Technosoft iPOS8015 BZ-CAT Technical Reference Download Page 1

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iPOS8015 BZ-CAT

Intelligent Servo Drive for

Step, DC, Brushless DC and

AC Motors

Intelligent Servo Drives

Technical

Reference



Technosoft 2021

P091.023.iPOS8015.BZ.UM.0921

Summary of Contents for iPOS8015 BZ-CAT

Page 1: ...iPOS8015 BZ CAT Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drives Technical Reference Technosoft 2021 P091 023 iPOS8015 BZ UM 0921 ...

Page 2: ...ual loop configurations 11 3 Hardware Installation 11 3 1 iPOS8015 BZ CAT Board Dimensions 11 3 2 Mechanical Mounting 12 3 3 Connectors and Pinouts 12 3 3 1 Pinouts for iPOS8015 BZ CAT 12 3 3 2 Mating Connectors 13 3 4 Connection diagrams 13 3 4 1 iPOS8015 BZ CAT connection diagram 13 3 5 Digital I O Connection 14 3 5 1 PNP inputs 14 3 5 2 NPN inputs 14 3 5 3 NPN outputs 15 3 6 Analog Inputs Conne...

Page 3: ... 10 1 1 Recommendation for wiring 25 3 11 Recommendations for EtherCAT Wiring 26 3 12 Disabling the setup table at startup 27 3 13 Axis ID Selection 27 3 14 LED indicators 28 3 14 1 EtherCAT ST LED indicator 28 3 15 Electrical Specifications 29 3 15 1 Operating Conditions 29 3 15 2 Storage Conditions 29 3 15 3 Mechanical Mounting 29 3 15 4 Environmental Characteristics 29 3 15 5 Logic Supply Input...

Page 4: ...ugh 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 developed using Technosoft EasyMotion Studio software A distributed control approach which combines the above options lik...

Page 5: ...chnosoft web page 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...

Page 6: ...DE 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 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 CONTROLL...

Page 7: ...icable 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 th...

Page 8: ...ctly 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 fo...

Page 9: ... devices dual loop support 1st feedback devices supported Incremental encoder interface differential Digital Hall sensor interface single ended and open collector 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 P...

Page 10: ...y 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 Incremental Encoder FDBK 1 diff Yes Yes Yes FDBK 2 diff Incremental Encoder Digital Hall FDBK 1 diff Digital Halls interface Yes Yes FDBK 2 diff SSI BISS C Tamagawa EnD...

Page 11: ...ls SSI BISS C Tamagawa EnDAT Panasonic Nikon Sanyo Denki Stepper 2 phase Incremental encoder differential Incremental encoder differential Analogue Sin Cos encoder SSI BISS C Tamagawa EnDAT Panasonic Nikon Sanyo Denki DC Brush Incremental encoder differential Incremental encoder differential Analogue Sin Cos encoder SSI BISS C Tamagawa EnDAT Panasonic Nikon Sanyo Denki Analogue Tacho only on motor...

Page 12: ...8015 BZ 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 The metallic support must act as a cooling heat sink 3 3 Connectors and Pinouts 3 3 1 Pinouts for iPOS8015 BZ CAT ...

Page 13: ...c 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 4 Connection diagrams 3 4 1 iPOS8015 BZ CAT connection diagram Figure 3 iPOS8015 BZ CAT Connection diagram The digital inputs can be configur...

Page 14: ...ge 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 5 2 NPN inputs Figure 5 24V Digital NPN Inputs connection Remarks 1 The inputs are software selectable as PNP NPN 2 The inputs are compatible with NPN type outputs input must be pulled to GND to change its default state 3 The length of the cabl...

Page 15: ... 5 4 Solenoid driver connection for motor brake Figure 7 Solenoid driver connection Remarks 1 The firmware can control the OUT0 or OUT1 outputs to automatically engage disengage a mechanical brake when motor control is started stopped 2 Both pins can also be individually used as NPN general purpose digital outputs 3 To enable the mechanical brake functionality select the following checkbox from Ea...

Page 16: ... up to 30m reducing the exposure to voltage surges in industrial environment 3 6 2 10V Input Range Figure 10 10V Analog inputs connection Remarks 1 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 2 The switching between REF and FDBK signals can be done using the analog inputs setup selection in EasySetUp or EasyMotion Studio ...

Page 17: ...ource 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 shiel...

Page 18: ...3 Phase Step Motor connection Figure 14 3 phase step motor connection Remark To hardware enable the motor outputs connect STO1 and STO2 to Vlog and STO1 and STO2 to GND 3 7 4 DC Motor connection Figure 15 DC Motor connection Remark To hardware enable the motor outputs connect STO1 and STO2 to Vlog and STO1 and STO2 to GND ...

Page 19: ... can be obtained if the motor wires are running inside a metallic cable guide 3 8 Feedback connections 3 8 1 Feedback 1 Differential Incremental Encoder Connection Figure 16 Feedback 1 Differential Incremental Encoder Connection Remarks 1 For Feedback 1 Differential connection 120Ω 0 25W terminators are internally present in the drive 2 The length of the cables must be up to 30m reducing the expos...

