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

Technosoft 2015 IX iPOS4808 BX-CAN Technical Reference
4.2. Getting Started with EasySetUp...........................................................62
4.2.1. Establish communication............................................................................63
4.2.2. Setup drive/motor.......................................................................................64
4.2.3. Selecting NPN/PNP inputs type in Setup....................................................66
4.2.4. Selecting the feedback source for Pulse and Direction...............................66
4.2.5. Download setup data to drive/motor...........................................................67
4.2.6. Evaluate drive/motor behavior (optional) ....................................................67
4.3. Changing the drive Axis ID...................................................................68
4.4. Setting CANbus rate.............................................................................70
4.5. Creating an Image File with the Setup Data.........................................71
5. Step 3. Motion Programming ..................................................................72
5.1. Using a CANopen Master (for iPOS4808 CANopen execution)...........72
5.1.1. CiA-301 Application Layer and Communication Profile Overview...............72
5.1.2. CiA-305 Layer Setting Services (LSS) and Protocols Overview..................73
5.1.3. CiA-402 and Manufacturer Specific Device Profile Overview......................73
5.1.4. TechnoCAN Extension...............................................................................73
5.1.5. Checking Setup Data Consistency.............................................................73
5.2. Using the built-in Motion Controller and TML.......................................74
5.2.1. Technosoft Motion Language Overview .....................................................74
5.2.2. Installing EasyMotion Studio.......................................................................74
5.2.3. Getting Started with EasyMotion Studio .....................................................75
5.2.4. Creating an Image File with the Setup Data and the TML Program............81
5.3. Combining CANopen /or other host with TML......................................81
5.3.1. Using TML Functions to Split Motion between Master and Drives ..............82
5.3.2. Executing TML programs ...........................................................................82
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio.............82
5.3.4. Customizing the Homing Procedures .........................................................82
5.3.5. Customizing the Drive Reaction to Fault Conditions...................................83
5.4. Using Motion Libraries for PC-based Systems.....................................83
5.5. Using Motion Libraries for PLC-based Systems...................................84
6. Scaling factors .........................................................................................85
6.1. Position units........................................................................................85
6.1.1. Brushless / DC brushed motor with quadrature encoder on motor .............85

Technosoft 2015 X iPOS4808 BX-CAN Technical Reference
6.1.2. Brushless motor with linear Hall signals .....................................................85
6.1.3. DC brushed motor with quadrature encoder on load and tacho on motor...86
6.1.4. Step motor open-loop control. No feedback device....................................86
6.1.5. Step motor open-loop control. Incremental encoder on load ......................86
6.1.6. Brushless motor with sine/cosine encoder on motor...................................87
6.2. Speed units..........................................................................................87
6.2.1. Brushless / DC brushed motor with quadrature encoder on motor .............87
6.2.2. Brushless motor with linear Hall signals .....................................................88
6.2.3. DC brushed motor with quadrature encoder on load and tacho on motor...88
6.2.4. DC brushed motor with tacho on motor......................................................88
6.2.5. Step motor open-loop control. No feedback device....................................89
6.2.6. Step motor closed-loop control. Incremental encoder on motor..................89
6.2.7. Brushless motor with sine/cosine encoder on motor...................................90
6.3. Acceleration units.................................................................................90
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor .............90
6.3.2. Brushless motor with linear Hall signals .....................................................91
6.3.3. DC brushed motor with quadrature encoder on load and tacho on motor...91
6.3.4. Step motor open-loop control. No feedback device....................................92
6.3.5. Step motor open-loop control. Incremental encoder on load ......................92
6.3.6. Step motor closed-loop control. Incremental encoder on motor..................92
6.3.7. Brushless motor with sine/cosine encoder on motor...................................93
6.4. Jerk units..............................................................................................94
6.4.1. Brushless / DC brushed motor with quadrature encoder on motor .............94
6.4.2. Brushless motor with linear Hall signals .....................................................94
6.4.3. DC brushed motor with quadrature encoder on load and tacho on motor...95
6.4.4. Step motor open-loop control. No feedback device....................................95
6.4.5. Step motor open-loop control. Incremental encoder on load ......................95
6.4.6. Step motor closed-loop control. Incremental encoder on motor..................96
6.4.7. Brushless motor with sine/cosine encoder on motor...................................96
6.5. Current units ........................................................................................96
6.6. Voltage command units .......................................................................97
6.7. Voltage measurement units .................................................................97
6.8. Time units ............................................................................................97
6.9. Master position units............................................................................98
6.10. Master speed units...............................................................................98

Technosoft 2015 XI iPOS4808 BX-CAN Technical Reference
6.11. Motor position units..............................................................................98
6.11.1. Brushless / DC brushed motor with quadrature encoder on motor ..........98
6.11.2. Brushless motor with linear Hall signals ..................................................98
6.11.3. DC brushed motor with quadrature encoder on load and tacho on motor98
6.11.4. Step motor open-loop control. No feedback device.................................99
6.11.5. Step motor open-loop control. Incremental encoder on load ...................99
6.11.6. Step motor closed-loop control. Incremental encoder on motor ..............99
6.11.7. Brushless motor with sine/cosine encoder on motor................................99
6.12. Motor speed units...............................................................................100
6.12.1. Brushless / DC brushed motor with quadrature encoder on motor ........100
6.12.2. Brushless motor with linear Hall signals ................................................100
6.12.3. DC brushed motor with quadrature encoder on load and tacho on motor
100
6.12.4. DC brushed motor with tacho on motor.................................................101
6.12.5. Step motor open-loop control. No feedback device or incremental encoder
on load 101
6.12.6. Step motor closed-loop control. Incremental encoder on motor ............101
6.12.7. Brushless motor with sine/cosine encoder on motor..............................102
7. Memory Map ...........................................................................................103

