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 Technosoft 2019 

36 

iPOS360x VX-CAN/CAT Technical Reference

 

 

3.7.11  Disable of Autorun Mode (for CAN) / Disable Setup (for CAT)  

 

Figure 3.32. 

Temporary

 c

onnection during power-on to disable the drive from Autorun mode

 

 

3.7.11.1  For CAN drives 

When the iPOS360x is configured for TMLCAN communication protocol, the default operation mode is 

Autorun

. If a 

TML program is present in the EEPROM of the drive, the iPOS360x will start its execution. 

In case the TML program becomes corrupted, i.e. due to strong electromagnetic fields, the 

Autorun

  mode can be 

disabled by: 

a)  Software: writing the value 

1

  in the first EEPROM location (address 0x4000). You can use the 

Command 

Interpreter

 from EasySetUp / EasyMotion Studio to execute the following instructions: 

var_i1 = 0x4000; (var_i1), spi = 1; 

b)  Hardware: connecting all digital Hall inputs to GND, as shown in 

Figure 3.33

. This option is particularly useful 

when you are unable to establish communication with the drive. 

After the drive is set in 

slave / non-Autorun

 mode using the second method, the first one may be used to disable the 

TML application from the EEPROM. On next power on the drive will enter in the 

slave / non-Autorun

 mode independently 

of the digital Hall inputs status 

 

3.7.11.2  For EtherCAT drives 

In some very rare cases, the setup table might be corrupted, leading to a loop where the drive resets continuously. 
This behavior can be noticed by seeing both the Ready and Error LED blinking for short periods of time continuously.  
To recover from this behavior, the setup table can be invalidated by connecting all digital Hall inputs to GND, as 
shown in  

Figure 3.33

.  

On the next power on, the drive will load setup default settings and the Motion Error Register (MER) bit 2 will be 1. After 
a new valid setup table is loaded onto the drive, disconnect the hall sensors from GND and execute a new power off/ 
power on cycle. 

 

 

3.8 

Operation Mode and Axis ID Selection for CAT drives  

For EtherCAT (CAT) drives, the Operation mode is always CoE protocol and cannot be changed. 

The Axis ID selection can only be done by software setting, with Easy Motion Studio or Easy Setup. 

The iPOS360x VX-CAT drives support all EtherCAT standard addressing modes. In case of device addressing mode 
based on node address, the iPOS drive sets the configured station alias address with its Axis ID value. The drive Axis 
ID value is set after power on only by software when setting via EasySetUp a specific Axis ID value in the range 1-255. 

The hardware Axis ID pins from the CAN version are used to communicate with the ECAT-VX adapter. 

The default Axis ID will be 255. 

If the axis ID is selected as H/W in Setup, the axis ID will be 255. 

If the Axis ID is 255, then the ECAT “configured station alias” will be 0. This setting allows certain EtherCAT masters to 
have multiple drives in a network having the same station alias (0). 

If the Axis ID is set between 1 and 254, the “configured station alias” will be set accordingly.  

Remark: 

Some EtherCAT masters consider having the same station alias (with non-zero values) on multiple drives as 

an Error.  

 

Содержание iPOS360 VX-CAN Series

Страница 1: ...iPOS360x VX CAN CAT Technical Reference iPOS360X VX CAN CAT Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drives Technical Reference Technosoft 2019 P091 028 iPOS360X VX CAN CAT UM 0619 ...

Страница 2: ...OS360X VX CAN CAT Board Dimensions 13 3 2 ECAT VX EtherCAT adapter dimensions 13 3 3 Mechanical Mounting 14 3 3 1 Vertical Mounting 14 3 3 2 Horizontal Mounting 15 3 4 Motherboard PCB Design 16 3 5 EMC recommendations 18 3 6 Connectors and Pinouts 19 3 6 1 Pinouts for iPOS360X VX CAN 19 3 6 2 Mating Connectors for iPOS360X VX CAN 19 3 6 3 Pinouts for iPOS360X VX CAT 20 3 6 4 Mating Connectors for ...

