Technosoft iPOS4808 MYCAN-STO Use and care manual

iPOS4808 MY-
CAN-STO/
CAT-STO
Intelligent Servo Drive
for Step, DC, Brushless
DC and AC Motors
Intelligent Servo Drives
T
echnical
Reference
Technosoft 2016 P091.027.iPOS4808.MY.STO.UM.1116

Technosoft 2016 2 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
Table of contents
Table of contents ........................................................................................................... 2
Read This First ............................................................................................................... 4
About This Manual................................................................................................................. 4
Notational Conventions......................................................................................................... 4
Trademarks ............................................................................................................................ 5
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
2.4Supported Motor-Sensor Configurations ................................................................. 11
2.4.1...... Single loop configurations...................................................................................................... 11
2.4.2...... Dual loop configurations ........................................................................................................ 11
2.5 iPOS4808 MY I/O Evaluation board........................................................................... 12
3Hardware Installation............................................................................................. 13
3.1 iPOS4808 MY-CAN-STO Board Dimensions............................................................. 13
3.2 iPOS4808 MY-CAT-STO Board Dimensions ............................................................. 14
3.3 Mechanical Mounting................................................................................................. 15
3.3.1...... iPOS4808 MY-CAN-STO PCB Footprint ............................................................................... 15
3.3.2...... iPOS4808 MY-CAT-STO PCB Footprint ............................................................................... 15
3.4 Motherboard PCB Design .......................................................................................... 16
3.5 Connectors and Pinouts ............................................................................................ 17
3.5.1...... Pinouts for iPOS4808 MY-CAN-STO .................................................................................... 17
3.5.2...... Mating Connectors for CAN and CAT.................................................................................... 17
3.5.3...... Pinouts for iPOS4808 MY-CAT-STO..................................................................................... 18
3.6 Connection diagrams................................................................................................. 19
3.6.1...... iPOS4808 MY-CAN-STO connection diagram ...................................................................... 19
3.6.2...... iPOS4808 MY-CAT-STO connection diagram ...................................................................... 20
3.6.3...... 24V Digital I/O Connection .................................................................................................... 21
3.6.3.1 PNP inputs...................................................................................................................... 21
3.6.3.2 NPN inputs...................................................................................................................... 21
3.6.3.3 NPN outputs ................................................................................................................... 22
3.6.4...... 5V Digital I/O Connection ...................................................................................................... 23
3.6.5...... Analog Inputs Connection...................................................................................................... 24

