Technosoft Micro 4803 SX Use and care manual

Micro 4803 SX/SY
Multi Axis System,
CAN / EtherCAT
Intelligent Servo Drive for DC,
Brushless DC and AC Motors
Intelligent Servo Drives
T
echnical
Reference
Technosoft 2023 P091.020.Micro 4803 SX/SY.UM.0523

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
1.3 Quality system, conformance and certifications.........................................................7
2Product Overview.....................................................................................................7
2.1 Introduction.....................................................................................................................7
2.2 Product Features.............................................................................................................8
2.3 Identification Labels .......................................................................................................9
2.4 Supported Motor Sensor Configurations ...................................................................10
2.4.1...... Single loop configurations...................................................................................................... 10
2.4.2...... Dual loop configurations ........................................................................................................ 10
3Hardware Installation.............................................................................................11
3.1 Micro 4803 SY Multi Axis System Dimensions...........................................................11
3.2 Micro 4803 SX Multi Axis System Dimensions...........................................................11
3.3 Connectors and Pinouts...............................................................................................12
3.3.1...... Pinouts for Micro 4803 SY Multi Axis System ....................................................................... 12
3.3.2...... Pinouts for Micro 4803 SX Multi Axis System ....................................................................... 13
3.4 Mechanical Mounting....................................................................................................14
3.5 Mating Connectors for Micro 4803 SY Multi-Axis System ........................................14
3.6 Connection diagrams ...................................................................................................15
3.7 Digital I/O Connection...................................................................................................16
3.7.1...... NPN inputs............................................................................................................................. 16
3.7.2...... NPN outputs........................................................................................................................... 16
3.8 Analog Inputs Connection ...........................................................................................17
3.8.1.1 Recommendation for wiring............................................................................................ 17
3.9 Motor connections........................................................................................................18
3.9.1...... Brushless Motor connection .................................................................................................. 18
3.9.2...... DC Motor connection............................................................................................................. 18
3.9.2.1 Recommendations for motor wiring................................................................................ 18
3.10 Feedback connections..............................................................................................19
3.10.1....Feedback #1 - Single-ended Incremental Encoder Connection............................................ 19
3.10.2....Feedback #1 - Differential Incremental Encoder Connection................................................ 19
3.10.3....Feedback #2 - Differential Incremental Encoder Connection................................................ 20
3.10.4....Feedback #1 – Absolute Encoder Connection: SSI, BiSS, EnDAT....................................... 20

3.10.5....Feedback #1 – Absolute Encoder Connection: Panasonic, Tamagawa, Nikon, Sanyo Denki
..............21
3.10.6....Feedback #2 – Absolute Encoder Connection: SSI, BiSS, EnDAT....................................... 21
3.10.8....Linear (Analog) Hall Connection............................................................................................ 22
3.10.9....Digital Hall Connection for Motor + Hall + Incremental Encoder........................................... 23
3.10.10..Digital Hall Connection for direct motor control without an encoder...................................... 23
3.10.10.1 General recommendations for feedback wiring............................................................. 24
3.11 Power Supply Connection ........................................................................................24
3.11.1.1 Recommendations for Supply Wiring............................................................................. 24
3.11.1.2 Recommendations to limit over-voltage during braking ................................................. 24
3.12 USB connection.........................................................................................................25
3.15 EtherCAT Connection ...............................................................................................28
3.15.1....Recommendations for EtherCAT Wiring................................................................................ 28
3.16 Disabling Autorun (for SX system); Disabling the setup table (for SY system)..29
3.16.1....Disabling Autorun (for SX system)......................................................................................... 29
3.16.2....Disabling the setup table at startup (for SY system) ............................................................. 29
3.17 Axis ID Selection........................................................................................................30
3.17.1....AxisID selection for Micro 4803 SX ....................................................................................... 30
3.17.2....AxisID selection for Micro 4803 SY ....................................................................................... 30
3.18 Electrical Specifications ...........................................................................................32
3.18.1....Operating Conditions............................................................................................................. 32
3.18.2....Storage Conditions ................................................................................................................ 32
3.18.3....Mechanical Mounting............................................................................................................. 32
3.18.4....Environmental Characteristics............................................................................................... 32
3.18.5....Logic Supply Input (+VLOG) .................................................................................................... 32
3.18.6....Motor Supply Input (+VMOT).................................................................................................... 32
3.18.7....Motor Outputs (A/A+, B/A-, C)............................................................................................... 33
3.18.8....Supply Output (+5V).............................................................................................................. 33
3.18.9....Digital Inputs (IN0, IN1, IN2/LSP, IN3/LSN, IN4, IN5/ENA)................................................... 33
3.18.10..Digital Outputs (OUT0, OUT1, OUT4)................................................................................... 34
3.18.11..Encoder Inputs (A+, A-, B+, B-, Z+, Z-,A2+, A2-, B2+, B2-).................................................. 34
3.18.12..Hall Inputs (Hall1, Hall2, Hall3).............................................................................................. 34
3.18.13..Absolute encoder interface: SSI, BISS-C, EnDAT, Tamagawa, Nikon, Sanyo Denki........... 35
3.18.14..Analog Inputs (REF, FDBK)................................................................................................... 35
3.18.15..EtherCAT® (Micro 4803 SY system)..................................................................................... 35
3.18.16..CAN-Bus................................................................................................................................ 35
4De-rating curves.....................................................................................................36
5Memory Map...........................................................................................................37

