Technosoft iPOS80x0 BX-CAN Use and care manual

iPOS80x0 BX-
CAN / CAT
Intelligent Servo Drive
for Step, DC, Brushless
DC and AC Motors
Intelligent Servo Drives
T
echnical
Reference
Technosoft 2019 P091.029.iPOS80x0.BX.UM.0719

Technosoft 2019 2 iPOS80x0 BX-CAN/-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 … .....................................................................................................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...................................................................................................11
2.4 Supported Motor-Sensor Configurations................................................................. 11
2.4.1 ...... Single loop configurations.....................................................................................................................11
2.4.2 ...... Dual loop configurations........................................................................................................................12
3Hardware Installation.............................................................................................12
3.1 iPOS80x0 BX-CAN/CAT Board Dimensions .............................................................12
3.2 Mechanical Mounting................................................................................................. 13
3.3 Connectors and Pinouts............................................................................................13
3.3.1 ...... Pinouts for iPOS80x0 BX-CAN .............................................................................................................13
3.3.2 ...... Mating Connectors for CAN and CAT...................................................................................................14
3.3.3 ...... Pinouts for iPOS80x0 BX-CAT..............................................................................................................14
3.4 Connection diagrams................................................................................................. 15
3.4.1 ...... iPOS80x0 BX-CAN connection diagram...............................................................................................15
3.4.2 ...... iPOS80x0 BX-CAT connection diagram................................................................................................16
3.4.3 ...... 24V Digital I/O Connection....................................................................................................................17
3.4.3.1 PNP inputs........................................................................................................................................17
3.4.3.2 NPN inputs........................................................................................................................................17
3.4.3.3 NPN outputs......................................................................................................................................18
3.4.4 ...... Analog Inputs Connection.....................................................................................................................19
3.4.4.1 0-5V Input Range..............................................................................................................................19
3.4.4.2 +/- 10V Input Range..........................................................................................................................19
3.4.4.3 Recommendation for wiring...............................................................................................................19
3.4.5 ...... Motor connections.................................................................................................................................20
3.4.5.1 Brushless Motor connection..............................................................................................................20
3.4.5.2 2-phase Step Motor connection ........................................................................................................20
3.4.5.3 3-Phase Step Motor connection........................................................................................................21
3.4.5.4 DC Motor connection ........................................................................................................................21
3.4.5.5 Recommendations for motor wiring...................................................................................................21
3.4.6 ...... Feedback connections..........................................................................................................................22

