Technosoft iPOS4808 VX Use and care manual

iPOS4808 VX
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drive
Technical
Reference
Technosoft 2018

TECHNOSOFT
iPOS4808 VX
Technical Reference
P091.027.iPOS4808.VX.UM.0818
Technosoft S.A.
Avenue des Alpes 20
CH-2000 NEUCHATEL
Switzerland
Tel.: [phone]
Fax: [phone]
e-mail: [e-mail]
http://www.technosoftmotion.com/

Technosoft 2018 III iPOS4808 VX 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 VX family of intelligent servo drives,
including the following product:
iPOS4808 VX-CAN (p/n P027.014.E001)
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 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.
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
1when iPOS480x is set in CANopen mode

Technosoft 2018 IV iPOS4808 VX Technical Reference
a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file.
At power-on, the drive is initialized with the setup data read from its EEPROM. With
EasySetUp it is also possible to retrieve the complete setup information from a drive
previously programmed. EasySetUp can be downloaded free of charge from
Technosoft web page
iPOS CANopen Programming (part no. P091.063.iPOS.UM.xxxx) – explains how to program
the iPOS family of intelligent drives using CANopen protocol and describes the associated
object dictionary for CiA 301 v.4.2 application layer and communication profile and CiA
DSP 402 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 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 2018 V iPOS4808 VX 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 2018 VI iPOS4808 VX Technical Reference
Contents
Read This First ...................................................................................................III
1. Safety information......................................................................................1
1.1. Warnings.....................................................................................................1
1.2. Cautions......................................................................................................1
1.3. Quality system, conformance and certifications ..........................................2
2. Product Overview.......................................................................................3
2.1. Introduction..................................................................................................3
2.2. Key Features...............................................................................................4
2.3. Supported Motor-Sensor Configurations.....................................................6
2.4. iPOS4808 VX Drive Dimensions.................................................................6
2.5. Electrical Specifications...............................................................................7
Operating Conditions.........................................................................................7
Storage Conditions............................................................................................7
Mechanical Mounting.........................................................................................7
Environmental Characteristics ...........................................................................8
Logic Supply Input (+VLOG).................................................................................8
Motor Supply Input (+VMOT)................................................................................8
Motor Outputs (A/A+, B/A-, C/B+, BR/B-)...........................................................9
Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable, IN5, IN6, IN7) .............9
Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT5)..................10
Digital Hall Inputs (Hall1, Hall2, Hall3) ..........................................................10
Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-)...............................................11
Linear Hall Inputs (LH1, LH2, LH3)...............................................................11
Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) .........................................12
Analog 0…5V Inputs (REF, FDBK)...............................................................12
Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2)................................................12
RS-232.........................................................................................................12
CAN-Bus ......................................................................................................13
Supply Output (+5V).....................................................................................13
iPOS4808 de-rating curves...........................................................................14
3. Step 1. Hardware Installation ..................................................................15
3.1. Mechanical Mounting ................................................................................15
Vertical Mounting.............................................................................................15
Horizontal Mounting.........................................................................................16
3.2. Motherboard PCB Design..........................................................................18
3.3. Mating Connector......................................................................................20
3.4. Connector and Connection Diagrams .......................................................20
Connector Layout ............................................................................................20
Identification Labels.........................................................................................21
J1 Connector pinout (A Side)...........................................................................22
J1 Connector pinout (B Side)...........................................................................22

