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Technosoft 2017

iPOS4808 BX-CAT-STO Technical Reference

2.4

Supported Motor-Sensor Configurations

2.4.1

Single loop configurations

The position and/or speed are controlled using one feedback sensor. The other available feedback sensor

input can be used for External reference Position or Velocity, Pulse and Direction, Electronic Gearing or Camming.

Motor

Sensor

Brushless

PMSM

Brushless

BLDC

DC Brush Stepper

2 phase

Stepper

3 phase

Sensor type

Sensor location

Incr. encoder

FDBK #1 (single ended or diff.)

Yes

FDBK #2 (diff.)

Incr. e Digital Hall

FDBK #1 (single
ended or diff

Digital

halls

interface

Yes

FDBK #2 (diff.)

Digital halls only

Digital halls interface

Yes

Linear halls

(analogue)

Linear halls interface

Yes

SSI

FDBK #2 (diff.)

Yes

BiSS-C

FDBK #2 (diff.)

Yes

Analogue Sin/Cos encoder

FDBK #1 (diff.)

Yes

Tacho

Analogue input: Feedback

Yes

Open-loop (no sensor)

Yes

Open-loop (with step loss detection
using

Incr. Encoder/SinCos/SSI/BiSS)

FDBK #1 (single ended or diff.)

Yes

FDBK #2 (diff.)

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-ended or differential

)

•

Analogue Sin/Cos encoder

•

Linear Halls

(only on motor)

•

Incremental encoder

(differential)

•

SSI/BiSS C encoder

BLDC

•

Incremental encoder
(single-ended or differential) +
Digital halls

•

Incremental encoder

(differential) + Digital Halls

•

SSI/BiSS C encoder (only on load)

Stepper

2ph

•

Incremental encoder

(single-ended or differential)

•

Analogue Sin/Cos encoder

•

Incremental encoder

(differential)

•

SSI/BiSS C encoder

DC Brush

•

Incremental encoder

(single-ended or differential)

•

Analogue Sin/Cos encoder

•

Analogue Tacho (only on motor)

•

Incremental encoder

(differential)

•

SSI/BiSS C encoder

Each defined motor type can have any combination of the supported feedbacks either on motor or on load.

Examples: -PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from

feedback#2) on load; -DC brush motor with SSI encoder (from feedback #2) on motor and Sin/Cos encoder (from
feedback #1) on load.

A differential encoder on Feedback #1 is available only with P027.314.E221

Linear hall sensors are compatible only with P027.314.E721

Содержание iPOS4808 BX-CAN-STO

Страница 1: ...iPOS4808 BX CAT STO Intelligent Servo Drive for Step DC Brushless DC and AC Motors Intelligent Servo Drives Technical Reference Technosoft 2017 P091 027 iPOS4808 BX CAT STO UM 0317 ...

Страница 2: ...ation 12 3 1 iPOS4808 BX CAT STO Board Dimensions 12 3 2 Mechanical Mounting 13 3 3 Connectors and Pinouts 14 3 3 1 Pinouts for iPOS4808 BX CAT STO 14 3 3 2 Mating Connectors 15 3 4 Connection diagrams 15 3 4 1 iPOS4808 BX CAT STO connection diagram 15 3 4 2 24V Digital I O Connection 16 3 4 2 1 PNP inputs 16 3 4 2 2 NPN inputs 16 3 4 2 3 NPN outputs 17 3 4 3 5V Digital I O Connection 17 3 4 4 Ana...

Страница 3: ...al RS 232 connection 28 3 4 8 1 Serial RS 232 connection 28 3 4 8 2 Recommendation for wiring 28 3 4 9 Recommendations for EtherCAT Wiring 29 3 4 10 Disabling the setup table at startup 30 3 5 Axis ID Selection 30 3 5 1 LED indicators 31 3 5 2 EtherCAT Status indicator 31 3 6 Electrical Specifications 32 3 6 1 Operating Conditions 32 3 6 2 Storage Conditions 32 3 6 3 Mechanical Mounting 32 3 6 4 E...

Страница 4: ... 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 developed using Technosoft EasyMotion Studio software A distributed control approach which combines the above option...

Страница 5: ...om Technosoft 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 EasyM...

Страница 6: ...TOR 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 OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION 1 1 Warnings 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...

Страница 7: ...plicable 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 ...

Страница 8: ... 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 EEPROM and waiting for a message which confirms the TML functions execution completion For iPOS4808 commissioning EasySetUp or EasyMotion Studio PC applications may be used EasySetUp is a subset of EasyMotion Stud...

Страница 9: ...rpose NTC PTC analogue Motor Temperature sensor input Electro Mechanical brake support software configurable digital output to control motor brake Feedback devices dual loop support 1st feedback devices supported Incremental encoder interface single ended or differential1 Analog sin cos encoder interface differential 1VPP Linear Hall sensors interface2 Pulse direction interface single ended for ex...