Technosoft 2019 3 iPOS80x0 BX-CAN/-CAT Technical Reference
3.4.6.1 Differential Incremental Encoder #1 Connection...............................................................................22
3.4.6.2 Differential Incremental Encoder #2 Connection...............................................................................22
3.4.6.3 Pulse and direction connection .........................................................................................................23
3.4.6.4 Sine-Cosine Analog Encoder Connection.........................................................................................24
3.4.6.5 Digital Hall Connection for Motor + Hall + Incremental Encoder.......................................................24
3.4.6.6 SSI Encoder #2 Connection..............................................................................................................25
3.4.6.7 BiSS Encoder #2 Connection............................................................................................................25
3.4.7 ...... Power Supply and STO Connection......................................................................................................26
3.4.7.1 Supply Connection............................................................................................................................26
3.4.7.2 Recommendations for Supply Wiring................................................................................................26
3.4.7.3 Recommendations to limit over-voltage during braking.....................................................................26
3.4.8 ...... Serial RS-232 connection .....................................................................................................................28
3.4.8.1 Serial RS-232 connection .................................................................................................................28
3.4.8.2 Recommendation for wiring...............................................................................................................28
3.4.9 ...... CAN-bus connection (for CAN drives only)...........................................................................................29
3.4.9.1 CAN connection................................................................................................................................29
3.4.9.2 Recommendation for wiring...............................................................................................................29
3.4.10..... Recommendations for EtherCAT Wiring (for CAT drives).....................................................................30
3.4.11..... Disabling Autorun (for CAN drives); Disabling the setup table at startup (for CAT drives)....................31
3.4.11.1 Disabling Autorun (for CAN drives)...............................................................................................31
3.4.11.2 Disabling the setup table at startup (for CAT drives).....................................................................31
3.5 CAN Operation Mode and Axis ID Selection for CAN drives(SW1 settings) .......... 32
3.6 Axis ID Selection for CAT drives(J1 pin settings)....................................................32
3.7 LED indicators............................................................................................................33
3.7.1 ...... LEDs for CAN drives.............................................................................................................................33
3.7.2 ...... LEDs for CAT drives .............................................................................................................................33
3.7.2.1 EtherCAT® ST LED indicator............................................................................................................33
3.8 Electrical Specifications............................................................................................34
3.8.1 ...... Operating Conditions ............................................................................................................................34
3.8.2 ...... Storage Conditions................................................................................................................................34
3.8.3 ...... Mechanical Mounting............................................................................................................................34
3.8.4 ...... Environmental Characteristics...............................................................................................................34
3.8.5 ...... Logic Supply Input (+VLOG)....................................................................................................................35
3.8.6 ...... Motor Supply Input (+VMOT)...................................................................................................................35
3.8.7 ...... Motor Outputs (A/A+, B/A-, C/B+, CR/B-) .............................................................................................35
3.8.8 ...... Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN)..........................................................................................35
3.8.9 ...... Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready)..................................................................36
3.8.10..... Digital Hall Inputs (Hall1, Hall2, Hall3) ..................................................................................................36
3.8.11..... Encoder #1 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-,)...............................................................................36
3.8.12..... Encoder #2 Inputs (A2+, A2-, B2+, B2-, Z2+, Z2-)................................................................................37
3.8.13..... Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) .................................................................................37
3.8.14..... SSI encoder interface............................................................................................................................37
3.8.15..... BiSS Encoder Interface.........................................................................................................................38
3.8.16..... Analog 0…5V Inputs (REF, FDBK).......................................................................................................38
3.8.17..... Analog ±10V Input (REF)......................................................................................................................38
3.8.18..... RS-232..................................................................................................................................................38
3.8.19..... CAN-Bus (for CAN drives) ....................................................................................................................38
3.8.22..... Safe Torque OFF (STO1+; STO1-; STO2+; STO2-).............................................................................39
3.8.24..... De-rating graphs for CAN drives...........................................................................................................40
4Memory Map...........................................................................................................41

Technosoft 2019 4 iPOS80x0 BX-CAN/-CAT 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:
Product Name Part Number Description
iPOS8010 BX-CAN P029.025.E201 CAN version,10A In/ 20A I Peak, STO inputs
iPOS8020 BX-CAN P029.026.E201 CAN version,20A In/ 40A I Peak, STO inputs
iPOS8010 BX-CAT P029.025.E221 EtherCAT® version,10A In/ 20A I Peak, STO inputs
iPOS8020 BX-CAT P029.026.E221 EtherCAT® version,20A In/ 40A I Peak, STO inputs
In order to operate the iPOS80x0 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 iPOS80x0 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:
•iPOS80x0– 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®
Trademarks
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
1when the iPOS80x0 BX-CAN is set in CANopen mode
2when using and iPOS80x0 BX-CAT
3available only for CAN versions

Technosoft 2019 5 iPOS80x0 BX-CAN/-CAT Technical Reference
Related Documentation
iPOS8010 BX-CAN Datasheet ( P029.025.E201.DSH)
– describes the hardware connections of the iPOS8010 BX CAN family of intelligent servo drives
including the technical data and connectors.
iPOS8020 BX-CAN Datasheet ( P029.026.E201.DSH)
– describes the hardware connections of the iPOS8020 BX CAN family of intelligent servo drives
including the technical data and connectors.
iPOS8010 BX-CAT Datasheet ( P029.025.E221.DSH)
– describes the hardware connections of the iPOS8010 BX EtherCAT® family of intelligent servo drives
including the technical data and connectors.
iPOS8020 BX-CAT Datasheet ( P029.026.E221.DSH)
– describes the hardware connections of the iPOS8020 BX 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

