iPOS8020 BX-CAN DATASHEET

P/N: P029.026.E201

Motor – sensor configurations  Analogue sin/cos encoder interface (differential 1Vpp)

Motor  Digital Hall sensor interface (single-ended and open collector)
DC STEP STEP2
Sensor PMSM BLDC 2nd feedback devices supported:
BRUSH (2-ph) (3-ph)
 Incremental encoder interface (differential)
Incr. Encoder
 BISS / SSI / EnDAT1 encoder interface
Incr. Encoder + Hall
 pulse & direction interface (differential) for external (master) digital
Analog Sin/Cos encoder reference
SSI  STO: 2 safe torque-off inputs, safety integrity level (SIL3/Cat3/PLe)
acc. to EN61800-5-1; -2/ EN61508-3; -4/ EN ISO 13849-1.
BiSS-C
 4 digital inputs, 12-36V, PNP/NPN programmable: 2 for limit switches,
EnDAT1 2 general-purpose
Tacho  4 digital outputs, 5-36V, NPN open-collector: Ready, Error, OUT1
Open-loop (no sensor) 0.5A and OUT0 2A
 2 analogue inputs: 12 bit, +/-10V and 0-5V: Reference and Feedback
1
Available starting with F514K firmware version (for Tacho) or general purpose
2
Sensor used only for step loss detection
 RS-232 serial & dual RJ45 CAN connectors
Features  TMLCAN and CANopen (CiA 301 v4.2, CiA 305 v.2.2.13 and CiA 402
v3.0) protocols selectable by DIN switch
 Motion controller and drive in a single compact unit based on
MotionChip TM technology  127 h/w addresses selectable by DIN switch
 Universal solution for control of rotary and linear brushless, brushed  16k x 16 SRAM memory for data acquisition
and 2 or 3-phase step motors  16k x16 E2ROM memory to store setup data, TML motion programs,
 Advanced motion control capabilities (PVT, S-curve, electronic cam) cam tables and other user data
 Motor supply: 11-80V; Logic SELV/ PELV supply: 9-36V; STO SELV/  Operating ambient temperature: 0-40°C (over 40°C with derating)
PELV supply: 18-40V  NTC/PTC analogue Motor Temperature sensor input
 Output current: 20A cont. (BLDC mode); 40APEAK, up to 60kHz PWM  Protections: short-circuit between motor phases and from motor
 Feedback Devices (dual-loop support) phases to GND, over/under-voltage, over-current, I2t, control error,
over temperature, communication error
1st feedback devices supported:
 Incremental encoder interface (differential)
Name First edition Document template: P099.TQT.564.0001 Last edition Visa :
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TECHNOSOFT iPOS8020 BX-CAN P029.026.E201.DSH.10J

PRODUCT DATA SHEET Page: 1 of 5

 iPOS8020 BX-CAN DATASHEET
P/N: P029.026.E201

Mating Connectors Pin Name Type Description

1 +5VOUT O 5V output supply for I/O usage
Ref Producer Part No. Description
Data+/SL+ Data+ for SSI & EnDAT, or Slave+ for BiSS C; has
2 I
J1 Camden CTBA9208/4FL
Supply input, 4x5.08 female counter 120Ω resistor between pins 2 and 3
part for cable
Data-/SL- Data- for SSI & EnDAT, or Slave- for BiSS C; has
3 I
Motor power, 5x5.08 female counter 120Ω resistor between pins 2 and 3
J2 Camden CTBA9208/5FL
part for cable Incr. encoder2 B+ diff. input, or Dir+; has 120Ω
4 B2+/Dir+ I
resistor between pins 4 and 14
J3, J4 generic 15-pin High Density D-Sub male Feedback #1 +Hall & #2
Incr. encoder2 A+ diff. input, or Pulse+; has 120Ω
5 A2+/Pulse+ I
J9 generic RJ10-4/4 phone plug RS232 resistor between pins 5 and 15
6 +VLOG I Positive terminal of the logic supply input: 9 to 36VDC
J5 generic 15-pin D-Sub male, DB15 I/O; Analog
7 CLK+/MA+ O Clock+ for SSI & EnDAT, or Master+ for BiSS C

