TECHNOSOFT iGVD71 BX-CAT Intelligent Servo Drive for DC and Brushless Motors Instruction Manual

Instruction Manual for TECHNOSOFT models including: P025.027, P091.027, iGVD71 BX-CAT Intelligent Servo Drive for DC and Brushless Motors, iGVD71 BX-CAT, Intelligent Servo Drive for DC and Brushless Motors, Drive for DC and Brushless Motors, and Brushless Motors, Brushless Motors

P025.027.iGVD71.CAT.UM

P091.027.iPOS4808MY.STO.UM

TECHNOSOFT

Technical Reference

File Info : application/pdf, 36 Pages, 4.61MB

P025.027.iGVD71.CAT .UM .1024

iGVD71 BX-CAT
Intelligent Servo Drive for DC and Brushless
Motors

Intelligent Servo Drives

Technical Reference
P025.027.iGVD71.CAT.UM.1123

1 Read This First ......................................................................................................... 4

2 About This Manual ................................................................................................... 4

3 Notational Conventions ........................................................................................... 4

4 Trademarks............................................................................................................... 4

5 Related Documentation ........................................................................................... 5

6 If you Need Assistance ... ....................................................................................... 5

7 Safety information.................................................................................................... 5 7.1 Warnings....................................................................................................................... 6 7.2 Cautions........................................................................................................................ 6 7.3 Quality system, conformance and certifications ....................................................... 6

8 Product Overview..................................................................................................... 7
8.1 Introduction .................................................................................................................. 7
8.2 Product Features.......................................................................................................... 8
8.3 Identification Labels................................................................................................... 10
8.4 Supported Motor-Sensor Configurations ................................................................. 10 8.4.1 ...... Single loop configurations ..................................................................................................................... 10 8.4.2 ...... Dual loop configurations........................................................................................................................ 10

9 Hardware Installation ............................................................................................. 11
9.1 iGVD71 BX-CAT Board Dimensions.......................................................................... 11
9.2 Mechanical Mounting ................................................................................................. 11
9.3 Connectors and Pinouts ............................................................................................ 12 9.3.1 ...... Mating Connectors ................................................................................................................................ 13 9.3.2 ...... Recommendations for Motor Phases and Motor Power Supply wires................................................... 14 9.3.3 ...... Connection diagram .............................................................................................................................. 15
9.4 Digital I/O Connection ................................................................................................ 16 9.4.1 ...... PNP/NPN Inputs selection .................................................................................................................... 16 9.4.2 ...... PNP inputs ............................................................................................................................................ 16 9.4.4 ...... NPN Outputs ......................................................................................................................................... 17 9.4.6 ...... Solenoid driver connection for motor brake (NPN/PNP) ....................................................................... 18 9.4.7 ...... Analog Inputs Connection: REF, FDBK ................................................................................................ 19 9.4.8 ...... Analog Inputs Connection: +/- 10V Input Range adapter ...................................................................... 19
9.4.8.1 Recommendation for wiring............................................................................................................... 19
9.5 Motor connections ..................................................................................................... 20 9.5.1 ...... DC Motor connection ............................................................................................................................ 20 9.5.2 ...... Brushless Motor connection .................................................................................................................. 20
9.5.2.1 Recommendations for motor wiring................................................................................................... 20
9.6 Feedback connections............................................................................................... 21 9.6.2 ...... Feedback #1 - Differential Incremental Encoder Connection ................................................................ 21 9.6.4 ...... Feedback #2 - Differential Incremental Encoder Connection ................................................................ 22 9.6.5 ...... Feedback #1 Single-Ended Sine-Cosine Encoder Connection .......................................................... 23 9.6.6 ...... Feedback #1 Differential Sine-Cosine Encoder Connection .............................................................. 23 9.6.7 ...... Feedback #2 Single-Ended Pulse and Direction Connection ............................................................. 24 9.6.8 ...... Feedback #2 Differential Pulse and Direction Connection ................................................................. 24

iGVD71 BX-CAT Technical Reference

9.6.9 ...... Feedback #2 - Absolute Encoder Connection (SSI, BiSS-C, EnDAT 2.2)............................................. 25
9.7 Digital Hall Connection .............................................................................................. 26 9.7.1 ...... Single-Ended Digital Hall Connection ................................................................................................... 26 9.7.2 ...... Differential Digital Hall Connection........................................................................................................ 26 9.7.3 ...... Digital Hall Connection for Motor Control .............................................................................................. 27
9.7.3.1 Digital Hall only control...................................................................................................................... 27 9.7.3.2 Digital Hall + Incremental or Absolute Encoder control ..................................................................... 27
9.8 Power Supply Connection ......................................................................................... 28 9.8.1 ...... Recommendations to limit over-voltage during braking......................................................................... 28
9.9 Communication connection ...................................................................................... 29 9.9.1 ...... USB connection .................................................................................................................................... 29 9.9.2 ...... Recommendations for EtherCAT Wiring ............................................................................................... 30 9.9.3 ...... Disabling the setup table at startup ....................................................................................................... 31
9.10 Axis ID Selection ..................................................................................................... 31
9.11 LED indicators......................................................................................................... 32 9.11.1..... EtherCAT® RUN and ERROR LED Indicators...................................................................................... 32
10 Electrical Specifications ..................................................................................... 33
10.1.1..... Operating Conditions ............................................................................................................................ 33 10.1.2..... Storage Conditions................................................................................................................................ 33 10.1.3..... Mechanical Mounting ............................................................................................................................ 33 10.1.4..... Environmental Characteristics............................................................................................................... 33 10.1.5..... Logic Supply Input (+VLOG).................................................................................................................... 33 10.1.6..... Motor Supply Input (+VMOT)................................................................................................................... 33 10.1.7..... Motor Outputs (A/A+, B/A-,C)................................................................................................................ 33 10.1.8..... Digital Inputs - opto-isolated - (IN0, IN1, IN2/LSP, IN3/LSN, IN4)......................................................... 34 10.1.9..... Digital Outputs (OUT0/Brake, OUT1, OUT2, OUT3, OUT4) ................................................................. 34 10.1.10... Brake output (OUT0/Brake) .................................................................................................................. 34 10.1.11... Digital Hall Inputs (Hall1+, Hall1-, Hall2+, Hall2-, Hall3+, Hall3-) .......................................................... 35 10.1.12... Encoder #1 and #2 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-, A2+, A2-, B2+, B2-, Z2+, Z2-)..................... 35 10.1.13... Analog 0...5V Inputs (REF, FDBK) ....................................................................................................... 35 10.1.14... SSI, BiSS, EnDAT Encoder Interface.................................................................................................... 35 10.1.15... Supply Output (+5V) ............................................................................................................................. 35 10.1.16... Supply Output (+5V) ............................................................................................................................. 36 10.1.17... Safe Torque OFF (STO1+; STO1-; STO2+; STO2-) ............................................................................. 36 10.1.18... Conformity............................................................................................................................................. 36 10.1.19... Derating curves ..................................................................................................................................... 36
11 Memory Map ........................................................................................................ 37

iGVD71 BX-CAT Technical Reference

1 Read This First
Whilst Technosoft believes that the information and guidance given in this manual is correct, all parties must rely upon their own skill and judgment when making use of it. Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work, whether such error or omission is the result of negligence or any other cause. Any and all such liability is disclaimed.
All rights reserved. No part or parts of this document may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by any information-retrieval system without permission in writing from Technosoft S.A.
The information in this document is subject to change without notice.