Technosoft 2016 3 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
3.6.5.1 0-5V Input Range............................................................................................................ 24
3.6.5.2 +/- 10V to 0-5V Input Range Adapter ............................................................................. 24
3.6.5.3 Recommendation for wiring............................................................................................ 24
3.6.6...... Motor connections.................................................................................................................. 25
3.6.6.1 Brushless Motor connection ........................................................................................... 25
3.6.6.2 2-phase Step Motor connection...................................................................................... 25
3.6.6.3 3-Phase Step Motor connection ..................................................................................... 26
3.6.6.4 DC Motor connection...................................................................................................... 26
3.6.6.5 Recommendations for motor wiring................................................................................ 26
3.6.7...... Feedback connections ........................................................................................................... 27
3.6.7.1 Single-ended Incremental Encoder #1 Connection........................................................ 27
3.6.7.2 Differential Incremental Encoder #1 Connection............................................................ 27
3.6.7.3 Differential Incremental Encoder #2 Connection............................................................ 28
3.6.7.4 Sine-Cosine Analog Encoder Connection ...................................................................... 28
3.6.7.5 SSI Encoder #2 Connection ........................................................................................... 29
3.6.7.6 BiSS Encoder #2 Connection ......................................................................................... 29
3.6.7.7 Digital Hall Connection for Motor + Hall + Incremental Encoder.................................... 30
3.6.7.8 Digital Hall Connection for direct motor control without an encoder .............................. 30
3.6.7.9 Linear Hall Connection ................................................................................................... 31
3.6.7.10 Recommendations for wiring .......................................................................................... 31
3.6.8...... Power Supply and STO Connection ...................................................................................... 32
3.6.8.1 Supply Connection ......................................................................................................... 32
3.6.8.2 Recommendations for Supply Wiring ............................................................................. 32
3.6.8.3 Recommendations to limit over-voltage during braking ................................................. 32
3.6.9...... Serial RS-232 connection ...................................................................................................... 34
3.6.9.1 Serial RS-232 connection............................................................................................... 34
3.6.9.2 Recommendation for wiring............................................................................................ 34
3.6.10.... CAN-bus connection (for CAN drives only) ........................................................................... 35
3.6.10.1 CAN connection.............................................................................................................. 35
3.6.10.2 Recommendation for wiring............................................................................................ 35
3.6.11.... EtherCAT bus connection (for CAT drives) ........................................................................... 36
3.6.12.... Removal from Autorun Mode................................................................................................. 37
3.7 CAN Operation Mode and Axis ID Selection for CAN drives(J1 pin settings)........ 37
3.8 Axis ID Selection for CAT drives(J1 pin settings).................................................... 38
3.9 Electrical Specifications ............................................................................................ 38
3.9.1...... Operating Conditions ............................................................................................................. 38
3.9.2...... Storage Conditions ................................................................................................................ 38
3.9.3...... Mechanical Mounting ............................................................................................................. 39
3.9.4...... Environmental Characteristics ............................................................................................... 39
3.9.5...... Logic Supply Input (+VLOG) .................................................................................................... 39
3.9.6...... Motor Supply Input (+VMOT).................................................................................................... 39
3.9.7...... Motor Outputs (A/A+, B/A-, C/B+, BR/B-) .............................................................................. 40
3.9.8...... Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4, IN5) ........................................................... 40
3.9.9...... Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT4) ...................................... 41
3.9.10.... Digital Hall Inputs (Hall1, Hall2, Hall3)................................................................................... 41
3.9.11.... Encoder #1 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,) ............................................................... 41
3.9.12.... Encoder #2 Inputs (A2+, A2-, B2+, B2-, Z2+, Z2-) ................................................................ 42
3.9.13.... Linear Hall Inputs (LH1, LH2, LH3)........................................................................................ 42
3.9.14.... Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) ................................................................. 42
3.9.15.... SSI encoder interface ............................................................................................................ 42
3.9.16.... BiSS Encoder Interface.......................................................................................................... 43
3.9.17.... Analog 0…5V Inputs (REF, FDBK)........................................................................................ 43
3.9.18.... RS-232................................................................................................................................... 43
3.9.19.... CAN-Bus (for CAN drives) ..................................................................................................... 43
3.9.23.... Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ............................................................. 44

Technosoft 2016 4 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
4Memory Map ........................................................................................................... 45
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 Description
iPOS4808 MY-CAN-STO P027.314.E111 Standard version, CAN, STO inputs
P027.324.E111 Extended temperature range version, CAN, STO inputs
iPOS4808 MY-CAT-STO
P027.314.E121 Standard version, EtherCAT®, STO inputs
P027.324.E121 Extended temperature range version, EtherCAT®, STO
inputs
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 an EtherCAT® master2
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) 3
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 iPOS4808 hardware including the technical data, the connectors
and the wiring diagrams needed for installation.
For Step 2 and 3, please consult the document iPOS Dual Loop drives Software reference
( 091.027.DL.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:
•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.)
•STO – Safe Torque Off
•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
•CoE – CAN application protocol over EtherCAT®
1when the iPOS4808 MY-CAN is set in CANopen mode
2when using and iPOS4808 MY-CAT
3available only for CAN versions

