TECHNOSOFT

IO ISCM
v1.2

DSP Motion Solutions

I/O board
for ISCM4805/ISCM8005
Intelligent Servo Drives

User Manual

 Technosoft 2005
 TECHNOSOFT
DSP Motion Solutions

IO ISCM
User Manual
P091.084.IO ISCM.UM.1105
November 2005

Technosoft S.A.
Buchaux 38
CH-2022 Bevaix, NE
Switzerland
Tel.: +41 (0) 32 732 5500
Fax: +41 (0) 32 732 5504
e-mail : contact@technosoftmotion.com
http://www.technosoftmotion.com/
Contents
1. What is IO ISCM Extension Board?

2. Board overview and signals description

3. Hardware reference

3.1. IO ISCM Schematics and Assembly Drawing

3.2. IO ISCM connectors pin out

3.3. IO ISCM – Mechanical Drawing

3.4. Connecting IO ISCM with ISCM4805/ISCM8005 Intelligent Drives

3.5. Connecting two or more IO ISCM starter kits for multiple axis motion control
applications

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 Technosoft 2005 II IO ISCM v1.2 User Manual

What is IO ISCM Extension Board?

1. What is IO ISCM Extension Board?

The IO ISCM Extension Board is an auxiliary module that allows the rapid evaluation of
the motion control capabilities offered by the ISCM4805/ISCM8005 Intelligent Drives.
The IO ISCM v1.2 board is compatible with ISCM4805 and ISCM8005 v1.2
TECHNOSOFT boards. It can be connected to these drives boards via J1 connector.
The IO ISCM Extension Board allows the user to have an easy and direct access to the
main resources of the drive board, like RS232 and CAN communication, stepper and brushless
motor connection, encoder connector, 7 digital I/O-s and 2 analog inputs.
The IO ISCM Extension Board also supplies the ISCM boards with DC power voltage for
logic and for motor.
It can be used in many ways - from ISCM evaluation purposes up to complete the
implementation of motion control applications.

Features:
• Easy connection of two or more ISCM4805 boards for multiple axis applications
• Visual control of drive’s digital I/O lines via LED’s
• Analog signals FEEDBACK and REFERENCE generated on-board
• Support for single-ended or differential encoder
• Easy access to the analog or digital I/O signals of ISCM4805 boards

Characteristics:
• Supply:
o Logic +12…+48V
o Motor +12…. +48V for ISCM4805 and +12…+80V ISCM8005
• Tested signals:
o 2 analog signals: FEEDBACK, REFERENCE
o 5 general purpose digital signals: IO#13; IO#14/DIR; IO#38/PULSE,
IN#2/LSP, IN#24/LSN
o 2 dedicated digital signals: RESET, ENABLE

Dimensions: 76,2 x 63,5 x 16,5 mm

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What is IO ISCM Extension Board?

Connectors:

• J1 – card edge connector 2x17 pins 0.1” pitch, used to connect IO ISCM v1.2
Extension Board and ISCM4805/8005 Intelligent Drives

• J2 – supply connector

• J3 – brushless / stepper motor connector

• J4 – connector for single-ended or differential encoder

• J5 – connector for single-ended encoder (optional)

• J6 – RS232 connector

• J7 and J8 – CAN connectors

• J9 – screw terminal connector for external I/O signals

• J10 and J11 – expansion connectors, used to connect two or more IO ISCM
Extension Boards

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Board overview and signals description

2. Board overview and signal description

CAUTION ! BEFORE THE CONNECTING / DISCONNECTING ANY OF THE

SIGNALS PLEASE TURN OFF ALL POWER SUPPLIES. ELSE SEVER
DAMAGE MAY OCCUR.
Motor & Hall
Encoder connector
connector

ISCM4805 connector

J4

Supply LED-s
v 1.2
connector

Push
CAN buttons
connector

Expansion
Expansion output
input connector
connector

Feedback
potentiometer
±10V or 0…+5V
Jumpers for voltage range
External I/O signals selection of the analog signals
connector

Reference potentiometer RS232 Jumpers for internal or external

±10V or 0…+5V Communication analog input selection

Figure 2.1. Top view of the IO ISCM v1.2 extension board

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Board overview and signals description

SJ6
SJ7

Solder-joint
for CAN terminator

Figure 2.2. Bottom view of the IO ISCM v1.2 extension board

All the I/O signals available on the IO ISCM module are transferred from the
ISCM4805/ISCM8005 board via the J1 connector. The paragraphs 2.1 – 2.3 describe in detail all
the I/O signals that are emulated or may be connected to the IO ISCM Extension Board.