2 About This Manual

This book is a technical reference manual for:

Product Name

Part Number

Output current

iGVD71 BX-CAT

Nominal

Peak

P025.027.E221

71 ARMS / 100A amplitude 100 ARMS / 140A amplitude

Communication EtherCAT

In order to operate the iGVD71 drives, you need to pass 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 options, like for example a host calling motion
functions programmed on the drives in TML
This manual covers Step 1 in detail. It describes the iGVD71 BX hardware including the technical data, the connectors and the wiring diagrams needed for installation.
For Step 2 and 3, please consult the document EasyMotion Studio Quick Setup and Programming Guide. For detailed information regarding the next steps, refer to the related documentation.

3 Notational Conventions
This document uses the following conventions:
· iGVD71 all products described in this manual · IU units Internal units of the drive · SI units International standard units (meter for length, seconds for time, etc.) · STO Safe Torque Off · TML Technosoft Motion Language
· CoE CAN application protocol over EtherCAT®
4 Trademarks
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

iGVD71 BX-CAT Technical Reference

5 Related Documentation
iGVD71 BX-CAT Datasheet ( P025.027.E221.DSH)
iGVD71 BX-CAT Connection Diagram (P025.027.E221.CDG) describes the hardware connections of the iGVD BX intelligent servo drive including the technical data and connectors. iPOS family Safe Torque Off (STO) Operating instructions ( P091.099.STO.Operating.Instructions.xxxx) describes the principles of STO function, the applied standards, the safety-related data and the electrical data. It
presents the requested information for installation and commissioning of STO function
EasyMotion Studio Quick Setup and Programming Guide (P091.034.ESMQuick.Setup.and.Programming.Guide.UM.xxxx) describes the compatible software installation, drive software setup commissioning, introduction to TML motion programming and motion evaluation tools.
Help of the EasySetUp software describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogues. The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file. At power-on, the drive is initialized with the setup data read from its EEPROM. With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed. EasySetUp can be downloaded free of charge from 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). EasyMotion Studio platform includes EasySetUp for the drive/motor setup, and a Motion Wizard for the motion programming. The Motion Wizard provides a simple, graphical way of creating motion programs and automatically generates all the TML instructions. With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives their capability to execute complex motions without requiring an external motion controller, thanks to their built-in motion controller. A demo version of EasyMotion Studio (with EasySetUp part fully functional) can be downloaded free of charge from the Technosoft web page
6 If you Need Assistance ...

If you want to ... Visit Technosoft online

Contact Technosoft at ... World Wide Web: http://www.technosoftmotion.com/

Receive general information or assistance (see Note)
Ask questions about product operation or report suspected problems (see Note)
Make suggestions about, or report errors in documentation.

World Wide Web: http://www.technosoftmotion.com/ Email: sales@technosoftmotion.com
Tel: +41 (0)32 732 5500 Email: support@technosoftmotion.com
Mail: Technosoft SA Avenue des Alpes 20 CH-2000 Neuchatel, NE Switzerland

7 Safety information

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 symbols are used in this manual:

WARNING!

SIGNALS A DANGER TO THE OPERATOR WHICH MIGHT CAUSE BODILY INJURY. MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION

SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT CAUTION! OR OTHER EQUIPMENT. MAY INCLUDE INSTRUCTIONS TO AVOID THIS
SITUATION

iGVD71 BX-CAT Technical Reference

7.1 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 CONTROLLED MOTOR WILL MOVE. KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY

7.2 Cautions

CAUTION!

THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT

CAUTION!

TROUBLESHOOTING AND SERVICING ARE PERSONNEL AUTHORISED BY TECHNOSOFT

PERMITTED

ONLY

FOR

To prevent electrostatic damage, avoid contact with insulating materials, such as synthetic fabrics or plastic surfaces. In order to discharge static electricity build-up, place the drive on a grounded conductive surface and also ground yourself.
7.3 Quality system, conformance and certifications

IQNet and Quality Austria certification about the implementation and maintenance of the Quality Management System which fulfills the requirements 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, Authorization and Restriction of Chemicals), which came into force on 01.06.2007.
RoHS Compliance - Technosoft SA here with declares that this product is manufactured in compliance with the RoHS directive 2002/95/EC on the restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS)

Technosoft SA hereby declares that this product conforms to the following European

applicable 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 the DRC.

STO compliance TUV SUD certifies that this product is SIL 3 / Cat 3 / PL e compatible and

is in conformity with the following safety related directives:

EN ISO 13849-1:2015 Safety of machinery - Safety-related parts of control systems - Part 1: General principles

for design

EN 61800-5-1:2007 Adjustable speed electrical power drive systems -- Safety requirements -- Electrical, thermal and energy

EN 61800-5-2:2007 Adjustable speed electrical power drive systems - Safety requirements Functional EN 61508:2010 Functional safety of electrical/electronic/programmable electronic safety-related systems

EN ISO 13849-1:2008 Safety of machinery - Safety-related parts of control systems

EN 61326-3-1:2008 - General industrial applications - EMC - Immunity requirements for functional safety