Technosoft 2016 5 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
Trademarks
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Related Documentation
iPOS4808 MY-CAN-STO Datasheet ( P027.314.E111.DSH)
– describes the hardware connections of the iPOS4808 MY CAN family of intelligent servo drives
including the technical data and connectors.
iPOS4808 MY-CAT-STO Datasheet ( P027.314.E121.DSH)
– describes the hardware connections of the iPOS4808 MY EtherCAT® family of intelligent servo drives
including the technical data and connectors.
iPOS family Safe Torque Off (STO) Operating instructions ( 091.099.STO.Operating.Instructions.xxxx)
– describes the principles of STO function, the applied standards, the safety-related data and the
electrical data. It presents the requested information for installation and commissioning of STO function
iPOS Dual Loop drives Software reference (091.027.DL.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, 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 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-iPOS4808MY (part no. P091.084.IO-iPOS4808MY.UM.xxxx) – describes the IO iPOS4808MY I/O
extension board included in the iPOS4808 Starter Kits.

Technosoft 2016 6 iPOS4808 MY-CAN-STO/-CAT-STO 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
CAUTION! Indicates areas SENS
ITIVE TO electrostatic discharges (ESD) WHICH REQUIRE
HANDLING IN AN ESD PROTECTED ENVIRONMENT
1.1 Warnings
WARNING! THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE ELECTRICAL SHOCKS. DO
NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON
WARNING! TO AVOID ELECTRIC ARCING AND HAZARDS, NE
VER CONNECT /
DISCONNECT WIRES FROM THE DRIVE WHILE THE POWER SUPPLIES ARE ON
WARNING! THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION.

Technosoft 2016 7 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
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 PERMIT
TED ONLY FOR
PERSONNEL AUTHORISED BY TECHNOSOFT
CAUTION!
THE DRIVE CONTAINS ELECTROSTATICALLY SENS
ITIVE COMPONENTS
WHICH MAY BE DAMAGED BY INCORRECT HANDLING. THEREFORE THE DRIVE
SHALL BE REMOVED FROM ITS ORIGINAL PACKA
GE 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.
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.
STO compliance – TUV SUD certifies that this product is SIL 3 / Cat 3 / PL e compatible and
is in conformity with the following safety – related directives:
EN ISO 13849-1:2015 Safety of machinery - Safety-related parts of control systems - Part 1: General principles
for design
EN 61800-5-1:2007 Adjustable speed electrical power drive systems — Safety requirements — Electrical,
thermal and energy
EN 61800-5-2:2007 Adjustable speed electrical power drive systems - Safety requirements –Functional
EN 61508:2010 Functional safety of electrical/electronic/programmable electronic safety-related systems
EN ISO 13849-1:2008 Safety of machinery - Safety-related parts of control systems
EN 61326-3-1:2008 - General industrial applications - EMC - Immunity requirements for functional safety
For other certifications visit: http://technosoftmotion.com/en/quality-system

Technosoft 2016 8 iPOS4808 MY-CAN-STO/-CAT-STO 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), absolute encoders (SSI and BiSS-
C) and linear Hall 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
Controlling motion of an axis from another one via motion commands sent between axes2
Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously
motion sequences on all the axes from the group2
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 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
The iPOS4808 CAT drives support only the EtherCAT® communication protocol. They communicate through the serial
RS232 interface for software commissioning and the EtherCAT® interface.
When CANopen mode is selected, the iPOS4808 conforms to CiA 301 v4.2 application layer communication profile,
the 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. 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 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.
1Available if the master axis sends its position via a communication channel, or by using the secondary encoder input
2Available only for CAN drives

