Technosoft iPOS4808 MX Series Use and care manual

iPOS4808 MX
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
Technosoft 2014

T E C H N O S O F T
iPOS4808 MX
Technical Reference
P091.027.iPOS4808.MX.UM.0114
Technosoft S.A.
Avenue des Alpes 20
CH-2000 NEUCHATEL
Switzerland
Tel.: [phone]
Fax: [phone]
e-mail: [e-mail]
http://www.technosoftmotion.com/

Technosoft 2014 III iPOS4808 MX 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 iPOS4808 MX family of intelligent servo drives,
including the following products:
iPOS4808 MX-CAN (p/n P027.014.E001)
iPOS4808 MX-CAT (p/n P027.014.E121)
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 master1or EtherCAT®master2
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 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 the iPOS4808 is set in CANopen mode
2if the iPOS4808 is EtherCAT® compatible

Technosoft 2014 IV iPOS4808 MX 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
CoE –CAN application protocol over EtherCAT®
Trademarks
EtherCAT®is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
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
CoE Programming (part no. P091.064.UM.xxxx) –explains how to program the
Technosoft intelligent drives using CAN application protocol over EtherCAT®and
describes the associated object dictionary.
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

Technosoft 2014 V iPOS4808 MX Technical Reference
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
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-iPOS4808 (part no. P091.027.IO-iPOS4808.UM.xxxx) –describes the IO iPOS4808
I/O extension board included in the iPOS4808Starter Kits.

Technosoft 2014 VI iPOS4808 MX 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: [email protected]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000, Neuchatel
Switzerland

Technosoft 2014 VII iPOS4808 MX Technical Reference
Contents
Read This First ...................................................................................................III
About This Manual ............................................................................................III
Notational Conventions .....................................................................................IV
Trademarks .......................................................................................................IV
Related Documentation.....................................................................................IV
If you Need Assistance ….................................................................................VI
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. Supported Motor-Sensor Configurations..............................................19
2.4. iPOS4808 MX Drive Dimensions .........................................................25
2.5. Electrical Specifications........................................................................ 26
2.5.1. Operating Conditions..................................................................................26
2.5.2. Storage Conditions.....................................................................................26
2.5.3. Mechanical Mounting..................................................................................26
2.5.4. Environmental Characteristics ....................................................................27
2.5.5. Logic Supply Input (+VLOG) .........................................................................27
2.5.6. Motor Supply Input (+VMOT).........................................................................27
2.5.7. Motor Outputs (A/A+, B/A-, C/B+, BR/B-) ...................................................28
2.5.8. Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable, IN5, IN6, IN7)......28
2.5.9. Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT5) ............29
2.5.10. Digital Hall Inputs (Hall1, Hall2, Hall3).....................................................29
2.5.11. Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-) .........................................30
2.5.12. Linear Hall Inputs (LH1, LH2, LH3) .........................................................31
2.5.13. Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)....................................31
2.5.14. Analog 0…5V Inputs (REF, FDBK) .........................................................32
2.5.15. Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2) ..........................................32

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2.5.16. RS-232....................................................................................................32
2.5.17. CAN-Bus ................................................................................................. 33
2.5.18. Supply Output (+5V) ...............................................................................33
3. Step 1. Hardware Installation .................................................................. 36
3.1. Mechanical Mounting ........................................................................... 36
3.2. Motherboard PCB Design .................................................................... 37
3.3. Mating Connector................................................................................. 39
3.4. Connector and Connection Diagrams .................................................. 39
3.4.1. Connector Layout .......................................................................................39
3.4.2. Identification Labels.................................................................................... 40
3.4.3. J1 Connector pinout (I/O, Communication. Feedback) ...............................41
3.4.4. J2 Connector pinout (Motor phases) .......................................................... 42
3.4.5. J3 Connector pinout (Motor supply input) ................................................... 42
3.4.6. Operation Mode and Axis ID Selection ....................................................... 43
3.4.7. 24V Digital I/O Connection ......................................................................... 51
3.4.8. 5V Digital I/O Connection ...........................................................................52
3.4.9. Analog Inputs Connection .......................................................................... 53
3.4.10. Motor connections................................................................................... 54
3.4.11. Feedback connections ............................................................................58
3.4.12. Power Supply Connection ....................................................................... 62
3.4.13. Serial RS-232 connection........................................................................ 65
3.4.14. CAN-bus connection ............................................................................... 66
3.4.15. Removal from Autorun Mode ..................................................................68
3.4.16. Disabling the setup table at start-up for EtheCAT® drives ...................... 68
4. Step 2. Drive Setup .................................................................................. 69
4.1. Installing EasySetUp ............................................................................ 69
4.2. Getting Started with EasySetUp........................................................... 69
4.2.1. Establish communication............................................................................ 70
4.2.2. Setup drive/motor .......................................................................................71
4.2.3. Download setup data to drive/motor ...........................................................72
4.2.4. Evaluate drive/motor behavior (optional) ....................................................73
4.3. Changing the drive Axis ID................................................................... 74
4.4. Setting CANbus rate ............................................................................ 76

