Technosoft iPOS4803-SY3 Technical Reference Download Page 35

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Technosoft 2021

iPOS4803-SY Multi Axis System, EtherCAT Technical Reference

Figure 26

iPOS4803 Microdrive De-rating with PWM frequency

Figure 27

iPOS4803 Microdrive De-rating with ambient temperature

Figure 28

iPOS4803 Microdrive De-rating with motor supply

100

150

200

, a

itude

[

PWM Frequency [KHz]

Micro

24V

, a

itude

[

Ambient Temperature [ºC]

Micro

20KHz, 24V

, a

itude

[

Vmot [V]

Micro

20KHz

Summary of Contents for iPOS4803-SY3

Page 1: ...Multi Axis System EtherCAT iPOS4803 SY4 Multi Axis System EtherCAT Intelligent Servo Drive for DC Brushless DC and AC Motors Intelligent Servo Drives Technical Reference Technosoft 2021 P091 020 iPOS4803 SY UM 0921 ...

Page 2: ... 11 3 Hardware Installation 12 3 1 iPOS4803 SY Multi Axis System Dimensions 12 3 2 Mechanical Mounting 12 3 3 Connectors and Pinouts 13 3 3 1 Pinouts for iPOS4803 SY3 Multi Axis System 13 3 3 2 Pinouts for iPOS4803 SY4 Multi Axis System 14 3 3 3 Mating Connectors for iPOS4803 SY Multi Axis System 15 3 4 Connection diagrams 16 3 4 1 iPOS4803 SY Multi Axis System connection diagram 16 3 5 Digital I ...

Page 3: ...to limit over voltage during braking 26 3 10 USB connection 27 3 10 1 USB connection 27 3 11 EtherCAT Connection 28 3 11 1 Recommendations for EtherCAT Wiring 28 3 12 Disabling the setup table at startup 29 3 12 1 Disabling the setup table at startup 29 3 13 Axis ID Selection for CAT drives 29 3 14 Electrical Specifications 31 3 14 1 Operating Conditions 31 3 14 2 Storage Conditions 31 3 14 3 Mech...

Page 4: ...20 200 P404 4 Axis Motion System 3A nominal EtherCAT In order to operate the iPOS4803 SY drives you need to pass through 3 steps Step 1 Hardware installation Step 2 Drive setup using Technosoft EasySetUp software for drive commissioning Step 3 Motion programming using one of the options An EtherCAT master The drives built in motion controller executing a Technosoft Motion Language TML program deve...

Page 5: ...raphical 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 down...

Page 6: ...structions 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 CA...

Page 7: ...dard 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 Restr...

Page 8: ...te 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 r...

Page 9: ...anasonic Nikon Sanyo Denki encoder interface 2nd feedback devices supported Incremental encoder interface differential Pulse direction interface differential for external master digital reference BISS SSI EnDAT TAMAGAWA Panasonic Nikon Sanyo Denki encoder interface Separate feedback devices supported Hall sensors interface digital or linear 1 analogue input 16bit 10V or 12 bit 0 5V Reference Feedb...

Page 10: ...803 can have the following part numbers and names on the identification label P020 200 E403 iPOS4803 SY3 3 Axis Motion System 3A nominal EtherCAT hardware AxisID P020 200 E404 iPOS4803 SY4 4 Axis Motion System 3A nominal EtherCAT hardware AxisID P020 200 P404 iPOS4803 SY4 4 Axis Motion System 3A nominal EtherCAT 1 Where x can be 1 2 or 3 for iPOS4803 SY3 or 1 2 3 or 4 for iPOS4803 SY4 ...

Page 11: ... diff Yes Yes Yes Tacho Analogue input Feedback Yes 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 single end...

Page 12: ...stem is intended to be mounted vertically or horizontally on a metallic support using the provided mounting holes and the recommended mating connectors For thermal calculations the iPOS4803 SY Multi Axis System can be assumed to generate 1 Watt 3 4 BTU hour at idle and up to 2 2 Watt 7 5 BTU hour worst case while driving a motor The recommended inserts and screws are Image Connector Description Ma...