Technosoft 2016 9 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
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 execute complex motions, thanks to their built-in
motion controllers. EasyMotion Studio, may be used to program motion sequences in TML. This is the iPOS4808 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
•STO: 2 safe torque-off inputs, safety integrity level (SIL3/Cat3/PLe) acc. to EN61800-5-1;-2/ EN61508-3;-4/
EN ISO 13849-1. When left not connected will disable the motor outputs. This provides a dual redundant
hardware protection that cannot be overdriven by the software or other hardware components.
•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
•Communication:
•RS-232 serial up to 115kbits/s
•CAN-bus 2.0B up to 1Mbit/s (for CAN drives)
•Dual 100Mbps EtherCAT® interfaces, for use in daisy-chaining topologies (for CAT drives)
•Digital and analog I/Os:
•6 digital inputs: 5-36 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)
•NTC/PTC analogue Motor Temperature sensor input
•Electro-Mechanical brake support: software configurable digital output to control motor brake
•Feedback devices (dual-loop support)
1st feedback devices supported:
•Incremental encoder interface (single ended or differential)
•Analog sin/cos encoder interface (differential 1VPP)
•Linear Hall sensors interface
•Pulse & direction interface (single ended) for external (master) digital reference
2nd feedback devices supported:
•Incremental encoder interface (differential only)
•Pulse & direction interface (differential only) for external (master) digital reference
•BiSS-C / SSI encoder interface
Separate feedback devices supported:
•Digital Hall sensor interface (single-ended and open collector)
•2 analogue inputs: 12 bit, 0-5V: Reference and Feedback (for Tacho) or general purpose

Technosoft 2016 10 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
•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
•Cyclic Synchronous Position (CSP) for CANopen mode and EtherCAT® drives.
•Cyclic Synchronous Velocity (CSV) only for EtherCAT® drives.
•Cyclic Synchronous Torque (CST) only for EtherCAT® drives.
•Electronic gearing and camming
•35 Homing modes
•127 h/w selectable addresses
•Two CAN operation modes selectable by HW pin (only for CAN drives):
•CANopen – conforming with CiA 301 v4.2, CiA WD 305 v2.2.13and CiA DSP 402 v3.0
•TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via
CAN-bus
•EtherCAT® with CAN application protocol over EtherCAT (CoE) for CAT drives
•16K ×16 internal SRAM memory for data acquisition
•16K ×16 E2ROM to store TML motion programs, cam tables and other user data
•PWM switching frequency up to 100kHz
•Motor supply: 12-50V
•Logic supply: 9-36V.
•STO supply: 18-40V
•Output current: 81continuous; 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
2.3 Identification Labels
Figure 2.3.1. iPOS4808 MY-CAx-STO identification labels
The iPOS4808 MY can have the following part numbers and names on the identification label:
p.n. P027.314.E111 name iPOS 4808 MY-CAN-STO – standard CAN execution
p.n. P027.324.E111 name iPOS 4808 MY-CAN-STO – extended temperature range CAN execution
p.n. P027.314.E121 name iPOS 4808 MY-CAT-STO – standard EtherCAT® execution
p.n. P027.324.E121 name iPOS 4808 MY-CAT-STO – extended temperature range EtherCAT® execution
120A cont. with DC, step and BLDC motors (trapezoidal), 20A amplitude (14.2ARMS) for PMSM (sinusoidal)