Страница 3: ...ation 32 3 7 9 Serial RS 232 connection 34 3 7 9 1 Serial RS 232 connection 34 3 7 9 2 Recommendation for wiring 34 3 7 10 CAN bus connection for CAN drives only 35 3 7 10 1 CAN connection 35 3 7 10 2 Recommendation for wiring 35 3 7 11 Disable of Autorun Mode for CAN Disable Setup for CAT 36 3 7 11 1 For CAN drives 36 3 7 11 2 For EtherCAT drives 36 3 8 Operation Mode and Axis ID Selection for CA...

Страница 4: ...up using Technosoft EasySetUp software for drive commissioning Step 3 Motion programming using one of the options A CANopen master1 or 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 PLCs 3 A distributed ...

Страница 5: ...3 0 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 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 desc...

Страница 6: ...tion 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 ...

Страница 7: ...equirements 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 Auth...

Страница 8: ...s 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 ...

Страница 9: ... page 2 2 Product Features Fully digital servo drive suitable for the control of rotary or linear brushless DC brush and step motors Very compact design Standard PCIe 4x mating connector Sinusoidal FOC or trapezoidal Hall based control of brushless motors Open or closed loop control of 2 and 3 phase steppers Various modes of operation including torque speed or position control position or speed pr...

Страница 10: ...am tables and other user data Operating ambient temperature 0 70 C iPOS360X VX CAN 0 40 C iPOS360X VX CAT Protections Short circuit between motor phases Short circuit from motor phases to ground Over voltage Under voltage Over current Communication error Control error Over temperature Firmware on drive F508M or F523E for iPSO3604 F509M or F524E for iPSO3602 2 3 Identification Labels Figure 2 3 1 i...

Страница 11: ...oder Yes Digital halls only Yes Linear Halls Yes Tacho Yes Open loop no sensor Yes Yes Open loop with step loss detection using incr Encoder Yes Yes Open loop with incr encoder on load Yes Yes 2 5 iPOS360X I O Evaluation board A circuit board is available for evaluating the iPOS3602 or 3604 VX CAN or CAT It comes with multiple types of connectors for easy access to the iPOS360X features Figure 2 5...

Страница 12: ...ithout motor P028 001 E810 IO iPOS360X VX CAT iPOS3602 VX CAT drive without motor P028 002 E810 IO iPOS360X VX CAT iPOS3604 VX CAT drive without motor P028 002 E801 iPOS3604 VX CAN Starter kit with brushless motor P028 002 E811 iPOS3604 VX CAT Starter kit with brushless motor P028 002 E802 iPOS3604 VX CAN Starter kit with stepper motor P028 002 E812 iPOS3604 VX CAT Starter kit with stepper motor 3...

Страница 13: ... Figure 3 2 below In absence of a fixing case holding the drive in the mating connector the use of the retainers is strongly recommended to avoid vibration and shock problems Figure 3 2 Overall dimensions using recommended mating connector and retainer for the iPOS360x VX CAN CAT drive Figure 3 3 Overall dimensions using recommended mating connector for the ECAT VX adapter All dimensions are in mm...

Страница 14: ...d be less than λ 16 where λ is the wavelength corresponding to maximum filtered frequency ff f f d 16 10 3 16 8 λ If ventilation driven by natural convection is not enough to maintain the temperature surrounding the iPOS360x drive s inside the limits indicated in Figure 3 35 and Figure 3 40 then alternate forced cooling methods must be applied 3 3 2 Horizontal Mounting When iPOS360x is mounted hor...

Страница 15: ...PCB for the motherboard in order to have enough room for routing all the pins of the iPOS360X Using a 2 layer PCB is possible when some of the iPOS360X pins remain un connected Below is a list of recommendations for the PCB design of the motherboard Motor supply and motor outputs use islands areas of copper to escape connector areas this will maximize current capability When using simple tracks us...

