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© Technosoft 2013

III

IO-iPOS4808 Technical Reference

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 PCs. 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 B&R

PLC series X20 a motion application for the Technosoft intelligent drives using
TML_LIB_X20 motion control library for PCs. 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

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Summary of Contents for IO iPOS4808

Page 1: ...IO iPOS4808 v1 0B I O Board for iPOS4808 Intelligent Servo Drives Intelligent Drives Technical Reference Technosoft 2013 ...

Page 2: ...POS4808 Technical Reference P091 084 IO iPOS4808 UM 0113 Technosoft S A Avenue des Alpes 20 CH 2000 NEUCHATEL Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com ...

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Page 5: ...trieval system without permission in writing from Technosoft S A The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the IO iPOS4808 VX CAN CAT extension boards version 1 0B that are included in the iPOS4808 intelligent servo drives starter kits The IO iPOS360x extension board can be one of the following products iPOS...

Page 6: ... 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 f...

Page 7: ...rives using TML_LIB_CJ1 motion control library for PCs 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 B R PLC series X20 a motion application for the Technosoft intelligent drives using TML_LIB_X20 motion control library for PCs The TML_LIB_X20 library is IEC61131 3 compatible TechnoCAN part no P091 063 TechnoCAN UM xxxx prese...

Page 8: ...ive 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 contact technosoftmotion com Fax 41 32 732 55 04 Email hotline technosoftmotion com Mail Technosoft SA Avenue des Alpes 20 CH 2000 Neuchatel NE Switzerland ...

Page 9: ... Technosoft 2013 V IO iPOS4808 Technical Reference This page is empty ...

Page 10: ...rsion Identification 6 3 Hardware Installation 7 3 1 Mounting 7 3 2 Connectors 9 3 2 1 Connectors Layout 9 3 2 2 J2 and J3 EtherCAT connectors 10 3 2 3 J6 RS232 connector 10 3 2 4 J7 Digital outputs connector 10 3 2 5 J8 Power supply and motor connector 11 3 2 6 J9 Analog inputs connector 11 3 2 7 J10 Digital inputs connector 1 12 3 2 8 J12 Linear Halls single ended and differential encoder connec...

Page 11: ... Axis ID Selection for iPOS4808 VX CAT drives with EtherCAT 23 3 6 Installing and configuring the USB drivers 24 3 6 1 Installing the USB drivers 24 3 6 2 USB driver configuration 25 3 7 First Power Up 26 Appendix 1 IO iPOS4808 schematics 28 Appendix 2 iPOS4808 VX Plug in Connector Pins 29 J1 Connector pinout A Side 29 J1 Connector pinout B side 30 ...

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Page 13: ...A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating drives 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 ...

Page 14: ...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 avoi...

Page 15: ... up to complete implementation of motion control applications 2 2 Key Features Motor supply 11 50 VDC Logic supply 9 36 VDC Direct access to the following iPOS4808 I O signals via screw terminals connectors 8 digital inputs 5 36V compatible with NPN outputs o 5 general purpose inputs IN0 IN1 IN5 IN6 and IN7 o 2 limit switch inputs IN2 LSP positive and IN3 LSN negative o One Enable input IN4 Enable...

Page 16: ...tion1 2x5 pin motor feedback connector accepting o Single ended or RS 422 differential incremental digital encoder o 1Vpp differential Sine cosine incremental encoder o Linear Hall sensors HDB15 motor feedback connector 1 Available only on the iPOS4808 VX CAT IO board Usable only when the EtherCAT extension module is present ...

Page 17: ... 5 IO iPOS4808 Technical Reference 2 3 IO iPOS4808 Board Dimensions Figure 2 3 1 presents the IO iPOS4808 board dimensions All dimensions are in mm 85 92 58 116 3 30 3 30 20 90 Figure 2 3 1 IO iPOS4808 board dimensions ...