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2.4 Supported Motor-Sensor Configurations
2.4.1 Single loop configurations
The position and/or speed are controlled using one feedback sensor. The other available feedback sensor
input can be used for External reference Position or Velocity, Pulse and Direction, Electronic Gearing or Camming.
Motor
Sensor
Brushless
PMSM
Brushless
BLDC
DC Brush Stepper
2 phase
Stepper
3 phase
Sensor type Sensor location
Incr. encoder FDBK #1 (single ended or diff.)
Yes - Yes Yes -
FDBK #2 (diff.)
Incr. encoder + Digital Hall
FDBK #1 (single
ended or diff.)
Digital
halls
interface
Yes Yes - - -
FDBK #2 (diff.)
Digital halls only Digital halls interface Yes - - - -
Linear halls (analogue) Linear halls interface Yes - - - -
SSI FDBK #2 (diff.) Yes - Yes Yes -
BiSS-C FDBK #2 (diff.) Yes - Yes Yes -
Analogue Sin/Cos encoder FDBK #1 (diff.) Yes - Yes Yes -
Tacho Analogue input: Feedback - - Yes - -
Open-loop (no sensor) - - - - Yes Yes
Open-loop (with step loss detection
using
Incr. Encoder/SinCos/SSI/BiSS)
FDBK #1 (single ended or diff.)
- - - Yes Yes
FDBK #2 (diff.)
2.4.2 Dual loop configurations
The motor speed control loop is closed on one feedback connected on the motor while the motor position
control loop is closed on the other available feedback which is placed on the load. There is usually a transmission
between the load and the motor.
Motor
type
Feedback #1 Feedback #2
PMSM
•Incremental encoder
(single-ended or differential)
•
Analogue Sin/Cos encoder
•Linear Halls (only on motor)
•Incremental encoder
(differential)
•
SSI/BiSS C encoder
BLDC
•Incremental encoder
(single-ended or differential) +
Digital halls
•Incremental encoder
(differential) + Digital Halls
•SSI/BiSS C encoder (only on load)
Stepper
2ph
•Incremental encoder
(single-ended or differential)
•Analogue Sin/Cos encoder
•Incremental encoder
(differential)
•SSI/BiSS C encoder
DC
Brush
•Incremental encoder
(single-ended or differential)
•
Analogue Sin/Cos encoder
•Analogue Tacho (only on motor)
•Incremental encoder
(differential)
•
SSI/BiSS C encoder
Each defined motor type can have any combination of the supported feedbacks either on motor or on load.
Example:
-PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from feedback#2)
on load
-DC brush motor with SSI encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1) on load.

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2.5 iPOS4808 MY I/O Evaluation board
A circuit board is available for evaluating the following types of drives:
Compatible Product Name Part Number Description
iPOS4808 MY-CAN P027.414.E101 Drive with CAN, without STO inputs
iPOS4808 MY-CAN-STO P027.314.E111 or
P027.324.E111
Drive with CAN and STO inputs
iPOS4808 MY-CAT-STO P027.314.E121 or
P027.324.E121
Drive with EtherCAT® and STO inputs
It comes with multiple types of connectors for easy access to the iPOS4808 features.
Figure 2.5.1. iPOS4808 MY-CAN-STO mounted on the I/O-iPOS4808MY extension board
Ordering information
Part number
Description
P091.084.IO-iPOS4808MY.UM.xxxx
Evaluation board User Manual (available for download on our website)
P027.414.E881
I/O iPOS4808 MY extension board only
P027.314.E803 iPOS4808 MY-CAN-STO Starter kit without motor
P027.314.E804 iPOS4808 MY-CAN-STO Starter kit with brushless motor and encoder
P027.314.E805 iPOS4808 MY-CAN-STO Starter kit with step motor and encoder
P027.314.E813 iPOS4808 MY-CAT-STO Starter kit without motor
P027.314.E814 iPOS4808 MY-CAT-STO Starter kit with brushless motor and encoder
P027.314.E815 iPOS4808 MY-CAT-STO Starter kit with step motor and encoder

Technosoft 2016 13 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
3 Hardware Installation
3.1 iPOS4808 MY-CAN-STO Board Dimensions
Figure 3.1.1. iPOS4808 MY-CAN-STO drive dimensions
All dimensions are in mm. The drawings are not to scale.

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3.2 iPOS4808 MY-CAT-STO Board Dimensions
Figure 3.2.1. iPOS4808 MY-CAT-STO drive dimensions
All dimensions are in mm. The drawings are not to scale.