Page 20: ...2 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment Figure 18 Feedback 2 Master Slave Connection 3 8 3 Feedback 2 Pulse and direction connection Figure 19 Pulse and direction connection Remark The same pulse and direction connection can be done on J3 Feedback 1 using the same pin numbers as for Feedback 2 ...

Page 21: ...r device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 μF rated at 6 3V 3 8 5 Feedback 1 Digital Hall Connection for Motor Hall Incremental Encoder Figure 21 Feedback 1 Digital Hall connection Remarks 1 This connection is required when using Hall start met...

Page 22: ...i Figure 22 Feedback 2 Absolute Encoder Connection Remarks 1 Feedback 2 differential connection 120Ω 0 25W terminators are internally 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 9 Power Supply and STO Connection 3 9 1 Supply Connection Figure 23 Supply connection ...

Page 23: ...e protection is triggered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2 2 2 NOM MAX M U U E C where UMAX 84V is ...

Page 24: ... entire regenerative energy EM but can help reducing the chopping resistor size Chopping resistor selection The chopping resistor value must be chosen to respect the following conditions 1 to limit the maximum current below the drive peak current IPEAK 40A PEAK MAX CR I U R 2 to sustain the required braking power d CHOP MAX M CR t U U C E P 2 1 2 2 where C is the capacitance on the motor supply ex...

Page 25: ... included inside the shield like the 232Rx and 232Tx signals All metallic connector shells are connected internally to the Earth connector J1 pin 4 b Always power off all the iPOS8015 BZ supplies before inserting removing the RS 232 serial connector c Do not rely on an earthed PC to provide the iPOS8015 BZ GND connection The drive must be earthed through a separate circuit Most communication probl...

Page 26: ...or a visual representation of the linear topology Ring when the J7 OUT port of the last drive 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 J7 OUT of the last drive See Figure 26 EtherCAT network ring topology for a visual rep...

Page 27: ...ndard addressing modes In case of device addressing mode based on node address the drive sets the EtherCAT register called configured station alias address with its AxisID value The drive AxisID value is set after power on by Software setting via EasySetUp a specific AxisID value in the range 1 255 Hardware by setting h w in Easy setup under Axis ID value and selecting a value between 1 255 The Ha...

Page 28: ...activity 3 14 1 EtherCAT ST LED indicator The STATUS indicator displays the RUN states with a 180 degree phase shift to the ERROR states An example is noted in Figure 30 STATUS indicator Example In case of a conflict between turning the indicator on green versus red the indicator shall be turned to red Apart from this situation the bi color STATUS indicator combines the behavior of the RUN indicat...

Page 29: ... Units Ambient temperature1 0 40 ºC Ambient humidity Non condensing 0 90 Rh Altitude pressure2 Altitude referenced to sea level 0 1 0 2 2 Km Ambient Pressure 0 2 0 75 1 10 0 atm 3 15 2 Storage Conditions Min Typ Max Units Ambient temperature 40 85 ºC Ambient humidity Non condensing 0 100 Rh Ambient Pressure 0 10 0 atm 3 15 3 Mechanical Mounting Min Typ Max Units Airflow natural convection3 closed ...

Page 30: ...V FPWM 20 kHz 330 µH FPWM 40 kHz 150 FPWM 60 kHz 120 Absolute minimum value limited by short circuit protection VMOT 80 V FPWM 20 kHz 120 µH FPWM 40 kHz 40 FPWM 60 kHz 30 Motor electrical time constant L R Recommended value for 5 current measurement error due to ripple FPWM 20 kHz 250 µs FPWM 40 kHz 125 FPWM 60 kHz 100 Current measurement accuracy FS Full Scale 4 8 FS 3 15 8 Digital Inputs IN0 IN1...

Page 31: ...oating wiring disconnected Logic HIGH Input voltage Logic LOW 0 0 8 V Logic HIGH 1 8 Floating voltage not connected 4 5 Absolute maximum surge duration 1s 10 15 Input current Logic LOW Pull to GND 5 3 mA Logic HIGH Internal 1KΩ pull up to 5 0 0 0 Minimum pulse width 2 µs ESD protection Human body model 5 kV 3 15 11 Encoder Inputs A1 A1 B1 B1 Z1 Z1 Min Typ Max Units Differential mode compliance For...

Page 32: ...m n 4 n 4 n 3 n 2 n 1 DT CK T T 2 1 2 3 4 5 m 3 m 2 m 1 m MSB LSB m multi turn bits n n 1 n 2 n 3 n 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 15 14 Analog 0 5V Inputs REF FDBK Min Typ Max Units Input voltage Operational range 0 5 V Absolute maximum values continuous 0 5 9 5 Absolut...

Page 33: ...FF EN 61800 5 1 2 and EN 61508 5 3 4 Classification Safety Integrity Level safety integrity level 3 SIL3 PFHd Probability of Failures per Hour dangerous 8 10 10 hour 1 0 8 FIT EN13849 1 Classification Performance Level Cat3 PLe MTTFd meantime to dangerous failure 377 years Mode compliance PNP Default state Input floating wiring disconnected Logic LOW Input voltage Logic LOW PWM operation disabled ...

Page 34: ...ime The E2ROM 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 iPOS8015 BZ Memory Map TML ...

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