Страница 16: ...d 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 powe...

Страница 17: ... EU Electromagnetic Compatibility EMC Directive EN 61800 3 2012 Adjustable speed electrical power drive systems Part3 EMC product standard The drive shall be installed as shown in the Figure below in order to meet the above EMC requirements Figure 3 9 EMC recommended connections if Vmot to capacitor wire length 2m use twisted wires for the supply and ground return Vmot and GND if Vmot to capacitor...

Страница 18: ...tors for iPOS360X VX CAN Producer Part Number Description Images Tyco 2 1775801 4 PCIe 4x vertical card edge connector 1 0mm pitch 2x32 contacts FCI 10018784 11101TLF Tyco 1761465 2 PCIe 4x horizontal card edge connector 1 0mm pitch 2x32 contacts Samtec PCIE 064 02 F D RA FCI 10035591 001LF Retainer for vertical PCIe card FCI 10042618 002LF ...

Страница 19: ...60X VX CAT Producer Part Number Description Images Tyco 2 1775801 4 PCIe 4x vertical card edge connector 1 0mm pitch 2x32 contacts FCI 10018784 11101TLF Tyco 1761465 2 PCIe 4x horizontal card edge connector 1 0mm pitch 2x32 contacts Samtec PCIE 064 02 F D RA FCI 10035591 001LF Retainer for vertical PCIe card FCI 10042618 002LF ...

Страница 20: ...ages Tyco 1 1775801 4 PCIe 1x vertical card edge connector 1 0mm pitch 2x18 contacts FCI 10018784 11100TLF Tyco 1761465 1 PCIe 1x horizontal card edge connector 1 0mm pitch 2x18 contacts Samtec PCIE 036 02 F D RA 3 6 7 EtherCAT VX adapter to iPOS360x interconnections ECAT VX pin Signal Name Direction iPOS360x VX pin A2 Data In A4 B11 Data Out A7 B4 Clock A2 A1 Chip Select A5 A4 Interrupt B6 A6 Syn...

Страница 21: ...45 interface connection diagram Figure 3 10 ECAT VX to RS45 interface connection diagram 3 7 Connection diagrams 3 7 1 iPOS360X VX CAN connection diagram Figure 3 11 iPOS360X VX CAN Connection diagram For other available feedback motor options check the detailed connection diagrams below ...

Страница 22: ...23 iPOS360x VX CAN CAT Technical Reference 3 7 2 iPOS360X VX CAT connection diagram Figure 3 12 iPOS360X VX CAT Connection diagram For other available feedback motor options check the detailed connection diagrams below ...

Страница 23: ...ts input must be pulled to GND to change its default state 2 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 3 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 4 The maximum sink current is 0 5A continuous up to 1A pulsed for less than 5 seconds ...

Страница 24: ...s 1 The inputs are compatible with TTL 5V LVTTL 3 3V CMOS and open collector outputs 2 The outputs are compatible with TTL 5V and CMOS 5V inputs 3 The output loads can be individually and independently connected to 5V or to GND 4 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment ...

Страница 25: ...ected 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...

Страница 26: ...e 3 7 6 Motor connections 3 7 6 1 Brushless Motor connection Figure 3 17 Brushless motor connection 3 7 6 2 2 phase Step Motor connection Figure 3 18 2 phase step motor connection one coil per phase Figure 3 19 2 phase step motor connection two coils per phase ...

Страница 27: ...d cable for the motor wires Connect the cable shield to the iPOS360X GND pin Leave the other end disconnected 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 iPOS360X outputs and the cable The inductors must be magnetically shielded toroidal for example a...

Страница 28: ... WIRES THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS 3 7 7 2 Differential Incremental Encoder Connection Figure 3 23 Differential incremental encoder connection Remarks 1 For the encoder differential connection external 120Ω 0 25W terminators are required for long encoder cables or noisy environments 2 The length of the cables must be up to 30m reducing the exposure to voltage ...