Technosoft 2018 VII iPOS4808 VX Technical Reference
Operation Mode and Axis ID Selection ............................................................24
24V Digital I/O Connection...............................................................................32
5V Digital I/O Connection.................................................................................33
Analog Inputs Connection................................................................................34
Motor connections ...........................................................................................35
Feedback connections..................................................................................37
Power Supply Connection ............................................................................40
Serial RS-232 connection.............................................................................42
CAN-bus connection.....................................................................................43
Removal from Autorun Mode........................................................................44
4. Step 2. Drive Setup...................................................................................45
4.1. Installing EasySetUp.................................................................................45
4.2. Getting Started with EasySetUp................................................................45
Establish communication.................................................................................46
Setup drive/motor ............................................................................................47
Download setup data to drive/motor.................................................................48
Evaluate drive/motor behavior (optional)..........................................................48
4.3. Changing the drive Axis ID........................................................................49
4.4. Setting CANbus rate..................................................................................51
4.5. Creating an Image File with the Setup Data..............................................52
5. Step 3. Motion Programming...................................................................53
5.1. Using a CANopen Master (for iPOS4808 CANopen execution)................53
CiA-301 Application Layer and Communication Profile Overview ....................53
CiA-402 and Manufacturer Specific Device Profile Overview...........................54
TechnoCAN Extension.....................................................................................54
Checking Setup Data Consistency...................................................................54
5.2. Using the built-in Motion Controller and TML ............................................54
Technosoft Motion Language Overview...........................................................54
Installing EasyMotion Studio............................................................................55
Getting Started with EasyMotion Studio...........................................................55
Creating an Image File with the Setup Data and the TML Program..................60
5.3. Combining CANopen /or other host with TML...........................................60
Using TML Functions to Split Motion between Master and Drives....................61
Executing TML programs.................................................................................61
Loading Automatically Cam Tables Defined in EasyMotion Studio ..................61
Customizing the Homing Procedures...............................................................61
Customizing the Drive Reaction to Fault Conditions ........................................62
5.4. Using Motion Libraries for PC-based Systems..........................................62
5.5. Using Motion Libraries for PLC-based Systems........................................62
6. Scaling factors..........................................................................................63
6.1. Position units.............................................................................................63
Brushless / DC brushed motor with quadrature encoder on motor...................63
Brushless motor with linear Hall signals...........................................................63

Technosoft 2018 VIII iPOS4808 VX Technical Reference
DC brushed motor with quadrature encoder on load and tacho on motor.........64
Step motor open-loop control. No feedback device..........................................64
Step motor open-loop control. Incremental encoder on load............................65
Brushless motor with sine/cosine encoder on motor ........................................65
6.2. Speed units ...............................................................................................65
Brushless / DC brushed motor with quadrature encoder on motor...................65
Brushless motor with linear Hall signals...........................................................66
DC brushed motor with quadrature encoder on load and tacho on motor.........66
DC brushed motor with tacho on motor............................................................67
Step motor open-loop control. No feedback device..........................................67
Step motor closed-loop control. Incremental encoder on motor .......................68
Brushless motor with sine/cosine encoder on motor ........................................68
6.3. Acceleration units......................................................................................68
Brushless / DC brushed motor with quadrature encoder on motor...................68
Brushless motor with linear Hall signals...........................................................69
DC brushed motor with quadrature encoder on load and tacho on motor.........69
Step motor open-loop control. No feedback device..........................................70
Step motor open-loop control. Incremental encoder on load............................70
Step motor closed-loop control. Incremental encoder on motor .......................71
Brushless motor with sine/cosine encoder on motor ........................................71
6.4. Jerk units...................................................................................................71
Brushless / DC brushed motor with quadrature encoder on motor...................71
Brushless motor with linear Hall signals...........................................................72
DC brushed motor with quadrature encoder on load and tacho on motor.........72
Step motor open-loop control. No feedback device..........................................72
Step motor open-loop control. Incremental encoder on load............................73
Step motor closed-loop control. Incremental encoder on motor .......................73
Brushless motor with sine/cosine encoder on motor ........................................73
6.5. Current units..............................................................................................74
6.6. Voltage command units.............................................................................74
6.7. Voltage measurement units.......................................................................75
6.8. Time units..................................................................................................75
6.9. Master position units .................................................................................75
6.10. Master speed units....................................................................................75
6.11. Motor position units...................................................................................75
Brushless / DC brushed motor with quadrature encoder on motor................75
Brushless motor with linear Hall signals........................................................76
DC brushed motor with quadrature encoder on load and tacho on motor .....76
Step motor open-loop control. No feedback device.......................................76
Step motor open-loop control. Incremental encoder on load.........................76
Step motor closed-loop control. Incremental encoder on motor....................76
Brushless motor with sine/cosine encoder on motor.....................................77
6.12. Motor speed units......................................................................................77
Brushless / DC brushed motor with quadrature encoder on motor................77
Brushless motor with linear Hall signals........................................................77
DC brushed motor with quadrature encoder on load and tacho on motor .....78

Technosoft 2018 IX iPOS4808 VX Technical Reference
DC brushed motor with tacho on motor ........................................................78
Step motor open-loop control. No feedback device or incremental encoder on
load 78
Step motor closed-loop control. Incremental encoder on motor....................79
Brushless motor with sine/cosine encoder on motor.....................................79
7. Memory Map .............................................................................................80

Technosoft 2018 1 iPOS4808 VX 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 I
T’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
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
CAUTION!
THE iPOS4808 IS AN ELECTROSTATICALLY SENSITIVE
DEVICE, WHICH WILL BE DAMAGED BY INCORRECT
HANDLING. THEREFORE THE DRI
VE SHALL BE
REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN
ESD PROTECTED ENVIRONMENT !