J4
MICROFIT RECEPTACLE 8 CLK-/MA- O Clock- for SSI & EnDAT, or Master- for BiSS C
J8 MOLEX 43025-0400
HOUSING, 2x2 WAY
9 Z2+ I Incr. encoder2 Z+ diff. input
J8 MOLEX 43030-0007 CRIMP PIN, MICROFIT, 5A 10 Z2- I Incr. encoder2 Z- diff. input
11 GND - Return ground for sensors supply
Standard 8P8C modular jack (RJ-
J6, J7 - Analog input, 12-bit, 0-5V. Used to read an analog
45) male
12 FDBK I position or speed feedback (as tacho), or used as
general-purpose analog input
Connector Description
13 n.c. -
Pin Name Type Description Incr. encoder2 B- diff. input, or Dir-; has 120Ω
14 B2-/Dir- I
1 GND - Negative return (ground) of the power supply resistor between pins 4 and 14
2 +VMOT I Positive terminal of the motor supply: 12 to 80VDC. Incr. encoder2 A- diff. input, or Pulse-; has 120Ω
15 A2- /Pulse- I
J1

resistor between pins 5 and 15

3 +VLOG I Positive terminal of the logic supply input: 12 to 36VDC
4 Earth - Earth connection
Pin Name Type Description
Pin Name Type Description 1 Can-Hi I/O CAN-Bus positive line (dominant high)
2 Can-Lo I/O CAN-Bus negative line (dominant low)
J6, J7

Phase A for 3-ph motors, A+ for 2-ph steppers, Motor+

1 A/A+ O 3 GND - Return ground for CAN-Bus
for DC brush motors
Phase B for 3-ph motors, A- for 2-ph steppers, Motor- 4, 5 - - Reserved. Do not use.
2 B/A- O
for DC brush motors 6..8 n.c. - Not connected
J2

3 C/B+ O Phase C for 3-ph motors, B+ for 2-ph steppers

4 CR / B- O Chopping Resistor output/ Phase B- for step motors Pin Name Type Description
5 Earth - Earth connection 1 GND - Return ground for RS-232 pins
2 232TX O RS-232 Data Transmission
J9

Pin Name Type Description 3 232RX I RS-232 Data Reception

Safe Torque Off input 1, positive Apply between both 4 GND - Return ground for RS-232 pins
1 STO1+ I
input (opto-isolated, 18÷40V) STO1+, STO2+
Safe Torque Off input 2, positive and STO1-, STO2-
2 STO2+ I Pin Name Type Description
input (opto-isolated, 18÷40V) 24V DC from
J8

Safe Torque Off input 1, negative SELV/ PELV power 1 GND - Return ground for I/O pins
3 STO1- I supply for motor
return (opto-isolated, 0V) 12-36V digital PNP/NPN input. Positive limit switch
PWM output 2 IN2/LSP I
Safe Torque Off input 2, negative input
4 STO2- I operation
return (opto-isolated, 0V) 5-36V 0.5A, drive Error output, active low, NPN
3 OUT2/Error O
open-collector/TTL pull-up. Also drives the red LED
Pin Name Type Description
5-36V 0.5A, drive Ready output, active low, NPN
1 +5VOUT O 5V output supply for I/O usage 4 OUT3/Ready O open-collector/TTL pull-up. Also drives the green
2 Hall 1 I Digital input Hall 1 sensor LED.
3 Hall 2 I Digital input Hall 2 sensor 5-36V 2A, general-purpose digital output, NPN
5 OUT0 O
open-collector/TTL pull-up
Incr. encoder1 B+ diff. input, or analogue encoder
4 B1+/Cos+ I 5-36V 0.5A, general-purpose digital output, NPN
Cos+ diff. input 6 OUT1 O
open-collector/TTL pull-up
Incr. encoder1 A+ diff. input, or analogue encoder
5 A1+/Sin+ I 7 +5VOUT O 5V output supply for I/O usage
Sin+ diff. input
6...8 n.c. Not connected Positive terminal of the logic supply input: 12 to
8 +VLOG I
J5