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4.5. Creating an Image File with the Setup Data.........................................77
5. Step 3. Motion Programming ..................................................................78
5.1. Using a CANopen Master (for iPOS4808 CANopen execution)...........78
5.1.1. CiA-301 Application Layer and Communication Profile Overview ...............78
5.1.2. CiA-305 Layer Setting Services (LSS) and Protocols Overview..................79
5.1.3. CiA-402 and Manufacturer Specific Device Profile Overview......................79
5.1.4. TechnoCAN Extension ...............................................................................79
5.1.5. Checking Setup Data Consistency .............................................................79
5.2. Using the built-in Motion Controller and TML .......................................80
5.2.1. Technosoft Motion Language Overview .....................................................80
5.2.2. Installing EasyMotion Studio.......................................................................80
5.2.3. Getting Started with EasyMotion Studio .....................................................81
5.2.4. Creating an Image File with the Setup Data and the TML Program............87
5.3. Combining CANopen /or other host with TML ......................................88
5.3.1. Using TML Functions to Split Motion between Master and Drives ..............88
5.3.2. Executing TML programs ...........................................................................88
5.3.3. Loading Automatically Cam Tables Defined in EasyMotion Studio .............88
5.3.4. Customizing the Homing Procedures .........................................................89
5.3.5. Customizing the Drive Reaction to Fault Conditions ...................................89
5.4. Using Motion Libraries for PC-based Systems..................................... 90
5.5. Using Motion Libraries for PLC-based Systems................................... 90
6. Scaling factors ......................................................................................... 91
6.1. Position units........................................................................................91
6.1.1. Brushless / DC brushed motor with quadrature encoder on motor .............91
6.1.2. Brushless motor with linear Hall signals .....................................................91
6.1.3. DC brushed motor with quadrature encoder on load and tacho on motor...92
6.1.4. Step motor open-loop control. No feedback device ....................................92
6.1.5. Step motor open-loop control. Incremental encoder on load ......................92
6.1.6. Brushless motor with sine/cosine encoder on motor...................................93
6.2. Speed units .......................................................................................... 93
6.2.1. Brushless / DC brushed motor with quadrature encoder on motor .............93
6.2.2. Brushless motor with linear Hall signals .....................................................94
6.2.3. DC brushed motor with quadrature encoder on load and tacho on motor...94

Technosoft 2014 X iPOS4808 MX Technical Reference
6.2.4. DC brushed motor with tacho on motor ......................................................94
6.2.5. Step motor open-loop control. No feedback device ....................................95
6.2.6. Step motor closed-loop control. Incremental encoder on motor.................. 95
6.2.7. Brushless motor with sine/cosine encoder on motor................................... 96
6.3. Acceleration units................................................................................. 96
6.3.1. Brushless / DC brushed motor with quadrature encoder on motor .............96
6.3.2. Brushless motor with linear Hall signals .....................................................97
6.3.3. DC brushed motor with quadrature encoder on load and tacho on motor... 97
6.3.4. Step motor open-loop control. No feedback device ....................................98
6.3.5. Step motor open-loop control. Incremental encoder on load ......................98
6.3.6. Step motor closed-loop control. Incremental encoder on motor.................. 98
6.3.7. Brushless motor with sine/cosine encoder on motor................................... 99
6.4. Jerk units.............................................................................................. 99
6.4.1. Brushless / DC brushed motor with quadrature encoder on motor .............99
6.4.2. Brushless motor with linear Hall signals ................................................... 100
6.4.3. DC brushed motor with quadrature encoder on load and tacho on motor. 100
6.4.4. Step motor open-loop control. No feedback device .................................. 101
6.4.5. Step motor open-loop control. Incremental encoder on load .................... 101
6.4.6. Step motor closed-loop control. Incremental encoder on motor................ 101
6.4.7. Brushless motor with sine/cosine encoder on motor................................. 102
6.5. Current units ...................................................................................... 102
6.6. Voltage command units ..................................................................... 102
6.7. Voltage measurement units ............................................................... 103
6.8. Time units .......................................................................................... 103
6.9. Master position units .......................................................................... 103
6.10. Master speed units............................................................................. 103
6.11. Motor position units ............................................................................ 104
6.11.1. Brushless / DC brushed motor with quadrature encoder on motor ........ 104
6.11.2. Brushless motor with linear Hall signals ................................................ 104
6.11.3. DC brushed motor with quadrature encoder on load and tacho on motor
104
6.11.4. Step motor open-loop control. No feedback device............................... 104
6.11.5. Step motor open-loop control. Incremental encoder on load ................. 105
6.11.6. Step motor closed-loop control. Incremental encoder on motor ............ 105
6.11.7. Brushless motor with sine/cosine encoder on motor ............................. 105

