iPOS3604 HX-CAN DATASHEET
P/N: P028.002.E501
Motor – sensor configurations
Motor PMSM BLDC
Sensor
DC
BRUSH
STEP
(2-ph)
STEP
(3-ph)
Incr. Encoder
Incr. Encoder + Hall
Analog Sin/Cos encoder
Linear Halls
Tacho
Open-loop (no sensor)
Mating Connector
Producer Part No.
All dimensions are in mm.











Motor supply: 9-36V. Optional logic supply: 9-36V
Output current: 4A cont. (BLDC mode); 10APEAK , up to 100KHz PWM
Digital Hall sensor interface (single-ended and open collector)
Incremental encoder interface (single-ended, open collector and
differential)
Linear Hall sensors interface
Analogue sin/cos encoder interface (differential 1Vpp)
5 digital inputs, 5-36V, PNP or NPN software selectable: Enable, 2 for
limit switches, 2 general-purpose
4 digital outputs, 5-36V, 0.5A, NPN open-collector: Ready, Error, 2
general-purpose
1 analogue input: 12-bit, 0-5V: Reference or feedback or general
purpose
RS-232 serial & CAN-bus 2.0B interfaces with H/W selectable
addresses
TMLCAN and CANopen (CiA 301 v4.2, CiA 305 v.2.2.13 and CiA 402
v3.0) protocols selectable by jumper
2K  16 SRAM for data acquisition
4K  16 E2ROM to store TML motion programs and data
Operating ambient temperature: 0-40C (over 40C with derating)
Hardware Protections: short-circuit between motor phases and from
motor phases to GND, over-voltage, under-voltage and I2t
J1
Connector Description
Pin
Name
Type
Description
1
GND
-
2
+VMOT
I
Negative return (ground) of the power supply
Positive terminal of the motor supply: 9 to
36VDC / Positive terminal of the internal logic
supply if J4 pin 7 not connected (I/Os work
only when J4 pin 7 is connected)
Name
First edition
E. P.
July 09, 2015
J3




J2
Features
MOLEX
43025-0200
MOLEX
43025-0400
MOLEX
43025-1000
MOLEX
43025-1400
MOLEX
43030-0007
MOLEX
51110-1056
MOLEX
50394-8400
Name
Type
1
A/A+
O
2
C/B+
O
3
4
5
Hall 1
Hall 2
Hall 3
I
I
I
6
B/A-
O
7
8
9
10
BR/B+5VOUT
GND
GND
O
O
-
Pin
Name
Type
1
2
3
4
GND
+5VOUT
GND
+5VOUT
O
O
5
A- /Sin-/LH1
I
6
A/A+/Sin+
I
7
B-/Cos-/LH2
I
8
B/B+/Cos+
I
9
Z- /LH3
I
10
Z/ Z+
I
Document template: P099.TQT.564.0001
Description
Wire Gauge
MICROFIT
J1
RECEPTACLE
HOUSING, 2x1 WAY
MICROFIT
J5,J6,J7
RECEPTACLE
HOUSING, 2x2 WAY
MICROFIT
J2
RECEPTACLE
HOUSING, 2x5 WAY
MICROFIT
J4
RECEPTACLE
HOUSING, 2x7 WAY
J1,J2,J4,J5,J CRIMP PIN,
6,J7
MICROFIT, 5A
MILLIGRID
J3
RECEPTACLE
HOUSING, 2x5 WAY
CRIMP PIN,
J3
MILLIGRID
Pin
AWG 20..24
AWG 20..24
AWG 20..24
AWG 20..24
AWG 20..24
AWG 24..30
AWG 24..30
Description
Phase A for 3-ph motors, A+ for 2-ph
steppers, Motor+ for DC brush motors
Phase C for 3-ph motors, B+ for 2-ph
steppers
Digital input Hall 1 sensor
Digital input Hall 2 sensor
Digital input Hall 3 sensor
Phase B for 3-ph motors, A- for 2-ph
steppers, Motor- for DC brush motors
Brake resistor / Phase B- for step motors
5V output supply - internally generated
Negative return (ground) of the motor supply
Negative return (ground) of the motor supply
Description
Return ground for sensors supply
5V output supply for I/O usage