For other certifications visit: https://technosoftmotion.com/en/quality/

iGVD71 BX-CAT Technical Reference

8 Product Overview
8.1 Introduction
The iGVD71 is part of the iPOS family of fully digital servo drives, based on the latest DSP technology, offering the highest density of power and intelligence.
Suitable for control of brushless DC, brushless AC (vector control) and brushed DC motors, the iGVD71 accept as position feedback incremental encoders (differential or single-ended), digital Hall signals (differential or single-ended) and absolute encoders (BISS-C / SSI / EnDAT2.2 / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki).
All drives perform position, speed or torque control and work in single, multi-axis or stand-alone configurations. Thanks to the embedded motion controller, the iGVD71 BX drives combine controller, drive and PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller. Using the high-level Technosoft Motion Language (TML) the following operations can be executed directly at drive level:
Setting various motion modes (profiles, PVT, PT, electronic gearing1 or camming1, etc.) Changing the motion modes and/or the motion parameters Executing homing sequences Controlling the program flow through:
Conditional jumps and calls of TML functions TML interrupts generated on pre-defined or programmable conditions (protections triggered,
transitions on limit switch or capture inputs, etc.) Waits for programmed events to occur Handling of digital I/O and analogue input signals Executing arithmetic and logic operations Performing data transfers between axes Controlling motion of an axis from another one via motion commands sent between axes Sending commands to a group of axes (multicast). This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronizing all the axes from a network
By implementing motion sequences directly 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, 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 iGVD71 BX-CAT commissioning EasySetUp or EasyMotion Studio PC applications may be used.
EasySetUp is a subset of EasyMotion Studio, including only the drive setup part. The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file. At power-on, the drive is initialized with the setup data read from its EEPROM. With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed. EasySetUp shall be used for drive setup in all cases where the motion commands are sent exclusively from a master. Hence neither the iGVD71 TML programming capability nor the drive camming mode are used. EasySetUp can be downloaded free of charge from Technosoft web page.
EasyMotion Studio platform includes EasySetUp for the drive setup, and a Motion Wizard for the motion programming. The Motion Wizard provides a simple, graphical way of creating motion programs and automatically generates all the TML instructions. With EasyMotion Studio you can execute complex motions, thanks to their built-in motion controllers. EasyMotion Studio, may be used to program motion sequences in TML. This is the iGVD71 typical CAN operation mode when TMLCAN protocol is selected. EasyMotion Studio can also be used with the CANopen protocol, if the user wants to call TML functions stored in the drive EEPROM or to use the camming mode. With camming mode, EasyMotion Studio offers the possibility to quickly download and test a cam profile and also to create a .sw file with the cam data. The .sw file can be afterwards stored in a master and downloaded to the drive, wherever needed. A demo version of EasyMotion Studio (with EasySetUp part fully functional) can be downloaded free of charge from Technosoft web page.

1 Available if the master axis sends its position via a communication channel, or by using the secondary encoder input

iGVD71 BX-CAT Technical Reference

8.2 Product Features

· Fully digital servo drive suitable for the control of brushless DC, AC and brushed DC motors

· Motor supply: 11-80V; Logic supply1: 9-36V · Output current2:

· Nominal : 71 ARMS / 100A amplitude · Peak : 100 ARMS / 140A amplitude · PWM switching frequency up to 100kHz

· Communication:

· Dual 100Mbps EtherCAT® interfaces, for use in daisy-chaining topologies · RS-232 (micro USB port)

· Digital and analog I/O's: · 2 x analogue inputs: 12-bit, 0-5V: Reference and Feedback (for tacho) or general purpose

· 5 x opto-isolated digital inputs, 12-36V, PNP/NPN selectable: 2 for limit switches, 3 general-purpose

· 4 x digital outputs, 0.2A PNP/ 0.3A NPN software selectable: Ready, Error, 2 general-purpose

· 1 x PNP/NPN 2A software configurable motor brake digital output: Out0/Brake

· Feedback devices (dual-loop support)

1st feedback devices supported:

· Incremental encoder interface (single-ended or differential, selectable by DIP switch)

· Analogue Sin/Cos encoder interface (differential 1Vpp) 2nd feedback devices supported:

· Incremental encoder interface (single-ended or differential, selectable by DIP switch)

· BISS / SSI / EnDAT / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki interface

· Digital Hall sensor interface (single-ended / open collector or differential, selectable by DIP switch)

· Pulse & direction reference (single-ended or differential) capability · Various motion programming modes:

· Position profiles with trapezoidal or S-curve speed shape · Position, Velocity, Time (PVT) 3rd order interpolation · Position, Time (PT) 1st order interpolation · Cyclic Synchronous Position (CSP) · Cyclic Synchronous Velocity (CSV) · Cyclic Synchronous Torque (CST) · Electronic gearing and camming · 40 Homing modes · 32 h/w selectable Axis ID addresses

· STO3: 2 safe torque-off inputs, 18-36V SELV/PELV supply, safety integrity level (SIL3/Cat3/PLe) acc. to EN61800-5-1;-2/ EN61508-3;-4/ EN ISO 13849-1.

· EtherCAT® supported protocols:
· CoE - CAN application protocol over EtherCAT · FoE File over EtherCAT for setup/TML functions and firmware update · EoE Ethernet over EtherCAT for Easy Motion studio communication over EtherCAT · 16K 16 internal SRAM memory for data acquisition

· 24K 16 E2ROM to store TML motion programs, cam tables and other user data

· Operating ambient temperature: 0-40C (over 40C with derating)

· Protections:

· Short-circuit between motor phases · Short-circuit from motor phases to ground · Over-voltage · Under-voltage

· Over-current · Over-temperature · Communication error · Control error

1 Logic supply must be SELV/ PELV type (Safety Extra Low Voltage / Protective Extra Low Voltage) 2 Nominal output current possible only with external radiator (not included) that can maintain lower plate temperature below 75C; The radiator is mounted under the drive using thermal paste or direct metal contact. Its size is application dependent 3 The STO circuit must be supplied with minimum 18V to enable PWM output

iGVD71 BX-CAT Technical Reference

8.3 Identification Labels

The iGVD71 BX family can have the following part numbers and names on the identification label: p.n. P025.027.E221 name iGVD71 BX-CAT standard CAT execution

8.4 Supported Motor-Sensor Configurations

8.4.1 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 sensors
Encoder1
Incremental encoder / SinCos / SSI / BISS-C / EnDAT2.2 / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki Incremental encoder / SinCos / SSI / BISS-C / EnDAT2.2 / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki None None

Digital Halls

Tacho

Brushless PMSM2

Motor types

Brushless Brushed DC

BLDC3

Voice coils

8.4.2 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 sensors Encoder

Digital Halls

Tacho

Incremental encoder / SinCos

Incremental encoder / SSI / BISS-C / EnDAT2.2 / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki

Incremental encoder / SinCos

Incremental encoder / SSI / BISS-C

/ EnDAT2.2 / TAMAGAWA /

Panasonic/ Nikon/ Sanyo Denki

None

Brushless PMSM2

Motor types

Brushless Brushed DC

BLDC3

Voice coils

Load sensors Encoder4
Incremental encoder / SSI / BISS-C / EnDAT2.2 / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki
Incremental encoder / SinCos
Incremental encoder / SSI / BISS-C / EnDAT2.2 / TAMAGAWA / Panasonic/ Nikon/ Sanyo Denki
Incremental encoder / SinCos
Incremental encoder / SinCos Incremental encoder / SinCos

Each defined motor type can have any combination of the supported feedbacks either on motor or on load.
Example:
-PMSM motor with Incremental encoder (from feedback #1) on motor and Incremental encoder (from feedback#2) on load
-DC brush motor with BiSS C encoder (from feedback #2) on motor and Incremental encoder (from feedback #1) on load.