Technosoft 2019 6 iPOS80x0 BX-CAN/-CAT 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
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.
WARNING! DURING DRIVE OPERATION, THE CONTROLLED MOTOR WILL MOVE. KEEP
AWAY FROM ALL MOVING PARTS TO AVOID INJURY

Technosoft 2019 7 iPOS80x0 BX-CAN/-CAT Technical Reference
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
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 thatthis product comply with the legal
obligations regarding Article 33 ofthe European REACH Regulation 1907/2006 (Registration,
Evaluation, AuthorizationandRestriction 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 2019 8 iPOS80x0 BX-CAN/-CAT Technical Reference
2 Product Overview
2.1 Introduction
The iPOS80x0 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 iPOS80x0
drives accept as position feedback incremental encoders (quadrature or sine/cosine) and absolute encoders (SSI and
BiSS-C).
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 iPOS80x0 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 iPOS80x0 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 iPOS80x0 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 iPOS80x0 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 iPOS80x0 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 iPOS80x0 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 iPOS80x0 can be set to operate standalone, and may play the role ofa 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 iPOS80x0 drives can also be controlled
via a PC or a PLC using one of the TML_LIB motion libraries.
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 2019 9 iPOS80x0 BX-CAN/-CAT Technical Reference
For iPOS80x0 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 itis also possible to retrieve thecomplete 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 iPOS80x0 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 motionsequences in TML. This is the iPOS80x0 typical
CAN operation mode when TMLCAN protocol is selected. EasyMotion Studio can also be used with the CANopen
protocol,if the user wants tocall 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:
•CAN version: 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
•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
•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:
•4 digital inputs: 12-36 V, programmable polarity: sourcing/NPN or sinking/PNP: 2 Limit switches and 2
general-purpose
•4 digital outputs: 5-36 V, with 0.5 A, sinking/NPN open-collector (Ready, Error and 2 general-purpose)
•NTC/PTC analogue Motor Temperature sensor input
•Electro-Mechanical brake support: software configurable digital Output0 to control motor brake; max 2A
•Feedback devices (dual-loop support)
1st feedback devices supported:
•Incremental encoder interface (differential)
•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-C / SSI encoder interface
Separate feedback devices supported:
•Digital Hall sensor interface (single-ended and open collector)
•2 analogue inputs: 12 bit, +/-10V and 0-5V: Reference and Feedback (for Tacho) or general purpose

Technosoft 2019 10 iPOS80x0 BX-CAN/-CAT 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 switch (only for CAN drives):
•CANopen – conforming with CiA 301 v4.2, CiA WD 305 v2.2.13 and CiA DSP 402 v3.0
•TMLCAN – intelligent drive conforming with Technosoft protocol for exchanging TML commands via
CAN-bus
•EtherCAT® supported protocols for for CAT drives:
•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
•16K ×16 E2ROM to store TML motion programs, cam tables and other user data
•PWM switching frequency up to 100kHz
•Motor supply: 12-80V
•Logic supply: 9-36V.
•STO supply: 18-40V
•Output current: iPOS8010 : 10A1continuous; 20A peak
iPOS8020: 20A2continuous; 40A 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
110A cont. with DC, step and BLDC motors (trapezoidal), 10A amplitude (7.1ARMS) for PMSM (sinusoidal)
220A cont. with DC, step and BLDC motors (trapezoidal), 20A amplitude (14.2ARMS) for PMSM (sinusoidal)