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Technosoft 2015 13 iPOS4808 BX-CAN 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, set up, operate and maintain the drive. A “qualified person”
has the knowledge and authorization to perform tasks such as transporting, assembling, install-
ing, commissioning and operating drives.
The following safety symbols are used in this manual:
WARNING!
SIGNALS A DANGER THAT MIGHT CAUSE BODILY
INJURY TO THE OPERATOR. 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 PLUG / UNPLUG THE iPOS4808 BX-CAN FROM IT’S
SOCKET 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 2015 14 iPOS4808 BX-CAN Technical Reference
1.2. Cautions
CAUTION! THE POWER SUPPLIES CONNECTED TO THE DRIV
E
MUST COMPLY WITH THE PARAMETERS SPECIFIED IN
THIS DOCUMENT
CAUTION! TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY
TECHNOSOFT

Technosoft 2015 15 iPOS4808 BX-CAN Technical Reference
2. Product Overview
2.1. Introduction
The iPOS4808 BX-CAN is part of 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 iPOS4808 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 iPOS4808 BX-CAN 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 gearing or camming, 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 axes from 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.

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All iPOS4808 drives are equipped with a serial RS232 and a CAN 2.0B interface and can be set
(hardware, via a DIP switch) to operate in 2 modes:
CANopen
TMLCAN
When CANopen mode is selected, the iPOS4808 conforms to CiA 301 v4.2 application layer and
communication profile, CiA WD 305 v2.2.13 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. In this mode, the iPOS4808 may be controlled via a CANopen master. As a bonus,
iPOS4808 offers a CANopen master the option to call motion sequences, written in TML and
stored in the drive EEPROM, using manufacturer specific objects (see for details par. 5.3).
When TMLCAN mode is selected, the iPOS4808 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 iPOS4808 can be set to
operate standalone, and may play the role of a master to coordinate both: 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 iPOS4808 drives
can also be controlled via a PC or a PLC using one of the TML_LIB motion libraries.
For iPOS4808 commissioning EasySetUp or EasyMotion Studio PC applications may be used.
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 iPOS4808 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
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 controllers.
EasyMotion Studio, shall be used to program motion sequences in TML. This is the iPOS4808
typical operation mode when TMLCAN protocol is selected. EasyMotion Studio shall also be used
with 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 (see par. 5.2.4) 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.

Technosoft 2015 17 iPOS4808 BX-CAN Technical Reference
2.2. Key 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: cyclic synchronous position; torque, speed or
position control; position or speed profiles, external analogue reference 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
•Communication:
•RS-232 serial up to 115kbits/s
•CAN-Bus up to 1Mbit/s
•Digital and analog I/Os:
•6 digital inputs: 12-36 V, programmable polarity: sourcing/NPN or sinking/PNP: 2
Limit switches and 4 general-purpose
•5 digital outputs: 5-36 V, with 0.5 A, sinking/NPN open-collector (Ready, Error and 3
general-purpose)
•2 analogue inputs: 12 bit, 0-5V: Reference and Feedback or general purpose
•NTC/PTC analogue Motor Temperature sensor input
•Feedback devices (dual-loop support):
Feedback #1 devices supported:
•Incremental encoder interface (single ended or differential1)
•Pulse & direction interface (single-ended) for external (master) digital reference
•Analog sin/cos encoder interface (differential 1VPP)
•Digital Hall sensor interface (single-ended and open collector)
•Linear Hall sensors interface2
Feedback #2 devices supported:
•Incremental encoder interface (differential)
•Pulse & direction interface (differential) for external (master) digital reference
•BiSS3/ SSI encoder interface
•Various motion programming modes:
•Position profiles with trapezoidal or S-curve speed shape
1Differential Feedback #1 is not available with the p/n P027.214.E701
2Only available with the p/n P027.214.E701
3Currently in development

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•Position, Velocity, Time (PVT) 3rd order interpolation
•Position, Time (PT) 1st order interpolation
•Electronic gearing and camming
•35 Homing modes
•127 h/w selectable addresses
•Two operation modes selectable by DIP switch:
•CANopen – conforming with CiA 301 v4.2,CiA WD 305 v2.2.13 and CiA DSP 402
v3.0
•TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML
commands via CAN-bus
•16K ×16 internal SRAM memory for data acquisition
•16K ×16 E2ROM to store TML programs and data
•PWM switching frequency up to 100kHz
•Motor supply: 12-50V
•Logic supply: 9-36V.Separate supply is optional
•Output current: iPOS4808 BX-CAN: 8A1continuous; 20A peak
•Operating ambient temperature: 0-40°C (over 40°C with derating)
•Protections:
•Short-circuit between motor phases
•Short-circuit from motor phases to ground
•Over-voltage
•Under-voltage
•Over-current
•Over-temperature
•Communication error
•Control error
18A cont. with DC, step and BLDC motors (trapezoidal), 8A amplitude (5.66ARMS) for PMSM (sinusoidal)