Technosoft iPOS8015 BZ-CAT Use and care manual

iPOS8015 BZ-CAT
Intelligent Servo Drive for
Step, DC, Brushless DC and
AC Motors
Intelligent Servo Drives
T
echnical
Reference
Technosoft 2021 P091.023.iPOS8015.BZ.UM.0921

Technosoft 2021 2 iPOS8015 BZ-CAT Technical Reference
Table of contents
Table of contents ........................................................................................................... 2
Read This First ............................................................................................................... 4
About This Manual................................................................................................................. 4
Notational Conventions......................................................................................................... 4
Trademarks ............................................................................................................................ 4
Related Documentation ......................................................................................................... 5
If you Need Assistance … ..................................................................................................... 5
1Safety information.................................................................................................... 6
1.1 Warnings....................................................................................................................... 6
1.2 Cautions........................................................................................................................ 6
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
2.4 Supported Motor-Sensor Configurations ................................................................. 10
2.4.1 ...... Single loop configurations .....................................................................................................................10
2.4.2 ...... Dual loop configurations........................................................................................................................11
3Hardware Installation............................................................................................. 11
3.1 iPOS8015 BZ-CAT Board Dimensions ...................................................................... 11
3.2 Mechanical Mounting................................................................................................. 12
3.3 Connectors and Pinouts ............................................................................................ 12
3.3.1 ...... Pinouts for iPOS8015 BZ-CAT..............................................................................................................12
3.3.2 ...... Mating Connectors................................................................................................................................ 13
3.4 Connection diagrams................................................................................................. 13
3.4.1 ...... iPOS8015 BZ-CAT connection diagram................................................................................................13
3.5 Digital I/O Connection................................................................................................ 14
3.5.1 ...... PNP inputs ............................................................................................................................................ 14
3.5.2 ...... NPN inputs............................................................................................................................................14
3.5.3 ...... NPN outputs.......................................................................................................................................... 15
3.6 Analog Inputs Connection......................................................................................... 16
3.6.1 ...... 0-5V Input Range.................................................................................................................................. 16
3.6.2 ...... +/- 10V Input Range..............................................................................................................................16
3.6.3 ...... Recommendation for wiring ..................................................................................................................17
3.7 Motor connections ..................................................................................................... 17
3.7.1 ...... Brushless Motor connection..................................................................................................................17
3.7.2 ...... 2-phase Step Motor connection ............................................................................................................17
3.7.3 ...... 3-Phase Step Motor connection............................................................................................................ 18
3.7.4 ...... DC Motor connection ............................................................................................................................18
3.7.5 ...... Recommendations for motor wiring.......................................................................................................19

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3.8 Feedback connections............................................................................................... 19
3.8.1 ...... Feedback #1 - Differential Incremental Encoder Connection................................................................19
3.8.2 ...... Feedback #2 - Differential Incremental Encoder Connection................................................................19
3.8.3 ...... Feedback #2 - Pulse and direction connection ..................................................................................... 20
3.8.4 ...... Feedback #1 - Sine-Cosine Analog Encoder Connection .....................................................................21
3.8.5 ...... Feedback #1 – Digital Hall Connection for Motor + Hall + Incremental Encoder................................... 21
3.8.6 ...... Feedback #2 – Absolute Encoder Connection: SSI, BiSS, Panasonic, Tamagawa, EnDAT, Nikon,
Sanyo Denki..........................................................................................................................................................22
3.9 Power Supply and STO Connection.......................................................................... 22
3.9.1 ...... Supply Connection................................................................................................................................ 22
3.9.1.1 Recommendations for Supply Wiring ................................................................................................ 23
3.9.2 ...... Recommendations to limit over-voltage during braking.........................................................................23
3.10 Serial RS-232 connection ....................................................................................... 25
3.10.1..... Serial RS-232 connection .....................................................................................................................25
3.10.1.1 Recommendation for wiring...........................................................................................................25
3.11 Recommendations for EtherCAT Wiring ............................................................... 26
3.12 Disabling the setup table at startup....................................................................... 27
3.13 Axis ID Selection..................................................................................................... 27
3.14 LED indicators......................................................................................................... 28
3.14.1..... EtherCAT® ST LED indicator................................................................................................................28
3.15 Electrical Specifications......................................................................................... 29
3.15.1..... Operating Conditions ............................................................................................................................29
3.15.2..... Storage Conditions................................................................................................................................29
3.15.3..... Mechanical Mounting ............................................................................................................................29
3.15.4..... Environmental Characteristics...............................................................................................................29
3.15.5..... Logic Supply Input (+VLOG).................................................................................................................... 29
3.15.6..... Motor Supply Input (+VMOT)...................................................................................................................30
3.15.7..... Motor Outputs (A/A+, B/A-, C/B+, CR/B-) ............................................................................................. 30
3.15.8..... Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN) ..........................................................................................30
3.15.9..... Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready)..................................................................31
3.15.10... Digital Hall Inputs (Hall1, Hall2, Hall3) .................................................................................................. 31
3.15.11... Encoder Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,) ....................................................................................31
3.15.12... Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) .................................................................................31
3.15.13... Absolute encoder interface: SSI, BISS-C, EnDAT ................................................................................ 32
3.15.14... Analog 0…5V Inputs (REF, FDBK) .......................................................................................................32
3.15.15... Analog ±10V Input (REF) ......................................................................................................................32
3.15.16... RS-232.................................................................................................................................................. 33
3.15.19... Safe Torque OFF (STO1+; STO1-; STO2+; STO2-)............................................................................. 33
3.16Memory Map............................................................................................................ 34