Page 18: ...8 version differs you can find the appropriate manual on the Technosoft web page SJ1 Version no Figure 2 4 1 IO iPOS4808 V1 0B board version identification This manual refers to IO iPOS4808 version 1 0B If your IO iPOS4808 version differs please refer to the appropriate IO iPOS4808 Technical Reference Manual that can be freely downloaded from Technosoft web page Remark The iPOS4808 VX CAN IO p n 0...

Page 19: ...S4808 Technical Reference 3 Hardware Installation 3 1 Mounting Press the iPOS4808 VX drive into IO iPOS4808 board J1 connector iPOS4808 VX I O Board P084 710 E027 Figure 3 1 1 Installing an iPOS4808 VX drive in the IO iPOS4808 ...

Page 20: ...13 8 IO iPOS4808 Technical Reference Insert the EtherCAT VX interface into J5 board connector I O Board P084 710 E027 EtherCAT VX adapter module Figure 3 1 2 Installing an EtherCAT interface module in the IO iPOS4808 ...

Page 21: ...t The Figure 3 2 1 shows the top view of the IO iPOS4808 Extension Board Figure 3 2 1 Top view of the IO iPOS4808 extension board The EtherCAT connectors are present only on the iPOS4808 VX CAT IO board CAUTION BEFORE CONNECTING DISCONNECTING ANY OF THE SIGNALS TURN OFF ALL POWER SUPPLIES ...

Page 22: ... 232 Data Reception CAUTION WHILE USING CONNECTOR J6 THE J19 USB CONNECTOR MUST REMAIN UNCONNECTED 3 2 4 J7 Digital outputs connector Pin Pin name Type Function 1 GND Ground 2 OUT0 O General purpose digital output OUT0 3 OUT1 O General purpose digital output OUT1 4 ERR O Drive error digital output OUT2 Error 5 Ready O Drive ready digital output OUT3 Ready 6 Do not connect Not available with iPOS48...

Page 23: ... 3 phase motors Phase A for 2 phase steppers Motor for DC brushed motors 7 C O Phase C for 3 phase motors Phase B for 2 phase steppers 8 D O External brake resistor Phase B for 2 phase steppers 3 2 6 J9 Analog inputs connector Pin Pin name Type Function 1 GND Ground 2 R05 I External reference signal mono polar 0 to 5V 3 R10 I External reference signal bipolar 10V to 10V 4 5V O 5VOUT output supply ...

Page 24: ...tput supply generated by iPOS4808 drive 3 GND Ground for AvagoTech Option solder SJ1 4 5VOUT O 5VOUT output supply generated by iPOS4808 drive 5 A Sin LH1 I Incremental encoder A differential input or analogue encoder Sin differential input or linear Hall 1 input 6 A A Sin I Incremental encoder A single ended or A differential input or analogue encoder Sin differential input 7 B Cos LH2 I Incremen...

Page 25: ... General purpose digital input IN6 4 GND Ground 3 2 10 J14 and J15 CAN connectors Pin Pin name Type Function 1 CAN_V O If JP21 1 VLOG will be connected to this pin 2 CAN Hi I O CAN Bus positive line positive during dominant bit 3 CAN Lo I O CAN Bus negative line negative during dominant bit 4 GND Ground Remarks 1 Put JP20 jumper to add a 120Ω terminal resistor in your CAN network Leave JP20 open i...

Page 26: ...der 9 Z Z I Incremental encoder Z index single ended 10 5ViPOS O 5VOUT output supply generated by iPOS4808 drive 3 2 12 J19 USB connector J19 is a standard USB A connector used for communication between the iPOS and PC A USB A A cable type is required 3 3 Jumper Settings Jumper Name Jumper Function Option Result 1 Factory setup 01 Normal operation 1 Factory setup2 3 AxisID0_MSB 1 2 Connect AxisID0...

Page 27: ...2 Connect AxisID1 input to 5VDC 2 3 Connect AxisID1 to GND OFF Leave input unconnected 10 AxisID1_LSB 1 2 Don t connect a pull up pull down resistor to AxisID1 2 3 Connect a pull up pull down 4 7K Ω resistor depending on jumper 9 to AxisID1 OFF Connect a pull up pull down 22K Ω resistor depending on jumper 9 to AxisID1 11 Cosine ON Cos is 1Vpp and goes from J11 to iPOS4808 OFF reserved 12 Cosine O...

