ipos4808 BX-CAT DATASHEET P/N: P E221

Transcription

1 All dimensions are in mm; Drawing not to scale. Motor sensor configurations Motor PMSM BLDC DC BRUSH ST Sensor (2-ph) ncr. Encoder ncr. Encoder + Hall Analog Sin/Cos encoder SS BiSS-C* Linear Halls** Tacho Open-loop (no sensor) *currently in development **optional, please ask Technosoft for details ST (3-ph) Features Motor supply: Logic supply: 9-36 Output current: 8A cont. (BLDC mode); 20APEAK, up to 100KHz PWM Feedback Devices (dual-loop support) 1s t feedback devices supported: ncremental encoder interface (single ended or differential) pulse & direction interface (single ended) for external (master) digital reference Analogue sin/cos encoder interface (differential 1pp) Digital Hall sensor interface ( and open collector) 2 nd feedback devices supported: ncremental encoder interface (differential) pulse & direction interface (differential) for external (master) digital reference BSS 1 / SS encoder interface Separate ENABLE circuit: connect both ENA1 and ENA2 s to +24 to allow motor PWM output operation 6 digital s, 12-36, PNP/NPN programmable: 2 for limit switches, 4 general-purpose 5 digital outputs, 5-36, 0.5A, NPN open-collector: Ready, Error, 3 general-purpose 2 analogue s: 12-bit, 0-5: Reference, Feedback or general purpose RS-232 serial & dual 100Mbps RJ45 EtherCAT interfaces EtherCAT with C application protocol over EtherCAT (CoE) 127 h/w addresses selectable by h/w rotary hex switches 16k x 16 SRAM memory for data acquisition 16k x16 E 2 ROM to store setup data, TML motion programs, cam tables and other user data Operating ambient temperature: 0-40 C (over 40 C with derating) NTC/PTC analogue Motor Temperature sensor 1 Currently in development isa : Page: 1 of 5

2 Mating Connectors Producer Part No. Connector Description Wire Gauge MOLEX J1 MOLEX J2 MOLEX J1,J2 MOLEX J3, J4 MNFT JR. receptacle housing, 2x2 way MNFT JR. receptacle housing, 2x5 way CRMP PN, MNFT JR., 13A C-Grid Crimp Housing Dual Row, 10 Circuits, with retention C-Grid Crimp Housing Dual Row, 10 Circuits, without retention AWG MOLEX J3, J4 C-Grid Crimp Terminal AWG MOLEX J7 MOLEX J8, J9 MCROFT RECTACLE HOUSNG, 2x9 WAY MCROFT RECTACLE HOUSNG, 2x2 WAY AWG AWG MOLEX J7, J8, J9 CRMP PN, MCROFT, 5A AWG J5, J6 Standard 8P8C modular jack (RJ-45) male Connectors Description 1 GND - Negative return (ground) of the power supply 2 GND - Negative return (ground) of the power supply 3 +LOG Positive terminal of the logic supply : 9 to 36DC 4 + MOT Positive terminal of the motor supply: 11 to J1 J2 J3 50DC. 1 A/A+ O Phase A for 3-ph motors, A+ for 2-ph steppers, Motor+ for DC brush motors 2 C/B+ O Phase C for 3-ph motors, B+ for 2-ph steppers 3 Hall 1 Digital Hall 1 sensor 4 Hall 2 Digital Hall 2 sensor 5 Hall 3 Digital Hall 3 sensor 6 B/A- O Phase B for 3-ph motors, A- for 2-ph steppers, Motor- for DC brush motors 7 BR/B- O Brake resistor / Phase B- for step motors 8 GND - Negative return (ground) of the motor supply 9 +5 OUT O 5 output supply - internally generated 10 GND - Negative return (ground) of the motor supply 1 Z1- ncr. encoder1 Z- diff. 2 Z1+ ncr. encoder1 Z, or Z+ diff. 3 B1-/Cos- ncr. encoder1 B- diff., or analogue encoder Cos- diff. ncr. encoder1 B, or B+ diff. 4 B1+/Cos+/Dir, or Dir, or analogue encoder Cos+ diff. 5 A1- /Sin- ncr. encoder1 A- diff., or analogue encoder Sin- diff. 6 A1+/Sin+/ Pulse ncr. encoder1 A, or A+ diff., or Pulse, or analogue encoder Sin+ diff. 7 GND - Return ground for sensors supply 8 Temp Mot NTC/PTC. Used to read an analog temperature value 9 GND - Return ground for sensors