1 Motor encoder can be either on Feedback 1 or on Feedback 2 2 Sinusoidal. Brushless motor is controlled as PMSM using a field oriented control algorithm 3 Trapezoidal. Brushless motor is controlled as a BLDC motor using Hall-based commutation. 4 Load encoder is on Feedback 2 / 1, if motor encoder is on Feedback 1 / 2

iGVD71 BX-CAT Technical Reference

9 Hardware Installation 9.1 iGVD71 BX-CAT Board Dimensions

All dimensions are in mm. The drawings are not to scale.

9.2 Mechanical Mounting

The iGVD71 BX drive is intended to be mounted horizontally on a metallic support using the provided mounting holes and the recommended inserts and screws:

Image

Connector

Description

Manufacturer

Part Number

Self-clinching nuts M3

PennEngineering® (PEM®)

KF2-M3-ET

Screws M3x10

Bossard

BN610-M3x10

The metallic support must act as a cooling heat sink.

iGVD71 BX-CAT Technical Reference

9.3 Connectors and Pinouts

iGVD71 BX-CAT Technical Reference

9.3.1 Mating Connectors

Connector Function
Motor Phases J1
Motor Supply

Component
High AMP wire. 4mm HEX socket. Strip: - min 8 mm for cables with isolation diameter less than 6.5 mm; - min 12 mm/ max 15 mm for cables with isolation diameter bigger than 6.5 mm. AWG 6-16 wire gauge.
Avoid generating metal debris/ filings into drive from the wire leads! In case of multi-stranded wires, a proper crimp ferrule must be used as wire terminal.

J2, J3

Feedback #1 Halls Feedback #2

Generic 15-pin High Density Sub-D male connector.

Diagram

Inputs J4
Outputs
STO J5
Logic Supply

Generic 15-pin High Density D-Sub female Female connector; CAGE CLAMP®; 0.5 mm²; Pin spacing 2.5 mm; 6-pole

Communication

Standard Micro USB cable.

J7, J8

EtherCAT

Standard 8P8C modular jack (RJ-45) male

iGVD71 BX-CAT Technical Reference

9.3.2 Recommendations for Motor Phases and Motor Power Supply wires

Torque Chart

AWG 6-14 (mm2 10 2.5)

AWG

mm2 In-lb N-M

35 3.95

25 2.82

20 2.26

2.5

Solid wire or tinned strand wire

Cable connections

Dmax = 4.1 mm (AWG6) Strand wire with ferrule

Options for industrial standard ferrules

French and German Code <Polypropylene insulated and tin-plated electrolytic copper>

Model No

French Code

German Code

Applicable wire
mm2 AWG

Style

Colour Code

French Code

German Code

Dimensions (mm) L1 L2 D1 S1 D2

FWE2.5-8 GWE2.5-8 2.50 14

Grey

Blue

14 8 2.2 0.15 4.2

FWE4-10 GWE4-10 4.00 12

Orange

Grey

17 10 2.8 0.2 4.8

FWE6-12 GWE6-12 6.00 10

Green

Black

20 12 3.5 0.2 6.3

FWE10-12 GWE10-12 10.0

Brown

Ivory

22 12 4.5 0.2 7.6

iGVD71 BX-CAT Technical Reference

9.3.3 Connection diagram

* For other available feedback / motor options, check the detailed connection diagrams below

iGVD71 BX-CAT Technical Reference

9.4 Digital I/O Connection
9.4.1 PNP/NPN Inputs selection
Remarks: 1. Connect J4 pin 9 to GND to use inputs as PNP; Connect to +VLOG to use inputs as NPN. 2. If the hardware selection is not done (J4 pin 9 is not connected), the inputs state cannot be changed. 3. The inputs needs to be selected as PNP/ NPN also in the setup part, according to the hardware connection.
9.4.2 PNP inputs

Remarks:
1. The PNP inputs are compatible with PNP outputs the input must receive a positive voltage value: 12-36V to change its default state
2. The length of the cables must be up to 30m, reducing the exposure to voltage surge in industrial environment.

9.4.3

NPN inputs

Remarks: 1. The NPN inputs are compatible with NPN outputs the 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 surge in industrial environment.

iGVD71 BX-CAT Technical Reference

9.4.4 NPN Outputs

Remarks:
1. The outputs are software selectable as PNP/NPN. 2. The NPN outputs are compatible with NPN inputs (load is tied to common +VLOG, output pulls to GND when
active and is floating when inactive 3. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial
environment.

9.4.5

PNP Outputs

Remarks:
1. The outputs are software selectable as PNP/NPN. 2. The PNP outputs are compatible with PNP inputs (load is tied to common +VLOG, output pulls to GND when
active and is floating when inactive 3. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial
environment.

iGVD71 BX-CAT Technical Reference

9.4.6 Solenoid driver connection for motor brake (NPN/PNP)
Remarks: 1. The firmware can control the OUT0 output to automatically engage/disengage a mechanical brake when motor control is started/stopped. 2. The digital output can be used for an electro-mechanical brake, 12-36V, 2A PNP/ 2A NPN or as PNP/NPN general-purpose digital output. 3. The selection can be made by software. To enable the mechanical brake functionality select the checkbox from EasyMotion Studio:

iGVD71 BX-CAT Technical Reference

9.4.7 Analog Inputs Connection: REF, FDBK

Remark: 1. Default input range for analog inputs REF and FDBK is 0÷5 V. 2. The inputs range can be modified via software to +/-10 V using only an external input range adapter. 3. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
9.4.8 Analog Inputs Connection: +/- 10V Input Range adapter

Remark: 1. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
9.4.8.1 Recommendation for wiring
1. If the analogue signal source is single-ended, use a 2-wire twisted shielded cable as follows: 1st wire connects the live signal to the drive input; 2nd wire connects the source ground to the drive ground; shield will be connected to the drive ground terminal.
2. If the analogue signal source is differential and the signal source ground is isolated from the drive GND, use a 2wire 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 drive GND, and is left unconnected at the source side.
3. If the analogue signal source is differential and the signal source ground is common with the drive GND, use a 2wire shielded cable as follows: 1st wire connects the source plus (positive, in-phase) to the drive analogue input; 2nd wire connects the source ground to the drive ground (GND); shield is connected only at the drive side, to the drive GND, and is left unconnected at the source side.

