPOS360X Starter Kits.

Technosoft 2022 6 iPOS360x BX-CAN 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: [e-mail]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000 Neuchatel, NE
Switzerland
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.
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
1.1 Warnings
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

Technosoft 2022 7 iPOS360x BX-CAN 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
1.3 Quality system, conformance and certifications
IQNet and Quality Austria certification about the implementation and maintenance of the
Quality Management System which fulfills the requirements of Standard ISO 9001:2015.
Quality Austria Certificate about the application and further development of an effective
Quality Management System complying with the requirements of Standard ISO 9001:2015
REACH Compliance - TECHNOSOFT hereby confirms that this product comply with the
legal obligations regarding Article 33 of the European REACH Regulation 1907/2006
(Registration, Evaluation, Authorization and Restriction of Chemicals), which came
into force on 01.06.2007.
RoHS Compliance - Technosoft SA here with declares that this product is
manufactured in compliance with the RoHS directive 2002/95/EC on the restriction of
the use of certain hazardous substances in electrical and electronic equipment (RoHS)
Technosoft SA hereby declares that this product conforms to the following European
applicable directives:
2014/30/EU Electromagnetic Compatibility (EMC) Directive
2014/35/EU Low Voltage Directive (LVD)
93/68/EEC CE Marking Directive
Conflict minerals statement - Technosoft declares that the company does not purchase
3T&G (tin, tantalum, tungsten & gold) directly from mines or smelters...
We have no indication that Technosoft products contain minerals from conflict mines
or smelters in and around the DRC.
For other certifications visit: http://technosoftmotion.com/en/quality-system

Technosoft 2022 8 iPOS360x BX-CAN Technical Reference
2 Product Overview
2.1 Introduction
The iPOS360X is a family of fully digital intelligent servo drives, based on the latest DSP technology and they offer
unprecedented drive performance combined with an embedded motion controller.
Suitable for control of brushless DC, brushless AC (vector control), DC brushed motors and step motors, the iPOS360x
BX-CAN drives accept as position feedback incremental encoders (quadrature or sine/cosine) and linear Halls signals.
All drives perform position, speed or torque control and work in single, multi-axis or stand-alone configurations. Thanks
to the embedded motion controller, the iPOS360X drives combine controller, drive and PLC functionality in a single
compact unit and are capable to execute complex motions without requiring intervention of an external motion controller.
Using the high-level Technosoft Motion Language (TML) the following operations can be executed directly at drive level:
Setting various motion modes (profiles, PVT, PT, electronic gearing1or camming1, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences
Controlling the program flow through:
Conditional jumps and calls of TML functions
TML interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)
Waits for programmed events to occur
Handling of digital I/O and analogue input signals
Executing arithmetic and logic operations
Performing data transfers between axes
Controlling motion of an axis from another one via motion commands sent between axes
Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously
motion sequences on all the axes from the group
Synchronizing all the axis in a network
By implementing motion sequences directly at drive level you can really distribute the intelligence between the master
and the drives in complex multi-axis applications, reducing both the development time and the overall communication
requirements. For example, instead of trying to command each movement of an axis, you can program the drives using
TML to execute complex motion tasks and inform the master when these tasks are done. Thus, for each axis control
the master job may be reduced at: calling TML functions stored in the drive EEPROM and waiting for a message, which
confirms the TML functions execution completion.
All iPOS360X CAN drives are equipped with a serial RS232 and a CAN 2.0B interface that can be set by hardware pins
to operate in 2 communication protocol modes:
CANopen
TMLCAN
When CANopen mode is selected, the iPOS360X conforms to CiA 301 v4.2 application layer communication profile
and CiA DSP 402_2 v4.1 device profile for drives and motion control, now included in IEC 61800-7-1 Annex A, IEC
61800-7-201 and IEC 61800-7-301 standards. In this mode, the iPOS360X may be controlled via a CANopen master.
The iPOS drive offers the possibility for a CANopen master to call motion sequences/ functions, written in TML and
stored in the drive EEPROM, using manufacturer specific objects. Also, the drives can communicate separately between
each other by using non reserved 11 bit identifiers.
When TMLCAN mode is selected, the iPOS360X behaves as standard Technosoft intelligent drive and conforms to
Technosoft protocol for exchanging TML commands via CAN-bus. When TMLCAN protocol is used, it is not mandatory
to have a master. Any iPOS360X can be set to operate standalone, and may play the role of a master to coordinate
both the network communication/synchronization and the motion application via TML commands sent directly to the
other drives.
When higher level coordination is needed, apart from a CANopen master, the iPOS360X drives can also be controlled
via a PC or a PLC using one of the TML_LIB motion libraries.
For iPOS360X commissioning EasySetUp or EasyMotion Studio PC applications may be used.
1Available if the master axis sends its position via a communication channel, or by using the secondary encoder input