supply OUT O 5 output supply for /O usage - J4 J7 1 Z2- ncr. encoder2 Z- diff. ; has 150Ω resistor between pins 1 and 2 2 Z2+ ncr. encoder2 Z+ diff. ; has 150Ω resistor between pins 1 and B2-/Dir-/CLK- /MA- B2+/Dir+/CLK +/MA+ A2- /Pulse-/ Data-/SL- A2+/Pulse+/ Data+/SL+ /O /O ncr. encoder2 B- diff., or Dir-, or Clockfor SS, or Master- for BiSS; has 150Ω resistor between pins 3 and 4 ncr. encoder2 B+ diff., or Dir+, or Clock+ for SS, or Master+ for BiSS; has 150Ω resistor between pins 3 and 4 ncr. encoder2 A- diff., or Pulse-, or Datafor SS, or Slave- for BiSS; has 150Ω resistor between pins 5 and 6 ncr. encoder2 A+ diff., or Pulse+, or Data+ for SS, or Slave+ for BiSS; has 150Ω resistor between pins 5 and 6 7 GND - Return ground for sensors supply 8 FDBK Analogue, 12-bit, 0-5. Used to read an analogue position or speed feedback (as tacho), or used as general purpose analogue ; Also connected to J7 pin12. 9 GND - Return ground for sensors supply OUT O 5 output supply for sensors usage Port Type Description J5 ECAT OUT O EtherCAT standard RJ45 Ethernet OUT port J6 ECAT N EtherCAT standard RJ45 Ethernet N port 1 N general-purpose digital PNP/NPN 2 +5 OUT O 5 output supply for /O usage Analogue, 12-bit, 0-5. Used to read an 3 REF analog position, speed or torque reference, or used as general purpose analogue general-purpose digital PNP/NPN 4 N0 5 n.c. - not connected 6 N3/LSN digital PNP/NPN. Negative limit switch A, drive Error output, active low, 7 OUT2/Error O. Also drives the red Error LED. 8 + LOG Positive terminal of the logic supply: 9 to 36DC 9 n.c. - not connected general-purpose digital PNP/NPN 10 N6 11 GND - Return ground for /O pins Analogue, 12-bit, 0-5. Used to read an 12 FDBK analogue position or speed feedback (as tacho), or used as general purpose analogue ; Connected also to J4 pin N general-purpose digital PNP/NPN 14 N2/LSP digital PNP/NPN. Positive limit switch A, general-purpose digital output, 15 OUT0 O A, drive Ready output, active low, 16 OUT3/Ready O. Also drives the green Ready LED A, general-purpose digital output, 17 OUT1 O 18 OUT4 O A, general-purpose digital output, isa : Page: 2 of 5

3 J8 J TX O RS-232 Data Transmission 2 GND - Return ground for RS-232 pins 3 232RX RS-232 Data Reception 4 GND - Return ground for RS-232 pins 1 ENA2 Enable circuit 2; connect ENA1&ENA2 to to activate motor operation 2 ENA1 Enable circuit 1; connect ENA1&ENA2 to to activate motor operation 3 GND - Return ground 4 GND - Return ground SW1 & SW2 Axis D selection switches Switch Position Description SW1 0..F H/W Axis D = SW2(MSB)*16 + SW1(LSB) SW Exception: SW2=0 and SW1 = 0 -->Axis D = 255. Remark:SW2 should be set only between 0 and 7. SW3 HW Configuration selection DP switch Pin Position Description 1 down(on) Disable ENA1 functionality. Connects internally +LOG to ENA1 2 down(on) Disable ENA2 functionality. Connects internally +LOG to ENA2 3 down(on) Connect an 150Ω resistor between Z1+ and Z1- feedback pins 4 down(on) Connect an 150Ω resistor between B1+ and B1- feedback pins 5 down(on) Connect an 150Ω resistor between A1+ and A1- feedback pins 6 down(on) Reserved; leave always in down position (ON) for correct 7 down(on) operation of the Enable circuit. 