Страница 29: ...ental encoder 2 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 3 7 7 4 Digital Hall Connection for direct motor control without an encoder Figure 3 25 Digital Hall connection Remarks 1 This connection is required when using only Digital hall signals as the main feedback device for motor control In this case no incremental encoder is nee...

Страница 30: ...h B Cos LH2 Z with Z LH3 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 with cable lengths over 1 meter Connect the cable shield to the GND at only one end This point could be either the iPOS360x using the GND pin or the encoder motor Do not connect the shield at both ends c If the i...

Страница 31: ...s to limit over voltage during energy regeneration During abrupt motion decelerations or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses 28V the drive over voltage protection is triggered and the drive power stage is disabled In order to avoid this ...

Страница 32: ...e Setup dialogue within EasyMotion EasySetup The chopping will occur when DC bus voltage increases over UCHOP This parameter UCHOP should be adjusted depending on the nominal motor supply Optimally from a braking point of view UCHOP should be a few volts above the maximum nominal supply voltage This setting will activate the chopping resistor earlier before reaching dangerous voltages when the ove...

Страница 33: ...G OPERATION 3 7 9 Serial RS 232 connection 3 7 9 1 Serial RS 232 connection Figure 3 29 Serial RS 232 connection 3 7 9 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ends Do not use the shield as GND The ground wire must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the iPOS360X s...

Страница 34: ...ble impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b When using a printed circuit board PCB motherboard based on FR 4 material build the CAN network using a pair of 12mil 0 012 tracks spaced 8 to 10mils 0 008 0 010 apart placed over a local ground plane microstrip which extends at least 1mm left and right to the tracks c Whenever possible use daisy chain links b...

Страница 35: ...linking for short periods of time continuously To recover from this behavior the setup table can be invalidated by connecting all digital Hall inputs to GND as shown in Figure 3 33 On the next power on the drive will load setup default settings and the Motion Error Register MER bit 2 will be 1 After a new valid setup table is loaded onto the drive disconnect the hall sensors from GND and execute a...

Страница 36: ...ct input directly to 5V The operation mode selection is done via AxisID 2 CANopen mode if the input levels are L0 L1 or L2 TMLCAN mode if the input levels are L3 L4 L5 L6 Figure 3 34 shows how to set the 7 levels on the AxisID 0 input and the resulting axis ID values when AxisID 2 input level is set for CANopen operation Chapter 3 9 1 shows how to set all possible values for axis ID in this mode o...

Страница 37: ... Technosoft 2019 38 iPOS360x VX CAN CAT Technical Reference Figure 3 33 Axis ID Setting Examples CANopen mode ...

Страница 38: ... Technosoft 2019 39 iPOS360x VX CAN CAT Technical Reference Figure 3 34 Axis ID Setting Examples TMLCAN mode ...

Страница 39: ...0 L1 L1 L5 61 L1 L1 L6 62 L1 L2 L0 63 L1 L2 L1 64 L1 L2 L2 65 L1 L2 L3 66 L1 L2 L4 67 L1 L2 L5 68 L1 L2 L6 69 L1 L3 L0 70 L1 L3 L1 71 L1 L3 L2 72 L1 L3 L3 73 L1 L3 L4 74 L1 L3 L5 75 L1 L3 L6 76 L1 L4 L0 77 L1 L4 L1 78 L1 L4 L2 79 L1 L4 L3 80 L1 L4 L4 81 L1 L4 L5 82 L1 L4 L6 83 L1 L5 L0 84 L1 L5 L1 85 L1 L5 L2 86 L1 L5 L3 87 L1 L5 L4 88 L1 L5 L5 89 L1 L5 L6 90 L1 L6 L0 91 L1 L6 L1 92 L1 L6 L2 93 L1...