2.1. Analog signals

The IO ISCM board connects 2 analog input signals to the ISCM4805/ISCM8005 drives.
These signals are FEEDBACK and REFERENCE and can be generated on-board using the
corresponding potentiometers marked on the PCB with FDBK for FEEDBACK and REF for
REFERENCE.
The full scale of these signals may be monopolar 0 to +5V or bipolar –10V to +10V, referred to on-
board ground. The selection between these options depends by assembly options of the
ISCM4805 Intelligent Drive.
The user can set the scale using the on-board jumpers JP3 and JP4. These jumpers have
pin 1 marked on the PCB.

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Board overview and signals description

Jumper
JP3 JP4
Scale
±10V 1-2 1-2
0…+5V 2-3* 2-3*
1-2 2-3
Invalid configurations
2-3 1-2
For invalid configurations, the scale is wrong.
External analog signals can be provided for FEEDBACK and REFERENCE inputs,
referred to on-board ground, using J9 connector of the IO ISCM board. The table below shows
the corresponding pins of the J9 connector used to connect external signals:

Pin number Function

1 GND
4 FEEDBACK
5 REFERENCE

The full scale of the external analog signals provided must be bipolar –10V to +10V or
monopolar 0 to +5V, depending on the configuration of the ISCM4805 Intelligent Drive.
The selection between internal and external analog signals is made for each one using on-
board jumpers JP1 and JP2 whose pin 1 is also marked on the PCB.
The tables below show the required configuration of the jumpers JP1 and JP2:

REFERENCE JP2
On-board 2-3*
External 1-2

FEEDBACK JP1
On-board 2-3*
External 1-2

* Default position from factory

* Default position from factory
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Board overview and signals description

2.1. General purpose digital signals

The IO ISCM board connects 5 general-purpose digital signals to the

ISCM4805/ISCM8005 drives. These signals are IN#2, IN#24, IO#13, IO#14and IO#38 and are
shared with another dedicated digital or analog signals as follows:
- IN#2 with LSP
- IN#24 with LSN
- IO#13 with FEEDBACK
- IO#14 with DIR and REFERENCE
- IO#38 with PULSE

Each one of these 5 signals can be pulled up/down individually through push buttons.
When a push button is pressed its state is 1 otherwise it is 0. A LED lights when the corresponding
signal is 1 and that can be achieved following one of these actions:
- The corresponding push button is pressed
- An external signal connected to the corresponding access point is at logic 1
- The respective I/O line is defined as an output and set to logic 1 by the ISCM drive
via Technosoft Motion Language instructions.

The corresponding push buttons for each signal are marked on the PCB as follows:
- S1 for IO#13
- S2 for IO#14/DIR
- S3 for IO#38/PULSE
- S4 for IN#2/LSP
- S5 for IN#24/LSN

The IO#13 and IO#14/DIR share the same hard line with analog signals FEEDBACK and
REFERENCE. If you want to use them as digital I/O-s, you must set the jumpers JP1 and JP2 in
position 1-2.

The IO#13, IO#14/DIR and IO#38/PULSE can be configured as general-purpose digital

outputs. Additional hardware settings of the ISCM4805/8005 v1.2 drives are needed in order to set
the output function of these signals (for details see ISCM4805/8005 User Manual, chapter 4.2)

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Board overview and signals description

Each digital line has it’s own access point at the J9 connector, to which an external digital
TTL signal may be hooked-up as shown in the table below.

Pin number Signal

4 IO#13
5 IO#14/DIR
6 IO#38/PULSE
7 IN#2/LSP
8 IN#24/LSN

The digital ground is available at the pin 1 on J9 connector.