36VDC
9 Z1+ I Incr. encoder1 Z+ diff. input
J3

12-36V digital PNP/NPN input. Negative limit switch

10 Z1- I Incr. encoder1 Z- diff. input 9 IN3/LSN I
input
11 GND - Return ground for sensors supply
10 IN0 I 12-36V general-purpose digital PNP/NPN input
Analogue input, 12-bit, 0-3.3V. Used to read an
12 Temp Mot I 11 IN1 I 12-36V general-purpose digital PNP/NPN input
analog temperature value
Analogue input, 11-bit, positive +/-10V input. Used
13 Hall 3 I Digital input Hall 3 sensor
12 REF10+ I to read an analog position, speed or torque
Incr. encoder1 B- diff. input, or analogue encoder reference.
14 B1-/Cos- I
Cos- diff. input
Analogue input, 11-bit, negative +/-10V input. Used
Incr. encoder1 A- diff. input, or analogue encoder 13 REF10- I to read an analog position, speed or torque
15 A1- /Sin- I
Sin- diff. input reference. Connected to GND when REF5 is used.
Analogue selection, floating for +/-10V input, GND
14 REFSEL I
connected when REF5+ is used.
Analogue input, 12-bit, 0-5V input. Used to read an
15 REF5 I
analog position, speed or torque reference.

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 iPOS8020 BX-CAN DATASHEET
P/N: P029.026.E201

Pin Name Type Description Motor Outputs (A/A+, B/A-, C/B+, BR/B-) Min. Typ. Max. Units
for DC brushed, steppers and
ON: CANopen communication protocol
1 CANopen - BLDC motors with Hall-based 20
OFF: TMLCAN communication protocol trapezoidal control
Nominal output
2 ID-Bit6 - for PMSM motors with FOC
current,
3 ID-Bit5 - sinusoidal control (sinusoidal 20 A
continuous
amplitude value)
SW1

4 ID-Bit4 - Hardware AxisID selection switches for PMSM motors with FOC
5 ID-Bit3 - They represent the first 7 LSB bits of an 8-bit sinusoidal control (sinusoidal 14.2
6 ID-Bit2 - Axis ID number. effective value)
Motor output
7 ID-Bit1 - maximum 10s -40 +40 A
current, peak
8 ID-Bit0 - Short-circuit
protection ±45 A
threshold
Short-circuit
5 10 µs
Electrical characteristics protection delay
Nominal output current;
On-state
All parameters measured under the following conditions (unless otherwise specified): including typical mating ±0.3 ±0.5 V
voltage drop
• Tamb = 24ºC, VLOG = 24 VDC; VMOT = 80VDC connector contact resistance
• Supplies start-up / shutdown sequence: any Off-state
±0.5 ±1 mA
leakage current
• Load current (sinusoidal amplitude / continuous BLDC, DC, stepper) = 20A
Recommended FPWM
Operating Conditions Min. Typ. Max. Units value, for current 20 kHz 330
Ambient ripple max. ±5% of 40 kHz 150 µH
0 +40 ºC
temperature 1 full range;
Motor inductance +VMOT = 80 V 60 kHz 120
Ambient humidity Non-condensing 0 90 %Rh
Altitude (vs. sea level) -0.1 0÷2 2 km (phase-to-phase) Minimum value, 20 kHz 120
Altitude / pressure 2 limited by short-
Ambient Pressure 02 0.75 ÷ 1 10.0 atm 40 kHz 40
circuit µH
Storage Conditions Min. Typ. Max. Units
protection; 60 kHz 30
Ambient temperature -40 +85 ºC +VMOT = 80 V
Recommended 20 kHz 250
Ambient humidity Non-condensing 0 100 %Rh
Motor electrical value for ±5% 40 kHz 125
Ambient Pressure 0 10.0 atm time-constant current µs
Mechanical Mounting Min. Typ. Max. Units (L/R) measurement 60 kHz 100
Airflow natural convection 3, closed box error
Environmental Characteristics Min. Typ. Max. Units Current
FS = Full Scale accuracy ±5 ±8 %FS
measurement
Size (Length x 139 x 94.2 x 24.5 mm
Without mating connectors Digital Inputs
Width x Height) ~5.47 x 3.7 x 0.97 inch Min. Typ. Max. Units
(IN0, IN1, IN2/LSP, IN3/LSN) 5
Weight Without mating connectors 240 g Mode
Power Idle (no load) 3.6 PNP
W compliance
dissipation Operating 11 Input floating (wiring
Efficiency 98 % Default state Logic LOW
disconnected)
Cleaning agents Dry cleaning is recommended Only Water- or Alcohol- based Logic “LOW” -36 0 2.4
Protection Logic “HIGH” 7.5 24 36
According to IEC60529, UL508 IP20 -
degree
Hysteresis 1.2 2.4 2.8
Logic Supply Input (+VLOG) Min. Typ. Max. Units
Floating voltage (not
Nominal values 12 24 36 VDC 0
Input voltage connected) V
Absolute maximum values, Absolute maximum,
drive operating but outside 8 24 40 VDC -36 +39
continuous
Supply voltage guaranteed parameters Absolute maximum, surge
Absolute maximum values, † -50 +50
† -1 +45 V (duration ≤ 1s)
surge (duration ≤ 10ms) Logic “LOW”; pulled to GND 0 mA
+VLOG = 9V 300 Input current
Logic “HIGH”; pulled to +24V 9 10
No Load on +VLOG = 12V 250
Supply current Digital mA
+V LOG = 24V 150 Mode
Outputs NPN
compliance
+VLOG = 36V 100
Input floating (wiring
Motor Supply Input (+VMOT) Min. Typ. Max. Units Default state Logic HIGH
disconnected)
Nominal values 12 80 90 VDC Logic “LOW” -36 0 2.2
Absolute maximum values, Logic “HIGH” 7.5 36
Supply voltage drive operating but outside 11 94 VDC
guaranteed parameters Hysteresis 1.2 2.4 2.8
Absolute maximum values, Floating voltage (not
-1 95 V Input voltage 23 V
4 connected)
surge (duration ≤ 10ms)
Absolute maximum,
Idle 1 5 mA -36 +39
continuous
Operating -40 ±20 +40 A Absolute maximum, surge
Supply current † -50 +50
Absolute maximum value, short-
(duration ≤ 1s)
circuit condition 45 A
1 Logic “LOW”; Pulled to GND 9 10
(duration ≤ 10ms) Input current mA
Logic “HIGH”; Pulled to +24V 0.4