Return ground for sensors supply
5V output supply for I/O usage
Incr. encoder A- diff. input, or analogue
encoder Sin- diff. input, or linear Hall 1 input
Incr. encoder A single-ended, or A+ diff. input,
or analogue encoder Sin+ diff. input
Incr. encoder B- diff. input, or analogue
encoder Cos- diff. input, or linear Hall 2 input
Incr. encoder B single-ended, or B+ diff. input,
or analogue encoder Cos+ diff. input
Incr. encoder Z- diff. input, or linear Hall 3
input
Incr. encoder Z (index) single-ended, or Z+
diff. input
Last edition
Visa :
July 9, 2015
Title of document
TECHNOSOFT
Connector
N° document
iPOS3604 HX-CAN
PRODUCT DATA SHEET
P028.002.E501.DSH.10C
Page: 1 of 4
iPOS3604 HX-CAN DATASHEET
J4
P/N: P028.002.E501
Pin
Name
Type
Description
1
+5VOUT
O
2
ANLG
I
5V output supply for I/O usage
Analogue input, 12-bit, 0-5V. Used to read an
analog position, speed or torque reference, or
an analogue position or speed feedback or as
general purpose analogue input
5-36V general-purpose digital PNP/NPN input
3
4
IN0
IN4/Enable
I
I
5
IN3/LSN
I
6
OUT2/Error
O
7
+VLOG1
I
8
GND
-
9
ANLG
I
10
IN1
I
11
IN2/LSP
I
12
OUT0
O
13
OUT3/Ready
O
14
OUT1
O
5-36V digital PNP input. Drive enable input
5-36V digital PNP input. Negative limit switch
input
5-36V 0.5A, drive Error output, active low,
NPN open-collector/TTL pull-up. Also drives
the red LED
Positive terminal of the logic supply for inputs
and outputs operation: 9 to 36VDC
Return ground for I/O pins
Analogue input, 12-bit, 0-5V. Used to read an
analog position, speed or torque reference, or
an analogue position or speed feedback or as
general purpose analogue input
5-36V general-purpose digital PNP/NPN input
5-36V digital PNP/NPN input. Positive limit
switch input
5-36V 0.5A, general-purpose digital output,
NPN open-collector/TTL pull-up
5-36V 0.5A, drive Ready output, active low,
NPN open-collector/TTL pull-up. Also drives
the green LED.
5-36V 0.5A, general-purpose digital output,
NPN open-collector/TTL pull-up
Environmental Characteristics
Size ( Length x
Width x Height )
Without mating connectors
Weight
Power
dissipation
Efficiency
Dry cleaning is
recommended
Protection
According to IEC60529,
degree
UL508
Logic Supply Input (+VLOG)
Nominal values
Absolute maximum values,
drive operating but outside
guaranteed parameters
Absolute maximum values,
Supply voltage
continuous
Absolute maximum values,
surge
†
†
J7
J5, J6
Pin
Name
1
+VLOG
2
3
4
GND
Can-Hi
Can-Lo
Type
O
Description
Supply current
Positive terminal of the logic supply: 9 to
36VDC
Return ground for CAN-Bus
Name
Type
1
2
3
4
232TX
GND
232RX
GND
O
I
-
Description
RS-232 Data Transmission
Return ground for RS-232 pins
RS-232 Data Reception
Return ground for RS-232 pins
Electrical characteristics
All parameters measured under the following conditions (unless otherwise specified):

Tamb = 0…40ºC, VLOG = 24 VDC; VMOT = 36VDC

Supplies start-up / shutdown sequence: -any
Load current (sinusoidal amplitude / continuous BLDC, DC, stepper) = 4A
Operating Conditions
Min.