Страница 10: ... Over temperature Communication error Control error Feedback sensor error 2 3 Identification Labels Figure 2 3 1 iPOS4808 BX CAT STO identification labels The iPOS4808 BX CAT can have the following part numbers and names on the identification label p n P027 314 E221 name iPOS4808 BX CAT STO standard EtherCAT execution p n P027 324 E721 name iPOS4808 BX CAT STO Linear Hall EtherCAT execution 1 20A ...

Страница 11: ...k 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 ended or differential1 Analogue Sin Cos encoder Linear Halls2 only on motor Incremental encoder differential SSI BiSS C encoder BLDC Increm...

Страница 12: ...17 12 iPOS4808 BX CAT STO Technical Reference 3 Hardware Installation 3 1 iPOS4808 BX CAT STO Board Dimensions Figure 3 1 1 iPOS4808 BX CAT STO drive dimensions All dimensions are in mm The drawings are not to scale ...

Страница 13: ...is shown in Figure 3 1 Fixing the iPOS4808 BX CAT onto a support using the provided mounting holes is strongly recommended to avoid vibration and shock problems Figure 3 2 1 iPOS4808 BX CAT STO dimensions with mating connectors and minimum spacing for vertical mounting The iPOS4808 BX CAT drive s can be cooled by natural convection The support shall be thermally conductive metallic and shall be mo...

Страница 14: ... Technosoft 2017 14 iPOS4808 BX CAT STO Technical Reference 3 3 Connectors and Pinouts 3 3 1 Pinouts for iPOS4808 BX CAT STO ...

Страница 15: ...h retention MOLEX 90142 0010 C Grid III Crimp Housing Dual Row 10 Circuits without ention 90143 0010 J3 J4 C Grid III Crimp Terminal MOLEX 90119 0109 J7 MICROFIT RECEPTACLE HOUSING 2x9 WAY MOLEX 43025 1800 J8 J9 MICROFIT RECEPTACLE HOUSING 2x2 WAY MOLEX 43025 0400 J7 J8 J9 CRIMP PIN MICROFIT 5A MOLEX 43030 0007 J5 J6 Standard 8P8C modular jack RJ 45 male 3 4 Connection diagrams 3 4 1 iPOS4808 BX C...

Страница 16: ...voltage value 5 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 4 2 2 NPN inputs Figure 3 4 24V Digital NPN Inputs connection Remarks 1 The inputs are selectable as PNP NPN by software 2 The inputs are compatible with NPN type outputs input must be pulled to GND to change its default state 3 The length ...

Страница 17: ...18 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 J7 J8 J6 J5 J4 J3 J2 J1 Figure 3 6 5V Digital I O connection Remarks 1 The inputs are selectable as PNP NPN by software For the 5V connection they are selected as PNP NPN is not compatible on a 5V connection 2 The inputs are compatible with TTL 5V LVTTL 3 3V CMOS 3 3V 24V outputs 3 The outputs are compatible with TTL 5V and CMOS 5V inputs 4 The length of ...

Страница 18: ...the drive input 2nd wire connects the source ground 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 nega...

Страница 19: ...e 3 4 5 Motor connections 3 4 5 1 Brushless Motor connection Figure 3 9 Brushless motor connection 3 4 5 2 2 phase Step Motor connection Figure 3 10 2 phase step motor connection one coil per phase Figure 3 11 2 phase step motor connection two coils per phase ...

Страница 20: ...ed cable for the motor wires Connect the cable shield to the iPOS4808 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 iPOS4808 outputs and the cable The inductors must be magnetically shielded toroidal for example ...

Страница 21: ...ncremental encoder connection CAUTION DO NOT CONNECT UNTERMINATED WIRES THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS 3 4 6 2 Differential Incremental Encoder 1 Connection Figure 3 15 Differential incremental encoder 1 connection Remarks 1 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment ...

Страница 22: ...ES THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS 3 4 6 4 Differential Incremental Encoder 2 Connection Figure 3 17 Differential incremental encoder 2 connection Remarks 1 The encoder 2 input has internal terminators 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 ...

Страница 23: ...I encoder 2 connection 3 4 6 6 BiSS Encoder 2 Connection Figure 3 19 BiSS C encoder 2 connection Remarks 1 The encoder 2 input has internal terminators 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 ...

Страница 24: ...ice The actual motor control is done with an incremental encoder 2 The length of the cables must be up to 30m reducing the exposure to voltage surges in industrial environment 3 4 6 8 Digital Hall Connection for direct motor control without an encoder Figure 3 21 Digital Hall connection Remarks 1 This connection is required when using only Digital hall signals as the main feedback device for motor...