Input frequency 0 150 kHz

Minimum pulse 3.3 µs
ESD protection Human body model ±2 kV

1 permanent damage to the device. Exposure to absolute-maximum-rated

Operating temperature can be extended up to +65ºC with reduced current and power ratings.
2
iPOS8020 BX-CAN can be operated in vacuum (no altitude restriction), but at altitudes over conditions for extended periods may affect device reliability.
2,500m, current and power rating are reduced due to thermal dissipation efficiency.
3
It is recommended to mount the iPOS8020 BX-CAN on a metallic support using the provided 5
The digital inputs are software selectable as PNP or NPN
mounting holes, for better reliability and reduced de-rating due to heat dissipation
4
Stresses beyond values listed under “absolute maximum ratings” may cause
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P/N: P029.026.E201

Digital Outputs Sin-Cos Encoder Inputs

Min. Typ. Max. Units Min. Typ. Max. Units
(OUT0, OUT1, OUT2/Error, OUT3/ Ready) (Sin+, Sin-, Cos+, Cos-)2
Mode All outputs (OUT0, OUT1, Input voltage,
NPN 24V Sin+ to Sin-, Cos+ to Cos- 1 1.25 VPP
compliance OUT2/Error, OUT3/Ready) differential
Not supplied (+VLOG floating) High-Z (floating) Operational range -1 2.5 4
Immediately OUT0, OUT1 Absolute maximum values,
Input voltage, -7 +7
after power- OUT2/Error, Logic “HIGH” continuous V
any pin to GND Absolute maximum, surge
Default state up OUT3/ Ready
1 -11 +14
OUT0, OUT1,
Logic “HIGH” (duration ≤ 1s)
Normal OUT2/Error Differential, Sin+ to Sin-, Cos+
operation Input 4.2 4.7 kΩ
OUT3/Ready Logic “LOW” to Cos-
impedance
Logic “LOW”; output current = Common-mode, to GND 2.2 kΩ
2A for OUT0/ 0.5A for the 0.8 Resolution with Software selectable, for one
2 10 bits
other digital outputs interpolation sine/cosine period
Logic OUT2/Error, Sin-Cos interpolation 0 450 kHz
2.9 3 3.3 Frequency
“HIGH”; OUT3/ Ready Quadrature, no interpolation 0 10 MHz
output ESD protection Human body model ±2 kV
Output voltage current = 0, OUT0, OUT1 4 4.5 5 V
no load Analog 0…5V Inputs (REF, FDBK) Min. Typ. Max. Units
Logic “HIGH”, external load to Operational range 0 4.95
VLOG
+VLOG Absolute maximum values,
-12 +18
Absolute maximum, Input voltage continuous V
-0.5 VLOG+0.5
continuous Absolute maximum, surge
Absolute maximum, surge 1 ±36
† -1 VLOG+1 (duration ≤ 1s)
(duration ≤ 1s) Input
To GND 8 kΩ
OUT2/Error, impedance
OUT3/ Resolution 12 bits
Logic “LOW”, 0.5 A Integral linearity ±2 bits
Ready,