Page 13: ... Technosoft 2021 13 iPOS4803 SY Multi Axis System EtherCAT Technical Reference 3 3 Connectors and Pinouts 3 3 1 Pinouts for iPOS4803 SY3 Multi Axis System Where x can be 1 2 or 3 ...

Page 14: ... Technosoft 2021 14 iPOS4803 SY Multi Axis System EtherCAT Technical Reference 3 3 2 Pinouts for iPOS4803 SY4 Multi Axis System Where x can be 1 2 3 or 4 ...

Page 15: ...002333 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 300...

Page 16: ...4803 SY Multi Axis System connection diagram Figure 3 iPOS4803 SY Multi Axis System Connection diagram Where x can be 1 2 or 3 for iPOS4803 SY3 or 1 2 3 or 4 for iPOS4803 SY4 For other available feedback motor options check the detailed diagrams below Pins are software selectable individually as NPN inputs outputs ...

Page 17: ...he 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 5 2 NPN outputs Figure 5 Digital NPN Outputs connection for iPOS4803 SY 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 ...

Page 18: ...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 ...

Page 19: ... 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 iPOS4803 SY Multi Axis System outputs and the cable The inductors must be magnetically shielded toroidal for example and...

Page 20: ... AND J3 x 17 THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS 3 8 2 Feedback 1 Differential Incremental Encoder Connection Figure 10 Feedback 1 Differential Incremental Encoder Connection for iPOS4803 SY Remarks 1 For iPOS4803 SY 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 posi...

Page 21: ...e 2 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 3 8 4 Feedback 1 Absolute Encoder Connection SSI BiSS Panasonic Tamagawa EnDAT Nikon Sanyo Denki Figure 12 Feedback 1 Absolute Encoder Connection for iPOS4803 SY Remarks 1 For iPOS4803 SY Multi Axis system Feedback 1 absolute connection 120Ω 0 25W termination resistors are internally ad...

Page 22: ...edback 2 Absolute Encoder Connection for iPOS4803 SY Remarks 1 For iPOS4803 SY 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 3 8 6 Linear Analog Hall Connection Figure 14 Linear Hall connection for iPOS4803 SY ...

Page 23: ...ation method The digital halls are not used in this case as a feedback measurement device The actual motor control is done with an incremental encoder 2 The iPOS4803 SY are equipped with a feature that detects breakage of Hall wires and or of incremental absolute encoder wires 1 3 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 1 In case...

Page 24: ...nals when the position sensor is differential and provides them Use one twisted pair for each differential group of signals as follows A1 DAT1 with A1 DAT1 B1 CLK1 with B1 CLK1 Z1 with Z1 A2 DAT2 with A2 DAT2 and B2 CLK2 with B2 CLK2 Use another twisted pair for the 5V supply and GND b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors wit...

Page 25: ...trolytic capacitor may be added between Vmot and GND to help reduce over voltage during load braking reversals See paragraph 3 9 1 1 for details 3 9 1 1 Recommendations for Supply Wiring The iPOS4803 SY always requires two supply voltages Vlog and Vmot Use short thick wires between the iPOS4803 SY and the motor power supply Connect power supply wires to all the indicated pins If the wires are long...

Page 26: ...owing back to the supply in Joules In case of a rotary motor and load EM can be computed with the formula F M d d Ph 2 M final initial L M 2 M L M M T 2 t t R 3I h g h m m J J 2 1 E ϖ ϖ where JM total rotor inertia kgm2 JL total load inertia as seen at motor shaft after transmission kgm2 ϖM motor angular speed before deceleration rad s mM motor mass kg when motor is moving in a non horizontal plan...

Page 27: ...ction for iPOS4803 SY For the USB connection a standard USB cable is required The drivers are found automatically in Windows 10 and the device is identified as a COM port In Easy Motion studio choose the following communication settings Figure 19 USB connection Instead of COM1 choose the new COM value detected after the driver is installed ...

Page 28: ...in the chain is connected back to the master controller on the 2nd port of the master This topology consists of the linear topology described above plus an extra connection between the master which has two RJ45 ports to OUT of the last drive See Figure 21 for a visual representation of the ring topology Ring topology is preferred for its added security since it is insensitive to one broken cable c...