Страница 25: ...isted 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 iPOS4808 using the GND pin or the encoder motor Do not connect the shield at both ends c If the iPOS4808 5V supply output is used by ano...

Страница 26: ...onger than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 2 200μF rated at an appropriate voltage right on the terminals of the iPOS4808 3 4 7 3 Recommendations to limit over voltage during energy regeneration During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cau...

Страница 27: ...ed in N Option 2 Connect a chopping resistor RCR between phase CR B and ground and activate the software option of dynamic braking see below This option is not available when the drive is used with a step motor The chopping resistor option can be found in the Drive Setup dialogue within EasyMotion EasySetup and it is called External brake resistor The chopping will occur when DC bus voltage increa...

Страница 28: ...ust be reduced see Remark 1 or tCYCLE the time interval between chopping cycles must be increased WARNING THE CHOPPING RESISTOR MAY HAVE HOT SURFACES DURING OPERATION 3 4 8 Serial RS 232 connection 3 4 8 1 Serial RS 232 connection Figure 3 25 Serial RS 232 connection 3 4 8 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ...

Страница 29: ...resentation of the linear topology Ring when the J5 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 J5 OUT of the last drive See Figure 3 28 for a visual representation of the ring topology e Ring topo...

Страница 30: ...D Selection The iPOS4808 BX CAT drives supports all EtherCAT standard addressing modes In case of device addressing mode based on node address the iPOS4808 BX CAT drive sets the 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 and sel...

Страница 31: ...d the behavior of the ERROR indicator specified in Table 3 3 Figure 3 32 STATUS indicator Example Table 3 2 RUN Indicator States Indicator states Slave State Description Off INITIALISATION The drive is in state INIT Blinking PRE OPERATIONAL The drive is in state PRE OEPRATIONAL Single Flash SAFE OPERATIONAL The drive is in state SAFE OPERATIONAL On OPERATIONAL The drive is in state OPERATIONAL Tab...

Страница 32: ...ation Idle no load 3 4 W Operating 8 5 W Efficiency 98 Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to IEC60529 UL508 IP20 3 6 5 Logic Supply Input VLOG Min Typ Max Units Supply voltage Nominal values 9 36 VDC Absolute maximum values drive operating but outside guaranteed parameters 8 40 VDC Absolute maximum values continuous 0 6 42 VDC Absolu...

Страница 33: ...WM 60 kHz 30 FPWM 80 kHz 15 FPWM 100 kHz 8 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 FPWM 80 kHz 63 FPWM 100 kHz 50 Current measurement accuracy FS Full Scale 4 8 FS 3 6 8 Digital Inputs IN0 IN1 IN2 LSP IN3 LSN IN5 IN6 1 Min Typ Max Units Mode compliance PNP Default state Input floating wiri...

Страница 34: ...onnected 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 1KΩ pull up to 5 0 0 0 Minimum pulse width 2 µs ESD protection Human body model 5 kV 3 6 11 Encoder 1 Inputs A1 A1 B1 B1 Z1 Z1 1 Min Typ Max Units Single ended mode compliance Leave negative inp...

Страница 35: ...e for one sine cosine period 2 10 bits Frequency Sin Cos interpolation 0 450 kHz Quadrature no interpolation 0 10 MHz ESD protection Human body model 2 kV 3 6 15 SSI encoder interface Min Typ Max Units Differential mode compliance CLOCK DATA 1 TIA EIA 422 CLOCK Output voltage Differential 50Ω differential load 2 0 2 5 5 0 V Common mode referenced to GND 2 3 2 5 2 7 CLOCK frequency Software selecta...

Страница 36: ...alog 0 5V Inputs REF FDBK Min Typ Max Units Input voltage Operational range 0 5 V Absolute maximum values continuous 12 18 Absolute maximum surge duration 1s 36 Input impedance To GND 30 kΩ Resolution 12 bits Integral linearity 2 bits Offset error 2 10 bits Gain error 1 3 FS1 Bandwidth 3dB Software selectable 0 1 kHz ESD protection Human body model 2 kV 3 6 18 RS 232 Min Typ Max Units Standards co...

Страница 37: ...ault state Input floating wiring disconnected Logic LOW Input voltage Logic LOW PWM operation disabled 20 5 6 V Logic HIGH PWM operation enabled 18 36 Absolute maximum continuous 20 40 Input current Logic LOW pulled to GND 0 mA Logic HIGH pulled to Vlog 5 13 Repetitive test pulses high low high Ignored high low high 5 ms 20 Hz Fault reaction time From internal fault detection to register DER bit 1...

Страница 38: ... run time The E2 ROM is mapped in the address range 4000h 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 main folder of each application Figure 7 1 iPOS4808 BX CAT Memory Map TML P...

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