Page 28: ... 17 EncB Cos termination 0 Do not connect a 120Ω resistor between B Cos and B Cos 1 Connect a 120Ω resistor between B Cos and B Cos 18 EncZ termination 0 Do not connect a 120Ω resistor between Z and Z 1 Connect a 120Ω resistor between Z and Z 19 AutoRun 0 Enable AutoRun normal operation 1 Disable AutoRun 20 CAN termination 0 Do not connect a CAN terminator 1 Connect a CAN terminator 120Ω resistor ...

Page 29: ... unconnected OFF The 7 levels can be obtained using the following jumper positions Table 3 1 Jumper setting for the seven voltage levels of AxisID0 Level Connection needed Jumper 4 Jumper 3 L0 Connect input directly to ground 1 2 2 3 L1 Connect input through a 4 7KΩ resistor to ground 2 3 2 3 L2 Connected input through a 22KΩ resistor to ground OFF 2 3 L3 Nothing connected leave input open OFF L4 ...

Page 30: ...h a 22KΩ resistor to 5VDC OFF 1 2 L5 Connect input through a 4 7Kohm resistor to 5VDC 2 3 1 2 L6 Connect input directly to 5V 1 2 1 2 The CAN protocol selection is done via AxisID2 CANopen mode if the input levels are L0 L1 or L2 TMLCAN mode if the input levels are L3 L4 L5 L6 Remark In CANopen mode if the AxisID is set to 255 the drive remains non configured waiting for a CANopen master to config...

Page 31: ...L0 L3 L3 24 L0 L3 L4 25 L0 L3 L5 26 L0 L3 L6 27 L0 L4 L0 28 L0 L4 L1 29 L0 L4 L2 30 L0 L4 L3 31 L0 L4 L4 32 L0 L4 L5 33 L0 L4 L6 34 L0 L5 L0 35 Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen L0 L5 L1 36 L0 L5 L2 37 L0 L5 L3 38 L0 L5 L4 39 L0 L5 L5 40 L0 L5 L6 41 L0 L6 L0 42 L0 L6 L1 43 L0 L6 L2 44 L0 L6 L3 45 L0 L6 L4 46 L0 L6 L5 47 L0 L6 L6 48 L1 L0 L0 49 L1 L0 L1 50 L1 L0 L2 51 L1 L0 L3 52 L1 L0 L4 53...

Page 32: ...00 L2 L0 L3 101 L2 L0 L4 102 L2 L0 L5 103 L2 L0 L6 104 L2 L1 L0 105 L2 L1 L1 106 L2 L1 L2 107 L2 L1 L3 108 L2 L1 L4 109 Axis ID 2 Axis ID 1 Axis ID 0 ID CANopen L2 L1 L5 110 L2 L1 L6 111 L2 L2 L0 112 L2 L2 L1 113 L2 L2 L2 114 L2 L2 L3 115 L2 L2 L4 116 L2 L2 L5 117 L2 L2 L6 118 L2 L3 L0 119 L2 L3 L1 120 L2 L3 L2 121 L2 L3 L3 122 L2 L3 L4 123 L2 L3 L5 124 L2 L3 L6 125 L2 L4 L0 126 L2 L4 L1 255 L2 L4...

Page 33: ...L3 L3 L4 25 L3 L3 L5 26 L3 L3 L6 27 L3 L4 L0 28 L3 L4 L1 29 L3 L4 L2 30 L3 L4 L3 31 L3 L4 L4 32 L3 L4 L5 33 L3 L4 L6 34 L3 L5 L0 35 L3 L5 L1 36 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN L3 L5 L2 37 L3 L5 L3 38 L3 L5 L4 39 L3 L5 L5 40 L3 L5 L6 41 L3 L6 L0 42 L3 L6 L1 43 L3 L6 L2 44 L3 L6 L3 45 L3 L6 L4 46 L3 L6 L5 47 L3 L6 L6 48 L4 L0 L0 49 L4 L0 L1 50 L4 L0 L2 51 L4 L0 L3 52 L4 L0 L4 53 L4 L0 L5 54 ...

