Technosoft 2019
17
iPOS360x VX-CAN/CAT Technical Reference
•
For stringent EMI requirements, it may be necessary to add common-mode filtering on the motor and/or logic
supply inputs. Be sure to use 3-phase EMC filters, not 2-phase filters, in order to fulfill the basic requirement
of zero common-mode current through the filter. This is necessary because the ground negative return is
shared between V
MOT
and V
LOG
.
•
Motor outputs shall be routed with parallel traces, and minimizing the loop area between these tracks. Avoid
placing components above or below the motor output tracks, as these components may become effective
antennas radiating EMI. If possible, route all 4 motor outputs in strip-line configuration (above or below a ground
plane).
•
For stringent EMI requirements, it may be necessary to add common-mode inductors on the motor outputs.
Place these filters near the iPOS360X, not near the external connector, to reduce radiation from the PCB
tracks.
•
Motor outputs must be separated from any nearby track (on the same layer) by a guard ring / track / area
connected to ground. It is recommended to use the same guarding precaution also for tracks on nearby layers,
i.e. use intermediate guard layer(s) connected to ground. The motor outputs must be treated as first source of
noise on the motherboard. Second source of noise is the current flow between each iPOS360X and its
decoupling V
MOT
capacitor.
•
For best EMC performance, it is strongly recommended to provide an un-interrupted ground plane on one of
the inner layers.
•
All GND pins of the iPOS360X
are galvanically connected together on-board the iPOS360X. If the motherboard
provides an uninterrupted ground plane, it is recommended to connect all GND pins to the ground plane, and
use the ground plane to distribute GND wherever needed. If the motherboard does not provide an uninterrupted
ground plane, it is best to distribute GND connections evenly across the 3 pins. This will create local “star point”
ground connection on-board each iPOS360X. For a multi-axis motherboard with one common power supply
for all motors, each motor power supply return track shall be routed separately for each iPOS360X, and star-
point connected at the power supply terminal.
•
The following signal pairs must be routed differentially, i.e. using parallel tracks with minimal loop area: A1, A1-
; B1+, B1- ; Z1+, Z1- ; CAN-Hi, CAN-Lo.
•
CAN-Bus tracks must be routed with a bus topology, without branches / bifurcations, in a daisy-chain fashion.
The bus ends must be at the termination resistor(s) and/or external connectors.
•
When using +5V
OUT
as supply for external devices (like encoders, Hall sensors, etc.) provide extra filtering and
protection: use series resettable (PTC) fuses to add short-circuit protection; use transient absorbers to protect
against ESD and over-voltage; add high-frequency filtering to protect against external noise injected on +5V
OUT
.
•
The outer box / case / cabinet must be connected to the motherboard ground either galvanically (directly) or
through high-frequency decoupling capacitors, rated at an appropriate voltage.
CAUTION!
WHEN THE iPOS360X IS SET IN TMLCAN MODE, IT STARTS TO
EXECUTE AUTOMATICALLY AT POWER ON THE TML APPLICATION
FROM ITS EEPROM. ADD ON THE MOTHERBOARD THE POSSIBILITY
TO DISABLE THIS FEATURE AS SHOWN PAR. 3.7.11. THIS MIGHT BE
NEEDED DURING DEVELOPMENT PHASE IN CASE THE EEPROM
CONTENT IS ACCIDENTALLY CORRUPTED.
CAUTION!
THE iPOS360X IS AN ELECTROSTATICALLY SENSITIVE DEVICE,
WHICH WILL BE DAMAGED BY INCORRECT HANDLING. THEREFORE
THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE
ONLY IN AN ESD PROTECTED ENVIRONMENT!