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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
iPOS8015 BZ-CAT P023.026.E221 EtherCAT® version, 80V, 15A RMS, closed frame, STO inputs
In order to operate the iPOS8015 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:
An EtherCAT® master
The drives built-in motion controller executing a Technosoft Motion Language (TML) program
developed using Technosoft EasyMotion Studio software
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 iPOS8015 hardware including the technical data, the connectors
and the wiring diagrams needed for installation.
For Step 2 and 3, please consult the document EasyMotion Studio – Quick Setup and Programming Guide.For
detailed information regarding the next steps, refer to the related documentation.
Notational Conventions
This document uses the following conventions:
•iPOS8015– 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
•CoE – CAN application protocol over EtherCAT®
Trademarks
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.

Technosoft 2021 5 iPOS8015 BZ-CAT Technical Reference
Related Documentation
iPOS8015 BZ-CAT Datasheet (P023.026.E221.DSH.xxxx)
– describes the hardware connections of the iPOS8015 BZ-CAT family of intelligent servo drives
including the technical data and connectors.
iPOS family Safe Torque Off (STO) Operating instructions ( P091.099.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
EasyMotion Studio – Quick Setup and Programming Guide (P091.034.ESM-
Quick.Setup.and.Programming.Guide.UM.xxxx) – describes the compatible software installation,
drive software setup commissioning, introduction to TML motion programming and motion evaluation
tools.
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
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
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

Technosoft 2021 6 iPOS8015 BZ-CAT 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.
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
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, NEVER CONNECT /
DISCONNECT WIRES FROM THE DRIVE 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 DRIVE MUST COMPLY WITH THE
PARAMETERS SPECIFIED IN THIS DOCUMENT
CAUTION!
TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR
PERSONNEL AUTHORISED BY TECHNOSOFT
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.

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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

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2 Product Overview
2.1 Introduction
The iPOS8015 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 iPOS8015
BZ drive accept as position feedback incremental encoders (quadrature or sine/cosine) and absolute encoders (SSI,
BiSS-C, EnDAT, TAMAGAWA, Panasonic, Nikon, Sanyo Denki).
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 iPOS8015 drives combine controller, drive and PLC functionality in a single
compact unit and are capable to execute complex motions without requiring intervention of an external motion controller.
Using the high-level Technosoft Motion Language (TML) the following operations can be executed directly at drive level:
Setting various motion modes (profiles, PVT, PT, electronic gearing or camming, etc.)
Changing the motion modes and/or the motion parameters
Executing homing sequences
Controlling the program flow through:
Conditional jumps and calls of TML functions
TML interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.)
Waits for programmed events to occur
Handling of digital I/O and analogue input signals
Executing arithmetic and logic operations
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.
For iPOS8015 BZ 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. 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. A demo version of
EasyMotion Studio (with EasySetUp part fully functional) can be downloaded free of charge from Technosoft
web page.