Ambient temperature2
Ambient humidity
Storage Conditions
0
0
-0.1
02
Min.
Ambient temperature
-40
Ambient humidity
Non-condensing
Ambient Pressure
Mechanical Mounting
Airflow
0
100
%Rh
0
10.0
atm
Min.
Typ.
Max. Units
natural convection4, closed box
Altitude / pressure3
Non-condensing
Altitude (vs. sea level)
Ambient Pressure
Typ.
0 ÷ 2.5
0.75 ÷ 1
Typ.
Max.
Units
+40
90
10.0
Max.
ºC
%Rh
Km
atm
Units
+85
ºC
2
W
surge (duration  10ms)
Idle
Operating
Absolute maximum value,
short-circuit condition
(duration  10ms)
Motor Outputs (A/A+, B/A-, C/B+, BR/B-)
for DC brushed, steppers and
BLDC motors with Hall-based
trapezoidal control
Nominal output
for PMSM motors with FOC
current,
sinusoidal control (sinusoidal
continuous
amplitude value)
for PMSM motors with FOC
sinusoidal control (sinusoidal
effective value)
Motor output
maximum 2.5s
current, peak
Short-circuit
protection
measurement range
threshold
Short-circuit
protection delay
Nominal output current;
On-state voltage
including typical mating
drop
connector contact resistance
Off-state leakage
current
FPWM
Recommended
20 kHz
value, for current
40 kHz
ripple max. ±5% of
60 kHz
full range;
80 kHz
+V
=
36
V
MOT
Motor inductance
100 kHz
(phase-to-phase)
20 kHz
Minimum value,
40 kHz
limited by short60 kHz
circuit protection;
80 kHz
+VMOT = 36 V
100 kHz
g
5
%
Only Water- or Alcohol- based
IP20
Min.
9
Typ.
Max.
36
Units
VDC
5.9
39
VDC
0
39
VDC
0
+45
V
125
80
50
40
300
200
125
100
mA
Typ.
Max.
36
Units
VDC
Min.
9
8.5
40
VDC
0
42
VDC
0
1
±4
-10
†
I/O CAN-Bus positive line (dominant high)
I/O CAN-Bus negative line (dominant low)
Pin
inch
48
1
3
98
(duration  10ms)
+VLOG = 9V
No Load on
+VLOG = 12V
Digital
+VLOG = 24V
Outputs
+VLOG = 39V
Motor Supply Input (+VMOT)
Nominal values
Absolute maximum values,
drive operating but outside
guaranteed parameters
Supply voltage
Absolute maximum values,
continuous
Absolute maximum values,
Units
mm
~2.85 x 1.76 x 0.61
Without mating connectors
Idle (no load)
Operating
Cleaning agents
Supply current
Min.
Typ.
Max.
72.4 x 44.6 x 15.6
Min.
Typ.
+45
V
5
+10
mA
A
15
A
Max.
Units
4
4
A
2.82
-10
±13
5
+10
A
±15
A
S
10
±0.3
±0.5
V
±0.5
±1
mA
250
120
100
60
45
75
25
20
10
5
H
H
4
It is recommended to mount the iPOS3604 HX-CAN on a metallic support using the provided
If +VLOG (J4 pin7) is not connected, the digital outputs and inputs will not be operational.
mounting holes, for better reliability and reduced de-rating due to heat dissipation
Operating temperature can be extended up to +65ºC with reduced current and power ratings.
3
iPOS360x 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.