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 Nominal current Peak Current Communication
Micro 4803 SY4 P020.200.E404 4 axis compact
motion system 4ARMS / 5.6A 10ARMS / 14A RS232; USB; EtherCAT®
Micro 4803 SX4 P020.100.E404 RS232; USB; CAN
In order to operate the Micro 4803 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:
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 PLCs1
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 Micro 4803 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:
•Micro 4803– 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 Micro 4803 SX4 drive is set in CANopen mode
2When Micro 4803 SY4 drive is used
3Available for Micro 4803 SX4

Related Documentation
Micro 4803 SX4-CAN Multi Axis System, Datasheet (P020.100.E404)
Micro 4803 SY4-CAT Multi Axis System, Datasheet (P020.200.E404)
– describes the hardware connections of the Micro 4803 Multi Axis System family of intelligent servo drives
including the technical data and connectors.
Micro 4803 Hardware revisions and pinout changes (part no P020.001.0101.DOC.01.x0) – decribes the
hardware revisions and pinout changes of Micro 4803, the recommended applications and compatible firmware for
each revision.
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
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
iPOS CoE Programming (part no. P091.064.UM.0919) – describes how to program the Technosoft intelligent
drives equipped with EtherCAT® communication interface. These drives support CAN application protocol over
EtherCAT® (CoE) in conformance with CiA 402 device profile. The manual presents the object dictionary associated
with this profile. The manual also explains how to combine the Technosoft Motion Language and the CoE commands
in order to distribute the application between the EtherCAT® master and the Technosoft drives.
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.
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: [email protected]
Tel: [phone]
Email: [e-mail]
Mail: Technosoft SA
Avenue des Alpes 20
CH-2000 Neuchatel, NE
Switzerland

1 Safety information
Read carefully the information presented in this chapter before carrying out the drive installation and setup! It
is imperative to implement the safety instructions listed hereunder.
This information is intended to protect you, the drive and the accompanying equipment during the product operation.
Incorrect handling of the drive can lead to personal injury or material damage.
The following safety symbols are used in this manual:
WARNING!
SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY
INJURY. MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION
CAUTION! SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT
OR OTHER EQUIPMENT. MAY INCLUDE INSTRUCTIONS TO
AVOID THIS
SITUATION
CAUTION! Indicates areas SENSITIVE TO electrostatic discharges (ESD) WHICH REQUIRE
HANDLING IN AN ESD PROTECTED ENVIRONMENT
1.1 Warnings
WARNING! THE VOLTAGE USED IN THE DRIVE MIGHT CAUSE ELECTRICAL SHOCKS. DO
NOT TOUCH LIVE PARTS WHILE THE POWER SUPPLIES ARE ON
WARNING! TO AVOID ELECTRIC ARCING AND HAZARDS, 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
CAUTION!
THE DRIVE CONTAINS ELECTROSTATICALLY SENSITIVE COMPONENTS
WHICH MAY BE DAMAGED BY
INCORRECT HANDLING. THEREFORE THE
DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD
PROTECTED ENVIRONMENT
To prevent electrostatic damage, avoid contact with insulating materials, such as synthetic fabrics or plastic surfaces.
In order to discharge static electricity build-up, place the drive on a grounded conductive surface and also ground
yourself.