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3.3 Mechanical Mounting
The iPOS4808 drive is intended to be mounted horizontally on a motherboard equipped with the recommended mating
connectors, as specified in chapter 3.5.2 Mating Connectors. Several drives can be hosted by a single motherboard.
For thermal calculations:
- the iPOS4808 MY-CAN-STO drive can be assumed to generate 2.2 Watt (= 8 BTU/hour) at idle, and up to 5.7
Watt (= 20 BTU/hour) worst case while driving a motor.
- the iPOS4808 MY-CAT-STO drive can be assumed to generate 3.7 Watt (= 8 BTU/hour) at idle, and up to 7.2 Watt
(= 25 BTU/hour) worst case while driving a motor.
3.3.1 iPOS4808 MY-CAN-STO PCB Footprint
For iPOS4808 MY-CAN-STO motherboard PCB design, use the dimensional drawing from Figure 3.2below.
Figure 3.2 iPOS4808 MY-CAN-STO PCB Footprint
All dimensions are in mm. Holes are marked with RED.
3.3.2 iPOS4808 MY-CAT-STO PCB Footprint
For iPOS4808 MY-CAT-STO motherboard PCB design, use the dimensional drawing from Figure 3.3below.
Figure 3.3 iPOS4808 MY-CAT-STO PCB Footprint
All dimensions are in mm. Holes are marked with RED.

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3.4 Motherboard PCB Design
It is recommended to use a multi-layer PCB for the motherboard, in order to have enough room for routing all the pins
of the iPOS4808. Using a 2-layer PCB is possible when some of the iPOS4808 pins remain un-connected.
Below is a list of recommendations for the PCB design of the motherboard:
•Motor supply and motor outputs: use islands / areas of copper to escape connector area; this will maximize
current capability. When using simple tracks, use at least 100mil cross section (75mil track width for 1oz/ft2
copper thickness) – for iPOS4808.
•Motor supply and ground return tracks between iPOS4808 and the nearby VMOT decoupling capacitor are to
be considered as EMI sources, and kept to a minimum length.
•Place the decoupling capacitors on VMOT and VLOG (see also 0 Power Supply Connection) as close as physically
possible to the iPOS4808, to minimize EM radiated emissions. For un-shielded applications (no metallic box)
and typical EMC regulations, the spacing between iPOS4808 and capacitors must be less than 3 centimeters.
•In multi-axis applications (multiple iPOS4808 drives on the same motherboard), it is preferable to have a
separate decoupling capacitor for each drive’s VMOT. For VLOG it is acceptable to share one decoupling
capacitor for two drives.
•For stringent EMI requirements, it may be necessary to add common-mode filtering on the motor and/or logic
supply inputs. Be sure to use 3-phase EMC filters, not 2-phase filters, in order to fulfill the basic requirement
of zero common-mode current through the filter. This is necessary because the ground negative return is
shared between VMOT and VLOG.
•Motor outputs shall be routed with parallel traces, and minimizing the loop area between these tracks. Avoid
placing components above or below the motor output tracks, as these components may become effective
antennas radiating EMI. If possible, route all 4 motor outputs in strip-line configuration (above or below a ground
plane).
•For stringent EMI requirements, it may be necessary to add common-mode inductors on the motor outputs.
Place these filters near the iPOS4808, not near the external connector, to reduce radiation from the PCB
tracks.
•Motor outputs must be separated from any nearby track (on the same layer) by a guard ring / track / area
connected to ground. It is recommended to use the same guarding precaution also for tracks on nearby layers,
i.e. use intermediate guard layer(s) connected to ground. The motor outputs must be treated as first source of
noise on the motherboard. Second source of noise is the current flow between each iPOS4808 and it’s
decoupling VMOT capacitor.
•For best EMC performance, it is strongly recommended to provide an un-interrupted ground plane on one of
the inner layers.
•All GND pins of the iPOS4808 are galvanically connected together on-board the iPOS4808. If the motherboard
provides an uninterrupted ground plane, it is recommended to connect all GND pins to the ground plane, and
use the ground plane to distribute GND wherever needed. If the motherboard does not provide an uninterrupted
ground plane, it is best to use each GND pin for its intended purpose, as described in par. 3.5. This will create
local “star point” ground connection on-board each iPOS4808. For a multi-axis motherboard with one common
power supply for all motors, each motor power supply return track shall be routed separately for each
iPOS4808, and star-point connected at the power supply terminal.
•The following signal pairs must be routed differentially, i.e. using parallel tracks with minimal loop area:
A1+/Sin+, A1-/Sin- ; B1+/Cos+, B1-/Cos- ; Z1+, Z1- ; A2+, A2- ; B2+, B2- ; Z2+, Z2-, CAN-Hi, CAN-Lo.
•CAN-Bus tracks must be routed with a bus topology, without branches / bifurcations, in a daisy-chain fashion.
The bus ends must be at the termination resistor(s) and/or external connectors.
•When using +5VOUT as supply for external devices (like encoders, Hall sensors, etc.) provide extra filtering and
protection: use series resettable (PTC) fuses to add short-circuit protection; use transient absorbers to protect
against ESD and over-voltage; add high-frequency filtering to protect against external noise injected on +5VOUT.
•The outer box / case / cabinet must be connected to the motherboard ground either galvanically (directly) or
through high-frequency decoupling capacitors, rated at an appropriate voltage.
CAUTION!
WHEN THE iPOS4808 IS SET IN TMLCAN MOD
E, IT STARTS TO
EXECUTE AUTOMATICALLY AT POWER ON THE TML APPLICATION
FROM ITS EEPROM. ADD ON THE MOTHERBOARD THE POSSIBILITY
TO DISABLE THIS FEATURE AS SHOWN PAR. 0
. THIS MIGHT BE
NEEDED DURING DEVELOPMENT PHASE IN CASE
THE EEPROM
CONTENT IS ACCIDENTALLY CORRUPTED.