Name
First edition
Document template: P099.TQT.564.0001
Last edition
Visa :
1
2
E. P.
July 09, 2015
July 9, 2015
Title of document
TECHNOSOFT
N° document
iPOS3604 HX-CAN
PRODUCT DATA SHEET
P028.002.E501.DSH.10C
Page: 2 of 4
iPOS3604 HX-CAN DATASHEET
P/N: P028.002.E501
20 kHz
250
40 kHz
60 kHz
80 kHz
100 kHz
125
100
63
50
Motor electrical
time-constant
(L/R)
Recommended
value for ±5%
current
measure-ment
error
Current
measurement
FS = Full Scale accuracy
Digital Inputs
(IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable)
Mode
compliance
Input floating (wiring
Default state
disconnected)
Logic “LOW”
Logic “HIGH”
Floating voltage (not
connected)
Input voltage
Absolute maximum,
continuous
Absolute maximum, surge
†
(duration  1S)
Logic “LOW”; pulled to GND
Logic “HIGH”
Input current
Mode
compliance
Min.
µs
±4
±8
Typ.
Max.
%FS
Units
Logic LOW
1.8
0
24
Minimum pulse
width
ESD protection
1.6
39
0
V
-10
+39
-20
+40
0
2.9
0
3.4
Input floating (wiring
disconnected)
Logic “LOW”
Logic “HIGH”
mA
Input voltage
(duration  1S)
†
-10
+30
-20
+40
2
Logic “LOW”; Pulled to GND
Logic “HIGH”; Internal 4.7K
pull-up to +3.3
Input current
Input frequency
Minimum pulse
ESD protection
1
0
0
Logic “HIGH”; Pulled to +5V
0.15
0.2
Logic “HIGH”; Pulled to +24V
2
2.5
Human body model
Digital Outputs
(OUT0, OUT1, OUT2/Error, OUT3/ Ready)
Mode
All outputs (OUT0, OUT1,
compliance
OUT2/Error, OUT3/Ready)
Not supplied (+VLOG floating
or to GND)
OUT0, OUT1
Immediately
after powerOUT2/Error,
Default state
up
OUT3/ Ready
OUT0, OUT1,
Normal
OUT2/Error
operation
OUT3/Ready
Logic “LOW”; output current
= 0.5A
Logic
OUT2/Error,
“HIGH”;
OUT3/ Ready
output
current = 0,
OUT0, OUT1
Output voltage
no load
Logic “HIGH”, external load
to +VLOG
Absolute maximum,
continuous
Absolute maximum, surge
(duration  1S)
†
0
V
5÷24
0.6
mA
0
3.3
±5
Min.
150
Typ.
Max.
KHz
µS
KV
Units
TTL / CMOS / Open-collector / NPN
24V
High-Z (floating)
Logic “HIGH”
Logic “LOW”
Logic “HIGH”
Logic “LOW”
2.9
4
0.2
0.8
3
3.3
4.5
5
V
VLOG
-0.5
VLOG+0.5
-1
VLOG+1
Logic “LOW”, sink current,
pulse ≤ 5 sec.
1
A
OUT2/Error
, OUT3/
Ready
2
mA
OUT0,
OUT1
4
mA
0.2
mA
Logic “HIGH”,
source current;
external load to
GND; VOUT >=
2.0V
Human body model
†
Input current
5÷24
3
Floating voltage (not
connected)
Absolute maximum,
continuous
Absolute maximum, surge
A
Digital Hall Inputs (Hall1, Hall2, Hall3)
Mode
compliance
Input floating
Default state
(wiring disconnected)
Logic “LOW”
Logic “HIGH”
Floating voltage
Input voltage
(not connected)
Absolute maximum, surge
Logic HIGH
2
0.5
Logic “HIGH”, leakage
current; external load to
+VLOG; VOUT = VLOG max = 40V
PNP
NPN/ TTL / CMOS / LVTTL (3.3V) /
Open-collector
Default state
Output current
Logic “LOW”, sink current,
continuous
Minimum pulse
width
ESD protection
(duration  1S)
Logic “LOW”; Pull to GND
Logic “HIGH”; Internal 4.7K
pull-up to +5
Human body model
Encoder Inputs (A/A+, A-, B/B+, B-, Z/Z+, Z)
Single-ended
Leave negative inputs
mode
disconnected
compliance
Logic “LOW”
Input voltage,
single-ended
Logic “HIGH”
mode A/A+,
Floating voltage (not
B/B+
connected)
Logic “LOW”
Input voltage,
Logic “HIGH”
single-ended
Floating voltage (not
mode Z/Z+
connected)
Input current,
Logic “LOW”; Pull to GND
single-ended
Logic “HIGH”; Internal 2.2K
mode A/A+,
pull-up to +5
B/B+, Z/Z+
Differential mode For full RS422 compliance,
compliance
see 1
Hysteresis
Input voltage,
Common-mode range
differential mode
(A+ to GND, etc.)