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: https://technosoftmotion.com/en/quality/
2 Product Overview
2.1 Introduction
The Micro 4803 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) and DC brushed motors the Micro 4803 drives
accept as position feedback incremental encoders, absolute encoders (SSI, BiSS-C, EnDAT, TAMAGAWA,
Panasonic, Nikon, Sanyo Denki) and Hall signals (linear or digital).
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 Micro 4803 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 system 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.
1Available if the master axis sends its position via a communication channel, or by using the secondary encoder input

All Micro 4803 SX4-CAN drives are equipped with a serial RS232, an USB and a CAN 2.0B interface that can be set
by hardware pins to operate in 2 communication protocol modes:
CANopen
TMLCAN
When CANopen mode is selected, the drive conforms to CiA 301 v4.2 application layer communication profile, the
CiA WD 305 v2.2.13 and CiA DSP 402 v4.1.1 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 system may be controlled
via a CANopen master. The system 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 unit behaves as standard Technosoft intelligent system 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 drive 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.
For Micro 4803 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 Micro 4803 TML programming capability nor
the drive camming mode are used. EasySetUp can be downloaded free of charge from Technosoft web page.
EasyMotion Studio platform includes EasySetUp for the drive setup, and a Motion Wizard for the motion
programming. The Motion Wizard provides a simple, graphical way of creating motion programs and automatically
generates all the TML instructions. With EasyMotion Studio you can execute complex motions, thanks to their built-in
motion controllers. EasyMotion Studio, may be used to program motion sequences in TML.
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 multi-axis systems suitable for the control of rotary or linear brushless and DC brush
•Very compact design
•Sinusoidal (FOC) or trapezoidal (Hall-based) control of brushless motors
•Technosoft Motion Language (TML) instruction set for the definition and execution of motion sequences
•Standalone operation with stored motion sequences
•Motor supply: 7-48V; Logic supply: 6-48V; PWM switching frequency: up to 100kHz
•Output current per axis:
•Nominal: 4ARMS / 5.6A.
•Peak: 10ARMS / 14A amplitude peak.
•Thermal Protection: The internal temperature sensor disables the PWM outputs if the measured
temperature exceeds 105°C
•Various modes of operation, including:
•Position profiles with trapezoidal or S-curve speed shape
•Position, Velocity, Time (PVT) 3rd order interpolation
•Position, Time (PT) 1st order interpolation
•Electronic gearing and camming
•40 Homing modes
•CAN version: including: torque, speed or position control; position or speed profiles, Cyclic
Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV) and Cyclic Synchronous Torque
(CST) 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)
•Digital and analog I/Os per axis:
•1 x analogue input software selectable: 12-bit 0-5V or ±10V: Reference, Feedback or general purpose
•3 x digital inputs: 2 for limit switches + one Enable, NPN, pull-to-GND to activate, pull-up on-board to
+5V. Pull to GND to activate
•3 x configurabile I/Os, each software selectable as:

