Technosoft iPOS4808 BX-CAN Use and care manual

iPOS4808
BX-CAN
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
Technosoft 2015

TECHNOSOFT
iPOS4808 BX-CAN
Technical Reference
P091.027.iPOS4808.BX.UM.0915
Technosoft S.A.
Avenue des Alpes 20
CH-2000 NEUCHATEL
Switzerland
Tel.: [phone]
Fax: [phone]
e-mail: [email protected]
http://www.technosoftmotion.com/

Technosoft 2015 III iPOS4808 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:
•iPOS4808 BX-CAN hw. ver.10
p/n P027.214.E201 standard revision with a differential encoder on Feedback #1.
p/n P027.214.E701 supports linear halls on Feedback#1.
In order to operate the iPOS4808 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 drive’s 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)
A TML_LIB motion library for PLCs
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 iPOS4808 BX-CAN hardware including the
technical data, the connectors and the wiring diagrams needed for installation. The manual also
presents an overview of the following steps, and 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.
1when iPOS4808 is set in CANopen mode

Technosoft 2015 IV iPOS4808 BX-CAN Technical Reference
Notational Conventions
This document uses the following conventions:
•iPOS4808– 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
•TMLCAN – Technosoft protocol for exchanging TML commands via CAN-bus
Related Documentation
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, CiA WD 305 v.2.2.13 layer settings services and protocols
and CiA DSP 402 v3.0 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 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

Technosoft 2015 V iPOS4808 BX-CAN Technical Reference
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

Technosoft 2015 VI iPOS4808 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 (see Note)
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,
Switzerland

Technosoft 2015 VII iPOS4808 BX-CAN Technical Reference
Contents
Read This First...................................................................................................III
1. Safety information....................................................................................13
1.1. Warnings..............................................................................................13
1.2. Cautions...............................................................................................14
2. Product Overview.....................................................................................15
2.1. Introduction ..........................................................................................15
2.2. Key Features........................................................................................17
2.3. Identifying the drive hardware revision.................................................19
2.4. Supported Motor-Sensor Configurations..............................................20
2.4.1. Single ended configurations .......................................................................20
2.4.2. Dual loop configurations.............................................................................20
2.5. iPOS4808 BX-CAN Drive Dimensions .................................................21
2.6. Identification Labels .............................................................................21
2.7. Electrical Specifications........................................................................22
2.7.1. Operating Conditions..................................................................................22
2.7.2. Storage Conditions.....................................................................................22
2.7.3. Mechanical Mounting..................................................................................22
2.7.4. Environmental Characteristics....................................................................22
2.7.5. Logic Supply Input (+VLOG) .........................................................................23
2.7.6. Motor Supply Input (+VMOT).........................................................................23
2.7.7. Motor Outputs (A/A+, B/A-, C/B+, BR/B-)...................................................23
2.7.8. Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN5, IN6).................................25
2.7.9. Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT4)............26
2.7.10. Digital Hall Inputs (Hall1, Hall2, Hall3).....................................................26
2.7.11. Encoder1 Inputs (A1/A1+, A1-, B1/B1+, B1-, Z1/Z1+, Z1-)......................27
2.7.12. Encoder2 Inputs (A2+/Data+, A2-/Data-, B2+/Clk+, B2-/Clk-, Z2+, Z2-)..28
2.7.13. Linear Hall Inputs (LH1, LH2, LH3) .........................................................28
2.7.14. Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)....................................28
2.7.15. Analog 0…5V Inputs (REF, FDBK) .........................................................29
2.7.16. RS-232....................................................................................................29

Technosoft 2015 VIII iPOS4808 BX-CAN Technical Reference
2.7.17. CAN-Bus.................................................................................................30
2.7.18. Supply Output (+5V) ...............................................................................30
3. Step 1. Hardware Installation..................................................................31
3.1. Mechanical Mounting...........................................................................31
3.1.1. Vertical Mounting........................................................................................31
3.1.2. Horizontal Mounting ...................................................................................33
3.2. Mating Connectors...............................................................................34
3.3. Connectors and Connection Diagrams................................................35
3.3.1. Connector Layout.......................................................................................35
3.3.2. J1 Motor and logic supply input connector pinout.......................................35
3.3.3. J2 Motor output and digital hall signals connector pinout............................36
3.3.4. J3 Primary feedback connector pinout for the p.n. P027.214.E201............36
3.3.5. J3 Primary feedback connector pinout for the p.n. P027.214.E701............36
3.3.6. J4 Secondary feedback connector pinout...................................................37
3.3.7. J5, J6 CAN connectors pinout....................................................................37
3.3.8. J7 Digital, analog I/O and logic supply connector pinout ............................37
3.3.9. J8 RS232 connector pinout........................................................................38
3.3.10. J9 Enable circuit connector pinout...........................................................38
3.3.11. SW1 Axis ID selection switches..............................................................38
3.3.12. SW2 Hardware Configuration selection DIP switch.................................38
3.3.13. 24V Digital I/O Connection......................................................................39
3.3.14. Analog Inputs Connection.......................................................................41
3.3.15. Motor connections...................................................................................43
3.3.16. Feedback connections ............................................................................46
3.3.17. Power Supply Connection.......................................................................54
3.3.18. Serial RS-232 connection........................................................................57
3.3.19. CAN-bus connection...............................................................................58
3.3.20. Disabling Autorun Mode..........................................................................60
3.4. Operation Mode and Axis ID Selection................................................61
3.4.1. Selection of the Operation Mode................................................................61
3.4.2. Selection of the Axis ID ..............................................................................61
4. Step 2. Drive Setup ..................................................................................62
4.1. Installing EasySetUp............................................................................62