Technosoft 2022 9 iPOS360x BX-CAN Technical Reference
EasySetUp is a subset of EasyMotion Studio, including only the drive setup part. 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 shall be used for drive setup in all cases where the motion commands
are sent exclusively from a master. Hence neither the iPOS360X TML programming capability nor the drive camming
mode are used. EasySetUp can be downloaded free of charge from Technosoft web page.
EasyMotion Studio platform includes EasySetUp for the drive 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 execute complex motions, thanks to their built-in
motion controllers. EasyMotion Studio, may be used to program motion sequences in TML. This is the iPOS360X typical
CAN operation mode when TMLCAN protocol is selected. EasyMotion Studio can also be used with the CANopen
protocol, if the user wants to call TML functions stored in the drive EEPROM or to use the camming mode. With camming
mode, EasyMotion Studio offers the possibility to quickly download and test a cam profile and also to create a .sw file
with the cam data. The .sw file can be afterwards stored in a master and downloaded to the drive, wherever needed. A
demo version of EasyMotion Studio (with EasySetUp part fully functional) can be downloaded free of charge
from Technosoft web page.
2.2 Product Features
•Fully digital servo drive suitable for the control of rotary or linear brushless, DC brush, and step motors
•Very compact design
•Sinusoidal (FOC) or trapezoidal (Hall-based) control of brushless motors
•Open or closed-loop control of 2 and 3-phase steppers
•Various modes of operation, including: torque, speed or position control; position or speed profiles, Cyclic
Synchronous Position (CSP) for CANopen mode, external reference mode (analogue or encoder feedback) or
sent via a communication bus
•Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences
•Standalone operation with stored motion sequences
•Motor supply: 9-36V
•Logic supply: 7-36V
•Output current:
•iPOS3602 BX-CAN: 2A12continuous; 3.2A peak
•iPOS3604 BX-CAN: 4A3continuous; 10A peak
•PWM switching frequency up to 120kHz
•Communication:
•RS-232 serial up to 115kbits/s
•CAN-bus 2.0B up to 1Mbit/s
•Digital and analog I/Os:
•5 digital inputs: 5-36V, PNP or NPN software selectable: Enable, Limit switch +, Limit switch –,
2 general-purpose
•4 digital outputs : 5-36V, 0.5A, NPN open-collector: Ready, Error, 2 general-purpose
•1 analogue input: 12-bit, 0-5V (Reference or Feedback) or general-purpose
•Electro-Mechanical brake support: software configurable digital output to control motor brake
•Feedback devices:
•Incremental encoder interface (single ended or differential depending on drive part number)
•Digital Hall sensor interface (single-ended and open collector regardless of drive part number)
•Linear Hall sensor interface (depending on drive part number)
•Analogue Sin/Cos encoder interface (differential 1Vpp regardless of drive part number) )
•Various motion programming modes:
•Position profiles with trapezoidal or S-curve speed shape
•Position, Velocity, Time (PVT) 3rd order interpolation
•Position, Time (PT) 1st order interpolation
22A cont. with DC, step and BLDC motors (trapezoidal), 2A amplitude (1.41ARMS) for PMSM (sinusoidal)
34A cont. with DC, step and BLDC motors (trapezoidal), 4A amplitude (2.82ARMS) for PMSM (sinusoidal)