sink current,
OUT1 Offset error ±2 ±10 bits
continuous
Gain error ±1% ±3% % FS 3
OUT0 2 A Bandwidth (-
Software selectable 0 1 kHz
3dB)
Logic “HIGH”, OUT2/Error,
2.5 mA ESD protection Human body model ±2 kV
Output current source OUT3/ Ready
Analog ±10V Input (Ref) Min. Typ. Max. Units
current;
Differential
external load ±10 V
to GND; VOUT OUT0, OUT1 7 mA voltage range
>= 2.0V Common-mode
Referenced to GND -12 0…10 +50 V
voltage range
Logic “HIGH”, leakage current; Input
external load to +VLOG; VOUT = 0.05 0.7 mA Differential 40 kΩ
impedance
VLOG max = 40V
Common-mode
Minimum pulse Referenced to GND 20 kΩ
0.5 µs impedance
width
Resolution 12 bits
ESD protection Human body model ±15 kV
Integral
Digital Hall Inputs (Hall1, Hall2, Hall3) Min. Typ. Max. Units 0.036 %FS2
linearity
Mode Common-mode voltage =
compliance
TTL / CMOS / Open-collector Offset error ±0.2 ±0.5 %FS2
0…10 V
Input floating Common-mode voltage =
Default state Logic HIGH Gain error ±10 ±12 %FS2
(wiring disconnected) 0…10 V
Logic “LOW” 0 0.8
Bandwidth (- Depending on software
Logic “HIGH” 1.8 1.5 kHz
3dB) settings
Floating voltage
Input voltage 4.5 V RS-232 Min. Typ. Max. Units
(not connected)
Absolute maximum, surge Compliance TIA/EIA-232-C
1 -10 +15 Bit rate Software selectable 9600 115200 Baud
(duration ≤ 1s)
Logic “LOW”; Pull to GND 5 3 Short-circuit 232TX short to GND Guaranteed
Input current mA ESD protection Human body model ±2 kV
Logic “HIGH”; Internal 1KΩ
0 0 0 CAN-Bus Min. Typ. Max. Units
pull-up to +5
Minimum pulse ISO11898, CiA-301v4.2,
2 µs Compliance
width CiA 305 v2.2.13, 402v3.0
ESD protection Human body model ±5 kV Bit rate Software selectable 125 1000 Kbps
Encoder Inputs (A+, A-, B+, B-, Z+, Z-, 1Mbps 25
Min. Typ. Max. Units Bus length 500Kbps 100 m
A2+, A2-, B2+, B2-, Z2+, Z2-) 2
Differential ≤ 250Kbps 250
For full RS422 compliance, Resistor Between CAN-Hi, CAN-Lo none on-board
mode TIA/EIA-422-A
see 2 1 ÷ 127 & LSS non-configured
compliance
Hysteresis ±0.06 ±0.1 ±0.2 Node Hardware: by DIP switch (CANopen);
addressing 1-127 & 255 (TMLCAN)
Differential mode -14 +14
Input voltage V Software 1 ÷ 127 (CANopen); 1- 255 (TMLCAN)
Common-mode range
-11 +14 Voltage, CAN-
(A+ to GND, etc.)
Hi or CAN-Lo -26 26 V
Input A+, A2+, B+, B2+, Z+, Z2+ 2.2
impedance, kΩ to GND
A-, A2-, B-, B2-, Z-, Z2- 1.6 ESD protection Human body model ±15 kV
differential
Input frequency Differential mode 0 10 MHz
Minimum pulse
Differential mode 50 ns
width