2.2. Dedicated digital signals

The IO ISCM board connects 2 dedicated digital input signals to the ISCM4805/ISCM8005
drives. These signals are RESET and ENABLE.

The RESET signal is active high (+5V) and it can be activated in two ways:

- Using the push button RESET on the IO ISCM board; when it is pressed the state of the
RESET signal is 1 otherwise is 0.

- Using an external digital signal connected to J9 connector, pin 3.

- The ENABLE signal is active high (+5V) and it can be activated using the push button
S6 on the IO ISCM board, when it is pressed the state of the ENABLE signal is 1
otherwise is 0.

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Board overview and signals description

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IO ISCM v1.2 Schematics and Assembly Drawing

3. Hardware reference

3.1. IO ISCM v1.2 schematics and Assembly Drawings

A
1

1
2

2
3

3
4

4
5

5
D

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IO ISCM v1.2 Schematics and Assembly Drawing

Figure 3.3. IO ISCM v1.2 - Assembly Drawing

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IO ISCM v1.2 connectors pin out

3.2. IO ISCM v1.2 connectors pin out

3.2.1. J1 card edge connector for ISCM4805 – pin description

Pin Pin name TML name Type Function/Alternate function/ Comments

A1 Positive terminal of the motor supply:
+Vmot - I 12 to 48VDC for ISCM4805v1.2
12 to 80VDC for ISCM8005v1.2
A2 • Phase A+ for step motors
A / A+ - O • Phase A for brushless motors
• Motor+ for DC brush motors
A3 • Phase A- for step motors
B / A- - O • Phase B for brushless motors
• Motor- for DC brush motors
A4 • Phase B+ for step motors
C / B+ - O
• Phase C for brushless motors
A5 • Phase B- for step motors
BRAKE /B - - O • Brake output (for external brake resistor) for
brushless motors
A6 Positive terminal of the 5V logic supply (internally
+5V - O
generated)
A7 • Single-ended encoder A signal
ENCA+ - I
• Differential encoder positive A input
A8 • Single-ended encoder B signal
ENCB+ - I
• Differential encoder positive B input
A9 • Single-ended encoder Z signal
ENCZ+ / CAPI - I
• Differential encoder positive Z input
A10 H1 - I • Hall 1 signal for digital Hall sensor
A11 • 5V compatible input
IO#38 /
IO#38 / PULSE I/O • Can be used as PULSE input in Pulse & Direction
PULSE
motion mode
A12 • 5V compatible input
IN#2 / LSP IN#2 / LSP I
• Positive limit switch
A13 5V compatible input. Connect to +5V to disable PWM
ENABLE ENABLE I
outputs
A14 • 5V compatible input/output
IO#13 / I/O • Monopolar 0…+5V or bipolar –10V…+10V
IO#13/FDBK
AD2 I analogue input. May be used as analogue position
or speed feedback (from a tachometer)
A15 GND - - Ground

A16 Can-Bus positive line (positive during dominant bit)

CAN_H - I/O

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IO ISCM v1.2 connectors pin out

A17 RS-232 Data Transmission

TX232 - O
B1 Positive terminal of the motor supply:
+Vmot - I 12 to 48VDC for ISCM4805v1.2
12 to 80VDC for ISCM8005v1.2
B2 • Phase A+ for step motors
A / A+ - O • Phase A for brushless motors
• Motor+ for DC brush motors
B3 • Phase A- for step motors
B / A- - O • Phase B for brushless motors
• Motor- for DC brush motors
B4 • Phase B+ for step motors
C / B+ - O
• Phase C for brushless motors
B5 O • Phase B- for step motors
BRAKE / B- - • Brake output (for external brake resistor) for
brushless motors
B6 +Vlog - I Positive terminal of the logic supply: +12 to +48VDC
B7 I • Single-ended encoder A signal
ENCA- / LH1 - • Differential encoder negative A input
• Linear Hall 1 input
B8 ENCB- / LH2 I • Single-ended encoder B signal
- • Differential encoder negative B input
• Linear Hall 2 input
B9 ENCZ- / LH3 I • Single-ended encoder Z signal
- • Differential encoder negative Z input
• Linear Hall 2 input
B10 H2 - I • Hall 2 signal for digital Hall sensor
B11 H3 - I Hall 3 signal for digital Hall sensor
B12 IN#24 / LSN IN#24 / I • 5V compatible input
LSN • Negative limit switch
B13 RESET I RESET signal – connect to +5V to reset the board
B14 IO#14 / DIR / I/O • 5V compatible input/output
REF IO#14 I • Monopolar 0…+5V or bipolar –10V…+10V
AD5 analogue input. May be used as analogue
position, speed or torque reference.
B15 GND - - Ground
B16 CAN_L - I/O CAN-Bus negative line (negative during dominant bit)
B17 RX232 - I RS-232 Data Reception