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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:
•EtherCAT version: position or speed profiles, Cyclic Synchronous Position (CSP), Cyclic Synchronous
Velocity (CSV) and Cyclic Synchronous Torque (CST)
•Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences
•Communication:
•RS-232 serial up to 115kbits/s
•Dual 100Mbps EtherCAT® interfaces, for use in daisy-chaining topologies
•Digital and analog I/Os:
•4 digital inputs: 12-36V, programmable polarity: sourcing/NPN or sinking/PNP: 2 Limit switches and 2
general-purpose
•4 digital outputs: 5-36V, with 0.5A, sinking/NPN open-collector (Ready, Error and 2 general-purpose)
•2 analogue inputs: 12 bit, +/-10V and 0-5V: Reference and Feedback (for Tacho) or general purpose
•NTC/PTC analogue Motor Temperature sensor input; 0-3.3V
•Electro-Mechanical brake support: software configurable digital OUT0 to control motor brake; max 2A
•Feedback devices (dual-loop support)
1st feedback devices supported:
•Incremental encoder interface (differential)
•Digital Hall sensor interface (single-ended and open collector)
•Analog sin/cos encoder interface (differential 1VPP)
•Pulse & direction interface (differential or single ended upon request) 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 / SSI / EnDAT / TAMAGAWA / Panasonic / Nikon/ Sanyo Denki encoder interface
Separate feedback devices supported:
•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)
•Cyclic Synchronous Velocity (CSV)
•Cyclic Synchronous Torque (CST)
•Electronic gearing and camming
•35 Homing modes
•255 h/w selectable addresses
•EtherCAT® supported protocols:
•CoE - CAN application protocol over EtherCAT
•FoE – File over EtherCAT – for setup/TML functions and firmware update
•EoE – Ethernet over EtherCAT – for Easy Motion studio communication over EtherCAT
•16K ×16 internal SRAM memory for data acquisition
•24K ×16 E2ROM to store TML motion programs, cam tables and other user data
•PWM switching frequency up to 100kHz
•Motor supply: 11-80V; Logic SELV.PELV supply: 9-36V; STO SELV/ PELV supply: 18-40V
•Output current: 15A RMS cont. (BLDC mode); 28A RMS 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

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2.3 Identification Labels
Figure 1. iPOS8015 BZ-CAT identification labels
The iPOS8015 BZ-CAT have the following part number and names on the identification label:
•P023.026.E221 name iPOS8015 BZ-CAT – EtherCAT® version, 80V, 15A
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.
*The drive can be delivered with FDBK#1 as single ended upon request
Motor
Sensor Brushless
PMSM
Brushless
BLDC DC Brush
Stepper
2 phase
Stepper
3 phase
Sensor type Sensor location
Incremental Encoder
FDBK #1* (diff.)
Yes - Yes Yes -
FDBK #2 (diff.)
Incremental Encoder + Digital Hall
FDBK #1* (diff.) Digital
Halls
interface
Yes Yes - - -
FDBK #2 (diff.)
SSI, BISS-C, Tamagawa, EnDAT,
Panasonic, Nikon, Sanyo Denki 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 Incremental Encoder/ SinCos/
SSI/ BiSS/ EnDAT/ Tamagawa/
Panasonic/ Nikon/ Sanyo Denki)
FDBK #1* (diff.)
- - - Yes Yes
FDBK #2 (diff.)

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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 (differential)
Incremental encoder (differential)
Analogue Sin/Cos encoder
SSI, BISS-C, Tamagawa, EnDAT,
Panasonic, Nikon, Sanyo Denki
BLDC Incremental encoder (differential) +
Digital Halls
Incremental encoder (differential) +
Digital Halls
SSI, BISS-C, Tamagawa, EnDAT,
Panasonic, Nikon, Sanyo Denki
Stepper
2-phase
Incremental encoder (differential)
Incremental encoder (differential)
Analogue Sin/Cos encoder
SSI, BISS-C, Tamagawa, EnDAT,
Panasonic, Nikon, Sanyo Denki
DC Brush
Incremental encoder (differential)
Incremental encoder (differential)
Analogue Sin/Cos encoder
SSI, BISS-C, Tamagawa, EnDAT,
Panasonic, Nikon, Sanyo Denki
Analogue Tacho (only on motor)
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 SSI encoder (from feedback#2) on load.
•DC brush motor with BISS encoder (from feedback #2) on motor and Sin/Cos encoder (from feedback #1) on load.
3 Hardware Installation
3.1 iPOS8015 BZ-CAT Board Dimensions
Figure 2. iPOS8015 BZ-CAT drive dimensions

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3.2 Mechanical Mounting
The iPOS8015 BZ drive is intended to be mounted horizontally on a metallic support using the provided mounting holes
and the recommended mating connectors, as specified in chapter 3.3.2.
The metallic support must act as a cooling heat sink.
3.3 Connectors and Pinouts
3.3.1 Pinouts for iPOS8015 BZ-CAT

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3.3.2 Mating Connectors
Image Connector Description
Manufacturer
Part Number Image
J1
Supply input, 4x5.08 female
counter part for cable
Camden CTBA9208/4FL
J2
Motor power, 5x5.08 female
counter part for cable
Camden CTBA9208/5FL
J3,J4
Feedback #1 +Hall & Feedback #2
generic 15-pin
High Density D-Sub male
J9
RS232
generic RJ10
-4/4 phone plug
J5
I/O ; Analog
generic 15-pin D-Sub
male, DB15
J8
MICROFIT RECEPTACLE
HOUSING, 2x2 WAY
MOLEX 43025-0400
J8
CRIMP PIN, MICROFIT, 5A
MOLEX
43030-0007
J6,J7
Standard 8P8C modular jack
(RJ-45) male
- -
3.4 Connection diagrams
3.4.1 iPOS8015 BZ-CAT connection diagram
Figure 3. iPOS8015 BZ-CAT Connection diagram
* The digital inputs can be configured as PNP/NPN type in software setup
** For other available feedback / motor options, check the detailed connection diagrams below