•Digital input, NPN, with pull-up on-board to +5V. Pull to GND to activate;
•Digital output, NPN (open-collector), with pull-up on-board to +5V. Sink current: 1 x 1.5A to drive
inductive loads (such as mechanical brake), 2 x 0.1A.
•Feedback devices (dual-loop support) per axis:
•1 x Hall sensor interface (digital or linear)
1st feedback devices supported:
•Incremental A / B (index Z available only for 1 encoder): differential or single-ended
•Pulse & direction interface (single-ended or differential) for external (master) digital reference
•Absolute: differential or single-ended encoder. Supported protocols: SSI, BiSS, EnDAT,
TAMAGAWA, Panasonic, Nikon, Sanyo Denki
2nd feedback devices supported:
•Incremental encoder interface: differential.
•Pulse & direction interface (differential) for external (master) digital reference
•Absolute: differential or single-ended encoder. Supported protocols: SSI, BiSS, EnDAT,
TAMAGAWA, Panasonic, Nikon, Sanyo Denki
•EtherCAT® supported protocols for CAT systems:
•FoE – File over EtherCAT – for setup/TML functions and firmware update
•EoE – Ethernet over EtherCAT – for Easy Motion studio communication over EtherCAT
•16K ×16 SRAM memory for data acquisition per axis
•24K ×16 E2ROM to store TML motion programs, cam tables and other user data per axis
•Operating ambient temperature: 0-40°C (over 40°C with derating)
•Voltage efficiency: >99%
•Feature that detects breakage of Hall wires and/or of incremental/absolute encoder wires
•Protections per axis:
•Short-circuit between motor phases
•Short-circuit from motor phases to ground
•Over-voltage
•Under-voltage
•Over-current
•Over-temperature
•Communication error
•Control error
2.3 Identification Labels
Figure 1 Micro 4803 Multi Axis System identification labels
The Micro 4803 systems can have the following part numbers and names on the identification label:
•P020.200.E404 – Micro 4803 SY4 – 4 Axis Motion System, EtherCAT®
•P020.100.E404 – Micro 4803 SX4 – 4 Axis Motion System, CAN

Technosoft 2023 10 Micro 4803 Multi Axis System
2.4 Supported Motor Sensor Configurations
2.4.1 Single loop configurations
The position and/or speed are controlled using one feedback sensor. The other available feedback sensor input can
be used for External reference Position or Velocity, Pulse and Direction, Electronic Gearing or Camming.
Motor sensors Motor types
Encoder1Digital
Halls Linear Halls Tacho Brushless PMSM2Brushless
BLDC3Brushed DC Voice coils
Incremental encoder4/ SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic / Nikon / Sanyo Denki5
✔✔
Incremental encoder4/ SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic / Nikon / Sanyo Denki5✔
✔✔
None
✔
✔
None
✔
✔
None
✔
✔
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 sensors
Motor types
Load sensors
Encoder1
Digital
Halls
Linear
Halls
Tacho
Brushless
PMSM
2
Brushless
BLDC
3
Brushed DC
Voice coils
Encoder6
Incremental encoder4/ SSI /
EnDAT2.2 / BiSS-C /
Tamagawa / Panasonic /
Nikon / Sanyo Denki
5
✔✔
Incremental encoder4/
SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic
/ Nikon / Sanyo Denki
Incremental encoder4/ SSI /
EnDAT2.2 / BiSS-C /
Tamagawa / Panasonic /
Nikon / Sanyo Denki
5
✔✔✔
Incremental encoder4/
SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic
/ Nikon / Sanyo Denki
None ✔✔
Incremental encoder4 /
SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic
/ Nikon / Sanyo Denki
7
None ✔✔
Incremental encoder4/
SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic
/ Nikon / Sanyo Denki
8
None ✔✔
Incremental encoder4 /
SSI / EnDAT2.2 / BiSS-C
/ Tamagawa / Panasonic
/ Nikon / Sanyo Denki
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
1Motor encoder can be either on Feedback 1 or on Feedback 2
2Sinusoidal. Brushless motor is controlled as PMSM using a field oriented control algorithm
3Trapezoidal. Brushless motor is controlled as a BLDC motor using Hall-based commutation.
4Only differential on Feedback 2
5SSI / EnDAT2.2 / BiSS-C / Tamagawa / Panasonic / Nikon / Sanyo Denki are differential, but single-ended option is also accepted
6Load encoder is on Feedback 2 / 1, if motor encoder is on Feedback 1 / 2
7Load encoder can be only on Feedback 1
8Load encoder can be only on Feedback 2

Technosoft 2023 11 Micro 4803 Multi Axis System
3 Hardware Installation
3.1 Micro 4803 SY Multi Axis System Dimensions
Figure 2 Micro 4803 SY Multi Axis System dimensions
3.2 Micro 4803 SX Multi Axis System Dimensions
Figure 3 Micro 4803 SX Multi Axis System dimensions

Technosoft 2023 12 Micro 4803 Multi Axis System
3.3 Connectors and Pinouts
3.3.1 Pinouts for Micro 4803 SY Multi Axis System
•Where “x” can be 1, 2, 3 or 4

Technosoft 2023 13 Micro 4803 Multi Axis System
3.3.2 Pinouts for Micro 4803 SX Multi Axis System
•Where “x” can be 1, 2, 3 or 4