iGVD71 BX-CAT Technical Reference

9.5 Motor connections
9.5.1 DC Motor connection

9.5.2 Brushless Motor connection

9.5.2.1 Recommendations for motor wiring
1. Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters. If this situation cannot be avoided, use a shielded cable for the motor wires. Connect the cable shield to the GND pin. Leave the other end disconnected.
2. 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 iGVD71 outputs and the cable. The inductors must be magnetically shielded (toroidal, for example), and must be rated for the motor surge current. Typically the necessary values are around 100 H.
3. A good shielding can be obtained if the motor wires are running inside a metallic cable guide.

iGVD71 BX-CAT Technical Reference

9.6 Feedback connections

9.6.1

Feedback #1 Single-Ended Incremental Encoder Connection

Remarks:
1. For Feedback #1 single-ended connection, SW1 switch 8 must be OFF -120 (0.25W) terminators must be disconnected.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

DO NOT CONNECT UNTERMINATED WIRES TO PINS J3.14, J3.15 AND J3.10. THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS.
Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

9.6.2 Feedback #1 - Differential Incremental Encoder Connection

Remarks:
1. For Feedback #1 differential connection, SW1 position 8 must be "ON" - 120 (0.25W) terminators must be internally connected between the differential pairs.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

iGVD71 BX-CAT Technical Reference

9.6.3

Feedback #2 Single-Ended Incremental Encoder Connection

Remarks:
1. For Feedback #2 differential connection, SW1 position 9 must be "OFF" - 120 (0.25W) terminators must be disconnected.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

DO NOT CONNECT UNTERMINATED WIRES TO PINS J2.14, J2.15 AND J2.10. THEY MIGHT PICK UP UNWANTED NOISE AND GIVE FALSE ENCODER READINGS.
Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

9.6.4 Feedback #2 - Differential Incremental Encoder Connection

Remarks: 1. For Feedback #2 differential connection, SW1 position 9 must be "ON" - 120 (0.25W) terminators must be internally connected between the differential pairs.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

iGVD71 BX-CAT Technical Reference

9.6.5 Feedback #1 Single-Ended Sine-Cosine Encoder Connection

Remarks:
1. For Feedback #1 single-ended connection, SW1 switch 8 must be OFF - 120 (0.25W) terminators must be disconnected.
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

9.6.6 Feedback #1 Differential Sine-Cosine Encoder Connection

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

iGVD71 BX-CAT Technical Reference

9.6.7 Feedback #2 Single-Ended Pulse and Direction Connection

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

9.6.8 Feedback #2 Differential Pulse and Direction Connection

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

iGVD71 BX-CAT Technical Reference

9.6.9 Feedback #2 - Absolute Encoder Connection (SSI, BiSS-C, EnDAT 2.2)

Remarks:
1. For Feedback #2 absolute connection, SW1 position 9 must be "ON" - 120 (0.25W) terminators must be internally connected between the differential pairs
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

9.6.10 Feedback #2 - Absolute Encoder Connection (Panasonic, Tamagawa, Nikon, Sanyo Denki)

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

iGVD71 BX-CAT Technical Reference

9.7 Digital Hall Connection
9.7.1 Single-Ended Digital Hall Connection
Remarks: 1. For differential Hall connection, SW1 position 7 must be "OFF" - 120 (0.25W) terminators must be disconnected. 2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
9.7.2 Differential Digital Hall Connection

Remarks:
1. For differential Hall connection, SW1 position 7 must be "ON" - 120 (0.25W) terminators must be internally connected between the differential pairs
2. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

CAUTION!

Encoder cable shield must be connected to the connector case (PE) to avoid disturbances / noise induced by nearby cables.

iGVD71 BX-CAT Technical Reference

9.7.3 Digital Hall Connection for Motor Control 9.7.3.1 Digital Hall only control
Remarks: 1. Digital Hall only control method can be achieved also using a single-ended digital Hall connection. 2. This connection is required when using the digital Halls as the only feedback device for the motor control. 3. While using this control scheme, the incremental encoder signals from J3 are used internally by the drive. 4. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.
9.7.3.2 Digital Hall + Incremental or Absolute Encoder control

Remarks:
1. Digital Hall + Incremental or Absolute Encoder control method can be achieved also using a single-ended digital Hall connection.
2. This connection is required when using Hall start method BLDC or PMSM and also for the Trapezoidal commutation method.
3. The digital halls are not used in this case as a feedback measurement device. The actual motor control is done with an incremental or absolute encoder.
4. The length of the cables must be up to 30m, reducing the exposure to voltage surges in industrial environment.

iGVD71 BX-CAT Technical Reference

9.8 Power Supply Connection

Remarks:
1. The iGVD71 BX-CAT requires three supply voltages: VLOG, VMOT and STO. 2. The STO circuit must be supplied with minimum 18V to enable PWM output. 3. Use short, thick wires between the iGVD71 and the motor power supply. If the wires are longer than 2
meters, use twisted wires for the supply and ground return. 4. For wires longer than 20 meters, add a capacitor of at least 4,700F (rated at an appropriate voltage) right
on the terminals of the iGVD71. 5. It is recommended to connect the negative motor supply return (GND) to the Earth protection near the
power supply terminals.

9.8.1 Recommendations to limit over-voltage during braking

During abrupt motion brakes 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 86V, the drive over-voltage protection is triggered and the drive power stage is disabled.

In order to avoid this situation a capacitor can be added 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 overvoltage and can be sized with the formula:

E M

U2 MAX

2 NOM

where:

UMAX = 86V is the over-voltage protection limit

UNOM is the nominal motor supply voltage

EM = the overall energy flowing back to the supply in Joules. In case of a rotary motor and load, EM can be computed with the formula:

1 2

(JM

)

2 M

(mM

mL )g(hinitial

- hf inal)

- 3IM2 RPhtd

t d M 2

where:

Kinetic energy

Potential energy

JM total rotor inertia [kgm2]

JL total load inertia as seen at motor shaft after transmission [kgm2]