Page 29: ...to the drive disconnect the hall sensors from GND and execute a new power off power on cycle Figure 22 Temporary connection during power on to invalidate the Setup table for iPOS4803 SY 3 13 Axis ID Selection for CAT drives1 The iPOS4803 SY Multi Axis System support all EtherCAT standard addressing modes In case of device addressing mode based on node address the iPOS4803 SY Multi Axis System driv...

Page 30: ...e 3 Drive 4 off off off off off 1 2 3 4 off off off off on 9 10 11 12 off off off on off 17 18 19 20 off off off on on 25 26 27 28 off off on off off 33 34 35 36 off off on off on 41 42 43 44 off off on on off 49 50 51 52 off off on on on 57 58 59 60 off on off off off 65 66 67 68 off on off off on 73 74 75 76 off on off on off 81 82 83 84 off on off on on 89 90 91 92 off on on off off 97 98 99 10...

Page 31: ...bal size Without connectors iPOS4803 SY Multi Axis System 94 8 x 84 8 x 28 1 mm 3 73 x 3 34 x 1 1 inch Weight iPOS4803 SY3 Multi Axis System TBD g iPOS4803 SY4 Multi Axis System TBD g Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to IEC60529 UL508 IP20 3 14 5 Logic Supply Input VLOG Min Typ Max Units Supply voltage Nominal values 6 48 VDC Absol...

Page 32: ... 40 kHz TBD FPWM 60 kHz TBD FPWM 80 kHz TBD FPWM 100 kHz TBD Motor electrical time constant L R Recommended value for 5 current measurement error due to ripple FPWM 20 kHz TBD µs FPWM 40 kHz TBD FPWM 60 kHz TBD FPWM 80 kHz TBD FPWM 100 kHz TBD Current measurement accuracy FS Full Scale 4 8 FS 3 14 8 Digital Inputs IN0 IN1 IN2 LSP IN3 LSN IN4 IN5 Min Typ Max Units TBD 3 14 9 Digital Outputs OUT0 OU...

Page 33: ...e width Single ended mode Open collector NPN TBD µs Differential mode or Single ended driven by push pull TTL CMOS TBD ns Input voltage any pin to GND Absolute maximum values continuous TBD V Absolute maximum surge duration 1s TBD ESD protection Human body model TBD kV 3 14 13 Encoder 2 Inputs A2 A2 B2 B2 Min Typ Max Units Differential mode compliance TIA EIA 422 A Input voltage differential mode ...

Page 34: ...4 4 3 2 1 m 1 m 2 m 3 m 4 m 5 m n 3 m n 2 m n 1 m n MSB LSB n single turn bits CK and DT signals have the same form with CK and DT but with opposite polarity 3 14 16 Supply Output 5V Min Typ Max Units 5V output voltage Current sourced 250mA 4 8 5 5 2 V 5V output current1 iPOS4803 SY Multi Axis System 50 100 mA Short circuit protection Yes Over voltage protection NOT protected ESD protection Human ...

Page 35: ...OS4803 Microdrive De rating with ambient temperature Figure 28 iPOS4803 Microdrive De rating with motor supply 0 2 4 6 0 50 100 150 200 Current amplitude A PWM Frequency KHz Micro 24V 0 2 4 6 0 15 30 45 60 75 Current amplitude A Ambient Temperature ºC Micro 20KHz 24V 0 1 2 3 4 5 6 0 5 10 15 20 25 30 35 40 45 50 Current amplitude A Vmot V Micro 20KHz ...

Page 36: ...rating with PWM frequency Figure 30 iPOS4803 Microdrive PWM Frequency De rating 48V 40o C 0 50 100 0 50 100 150 200 Output Voltage V OUT V MOT PWM Frequency KHz Micro Output Voltage Derating 0 1 2 3 4 5 6 0 20 40 60 80 100 120 Current amplitude A PWM Frequency KHz Micro 50mA 200mA 375mA Current capability for external loads on ...

Page 37: ...ring run time The E2 ROM is mapped in the address range 2000h to 7FFFh It is used to keep in a non volatile memory the TML programs the cam tables and the drive setup information Remark EasyMotion Studio handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the Memory Settings dialogue of each application Figure 31 iPOS4803 SY Memo...

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