Input impedance, A+ to A-, B+ to Bdifferential
Z+ to ZSingle-ended mode, Opencollector / NPN
Input frequency
Differential mode, or Singleended driven by push-pull
(TTL / CMOS)
Single-ended mode, Opencollector / NPN
Minimum pulse
Differential mode, or Singlewidth
ended driven by push-pull
(TTL / CMOS)
Absolute maximum values,
Input voltage,
continuous
any pin to GND
Absolute maximum, surge
Input voltage,
†
any pin to GND
(duration  1S)
ESD protection
Human body model
Linear Hall Inputs (LH1, LH2, LH3)
Input voltage
Operational range
Absolute maximum values,
continuous
Input voltage
Absolute maximum, surge
(duration  1S)
†
0.1
2
µS
±15
KV
Min.
Typ.
Max.
Units
TTL / CMOS / Open-collector
Logic HIGH
0
5
2
0.8
4.4
V
-10
+15
1.2
0
0
0
mA
2
µS
±5
KV
Min.
Typ.
Max.
Units
TTL / CMOS / Open-collector
1.6
1.8
V
4.5
1.2
1.4
V
4.7
0
2.5
3
0
0
mA
TIA/EIA-422-A
±0.06
±0.1
±0.2
-7
+7
4.2
6.1
4.7
7.2
V
KΩ
0
500
KHz
0
10
MH
z
1
µS
50
nS
-7
+7
-11
+14
V
V
Max.
4.9
Units
V
±1
Min.
0
KV
Typ.
0.5÷4.5
-7
+7
-11
+14
V
1
For full RS-422 compliance, 120 termination resistors must be connected across the
differential pairs, as close as possible to the drive input pins.
Name
First edition
Document template: P099.TQT.564.0001
E. P.
July 09, 2015
Visa :
July 9, 2015
Title of document
TECHNOSOFT
Last edition
N° document
iPOS3604 HX-CAN
PRODUCT DATA SHEET
P028.002.E501.DSH.10C
Page: 3 of 4
iPOS3604 HX-CAN DATASHEET
P/N: P028.002.E501
Resolution with
interpolation
Frequency
Quadrature, no interpolation
ESD protection
Human body model
Analog 0…5V Input (ANLG)
Operational range
Absolute maximum values,
continuous
Input voltage
Absolute maximum, surge
Input impedance
Resolution
Integral linearity
Offset error
Gain error
Bandwidth (-3dB)
ESD protection
RS-232
Compliance
Bit rate
Short-circuit
ESD protection
CAN-Bus
(duration  1S)
To GND
Resistor
Node addressing
Software selectable
Human body model
Software selectable
232TX short to GND
Human body model
Hardware: by Hex switch
Software
ESD protection
Human body model
Supply Output (+5V)
Output voltage
Current sourced = 250mA
Output current
Short-circuit
Over-voltage
ESD protection
Human body model
bits
Max.
1
1.25
2.5
4
-7
+7
-11
+14
4.2
Temperature De-rating
4.5
KHz
KV
Units
VPP
3.5
100KHz
3-phase
3
20KHz
4-phase
2.5
2
20KHz
3-phase
24V
100KHz
3-phase
24V
20KHz
4-phase
24V
1.5
1
0.5
0
V
35
40
50
55
60
65
De-rating with ambient temperature
KΩ
2.2
45
Ambient Temperature [ºC]
KΩ
4.7
20KHz
3-phase
4
Current [A]
-1
Typ.