Technosoft 2018 2 iPOS4808 VX Technical Reference
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.
For other certifications visit: http://technosoftmotion.com/en/quality-system

Technosoft 2018 3 iPOS4808 VX 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
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
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).
1Available if the master axis sends its position via a communication channel

Technosoft 2018 4 iPOS4808 VX Technical Reference
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 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) 1storder interpolation
•Electronic gearing and camming1
1Available if the master axis sends its position via a communication channel

Technosoft 2018 5 iPOS4808 VX Technical Reference
•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
•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 and CiA DSP 402 v3.0
•TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML
commands via CAN-bus
•2K ×16 internal SRAM memory for data acquisition
•4K ×16 E2ROM to store TML programs and data
•PWM switching frequency up to 100kHz
•Motor supply: 11-48V
•Logic supply: 9-36V.Separate supply is optional
•Output current:
•iPOS4808 VX-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)

Technosoft 2018 6 iPOS4808 VX Technical Reference
2.3. Supported Motor-Sensor Configurations
The position and/or speed are controlled using one feedback sensor.
Motor
Sensor type
Brushless
PMSM
Brushless
BLDC
DC
Brush
Stepper
2 phase
Stepper
3 phase
Incr. encoder
Yes - Yes Yes -
Incr. encoder + Digital Hall
Yes Yes - - -
Digital halls only
Yes - - - -
Linear Halls
Yes
Analogue Sin/Cos encoder Yes
Tacho
-
-
Yes
-
-
Open-loop (no sensor)
-
-
-
Yes
Yes
Open-loop (with step loss detection
using incr. Encoder)
- - - Yes Yes
Open-loop with incr. encoder on
load
- - - Yes Yes
2.4. iPOS4808 VX Drive Dimensions
39.1512.15 41.514.5
0.5
0.5
B49
B1
56 -0 0.1
36.8-0
0.1
4 4 9
0.5
23.4
2.41.9 +0.1
0
7.2
2.6
2.59
5.3 5.3
44
2.4±0.1
3 ±0.1
6.9±0.2
1.6 ±0.15
0.6
1.4
Figure 2.1. iPOS4808 VX drive dimensions
All dimensions are in mm. The drawings are not to scale.

Technosoft 2018 7 iPOS4808 VX Technical Reference
2.5. Electrical Specifications
All parameters measured under the following conditions (unless otherwise specified):
Tamb = 0…40°C, VLOG = 24 VDC; VMOT = 48VDC; Supplies start-up / shutdown sequence: -any-
Load current (sinusoidal amplitude / continuous BLDC,DC,stepper) = 8A iPOS4808
Operating Conditions
Min.
Typ.
Max.
Units
Ambient temperature10 +40 ºC
Ambient humidity Non-condensing 0 90 %Rh
Altitude / pressure2Altitude (referenced to sea level) -0.1 0 ÷ 2.5 2Km
Ambient Pressure 0 20.75 ÷ 1 10.0 atm
Storage Conditions
Min.
Typ.
Max.
Units
Ambient temperature -40 TBD ºC
Ambient humidity Non-condensing 0 100 %Rh
Ambient Pressure 0 10.0 atm
ESD capability (Human body
model) Not powered; applies to any accessible part ±0.5 kV
Original packaging ±15 kV
Mechanical Mounting
Min.
Typ.
Max.
Units
Airflow natural convection3, closed box
Spacing required for vertical
mounting (see Figure 3.2)
Between adjacent drives 30 mm
Between drives and nearby walls 30 mm
Between drives and roof-top 20 mm
Spacing required for horizontal
mounting (see Figure 3.5)
Between adjacent drives 4 mm
Between drives and nearby walls 5 mm
Space needed for drive removal 10 mm
Between drives and roof-top 15 mm
Insertion force Using recommended mating connectors 31 55 N
Extraction force 8 16 N
1Operating temperature at higher temperatures is possible with reduced current and power ratings
2iPOS480x can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, current and power rating are
reduced due to thermal dissipation efficiency.
3In case of forced cooling (conduction or ventilation) the spacing requirements may drop down to mechanical tolerances
as long as the ambient temperature is kept below the maximum operating limit