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3.5 Digital I/O Connection
3.5.1 PNP inputs
Figure 4.24V Digital PNP Inputs connection
Remarks:
1. The inputs are software selectable as PNP/ NPN.
2. The inputs are compatible with PNP type outputs (input must receive a positive voltage value (12-36V) to
change its default state)
3. The length of the cables must be up to 30m, reducing the exposure to voltage surge in industrial environment.
3.5.2 NPN inputs
Figure 5.24V Digital NPN Inputs connection
Remarks:
1. The inputs are software selectable as PNP/ NPN.
2. The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state).
3. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

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3.5.3 NPN outputs
Figure 6.24V Digital NPN Outputs connection
Remark: The outputs are compatible with NPN type inputs (load is tied to common +VLOG, output pulls to GND when
active and is floating when inactive).
3.5.4 Solenoid driver connection for motor brake
Figure 7. Solenoid driver connection
Remarks:
1. The firmware can control the OUT0 or OUT1 outputs to automatically engage/disengage a mechanical brake
when motor control is started/stopped.
2. Both pins can also be individually used as NPN general-purpose digital outputs.
3. To enable the mechanical brake functionality select the following checkbox from EasyMotion Studio:
Figure 8. Motor brake checkbox in EasyMotion Studio

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3.6 Analog Inputs Connection
3.6.1 0-5V Input Range
Figure 9.0-5V Analog inputs connection
Remark: The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
3.6.2 +/- 10V Input Range
Figure 10.±10V Analog inputs connection
Remarks:
1. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
2. The switching between REF and FDBK signals can be done using the analog inputs setup selection in
EasySetUp or EasyMotion Studio.

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3.6.3 Recommendation for wiring
a) If the analog signal source is single-ended, use a 2-wire shielded cable as follows: 1st wire connects the live signal
to the drive positive input (+); 2nd wire connects the signal ground to the drive negative input(-).
b) If the analog signal source is differential and the signal source ground is isolated from the drive GND, use a 3-wire
shielded cable as follows: 1st wire connects the signal plus to the drive positive input (+); 2nd wire connects the
signal minus to the drive negative input (-) and 3rd wire connects the source ground to the drive GND
c) If the analog signal source is differential and the signal source ground is common with the drive GND, use a 2-wire
shielded cable as follows: 1st wire connects the signal plus to the drive positive input (+); 2nd wire connects the
signal minus to the drive negative input (-)
d) For all of the above cases, connect the cable shield to the drive GND and leave the other shield end unconnected
to the signal source. To further increase the noise protection, use a double shielded cable with inner shield
connected to drive GND and outer shield connected to the motor chassis (earth).
3.7 Motor connections
3.7.1 Brushless Motor connection
Figure 11.Brushless motor connection
Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ to +Vlog and STO1- and STO2- to GND.
3.7.2 2-phase Step Motor connection
Figure 12.2-phase step motor connection, one coil per phase
Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ to +Vlog and STO1- and STO2- to GND.

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Figure 13.2-phase step motor connection, two coils per phase
3.7.3 3-Phase Step Motor connection
Figure 14.3-phase step motor connection
Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ to +Vlog and STO1- and STO2- to GND.
3.7.4 DC Motor connection
Figure 15.DC Motor connection
Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ to +Vlog and STO1- and STO2- to GND.

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3.7.5 Recommendations for motor wiring
a) Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters. If this situation
cannot be avoided, use a shielded cable for the motor wires. Connect the cable shield to the iPOS8015 BZ
GND pin. Leave the other end disconnected.
b) A good shielding can be obtained if the motor wires are running inside a metallic cable guide.
3.8 Feedback connections
3.8.1 Feedback #1 - Differential Incremental Encoder Connection
Figure 16.Feedback #1 - Differential Incremental Encoder Connection
Remarks:
1. For Feedback #1 - Differential connection, 120Ω (0.25W) terminators are internally present in the drive.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
3.8.2 Feedback #2 - Differential Incremental Encoder Connection
Figure 17.Feedback #2 - Differential Incremental Encoder Connection

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Remarks:
1. For Feedback #2 - Differential connection 120Ω (0.25W) terminators are internally present in the drive.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
Figure 18.Feedback #2 – Master-Slave Connection
3.8.3 Feedback #2 - Pulse and direction connection
Figure 19.Pulse and direction connection
Remark: The same pulse and direction connection can be done on J3 - Feedback#1 using the same pin numbers as
for Feedback#2.