2
10
bits
0
450
0
10
KHz
MH
z
KV
Altitude De-rating
4.5
4
±1
Min.
0
Typ.
Max.
4.95
-12
+18
3.5
3
2.5
2
1.5
Units
1
0.5
0
V
0
1
2
30
12
±2
±10
±3%
1
0
±5
Min.
9600
Typ.
Max.
TIA/EIA-232-C
115200
Guaranteed
3
4
5
6
7
8
9
10
Altitude [Km]
±36
±2
±1%
Software selectable
1Mbps
500Kbps
≤ 250Kbps
Between CAN-Hi, CAN-Lo
Bus length
Min.
mA
11
1
†
Compliance
Bit rate
0
±1
+1
Current [A]
Input impedance
(duration  1S)
Differential, Sin+ to Sin-,
Cos+ to Cos- 1
Common-mode, to GND
Software selectable, for one
sine/cosine period
Sin-Cos interpolation
±0.9
KΩ
bits
bits
bits
% FS2
KHz
KV
Units
De-rating with altitude
PWM Frequency De-rating
4.5
4
Current [A]
†
-1
Baud
±2
Min.
KV
Typ.
Max.
Units
ISO11898, CiA-301v4.2,
CiA 305 v2.2.13, 402v3.0
125
1000
Kbps
25
100
m
250
none on-board
1 ÷ 15 & LSS non-configured
(CANopen);
1-15 & 255 (TMLCAN)
1 ÷ 127 (CANopen); 1- 255 (TMLCAN)
±15
KV
Min.
Typ.
Max. Units
4.8
5
5.2
V
250
350
mA
NOT protected
NOT protected
±1
KV
3.5
36V 3phase
3
2.5
24V 4phase
2
1.5
36V 4phase
1
0.5
0
0 10 20 30 40 50 60 70 80 90 100
PWM Frequency[KHz]
Current De-rating with PWM frequency
Overcurrent Diagram
Time [s]
Input current
Input voltage 0…+5V
Interpolation
Depending on software
Resolution
settings
Frequency
ESD protection
Human body model
Sin-Cos Encoder Inputs
(Sin+, Sin-, Cos+, Cos-)
Input voltage,
Sin+ to Sin-, Cos+ to Cosdifferential
Operational range
Absolute maximum values,
Input voltage,
continuous
any pin to GND
Absolute maximum, surge
20
18
16
14
12
10
8
6
4
2
0
INOM = 4 A
IMAX = 10 A
I2T = 250 A2s
0
1
2
3
4
5
6
7
8
9
10
11
Current [A]
Over-current diagram
Output Voltage De-rating
† Stresses beyond values listed under “absolute maximum ratings” may cause
Output Voltage
±VOUT/VMOT [%]
100
90
80
70
60
50
40
30
20
10
0
permanent damage to the device. Exposure to absolute-maximum-rated
conditions for extended periods may affect device reliability.
0 10 20 30 40 50 60 70 80 90 100
PWM Frequency [KHz]
Output Voltage De-rating with PWM frequency3
1
For many applications, an 120Ω termination resistor should be connected across SIN+ to SIN-, and
across COS+ to COS-. Please consult the feedback device datasheet for confirmation.
2
“FS” stands for “Full Scale”
Name
First edition
E. P.
3
VOUT – the output voltage, VMOT – the motor supply voltage
Document template: P099.TQT.564.0001
July 09, 2015
Visa :
July 9, 2015
Title of document
TECHNOSOFT
Last edition
N° document
iPOS3604 HX-CAN
PRODUCT DATA SHEET
P028.002.E501.DSH.10C
Page: 4 of 4