Technosoft 2018 8 iPOS4808 VX Technical Reference
Environmental Characteristics
Min.
Typ.
Max.
Units
Size ( Length x Width x Height )
Without mating connector 56 x 44 x 6.9 mm
~2.2 x 1.73 x 0.27 inch
With recommended mating vertical
connector. Height above PCB surface. 56 x 48.1 x 8.9 mm
~2.2 x 1.89 x 0.35 inch
With recommended mating horizontal
connector. Height above PCB surface. 56 x 56.4 x 9.4 mm
~2.2 x 2.22 x 0.37 inch
Weight 16 g
Power dissipation Idle (no load) 1.7 W
Operating 4.3
Cleaning agents Dry cleaning is recommended Only Water- or Alcohol- based
Protection degree According to IEC60529, UL508 IP00 -
Logic Supply Input (+VLOG)
Min.
Typ.
Max.
Units
Supply voltage
Nominal values 9 36 VDC
Absolute maximum values, drive operating
but outside guaranteed parameters 8 40 VDC
Absolute maximum values, continuous -0.6 42 VDC
Absolute maximum values, surge
(duration ≤10ms)† -1 +45 V
Supply current
+VLOG = 7V
125
320
mA
+VLOG = 12V
85
220
+VLOG = 24V
50
145
+VLOG = 40V
40
120
Motor Supply Input (+VMOT)
Min.
Typ.
Max.
Units
Supply voltage
Nominal values 11 50 VDC
Absolute maximum values, drive operating
but outside guaranteed parameters 9 52 VDC
Absolute maximum values, continuous -0.6 54 VDC
Absolute maximum values, surge
(duration ≤10ms)† -1 TBD V
Idle 1 5 mA
Operating
-20 ±8 +20 A
Absolute maximum value, short-circuit
condition (duration ≤10ms)† 26 A

Technosoft 2018 9 iPOS4808 VX Technical Reference
Motor Outputs (A/A+, B/A-, C/B+, BR/B-)
Min.
Typ.
Max.
Units
Nominal output current, continuous
for DC brushed, steppers and
BLDC motors with Hall-based
trapezoidal control iPOS4808 8
A
for PMSM motors with FOC
sinusoidal control (sinusoidal
amplitude value) iPOS4808 8
for PMSM motors with FOC
sinusoidal control (sinusoidal
effective value) iPOS4808 5.67
Motor output current, peak maximum 2.5s iPOS4808 -20 +20 A
Short-circuit protection threshold measurement range iPOS4808 ±26 TBD A
Short-circuit protection delay 5 10 µS
On-state voltage drop Nominal output current; including typical
mating connector contact resistance ±0.3 ±0.5 V
Off-state leakage current ±0.5 ±1 mA
Motor inductance (phase-to-phase)
Recommended value, for
ripple ±5% of
measurement
range; +VMOT = 48 V
FPWM = 20 kHz
330
µH
FPWM = 40 kHz
150
FPWM = 60 kHz
120
FPWM = 80 kHz
80
FPWM = 100 kHz
60
Absolute minimum value,
limited by short-circuit
protection; +VMOT = 48 V
FPWM = 20 kHz
120
µH
FPWM = 40 kHz
40
FPWM = 60 kHz
30
FPWM = 80 kHz
15
FPWM = 100 kHz
8
Motor electrical time-constant (L/R) Recommended value, for ±5% current measurement
error due to ripple
FPWM = 20 kHz
250
µs
FPWM = 40 kHz
125
FPWM = 60 kHz
100
FPWM = 80 kHz
63
FPWM = 100 kHz
50
Current measurement accuracy FS = Full Scale
±4
±8 %FS
Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable, IN5, IN6, IN7)
Min.
Typ.
Max.
Units
Mode compliance TTL / CMOS / LVTTL (3.3V) / Open-
collector / NPN / 24V outputs
Default state Input floating (wiring disconnected) Logic HIGH
Input voltage
Logic “LOW” 0 0.8
V
Logic “HIGH” 2 5÷24
Floating voltage (not connected) 3
Absolute maximum, continuous -10 +30
Absolute maximum, surge (duration ≤1s)† -20 +40
Input current
Logic “LOW”; Pulled to GND 0.6 1
mA
Logic “HIGH”; Internal 4.7KΩpull-up to +3.3 0 0 0
Logic “HIGH”; Pulled to +5V 0.15 0.2
Logic “HIGH”; Pulled to +24V 2 2.5
Input frequency 0 150 kHz
Minimum pulse width 3.3 µS
ESD protection Human body model ±5 kV