Technosoft 2023 14 Micro 4803 Multi Axis System
3.4 Mechanical Mounting
The Micro 4803 Multi Axis System is intended to be mounted vertically or horizontally on a metallic support using the
provided mounting holes and the recommended mating connectors.
The recommended inserts and screws are:
Image Connector Description Manufacturer Part Number
- Self-clinching nuts M3
PennEngineering® (PEM®)
KF2-M3-ET
- Screws M3x10 Bossard BN610-M3x10
3.5 Mating Connectors for Micro 4803 Multi-Axis System
Image Connector Description Manufacturer Part Number Image
J1
Nano-Fit Receptacle Housing, TPA Capable,
2.50mm Pitch, Dual Row, 8 Circuits, Black,
Glow-Wire Capable
Molex 1053081208
J2#x
1x4 Nano-Fit, 2.50mm Pitch Nano-Fit Wire-to-
Board Housing, 4 circuits
Molex 1053071204
J3#x
2x10 Pico-Clasp, 1.00mm Pitch Pico-Clasp
Wire-to-Board Housing, 20 Circuits
Molex 5011892010
J4#x
1x13 Pico
-Clasp, 1.00mm Pitch Pico-Clasp
Wire
-to-Board Housing, 13 Circuits Molex 5013301300
J9
1x3 Nano
-Fit, 2.50mm Pitch Nano-Fit Wire-to-
Board Housing, 3 circuits
Molex 1053071203
J7#x
USB cable, Cable USB A Male - Micro B
Male, 1m, shielded, black, 9.6mm plastic
width
Tensility
International
Corp
1002333
J8#x
Pico
-Clasp Receptacle Crimp Housing,
1.00mm Pitch, Single Row, Friction Lock, 5
Circuits, White
Molex 5013300500
J1, J9, J2#x
Pre-
Crimped
wires for
Nano-Fit
Cable Assembly, Nano-Fit
Crimp Terminal Socket to
Nano-Fit Crimp Terminal
Socket, 300mm
Molex 0797582140
J3#x, J4#x,
J8#x
Pre-
Crimped
wires for
Pico-Clasp
Cable Assembly, Pico-Clasp
Crimp Terminal Socket to
Pico-Clasp Crimp Terminal
Socket, 300mm
Molex 0797581019
J1, J9, J2#x
Pins for
Nano
-Fit
Nano-
Fit Crimp Terminal,
Female, 0.76µm Gold (Au)
Plating, Lubricated, 24-26
AWG
Molex 1053001400
J3, J4,
J8#x
Pins for
Pico
-Clasp
1.00mm Pitch, Pico-Clasp
Female Crimp Terminal, Gold
Plating 0.10μm, 28-32 AWG,
Reel
Molex 5011937000
J1, J9, J2#x
Crimp tool
Pico
-Clasp
Crimp Tool, Ratchet, Molex
Pico-Clasp 501193 & 501334
Series 32-28AWG Contacts
Molex 638191500
J3#x, J4#x,
J8#x
Crimp tool
Nano Fit
Crimp Tool, Ratchet, Molex
Nano-Fit 105300 Series 26-
24AWG Socket Contacts,
207129 Series
Molex 638276000
•Where “x” can be 1, 2 or 3 for Micro 4803 SY3 or 1, 2, 3 or 4 for Micro 4803 SY4

Technosoft 2023 15 Micro 4803 Multi Axis System
3.6 Connection diagrams
Figure 4 Micro 4803 SY Multi Axis System Connection diagram
Figure 5 Micro 4803 SX Multi Axis System Connection diagram
*Where “x” can be 1, 2, 3 or 4
** For other available feedback / motor options, check the detailed diagrams below
*** Pins are software selectable individually as NPN inputs/outputs

Technosoft 2023 16 Micro 4803 Multi Axis System
3.7 Digital I/O Connection
3.7.1 NPN inputs
Figure 6 Digital NPN Inputs connection
Remarks:
1. The inputs are compatible with NPN type outputs (input must be pulled to GND to change its default state).
2. The I/O pins are individually software selectable as either NPN inputs or outputs.
3. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial
environment.
3.7.2 NPN outputs
Figure 7 Digital NPN Outputs connection
Remarks:
1. 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).
2. The I/O pins are individually software selectable as either NPN inputs or outputs.