Technosoft 2022 10 iPOS360x BX-CAN Technical Reference
•Cyclic Synchronous Position (CSP) for CANopen mode.
•Electronic gearing and camming
•35 Homing modes
•Hardware and Software CAN selectable addresses
•Two CAN operation modes selectable by jumper:
•CANopen – conforming with CiA 301 v4.2 and CiA DSP 402_2 v4.1
•TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via
CAN-bus
•2K ×16 internal SRAM memory for data acquisition
•4K ×16 E2ROM to store TML motion programs, cam tables and other user data
•Operating ambient temperature:
•0-40°C – iPOS360X BX-CAN
•Protections:
•Short-circuit between motor phases
•Short-circuit from motor phases to ground
•Over-voltage
•Under-voltage
•Over-current
•Communication error
•Control error
•Over-temperature
•Firmware on drive:
•F508M+ or F523E+ for iPSO3604
•F509M+ or F524E+ for iPSO3602
2.3 Identification Labels
Figure 2.3.1. iPOS360X BX-CAN identification labels
The iPOS360X BX can has the following part number and name on the identification label:
Product Name
Part Number
Firmware
Description
iPOS3602 BX-CAN
P028.001.E201
F509x
2A nominal, Standard version, CAN,
Differential encoder input
iPOS3602 BX-CAN
P028.001.E601
F509x
2A nominal, Single-Ended encoder input, CAN
iPOS3602 BX-CAN
P028.001.E701
F524x
2A nominal, Linear Hall version, CAN
iPOS3604 BX-CAN
P028.002.E201
F508x
4A nominal, Standard version, CAN,
Differential encoder input
iPOS3604 BX-CAN
P028.002.E601
F508x
4A nominal, Single-Ended encoder input, CAN
iPOS3604 BX-CAN
P028.002.E701
F523x
4A nominal, Linear Hall version, CAN

Technosoft 2022 11 iPOS360x BX-CAN Technical Reference
2.4 Supported Motor-Sensor Configurations
The position and/or speed are controlled using one feedback sensor.
Motor
Sensor type
Brushless
PMSM
Brushless
BLDC
DC Brush Stepper
2 phase
Stepper
3 phase
Incr. encoder Yes - Yes Yes -
Incr. encoder + Digital Hall Yes Yes - - -
Sin-Cos encoder Yes - - -
Digital halls only Yes - - - -
Linear Halls Yes* - - -
Tacho - - Yes - -
Open-loop (no sensor) - - - Yes Yes
Open-loop (with step loss detection
using incr. Encoder) - - - Yes Yes
Open-loop with incr. encoder on load - - - Yes Yes
*Linear Halls are supported with a different part number
3 Hardware Installation
3.1 iPOS360X BX-CAN Board Dimensions
Figure 3.1.1. iPOS360X BX-CAN drive dimensions
All dimensions are in mm. The drawings are not to scale.

Technosoft 2022 12 iPOS360x BX-CAN Technical Reference
3.2 Mechanical Mounting
The iPOS360x BX-CAN drive is intended to be mounted vertically or horizontally on a metallic support using the provided
mounting holes and the recommended mating connectors, as specified in chapter Error! Reference source not found..
For thermal calculations, each iPOS360x drive can be assumed to generate 1 Watt at idle, and up to 5 Watts (= 17
BTU/hour) worst case while driving a motor and using all digital outputs.
When the iPOS360x BX-CAN is mounted vertically, its overall envelope (size) including the recommended mating
connectors is shown in Figure 3.1. Fixing the iPOS360x BX-CAN onto a support using the provided mounting holes is
strongly recommended to avoid vibration and shock problems.
Figure 3.2.1. iPOS360x BX-CAN dimensions with mating connectors
The iPOS360x BX-CAN drive(s) can be cooled by natural convection. The support shall be thermally conductive
(metallic), and can be mounted vertically or horizontally.
Figure 3.2.2. Recommended spacing go vertical and horizontal mounting, worst case: non-metallic, closed box
The figures above shows the minimum spacing to assure proper airflow by natural convection.
If closed completely in a box, ventilation openings shall be foreseen on the top and bottom sides.
If ventilation driven by natural convection is not enough to maintain the temperature surrounding the iPOS360x BX-CAN
drive(s), then alternate forced cooling methods must be applied.
Remark: In case of using a metallic box, with ventilation openings, all spacing values may be reduced
substantially. With proper ventilation, keeping the air surrounding the iPOS360x BX-CAN inside the limits
indicated, the spacing values may be reduced down to zero.