Страница 40: ...L4 L5 L3 87 L4 L5 L4 88 L4 L5 L5 89 L4 L5 L6 90 L4 L6 L0 91 L4 L6 L1 92 L4 L6 L2 93 L4 L6 L3 94 L4 L6 L4 95 L4 L6 L5 96 L4 L6 L6 97 Axis ID 2 Axis ID 1 Axis ID 0 ID TMLCAN L5 L0 L0 98 L5 L0 L1 99 L5 L0 L2 100 L5 L0 L3 101 L5 L0 L4 102 L5 L0 L5 103 L5 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 L5 L2 L1 113 L5 L2 L2 114 L5 L2 L3 ...

Страница 41: ...e Using recommended mating connectors without retainer 20 36 N Extraction force 5 10 N 3 10 4 Environmental Characteristics Min Typ Max Units iPOS360x VX CAN CAT Size Length x Width x Height Without mating connector retainer 56 x 28 8 x 7 6 mm 2 2 x 1 1 x 0 3 inch With recommended mating vertical connector and retainer Height above PCB surface 63 3 x 32 6 x 16 3 mm 2 5 x 1 3 x 0 64 inch With recom...

Страница 42: ... mating connector contact resistance 0 3 0 5 V Off state leakage current 0 5 1 mA Motor inductance phase to phase Recommended value for ripple 5 of measurement range VMOT 36 V FPWM 20 kHz 250 µH FPWM 40 kHz 120 FPWM 80 kHz 60 FPWM 60 kHz 100 FPWM 100 kHz 45 Absolute minimum value limited by short circuit protection VMOT 36 V FPWM 20 kHz 75 µH FPWM 40 kHz 25 FPWM 60 kHz 20 FPWM 80 kHz 10 FPWM 100 k...

Страница 43: ...uman body model 5 kV 3 10 10 Digital Hall Inputs Hall1 Hall2 Hall3 Min Typ Max Units Mode compliance TTL CMOS Open collector Default state Input floating wiring disconnected Logic HIGH Input voltage Logic LOW 0 0 8 V Logic HIGH 2 5 Floating voltage not connected 4 4 Absolute maximum surge duration 1s 10 15 Input current Logic LOW Pull to GND 1 2 mA Logic HIGH Internal 4 7KΩ pull up to 5 0 0 0 Mini...

Страница 44: ...Absolute maximum surge duration 1s 11 14 ESD protection Human body model 1 kV 3 10 14 RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud Short circuit protection 232TX short to GND Guaranteed ESD protection Human body model 2 kV 3 10 15 CAN Bus for CAN drives Min Typ Max Units Compliance ISO11898 CiA 301v4 2 402v3 0 Bit rate Softwar...

Страница 45: ...tion signals between iPOS drive and ECAT VX adapter Min Typ Max Units Voltage levels 3 3V low voltage TTL Noise immunity 0 4 V Data protocol 4 wire SPI Data Rate 10 15 MHz 3 10 19 LED signals of ECAT VX adapter for CAT drives Min Typ Max Units LED connection Common anode to 3 3V output Direct no series resistor LED current 8 10 mA 3 3 output voltage 3 15 3 3 3 45 V 3 3 output current 60 mA 3 10 20...

Страница 46: ...ase 20KHz 4 phase 20KHz 3 phase 24V 100KHz 3 phase 24V 20KHz 4 phase 24V 0 0 5 1 1 5 2 2 5 0 1 2 3 4 5 6 7 8 9 10 Current A Altitude Km Altitude De rating 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 2 2 2 4 0 10 20 30 40 50 60 70 80 90 100 Current A PWM Frequency KHz PWM Frequency De rating 36V 3 phase 24V 4 phase 36V 4 phase 0 10 20 30 40 50 60 70 0 0 5 1 1 5 2 2 5 3 3 5 Time s Current A Overcurrent Di...

Страница 47: ... time The E2ROM is mapped in the address range 4000h to 4FFFh 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 main folder of each application Figure 4 1 iPOS360X VX Memory Map TML Programs 4...

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