Technosoft 2018 10 iPOS4808 VX Technical Reference
Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT5)
Min.
Typ.
Max.
Units
Mode compliance All outputs (OUT0, OUT1, OUT2/Error,
OUT3/Ready) TTL / CMOS / Open-collector / NPN
24V
Ready, Error Same as above + LVTTL (3.3V)
Default state
Not supplied (+VLOG floating or to GND) High-Z (floating)
Immediately
after power-up OUT0, OUT1, OUT5 Logic “HIGH”
OUT2/Error, OUT3/ Ready Logic “LOW”
Normal
operation
OUT0, OUT1, OUT2/Error
,
OUT5 Logic “HIGH”
OUT3/Ready Logic “LOW”
Output voltage
Logic “LOW”; output current = 0.5A 0.2 0.8
V
Logic “HIGH”;
output current
= 0, no load
OUT2/Error, OUT3/ Ready 2.9 3 3.3
OUT0, OUT1 4 4.5 5
Logic “HIGH”, external load to +VLOG VLOG
Absolute maximum, continuous -0.5 VLOG+0.5
Absolute maximum, surge (duration ≤1s)† -1 VLOG+1
Output current
Logic “LOW”, sink current, continuous 0.5 A
Logic “LOW”, sink current, pulse ≤5 sec. 1 A
Logic “HIGH”, source
current; external load
to GND; VOUT >= 2.0V
OUT2/Error,
OUT3/ Ready 2 mA
OUT0, OUT1 4 mA
Logic “HIGH”, leakage current; external
load to +VLOG; VOUT = VLOG max = 40V 0.1 0.2 mA
Minimum pulse width TBD µS
ESD protection Human body model ±5 kV
Digital Hall Inputs (Hall1, Hall2, Hall3)
Min.
Typ.
Max.
Units
Mode compliance TTL / CMOS / Open-collector
Default state Input floating (wiring disconnected) Logic HIGH
Input voltage
Logic “LOW” 0 0.8
V
Logic “HIGH” 2 5
Floating voltage (not connected) 4.4
Absolute maximum, surge (duration ≤1s)† -10 +15
Input current Logic “LOW”; Pull to GND 5 mA
Logic “HIGH”; Internal 1KΩpull-up to +5 0 0 0
Minimum pulse width 2 µS
ESD protection Human body model ±5 kV

Technosoft 2018 11 iPOS4808 VX Technical Reference
Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z-)
Min.
Typ.
Max.
Units
Single-ended mode compliance Leave negative inputs disconnected TTL / CMOS / Open-collector
Input voltage, single-ended mode
A/A+, B/B+
Logic “LOW” 1.6
V
Logic “HIGH” 1.8
Floating voltage (not connected) 4.5
Input voltage, single-ended mode
Z/Z+
Logic “LOW” 1.2
V
Logic “HIGH” 1.4
Floating voltage (not connected) 4.7
Input current, single-ended mode
A/A+, B/B+, Z/Z+ Logic “LOW”; Pull to GND 2.5 3 mA
Logic “HIGH”; Internal 2.2KΩpull-up to +5 0 0 0
Differential mode compliance For full RS422 compliance, see 1TIA/EIA-422-A
Input voltage, differential mode Hysteresis ±0.06 ±0.1 ±0.2 V
Common-mode range (A+ to GND, etc.) -7 +7
Input impedance, differential A+ to A-, B+ to B- 4.2 4.7 kΩ
Z+ to Z- 6.1 7.2
Input frequency Single-ended mode, Open-collector / NPN 0 500 kHz
Input frequency Differential mode, or Single-ended driven
by push-pull (TTL / CMOS) 0 10 MHz
Minimum pulse width Single-ended mode, Open-collector / NPN 1 µS
Differential mode, or Single-ended driven
by push-pull (TTL / CMOS) 50 nS
Input voltage, any pin to GND Absolute maximum values, continuous -7 +7 V
Absolute maximum, surge (duration ≤1s)† -11 +14
ESD protection Human body model ±1 kV
Linear Hall Inputs (LH1, LH2, LH3)
Min.
Typ.
Max.
Units
Input voltage
Operational range 0 0.5÷4.5
4.9
V
Absolute maximum values, continuous -7 +7
Absolute maximum, surge (duration ≤1s)† -11 +14
Input current Input voltage 0…+5V -1 ±0.9 +1 mA
Interpolation Resolution Depending on software settings 11 bits
Frequency 0 1 kHz
ESD protection Human body model ±1 kV
1For full RS-422 compliance, 120Ωtermination resistors must be connected across the differential pairs, as close as
possible to the drive input pins. See Figure 3.21. Differential incremental encoder connection