Technosoft 2016 17 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
CAUTION!
THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE DEVICE,
WHICH WILL BE DAMAGED BY INCORRECT HANDLING. THEREFORE
THE DRIVE SHALL BE REMOVED FROM ITS ORI
GINAL PACKAGE
ONLY IN AN ESD PROTECTED ENVIRONMENT!
3.5 Connectors and Pinouts
3.5.1 Pinouts for iPOS4808 MY-CAN-STO
3.5.2 Mating Connectors for CAN and CAT
Connector Description Manufacturer Part Number Image
J1
High
-current socket 2.54mm-pitch accepting
0.635mm square pin; 1x12 pin
Samtec SSQ-112-01-G-S
J2
2x7 contacts, socket, 2.54mm
-
pitch accepting
0.635mm square pin
FCI 87606-307LF
TE
Connectivity 534206-7
J4
High
-current socket 2.54mm-pitch accepting
0.635mm square pin; 2x16 pin
Samtec SSQ-116-01-G-D
J5
High
-current socket 2.54mm-pitch accepting
0.635mm square pin; 1x8 pin
Samtec SSQ-108-01-G-S
J33
High
-current socket 2.54mm-pitch accepting
0.635mm square pin; 1x14 pin
Samtec SSQ-114-01-G-S

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3.5.3 Pinouts for iPOS4808 MY-CAT-STO

Technosoft 2016 19 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
3.6 Connection diagrams
3.6.1 iPOS4808 MY-CAN-STO connection diagram
Figure 3.4. iPOS4808 MY-CAN-STO Connection diagram
* For other available feedback / motor options, check the detailed connection diagrams below

Technosoft 2016 20 iPOS4808 MY-CAN-STO/-CAT-STO Technical Reference
3.6.2 iPOS4808 MY-CAT-STO connection diagram
Figure 3.5. iPOS4808 MY-CAT-STO Connection diagram
* For other available feedback / motor options, check the detailed connection diagrams below
** For a detailed EtherCAT bus connection diagram see 3.6.11 EtherCAT bus connection (for CAT drives).