8 down(on) Electrical characteristics All parameters measured under the following conditions (unless otherwise specified): LOG = 24 DC; MOT = 48DC Supplies start-up / shutdown sequence: -any- Load current (sinusoidal amplitude / BLDC, DC, stepper) = 8A Operating Conditions Ambient temperature ,3 ºC Ambient humidity Non-condensing 0 90 %Rh Altitude / pressure 2 Altitude (vs. sea level) Km Ambient Pressure atm Storage Conditions Ambient temperature ºC Ambient humidity Non-condensing %Rh Ambient Pressure atm Not powered; applies to ESD capability ±0.5 k any accessible part (Human body model) Original packaging ±15 k Mechanical Mounting Airflow natural convection 3, closed box Environmental Characteristics 103 x 71 x 16.4 mm Size (Length x Without mating connectors ~4.06 x 2.8 x 0.65 inch Width x Height) With recommended mating 109 x 79 x 19.5 mm connectors. ~4.3 x 3.1 x 0.77 inch Weight Without mating connectors 125 g Power dle (no load) 3.4 dissipation Operating 8.5 W Efficiency 98 % Cleaning agents Dry cleaning is recommended Only Water- or Alcohol- based Protection degree According to EC60529, UL508 P20 - Logic Supply nput (+LOG) Nominal values 9 36 DC Supply voltage drive operating but outside 8 40 guaranteed parameters DC surge (duration 10ms) +LOG = No Load on +LOG = Supply current Digital Outputs +LOG = LOG = Motor Supply nput (+MOT) Nominal values DC drive operating but outside 9 52 DC Supply voltage guaranteed parameters DC surge (duration 10ms) dle 1 5 Supply current Operating -20 ±8 +20 A Absolute maximum value, shortcircuit condition 26 A (duration 10ms) Motor Outputs (A/A+, B/A-, C/B+, BR/B-) for DC brushed, steppers and BLDC motors with Hall-based 8 trapezoidal control Nominal output for PMSM motors with FOC current, 4 sinusoidal control (sinusoidal 8 A amplitude value) for PMSM motors with FOC sinusoidal control (sinusoidal 5.66 effective value) Motor output current, peak maximum 2.5s A ±22 ±26 ±30 A threshold delay 5 10 µs On-state voltage drop Off-state leakage current Motor inductance (phase-tophase) Motor electrical time-constant (L/R) Current measurement Nominal output current; including typical mating connector contact resistance Recommended value, for current ripple max. ±5% of full range; +MOT = 36 FPWM 20 khz khz khz khz khz 60 ±0.3 ±0.5 ±0.5 ±1 20 khz 120 Minimum value, 60 khz 40 limited by shortcircuit ; 40 khz 30 +MOT = khz khz 8 µh 20 khz 250 Recommended 40 khz 125 value for ±5% 60 khz 100 current measurement error 80 khz khz 50 µs FS = Full Scale accuracy ±4 ±8 %FS µh 1 Operating temperature at higher temperatures is possible with reduced current and power ratings 3 n case of forced cooling (conduction or ventilation) the maximum ambient temperature can be 2 ipos4808 can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, increased substantially. current and power rating are reduced due to thermal dissipation efficiency. FPWM isa : Page: 3 of 5

4 Digital nputs (N0, N1, N2/LSP, N3/LSN, N5, N6) 1 PNP nput floating (wiring dis Logic LOW Logic LOW Logic HGH Hysteresis nput current Logic LOW ; pulled to GND 0 Logic HGH ; pulled to nput frequency 0 10 khz 6 µs ESD Human body model ±5 k NPN nput floating (wiring Logic HGH dis Logic LOW Logic HGH Hysteresis Logic LOW ; Pulled to GND nput current Logic HGH ; nternal 12KΩ pull-up to +log nput frequency 0 10 khz 6 µs ESD Human body model ±5 k Digital Hall nputs (Hall1, Hall2, Hall3) TTL / CMOS / Open-collector nput floating (wiring dis Logic HGH Logic LOW Logic HGH 2 5 Floating voltage (not Logic LOW ; Pull to GND 5 nput current Logic HGH ; nternal 1KΩ pull-up to +5 2 µs ESD Human body model ±5 k Encoder2 nputs (A2+/Data+, A2-/Data-, B2+/Clk+, B2-/Clk-, Z2+, Z2-) Differential mode TA/EA-422-A Hysteresis ±0.06 ±0.1 ±0.2 nput impedance, differential Differential mode Common-mode range (A+ to GND, etc.) A2+, B2+, Z2+ A2-, B2-, Z Ω nput frequency Differential mode 0 10 MHz Differential mode 50 ns Digital Outputs (OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT4) All outputs (OUT0, OUT1, OUT2/Error, OUT3/Ready) Not supplied (+LOG floating or to GND) OUT0, OUT1, mmediately OUT4 after powerup OUT2/Error, OUT3/ Ready OUT0, OUT1, Normal OUT2/Error operation OUT3/Ready Logic LOW ; output current = 0.5A Output voltage Output current Logic HGH ; output current = 0, no load OUT2/Error, OUT3/ Ready OUT0, OUT1, OUT4 Logic HGH, external load to +LOG Logic HGH, source current; external load to GND; OUT >= 2.0 TTL / open-collector / NPN 24 High-Z (floating) Logic HGH Logic LOW Logic HGH Logic LOW LOG -0.5 LOG LOG+1 Logic LOW, sink current 0.5 A Logic LOW, sink current, pulse 5 sec. 1 A OUT2/Error, OUT3/ 2 Ready OUT0, OUT1, OUT4 4 Logic HGH, leakage current; external load to +LOG; OUT = LOG max = µs ESD Human body model ±15 k Encoder1 nputs (A1/A1+, A1-, B1/B1+, B1-, Z1/Z1+, Z1-) Single-ended Leave negative s mode disconnected TTL / CMOS / Open-collector mode A/A+, B/B+ Logic LOW 1.6 Logic HGH Logic LOW 1.2 Logic HGH 1.4 mode Z/Z+ 4.7 nput current, Logic LOW ; Pull to GND mode A/A+, Logic HGH ; nternal 2.2KΩ pull-up to +5 B/B+, Z/Z+ Differential mode For full RS422, see 2 TA/EA-422-A Hysteresis ±0.06 ±0.1 ±0.2 Common-mode range differential mode (A+ to GND, etc.) nput impedance, A1+ to A1-, B1+ to B1-, Z1+ differential to Z1-1 kω Single-ended mode, Opencollector / NPN 0 5 MHz nput frequency Differential mode, or Singleended driven by push-pull (TTL / CMOS) 0 10 MHz Single-ended mode, Opencollector / NPN 1 µs Differential mode, or Singleended driven by push-pull 50 ns (TTL / CMOS) any pin to GND ESD Human body model ±1 k 1 The digital s are software selectable as PNP or NPN 2 For full RS-422, 150Ω termination resistors must be connected across the differential pairs, set SW3 pins 3,4 and 5 to ON. isa : Page: 4 of 5

5 Sin-Cos Encoder nputs (Sin+, Sin-, Cos+, Cos-) differential Sin+ to Sin-, Cos+ to Cos PP Operational range any pin to GND Differential, Sin+ to Sin-, Cos+ nput impedance to Cos kω Common-mode, to GND 2.2 kω Resolution with Software selectable, for one interpolation sine/cosine period 2 10 bits Frequency Sin-Cos interpolation khz Quadrature, no interpolation 0 10 MHz ESD Human body model ±1 k Analog 0 5 nputs (REF, FDBK) Operational range ±36 nput impedance To GND 28 kω Resolution 12 bits ntegral linearity ±2 bits Offset error ±2 ±10 bits Gain error ±1% ±3% % FS 2 Band (-3Db) Software selectable 0 1 khz ESD Human body model ±5 k RS-232 Compliance TA/EA-232-C Bit rate Software selectable Baud 232TX short to GND Guaranteed ESD Human body model ±2 k Enable circuit (ENA1, ENA2) Enable function nput current Pulse duration PWM operation delay ESD Disables motor power when either ENA1 or ENA2 is disconnected from the power source PNP nput floating (wiring dis Logic LOW Logic LOW (PWM operation disabled) Logic HGH (PWM operation enabled) Logic LOW ; pulled to GND 0 Logic HGH, pulled to +log 5 13 gnored high-low-high 5 ms Accepted pulse 20 Hz From Enabled low-high transition to PWM operation enabled 30 ms Human body model ±2 k Supply Output (+5) Output voltage Current sourced = Output current NOT protected Over-voltage NOT protected ESD Human body model ±1 k Stresses beyond values listed under absolute maximum ratings may cause permanent damage to the device. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability. 1 For many applications, a 150Ω termination resistor should be connected across SN+ to SN-, and 2 FS stands for Full Scale across COS+ to COS- (set SW3 switches 3 and 4 to ON). Please consult the feedback device datasheet for confirmation. isa : Page: 5 of 5