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3.3 EMC recommendations
The drive is compliant to the requirements of the following European directives, when installed as described in this User
Manual:
•93/68/EEC CE Marking Directive
•2014/30/EU Electromagnetic Compatibility (EMC) Directive
•EN 61800-3:2012 Adjustable speed electrical power drive systems, Part3: EMC
•product standard
The drive shall be installed as shown in the Figure below, in order to meet the above EMC requirements:
Figure 3.3 EMC recommended connections
* if +Vmot to capacitor wire length ≥2m, use twisted wires for the supply and ground return (Vmot and GND)
* if +Vmot to capacitor wire length ≥20m, the capacitor value must be ≥ 2200 µF.

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3.4 Connectors and Pinouts
3.4.1 Pinouts for iPOS360x BX-CAN (standard differential encoder version; P028.00x.E201)

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3.4.2 Pinouts for iPOS360x BX-CAN (linear halls encoder version; P028.00x.E701)
Remark: the linear halls version label contains LH1,2,3 signals present for J3 description.

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3.4.3 Pinouts for iPOS360x BX-CAN (single-ended encoder version; P028.00x.E601)

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3.4.4 Mating Connectors (for all versions)
Image
Connector
Description
Manufacturer
Part Number Image
J1
MICRO
-FIT receptacle housing, 2x1 way MOLEX 43025-0200
J2
MICRO
-FIT. receptacle housing, 2x5 way MOLEX 43025-1000
J5, J6, J7
MICRO
-FIT receptacle housing, 2x2 way MOLEX 43025-0400
J4
MICRO
-FIT receptacle housing, 2x7 way MOLEX 43025-1400
J1,J2,J4,
J5,J6,J7
CRIMP PIN, MICRO
-FIT, 5A MOLEX 43030-0007
J3
CRIMP PIN, MILLI
-GRID MOLEX 50394-8400
J3
MILLI
-GRID receptacle housing, 2x5 way MOLEX 51110-1056
3.5 Connection diagrams
3.5.1 iPOS360X BX-CAN connection diagram (differential encoder input version)
Figure 3.4. iPOS360X BX-CAN Connection diagram with a differential encoder
* For other available feedback / motor options, check the detailed connection diagrams below

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3.5.2 iPOS360X BX-CAN connection diagram (Linear Halls input version)
Figure 3.5. iPOS360X BX-CAN Connection diagram with Linear Halls
* For other available feedback / motor options, check the detailed connection diagrams below

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3.5.3 iPOS360X BX-CAN connection diagram (single-ended encoder input version)
Figure 3.6. iPOS360X BX-CAN Connection diagram with a single-ended encoder
* For other available motor options, check the detailed connection diagrams below

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3.5.4 24V Digital I/O Connection
3.5.4.1 PNP inputs
Figure 3.7. 24V Digital PNP Inputs connection
Remarks:
1. If Vlog is not supplied, the digital inputs will not work.
2. The inputs are selectable as PNP/ NPN by software.
3. The inputs are compatible with PNP type outputs (input must receive a positive voltage value (5-36V) to change
its default state)
3.5.4.2 NPN inputs
Figure 3.8. 24V Digital NPN Inputs connection
Remarks:
1. If Vlog is not supplied, the digital inputs will not work.
2. The inputs are selectable as PNP/ NPN by software.
3. The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state)