Copper losses Friction losses

iGVD71 BX-CAT Technical Reference

M motor angular speed before deceleration [rad/s]
mM motor mass [kg] when motor is moving in a non-horizontal plane mL load mass [kg] when load is moving in a non-horizontal plane
g gravitational acceleration i.e. 9.8 [m/s2] hinitial initial system altitude [m] hfinal final system altitude [m] IM motor current during deceleration [ARMS/phase] RPh motor phase resistance [] td time to decelerate [s] TF total friction torque as seen at motor shaft [Nm] includes load and transmission In case of a linear motor and load, the motor inertia JM and the load inertia JL will be replaced by the motor mass and
the load mass measured in [kg], the angular speed M will become linear speed measured in [m/s] and the friction
torque TF will become friction force measured in [N].
9.9 Communication connection
9.9.1 USB connection
Remarks: 1. For the USB connection a standard Micro USB cable is required. The drivers are found automatically in Windows 10 and the device is identified as a COM port. 2. In Easy Motion studio, choose the following communication settings:

iGVD71 BX-CAT Technical Reference

9.9.2 Recommendations for EtherCAT Wiring
a) Build EtherCAT® network using UTP (unshielded twisted pair) cables rated CAT5E or higher (CAT6, etc.). Cables with this rating must have multiple characteristics, as described in TIA/EIA-568-B. Among these are: impedance, frequency attenuation, cross-talk, return loss, etc.
b) It is acceptable to use STP (shielded twisted pair) or FTP (foil twisted pair) cables, rated CAT5E or higher (CAT6, etc.). The added shielding is beneficial in reducing the RF (radio-frequency) emissions, improving the EMC emissions of the application.
c) The maximum length of each network segment must be less than 100 meters. d) The network topology is daisy-chain. All connections are done using point-to-point cables. The global topology
can be one of the two: · Linear, when the J8 / OUT port of the last drive in the chain remains not connected. Master is connected
to J7 / IN port of the first drive; J8 / OUT of the first drive is connected to J7 / IN of the following drive; J8 / OUT of the last drive remains unconnected. See Figure 1. EtherCAT network linear topology for a visual representation of the linear topology. · Ring, when the J8 / 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 J8 / OUT of the last drive. See Figure 2. EtherCAT network ring topology for a visual representation of the ring topology. e) Ring topology is preferred for its added security, since it is insensitive to one broken cable / connection along the ring (re-routing of communication is done automatically, so that to avoid the broken cable / connection) f) It is highly recommended to use qualified cables, assembled by a specialized manufacturer. When using CAT5E UTP cables that are manufactured / commissioned / prepared on-site, it is highly recommended to check the cables. The check should be performed using a dedicated Ethernet cable tester, which verifies more parameters than simple galvanic continuity (such as cross-talk, attenuation, etc.). The activation of "Link" indicators will NOT guarantee a stable and reliable connection! This can only be guaranteed by proper quality of cables used, according to TIA/EIA-568-B specifications.
Figure 1. EtherCAT network linear topology
Figure 2. EtherCAT network ring topology

iGVD71 BX-CAT Technical Reference

9.9.3 Disabling the setup table at startup
In some very rare cases, the setup table might be corrupted, causing the drive to reset continuously. This state can be noticed by seeing both the Ready and Error LED blinking for short periods of time continuously.
To recover from this state, the setup table must be invalidated by connecting all digital Hall inputs to GND.
On the next power on, the drive will load the default settings and set bit 2 from Motion Error Register "Invalid Setup Data ". 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.

Figure 3. Temporary connection during power-on to disable the setup table

9.10 Axis ID Selection

Pin Name

Description

1 ID-Bit0 Hardware AxisID selection switches. Position: UP = ON = 1; DOWN = OFF = 0.
2 ID-Bit1 They represent the first 5 LSB bits of an 8-bit Axis ID number.
3 ID-Bit2 The AxisID can be computed using the formula: AxisID = ID-Bit0 + 2 ID-Bit1 + 4 ID-Bit2 + 8 ID-Bit3 +16 ID-Bit4
4 ID-Bit3 When all switches are OFF then AxisID=255. 5 ID-Bit4 When all switches are ON then AxisID=31.

Remarks:
1. The drive axis/address number is set when H/W is selected in Drive Setup under AxisID field or when the Setup is invalid.
2. The axis ID is an 8-bit unsigned number. Its bits are controlled by the ID-bit0 to ID-bit4. In total, 32 axis ID HW values can result from the DIP switch combinations.
3. When the AxisID bits are all OFF, the drive Axis ID will be 255 and the EtherCAT register called "configured station alias" will be 0.
4. All pins are sampled at power-up, and the drive is configured accordingly.

iGVD71 BX-CAT Technical Reference

9.11 LED indicators

LED name
TML Ready

LED color

Function
Lit after power-on when the drive initialization ends. Turned off when an error occurs.

TML Error

Turned on when the drive detects an error condition.

9.11.1 EtherCAT® RUN and ERROR LED Indicators
The RUN states are displayed with a 180 degree phase shift to the ERROR states as noted in Figure 4. STATUS indicator Example. The behavior of the RUN indicator is specified in Table 1. RUN Indicator States" and the behavior of the ERROR indicator specified in Table 2. ERROR Indicator States".

Indicator states
Off Blinking Single Flash
On

Figure 4. STATUS indicator Example

Table 1. RUN Indicator States Slave State

Description

INITIALISATION PRE-OPERATIONAL SAFE-OPERATIONAL
OPERATIONAL

The drive is in state INIT The drive is in state PRE-OEPRATIONAL The drive is in state SAFE-OPERATIONAL The drive is in state OPERATIONAL

ERR state

Error name

Table 2. ERROR Indicator States Description

Application controller failure

An critical communication or application controller error has occurred

Double Flash
Single Flash Blinking Flickering

Process Data Watchdog Timeout/ EtherCAT Watchdog Timeout
Local Error
Invalid Configuration Booting Error

An application watchdog timeout has occurred.
Slave device application has changed the EtherCAT state autonomously, due to local error (see ETG.1000 part 6 EtherCAT State Machine). Error Indicator bit is set to 1 in AL Status register. General Configuration Error Booting Error was detected. INIT state reached, but Error Indicator bit is set to 1 in AL Status register

Off

No error

The EtherCAT communication of the device is in working condition

For a more detailed description of EtherCAT® LED functionalities please read ETG.1300 S (R) V1.0.1 available at www.EtherCAT.org

iGVD71 BX-CAT Technical Reference

10 Electrical Specifications

All parameters measured under the following conditions (unless otherwise specified):

VLOG = 24 VDC; VMOT = 80VDC; FPWM = 20HZ

Supplies start-up / shutdown sequence: -any-

Load current (sinusoidal amplitude) = 100A

10.1.1 Operating Conditions

Ambient temperature Ambient humidity Altitude / pressure2
10.1.2 Storage Conditions

Non-condensing Altitude (vs. sea level) Ambient Pressure

Min. 0 0
-0.1 0 2

Typ.
0 ÷ 2.5 0.75 ÷ 1

Max. 401 90
2
10.0

Units ºC
%Rh Km atm

Ambient temperature Ambient humidity Ambient Pressure
ESD capability (Human body model)
10.1.3 Mechanical Mounting

Non-condensing
Not powered; applies to any accessible part Original packaging

Min. -40 0 0

Typ.

Max. 105 100 10.0 0.5 15

Units ºC
%Rh atm kV kV

Min. Typ.