1
Stresses beyond values listed under “absolute maximum ratings” may cause 2
All differential input pins have internal 120Ω termination resistors connected across
permanent damage to the device. Exposure to absolute-maximum-rated 3
conditions for extended periods may affect device reliability. “FS” stands for “Full Scale”
Name First edition Document template: P099.TQT.564.0001 Last edition Visa :
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P/N: P029.026.E201

Safe torque OFF

Min. Typ. Max. Units
(STO1+, STO1-; STO2+, STO2+)
Safety function According to EN61800-5-2 STO (Safe Torque OFF)
EN 61800-5-1/ -2 Safety Integrity Level safety integrity level 3 (SIL3)
and EN 61508-5- PFHd (Probability of Failures
8*10-10 hour-1 (0.8 FIT)
3/ -4 Classification per Hour - dangerous)
Performance Level Cat3/PLe
EN13849-1
Classification MTTFd (meantime to
377 years
dangerous failure)
Mode compliance PNP
Input floating (wiring
Default state Logic LOW
disconnected)
Logic “LOW” (PWM operation
-20 5.6
disabled)
Logic “HIGH” (PWM operation
Input voltage 18 36 V
enabled) iPOS8020 BX-CAN De-rating with ambient temperature
Absolute maximum,
-20 +40
continuous
Logic “LOW”; pulled to GND 0
Input current mA
Logic “HIGH”, pulled to +Vlog 5 13
Repetitive test 5 ms
pulses Ignored high-low-high
(High-low-high) 20 Hz

From internal fault detection to

Fault reaction time register DER bit 14 =1 and 30 ms
OUT2/Error high-to-low

From external STO low-high

PWM operation
transition to PWM operation 30 ms
delay
enabled
ESD protection Human body model ±2 kV
Min. Typ. Max. Units iPOS8020 BX-CAN Over-current diagram
BiSS/SSI Encoder Interface
Differential
For full RS422 compliance,
mode (CLOCK, TIA/EIA-422
see 1
DATA) 1
Differential; 50Ω differential
2.0 2.5 5.0
CLOCK Output load
V
voltage Common-mode, referenced
2.3 2.5 2.7
to GND
CLOCK
Software selectable 1000, 2000, 3000 kHz
frequency
DATA Input
Differential mode ±0.1 ±0.2 ±0.5 V
hysteresis
Data input Termination resistor on-
120 Ω
impedance board
DATA Input Referenced to GND -7 +12 iPOS8020 BX-CAN Output Voltage De-rating with PWM
common mode Absolute maximum, surge frequency1
range † -25 +25
(duration≤1s)
Binary / Gray
DATA format Software selectable Single-turn / multi-turn
Counting direction
Single-turn 56
Bits
DATA resolution Multi-turn and single-turn 56
If total resolution >31 bits, some bits must be ignored by
software setting to achieve a max 31 bits resolution
Supply Output (+5V) Min. Typ. Max. Units
Output voltage Current sourced = 500mA 4.8 5 5.2 V
Output current 600 650 mA
Short-circuit NOT protected
Over-voltage NOT protected
ESD protection Human body model ±2 kV
Conformity Min. Typ. Max. Units iPOS8020 BX-CAN De-rating with altitude
2014/30/EU (EMC),
2014/35/EU (LVD),
2011/65/EU (RoHS),
CAUTION!
1907/2006/EC (REACH), FOR PWM FREQUENCIES LESS THAN 20 KHZ,
93/68/EEC (CE Marking Directive), CORRELATE THE PWM FREQUENCY WITH THE
EC 428/2009 (non dual-use item, output frequency limited to MOTOR PARAMETERS IN ORDER TO AVOID
EU Declaration
590Hz) POSSIBLE MOTOR DAMAGE.

CAUTION!
IEC61800-5-1 / This drive is UL compliant
UL 61800-5-1 only if the applied voltage
does not exceed 60V

1
VOUT – the output voltage, VMOT – the motor supply voltage
Name First edition Document template: P099.TQT.564.0001 Last edition Visa :
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