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2.3 Identification Labels
Figure 2.3.1. iPOS80x0 BX-CAx identification labels
The iPOS80x0 BX can have the following part numbers and names on the identification label:
p.n. P029.025.E201name iPOS8010 BX-CAN – CAN execution, 10A nominal current
p.n. P029.026.E201 name iPOS8020 BX-CAN – CAN execution, 20A nominal current
p.n. P029.025.E221 name iPOS8010 BX-CAT – EtherCAT execution, 10A nominal current
p.n. P029.026.E221 name iPOS8020 BX-CAT – EtherCAT execution, 20A nominal current
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
Incr. encoder FDBK #1* (diff.) Yes - Yes Yes -
FDBK #2 (diff.)
Incr. encoder + Digital Hall FDBK #1* (diff.) Digital
halls
interface Yes Yes - - -
FDBK #2 (diff.)
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* (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)
•
Analogue Sin/Cos encoder
•Incremental encoder (differential)
•
SSI/BiSS C encoder
BLDC
•Incremental encoder
(differential) + Digital halls
•Incremental encoder (differential) + Digital
Halls
•SSI/BiSS C encoder (only on load)
Stepper
2ph
•Incremental encoder (differential)
•Analogue Sin/Cos encoder
•Incremental encoder (differential)
•
SSI/BiSS C encoder
DC
Brush
•Incremental encoder (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.
3 Hardware Installation
3.1 iPOS80x0 BX-CAN/CAT Board Dimensions
Figure 3.1.1. iPOS80x0 BX-CAN/CAT drive dimensions

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3.2 Mechanical Mounting
The iPOS80x0 BX 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 Mating Connectors for CAN and CAT.
The metallic support must act as a cooling heat sink.
For thermal calculations, use the graphs below. Power Losses @10A applies to iPOS8010 and Power Losses @20A
applies to iPOS8020.
3.3 Connectors and Pinouts
3.3.1 Pinouts for iPOS80x0 BX-CAN

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3.3.2 Mating Connectors for CAN and CAT
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 - -
3.3.3 Pinouts for iPOS80x0 BX-CAT

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3.4 Connection diagrams
3.4.1 iPOS80x0 BX-CAN connection diagram
Figure 3.2. iPOS80x0 BX-CAN 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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3.4.2 iPOS80x0 BX-CAT connection diagram
Figure 3.3. iPOS80x0 BX-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
* For a detailed EtherCAT bus connection diagram see Figure 3.26. EtherCAT wiring.

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3.4.3 24V Digital I/O Connection
3.4.3.1 PNP inputs
Figure 3.4. 24V Digital PNP Inputs connection
Remarks:
1. The inputs are selectable as PNP/ NPN by software.
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.
3.4.3.2 NPN inputs
Figure 3.5. 24V Digital NPN Inputs connection
Remarks:
1. The inputs are selectable as PNP/ NPN by software.
2. The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state)
3. The lengthof the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

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3.4.3.3 NPN outputs
Figure 3.6. 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)

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3.4.4 Analog Inputs Connection
3.4.4.1 0-5V Input Range
Figure 3.7. 0-5V Analog inputs connection
Remark: The length of thecables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
3.4.4.2 +/- 10V Input Range
Figure 3.8. +/-10V Analog inputs connection
Remarks:
1. The lengthof the cables must be up to 30m, reducing the exposure to voltage surges inindustrial environment.
2. To Switch Ref and Fdbk signals, set the TML register ASR bit 10 to 1. It allows the +/-10V circuit to be used
as feedback.
3.4.4.3 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).

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3.4.5 Motor connections
3.4.5.1 Brushless Motor connection
Figure 3.9. Brushless motor connection
Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ pins to +Vlog and STO1- and STO2-
to GND.
3.4.5.2 2-phase Step Motor connection
Figure 3.10.2-phase step motor connection, one coil per phase
Remark: To hardware enable the motor outputs, connect STO1+ and STO2+ pins to +Vlog and STO1- and STO2-
to GND.
Figure 3.11.2-phase step motor connection, two coils per phase