Max. Units

External heatsink (cooling plate)

Current capability depends on heat transfer, heatsink dimension, cooling technique (natural or forced). Keep lower plate temperature at maximum 75ºC

10.1.4 Environmental Characteristics

Size (Length x Width x Height)

Without mating connectors

Weight

Without mating connectors

Power dissipation

Idle (no load) Operating

Efficiency

Cleaning agents

Dry cleaning is recommended

Protection degree

According to IEC60529, UL508

10.1.5 Logic Supply Input (+VLOG)

Min.

Typ.

Max. Units

104.2 x 90.5 x 46.8

~4.1 x 3.56 x 1.84

inch

300

3 80÷100

Only Water- or Alcohol- based

IP20

Nominal values

Supply voltage

Absolute maximum values, drive operating but outside guaranteed parameters Absolute maximum values, surge (duration 10ms)

+VLOG = 12V

Supply current

No encoder and no load on digital outputs

+VLOG = 24V

+VLOG = 36V

Utilization Category Acc. to 60947-4-1 (IPEAK<=1.05*INOM)

10.1.6 Motor Supply Input (+VMOT)

Min. 12 8
-1

Typ. 24 24
170 110 90
DC-1

Max. 36 40
+45

Units VDC VDC V
mA

Nominal values

Supply voltage

Absolute maximum values, drive operating but outside guaranteed parameters Absolute maximum values, surge (duration 10ms)

Idle

Supply current

Operating Absolute maximum value, short-circuit condition (Duration 10ms)

Utilization Category Acc. to 60947-4-1 (IPEAK<=4*INOM)

10.1.7 Motor Outputs (A/A+, B/A-,C)

Min. 12 11 -1
-130

Typ. 80

Max. 90 94

1 ±100

5 +130

140

DC-3

Units VDC VDC
V
mA A
A

Nominal current

PMSM motors sinusoidal amplitude

*As long as drive lower plate PMSM motors sinusoidal RMS

does not exceed 75ºC

DC/BLDC motors continuous

Peak current

*As long as drive back plate does not exceed 75ºC

Short-circuit protection threshold

Short-circuit protection delay

On-state voltage drop

Nominal output current; including typical mating connector contact resistance

Off-state leakage current

FPWM

Motor inductance (phase-to-phase)

Recommended value, for current ripple max. ±5% of full range; +VMOT = 60 V

20 kHz 40 kHz 60 kHz 80 kHz 20 kHz

Minimum value, limited by short-circuit protection; +VMOT = 60 V

40 kHz 60 kHz

80 kHz

20 kHz

Motor electrical time-constant (L/R)

Recommended value for ±5% current measurement error

40 kHz 60 kHz

80 kHz

Current measurement accuracy (FS = Full scale accuracy)

Min.
-135
5
300 150 100 75 150 75 50 38 250 125 100 63

Typ. 10 ±0.3 ±0.5
±4

Max. 100 71 86.6 +135 ±140
±0.5 ±1

Units A
ARMS A A A s V mA

µs

±8

%FS

1Operating temperature at higher temperatures is possible with reduced current and power ratings 2 iGVD71 can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, current and power rating are reduced due to thermal
dissipation efficiency.

iGVD71 BX-CAT Technical Reference

10.1.8 Digital Inputs - opto-isolated - (IN0, IN1, IN2/LSP, IN3/LSN, IN4)

Mode compliance

PNP (J4, pin9 connected to GND) NPN (J4, pin9 connected to +Vlog)

Default state

Input floating (wiring disconnected)

Logic LOW

Input voltage

Logic HIGH

Absolute maximum

Logic LOW

Input current

Logic HIGH

Absolute maximum

Input frequency

Minimum pulse

ESD protection

Human body model

10.1.9 Digital Outputs (OUT0/Brake, OUT1, OUT2, OUT3, OUT4)

Min.

Typ.

Max.

Units

Connect digital input pin to +Vlog to change its state

Connect digital input pin to GND to change its state

Logic LOW

-5

0.6

6.6

7.5

kHz

500

µs

±15

Mode compliance Default state
Output voltage

Not supplied (+VLOG floating or to GND)
Normal operation
Logic "HIGH"; output current = 0.2A Logic "LOW"; output current = 0, no load Logic "HIGH", external load to GND Absolute maximum, continuous Absolute maximum, surge (duration 1s)

Logic "HIGH", source current, continuous

Output current

Logic "HIGH", source current, pulse 5 s

Logic "LOW", means High-Z

Minimum pulse width

ESD protection

Human body model

Min.

Typ.

Max.

PNP 24V

High-Z (floating)

Logic "High"

VLOG-0.2 open-collector

VLOG-0.8

-0.3

VLOG+0.3

-0.5

VLOG+0.5

OUT1,2,3,4

0.2

OUT0/Brake

OUT1,2,3,4

0.4

OUT0/Brake

2 ±15

Units
V
A A mA µs kV

Mode compliance Default state
Output voltage

Not supplied (+VLOG floating or to GND) Normal operation Logic "LOW"; output current = 0.3A Logic "HIGH"; output current = 0, no load Logic "HIGH", external load to +VLOG Absolute maximum, continuous
Absolute maximum, surge (duration 1s)

Logic "LOW", sink current, continuous

Output current

Logic "LOW", sink current, pulse 5 s

Logic "HIGH", means High-Z

Minimum pulse width

ESD protection

Human body model

NPN 24V

High-Z (floating)

High-Z

0.2

0.8

open-collector

VLOG

-0.3

VLOG+0.3

-0.5

VLOG+0.5

OUT1,2,3,4 OUT0/Brake OUT1,2,3,4 OUT0/Brake
2 ±15

0.3 A
2
0.5 A
3 mA µs kV

10.1.10 Brake output (OUT0/Brake)

Default state Output voltage Output current

Out0/Brake: solenoid driver, 2A.

Not supplied (+VLOG floating or to GND)

Immediately after power-up

Brake-

Normal operation

Brake-

Logic "LOW" (Brake-)

Logic "HIGH"; load present

Logic "HIGH", no load present

Absolute maximum, continuous

Logic "LOW", sink current, continuous, Brake-

Logic "HIGH", leakage current; external load to +VLOG; VOUT = VLOG max = 55V

Min. -0.5

Typ.

Max.

Units

High-Z (floating) High-Z (floating) High-Z (floating)
0.2

+VLOG

+VLOG +0.3

0.2

iGVD71 BX-CAT Technical Reference

10.1.11 Digital Hall Inputs (Hall1+, Hall1-, Hall2+, Hall2-, Hall3+, Hall3-)1

Mode compliance Default state
Input voltage
Input current Minimum pulse width

Input floating

(Wiring disconnected)

Logic "LOW"

Logic "HIGH"

Floating voltage (Not connected)

H1+, H2+, H3+ H1-, H2-, H3-

Absolute maximum, surge (duration 1s)

Logic "LOW"; Pull to GND

Logic "HIGH"; Internal 4.7K pull-up to +5

Min.