Technosoft 2023 17 Micro 4803 Multi Axis System
3.8 Analog Inputs Connection
Figure 8 0-5V Analog inputs connection
Remarks:
1. The analog input range is configurable by software: 12-bit 0-5V or ±10V: Reference, Feedback or general
purpose input.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial
environment.
3.8.1.1 Recommendation for wiring
a) If the analogue signal source is single-ended, use a 2-wire twisted shielded cable as follows: 1st wire
connects the live signal to the drive input; 2nd wire connects the source ground to the drive ground; shield will
be connected to the drive ground terminal.
b) If the analogue signal source is differential and the signal source ground is isolated from the drive GND, use
a 2-wire twisted shielded cable as follows: 1st wire connects the source plus (positive, in-phase) to the drive
analogue input; 2nd wire connects the source minus (negative, out-of-phase) to the drive ground (GND).
Shield is connected only at the drive side, to the drive PE, and is left unconnected at the source side.
c) If the analogue 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 source plus (positive, in-phase) to the drive
analogue input; 2nd wire connects the source ground to the drive ground (GND); shield is connected only at
the drive side, to the drive PE, and is left unconnected at the source side. The source minus (negative, out-
of-phase) output remains unconnected.

Technosoft 2023 18 Micro 4803 Multi Axis System
3.9 Motor connections
3.9.1 Brushless Motor connection
Figure 9 Brushless motor connection
3.9.2 DC Motor connection
Figure 10 DC Motor connection
3.9.2.1 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.
b) The parasitic capacitance between the motor wires must not bypass 10nF. If very long cables (tens of
meters) are used, this condition may not be met. In this case, add series inductors between the Micro 4803
Multi Axis System outputs and the cable. The inductors must be magnetically shielded (toroidal, for
example), and must be rated for the motor surge current. Typically the necessary values are around 100 μH.
c) A good shielding can be obtained if the motor wires are running inside a metallic cable guide.
d) The shield must be connected to PE (protective earth) – J2#x pin 4 and it is recommended to be also
connected to the motor chassis.

Technosoft 2023 19 Micro 4803 Multi Axis System
3.10 Feedback connections
3.10.1 Feedback #1 - Single-ended Incremental Encoder Connection
Figure 11 Feedback #1 - Single-ended Incremental Encoder Connection
CAUTION!
DO NOT CONNECT UNTERMINATED WIRES TO PINS J3#x.9, J3#x.13 AND J3#x.17.
THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER
READINGS.
Encoder cable shield must be connected to system GND to avoid disturbances /
noise induced by nearby cables.
3.10.2 Feedback #1 - Differential Incremental Encoder Connection
Figure 12 Feedback #1 - Differential Incremental Encoder Connection
Remarks:
1. For Micro 4803 Multi Axis System Feedback #1 differential connection, 120Ω (0.25W) termination resistors are
internally added by putting the SW1#x pins 1,2 and 3 on “ON” position.
2. Length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
CAUTION! Encoder cable shield must be connected to system GND to avoid
disturbances / noise induced by nearby cables.

Technosoft 2023 20 Micro 4803 Multi Axis System
3.10.3 Feedback #2 - Differential Incremental Encoder Connection
Figure 13 Feedback #2 - Differential Incremental Encoder Connection
Remarks:
1. For Micro 4803 Multi Axis System Feedback#2 input has internal termination resistors, equivalent to 120Ω
(0.25W), present in the drive.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial
environment.
CAUTION!
Encoder cable shield must be connected to system GND to avoid
disturbances / noise induced by nearby cables.
3.10.4 Feedback #1 – Absolute Encoder Connection: SSI, BiSS, EnDAT
Figure 14 Feedback #1 – Absolute Encoder Connection
Remarks:
1. For Micro 4803 Multi Axis system Feedback#1 absolute connection, 120Ω (0.25W) termination resistors are
internally added by putting the SW1#x pins 1 and 2 on “ON” position.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial
environment.
CAUTION! Encoder cable shield must be connected to system GND to avoid
disturbances / noise induced by nearby cables.