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6.12. Motor speed units...............................................................................105
6.12.1. Brushless / DC brushed motor with quadrature encoder on motor ........105
6.12.2. Brushless motor with linear Hall signals ................................................106
6.12.3. DC brushed motor with quadrature encoder on load and tacho on motor
106
6.12.4. DC brushed motor with tacho on motor .................................................106
6.12.5. Step motor open-loop control. No feedback device or incremental encoder
on load 107
6.12.6. Step motor closed-loop control. Incremental encoder on motor ............107
6.12.7. Brushless motor with sine/cosine encoder on motor..............................107
7. Memory Map ........................................................................................... 109

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Technosoft 2014 XIII iPOS4808 MX 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
CAUTION!
INDICATES AREAS SENSITIVE TO ELECTROSTATIC
DIS-CHARGES (ESD), WHICH REQUIRE HANDLING IN
AN ESD PROTECTED ENVIRONMENT
1.1. Warnings
WARNING!
TO AVOID ELECTRIC ARCING AND HAZARDS, NEVER
PLUG / UNPLUG THE iPOS4808 FROM ITS SOCKET
WHILE THE POWER SUPPLIES ARE ON!

Technosoft 2014 14 iPOS4808 MX Technical Reference
WARNING!
THE DRIVE MAY HAVE HOT SURFACES DURING
OPERATION.
WARNING!
DURING DRIVE OPERATION, THE CONTROLLED
MOTOR WILL MOVE. KEEP AWAY FROM ALL MOVING
PARTS TO AVOID INJURY
1.2. Cautions
CAUTION!
THE POWER SUPPLIES CONNECTED TO THE DRIVE
MUST COMPLY WITH THE PARAMETERS SPECIFIED IN
THIS DOCUMENT
CAUTION!
TROUBLESHOOTING AND SERVICING ARE PERMITTED
ONLY FOR PERSONNEL AUTHORISED BY
TECHNOSOFT
CAUTION!
THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE
DEVICE, WHICH WILL 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 2014 15 iPOS4808 MX Technical Reference
2. Product Overview
2.1. Introduction
The iPOS4808 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 iPOS4808 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 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
1Available if the master axis sends its position via a communication channel

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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.
All iPOS4808 drives are equipped with a serial RS232 and a CAN 2.0B interface and can be set
(hardware, via an AxisID input level) 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 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 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

Technosoft 2014 17 iPOS4808 MX Technical Reference
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.
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
Standard PCIe 8x mating connector
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, 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
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
Electronic gearing and camming1
35 Homing modes
Single-ended and RS-422 differential encoder interface
Single-ended, open collector Digital Hall sensor interface
Linear Hall sensor interface
Analogue Sin/Cos encoder interface (differential 1Vpp)
SSI, EnDAT, BiSS absolute encoders and resolver feedback possible with an additional
feedback extension module
Drive temperature sensor
2 analogue inputs: 12-bit, 0-5V (Reference, Feedback) or general-purpose
8 digital inputs: 5-36V, NPN: Enable, Limit switch +, Limit switch –, 5 general-purpose
1Available if the master axis sends its position via a communication channel

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5 digital outputs : 5-36V, 0.5A, NPN open-collector: Ready, Error, 3 general-purpose
RS-232 serial interface (up to 115200 bps)
CAN-bus 2.0B up to 1Mbit/s with hardware axis ID selection1
Two operation modes:
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
1K 16 internal SRAM memory
4K 16 E2ROM to store TML programs and data
PWM switching frequency up to 100kHz
Motor supply: 11-48V
Logic supply: 9-36V.Separate supply is optional
Output current:
iPOS4808 MX-CAN: 8A2continuous; 20A peak
Operating ambient temperature: 0-40C (over 40C with derating)
Hardware Protections:
Short-circuit between motor phases
Short-circuit from motor phases to ground
Over-voltage
Under-voltage
Over-current
Drive over-temperature
1127 addresses in CANopen mode, 196 addresses in TMLCAN mode
28A cont. with DC, step and BLDC motors (trapezoidal)