Page 34: ...L0 L6 104 L5 L1 L0 105 L5 L1 L1 106 L5 L1 L2 107 L5 L1 L3 108 L5 L1 L4 109 L5 L1 L5 110 L5 L1 L6 111 L5 L2 L0 112 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN L5 L2 L1 113 L5 L2 L2 114 L5 L2 L3 115 L5 L2 L4 116 L5 L2 L5 117 L5 L2 L6 118 L5 L3 L0 119 L5 L3 L1 120 L5 L3 L2 121 L5 L3 L3 122 L5 L3 L4 123 L5 L3 L5 124 L5 L3 L6 125 L5 L4 L0 126 L5 L4 L1 127 L5 L4 L2 128 L5 L4 L3 129 L5 L4 L4 130 L5 L4 L5 131...

Page 35: ...L6 L6 L3 192 L6 L6 L4 193 L6 L6 L5 194 L6 L6 L6 195 3 5 Axis ID Selection for iPOS4808 VX CAT drives with EtherCAT The iPOS4808 VX CAT drives support all EtherCAT standard addressing modes In case of device addressing mode based on node address the iPOS4808 VX CAT drive sets the configured station alias address with its AxisID value The drive AxisID value is set after power on in one of the follow...

Page 36: ...ically detect the USB drivers download the latest version from here http www ftdichip com Drivers VCP htm 3 6 1 2 Windows XP Download the latest drivers for your version of windows from http www ftdichip com Drivers VCP htm After connecting the USB IO board Windows XP shows a new hardware found wizard Choose No not at this time and the Next button In the next dialogue choose Install from a list or...

Page 37: ... and give the same location for the drivers The driver is installed 3 6 2 USB driver configuration After the drivers are installed follow the steps below to configure the USB driver Remark The driver configuration procedure is identical for both Windows 7 and Windows XP 1 Open Computer Management tool and select Device Manager Expand Ports COM LPT and double click on the USB Serial Port COMx 2 Cli...

Page 38: ...e drive Remark The COM port number can be also changed from Advanced Settings dialog 4 Press OK button to complete the configuration of the COM port 3 7 First Power Up In order to setup the drive for your application you need to communicate with it The easiest way is via an USB link between your PC and the drive Before the first power up check the following ...

Page 39: ...et jumper 13 2 3 The CANopen axisID set will be 127 6 Power on the IO iPOS4808 board the LED READY from IO iPOS4808 board should light Note The drive axisID can also be detected using EasySetUp or EasyMotion Studio and an USB connection If the USB is connected and the drive is powered when EasySetUp or EasyMotion Studio application is started the drive axis ID occurs on the application status bar ...

Page 40: ... Technosoft 2013 28 iPOS4808 VX Technical Reference Appendix 1 IO iPOS4808 schematics ...

Page 41: ... Sin diff input or linear Hall 1 input A14 A A Sin I Incr encoder A single ended or A diff input or analogue encoder Sin diff input A15 B Cos LH2 I Incr encoder B diff input or analogue encoder Cos diff input or linear Hall 2 input J1 Pin Name Type Description A16 B Cos I Incr encoder B single ended or B diff input or analogue encoder Cos diff input A17 Z LH3 I Incr encoder Z diff input or linear ...

Page 42: ...r output active low NPN open collector TTL pull up Also drives the red LED B12 OUT3 Ready O 5 36V 0 5A drive ready output active low NPN open collector TTL pull up Also drives the green LED J1 Pin Name Type Description B13 IN0 I 5 36V digital input General purpose B14 IN1 I 5 36V digital input B15 IN2 LSP I 5 36V digital input Positive limit switch input B16 IN3 LSN I 5 36V digital input Negative ...

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