Typ.

Max. Units

TTL / CMOS / Open-collector

Logic HIGH

0.8

4.4

1.8

-10

+15

1.2 0

µs

Differential mode compliance
Input voltage
Input impedance, differential Input frequency Minimum pulse width ESD protection

RS422 compliance Hysteresis Differential mode Common-mode range (A+ to GND, etc.)
Differential mode Differential mode Human body model

±0.06 -14 -11
0 50 ±5

TIA/EIA-422-A

±0.1

±0.2

+14

120

V
MHz
ns kV

10.1.12 Encoder #1 and #2 Inputs (A1+, A1-, B1+, B1-, Z1+, Z1-, A2+, A2-, B2+, B2-, Z2+, Z2-)2

Differential mode compliance

For full RS422 compliance, see 2

Hysteresis

Input voltage, differential mode

Differential mode

Common-mode range (A+ to GND, etc.)

A1+/A1-, B1+/B1-, Z1+/Z1- & A2+/A2-, B2+/B2-, Z2+/Z2-

Input impedance, differential

Differential mode

10.1.13 Analog 0...5V Inputs (REF, FDBK)

Min.
±0.06 -14 -11
0 50

Typ.

Max.

TIA/EIA-422-A

±0.1

±0.2

+14

120

Units
V MHz ns

Operational range

Input voltage

Absolute maximum values, continuous Absolute maximum, surge (duration 1s)

Input impedance

To GND

Resolution

Integral linearity

Offset error

Gain error

Bandwidth (-3db)

Software selectable

ESD protection

Human body model

10.1.14 SSI, BiSS, EnDAT Encoder Interface

Min. 0 -12
0 ±5

Typ.
18 12
2 ±1%

Max. 5
+18 ±36
±2 10 ±3%
1

Units
V
k bits bits bits % FS3 kHz kV

Min.

Typ. Max.

Units

Differential mode compliance (CLOCK, DATA)

TIA/EIA-422

CLOCK Output voltage

Differential; 50 differential load Common-mode, referenced to GND

2.0

2.5

5.0

2.3

2.5

2.7

CLOCK frequency

Software selectable

1000, 2000, 3000, 40004

kHz

DATA Input hysteresis

Differential mode

0.1

0.2

0.5

Data input impedance

Termination resistor on-board

120

DATA Input common mode range

Referenced to GND Absolute maximum, surge (duration 1s)
Software selectable

-7

+12

-25

+25

Single-turn / Multi-turn Counting direction

DATA resolution

Total resolution (single turn or single turn + multi turn)

bit

If total resolution >31 bits, some bits must be ignored by software setting to achieve a max 31 bits resolution

Protocol

BiSS C mode (sensor mode)

10.1.15 Supply Output (+5V)

Compliance

Transmission line specification According to TIA/EIA-568-5-A

J7, J8 pinout

EtherCAT® supports MDI/MDI-X auto-crossover

Software protocols compatibility

Node addressing*

By hardware sliding switch By software

MAC addressing

ESD protection

Human body model

Remark: When Axis ID is 255, the EtherCAT register called "configured station alias" will be 0.

Min.

Typ. Max. Units

IEEE802.3, IEC61158

Cat. 5e.UTP

TIA/EIA-568-A or TIA/EIA-568-B

CoE, CiA402, IEC61800-7-301

1 ÷ 31, 255 -
1 ÷ 255

none

±15

1 Differential input HALL pins have internal 120 termination resistors connected across when SW1 pins 1,2,3 are ON 2 All differential input pins have internal 120 termination resistors connected across 3 "FS" stands for "Full Scale" 4 Availabile only for EnDAT and BiSS feedback options

iGVD71 BX-CAT Technical Reference

10.1.16 Supply Output (+5V)

+5V output voltage

Current sourced = 250mA

+5V output current

Short-circuit protection

Over-voltage protection

ESD protection

Human body model 0.1nF 1.5 k

10.1.17 Safe Torque OFF (STO1+; STO1-; STO2+; STO2-)

Min. 4.8 600
±1

Typ. Max.

5.2

650

Protected

NOT protected

Units V mA
kV

Safety function EN 61800-5-1/ -2 and EN 61508-5-3/ -4 Classification
EN13849-1 Classification
Mode compliance Default state
Input voltage
Input current
Diagnosis Pulse duration PWM operation delay ESD protection
10.1.18 Conformity

According to EN61800-5-2 Safety Integrity Level PFHd (Probability of Failures per Hour - dangerous) Performance Level MTTFd (meantime to dangerous failure)
Input floating (wiring disconnected) Logic "LOW" (PWM operation disabled) Logic "HIGH" (PWM operation enabled) Absolute maximum, continuous Logic "LOW"; pulled to GND Logic "HIGH", pulled to +VLOG Ignored high-low-high Accepted pulse From external STO low-high transition to PWM operation enabled Human body model

Min. Typ. Max Units

STO (Safe Torque OFF)

safety integrity level 3 (SIL3)

8*10-10

hour-1 (0.8 FIT)

Cat3/PLe

377

years

PNP

Logic LOW

-20

5.6

-20

+40

0 5

±2

EU Declaration

Min.

Typ.

Max. Units

2014/30/EU (EMC), 2014/35/EU (LVD), 2011/65/EU (RoHS), 1907/2006/EC (REACH), 93/68/EEC (CE Marking Directive),

EC 428/2009 (non dual-use item, output frequency limited to 590Hz)

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.

10.1.19 Derating curves

Current, RMS [A]

iGVD71 BX-CAT - Derating with altitude
80.00

70.00

60.00

50.00

40.00

30.00

20.00

10.00

0.00 0

1000

2000

3000

4000

Altitude [m]

De-rating with altitude

5000

6000

7000

iGVD71 BX-CAT Technical Reference

11 Memory Map

iGVD71 BX has 2 types of memory available for user applications: 16K16 SRAM and up to 16K24 serial E2ROM.
The SRAM memory is mapped in the address range: C000h to FFFFh. It can be used to download and run a TML program, to save real-time data acquisitions and to keep the cam tables during run-time.
The E2ROM 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

4000h E2ROM memory for: TML programs Cam tables Setup information
7FFFh

8000h BFFFh

Reserved

TML Programs

C000h SRAM memory
FFFFh

Data acquisitions and cam tables at runtime

iGVD71 BX-CAT Technical Reference

References

Microsoft Word 2019