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IO ISCM v1.2 connectors pin out

3.2.2. J2 Supply connector – pin description

Pin Pin name Function

1 +Vlog Positive terminal of the logic supply: +12 to +48VDC
2 GND Ground
3 GND Ground
Positive terminal of the motor supply:
4 +Vmot 12 to 48VDC for ISCM4805v1.2
12 to 80VDC for ISCM8005v1.2

3.2.3. J3 Brushless / stepper motor connector – pin description

Pin Pin name Type Function

• Phase A+ for step motors
1 A / A+ O • Phase A for brushless motors
• Motor+ for DC brush motors
• Phase A- for step motors
2 B / A- O • Phase B for brushless motors
• Motor- for DC brush motors
• Phase B+ for step motors
3 C / B+ O
• Phase C for brushless motors
• Phase A+ for step motors
4 BRAKE / B- O • Brake output (for external brake resistor) for brushless
motors
5 GND - Ground
6 +5V O Positive terminal of the 5V logic supply
7 H1 I Hall 1 signal for digital Hall sensor
8 H2 I Hall 2 signal for digital Hall sensor
9 H3 I Hall 3 signal for digital Hall sensor
10 GND - Ground

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IO ISCM v1.2 connectors pin out

3.2.4. J4 10-pins Encoder connector – pin description

Pin Pin name Type Function

1 GND - Ground
2 +5V O Positive terminal of the +5V logic supply
3 GND* - Ground
4 +5V O Positive terminal of the +5V logic supply
I • Single-ended encoder A signal
ENCA-
5 • Differential encoder negative A input
/ LH1
• Linear Hall 1 input
I • Single-ended encoder A signal
6 ENCA+
• Differential encoder positive A input
I • Single-ended encoder B signal
ENCB-
7 • Differential encoder negative B input
/ LH2
• Linear Hall 2 input
I • Single-ended encoder B signal
8 ENCB+
• Differential encoder positive B input
I • Single-ended encoder Z signal
ENCZ-
9 • Differential encoder negative Z input
/ LH3
• Linear Hall 3 input
I • Single-ended encoder Z signal
10 ENCZ+
• Differential encoder positive Z input

3.2.5. J5 5-pins Encoder connector – pin description

Pin Pin name Type Function

1 GND - Ground
2 ENCZ I Single-ended encoder Z signal
3 ENCA I Single-ended encoder A signal
4 +5V Positive terminal of the +5V logic supply
5 ENCB Single-ended encoder B signal

3.2.6. J6 RS232 connector – pin description

Pin Pin name Type Function

1 NC - Not connected
2 TX232 O RS-232 Transmission
3 RX232 I RS-232 Data Reception
4 NC - Not connected
5 GND -
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IO ISCM v1.2 connectors pin out

6 NC - Not connected
7 NC - Not connected
8 NC - Not connected
9 NC - Not connected

3.2.7. J9 I/O connector – pin description

Pin Pin name Type Function

1 GND - Ground
2 +5V - Positive terminal of the +5V logic supply
3 RESET I RESET signal – connect to +5V to reset the board
• 5V compatible input/output
IO#13 / I/O • Monopolar 0…+5V or bipolar –10V…+10V
4
FDBK I analogue input. May be used as analogue
position or speed feedback (from a tachometer)
• 5V compatible input/output
IO#14 / DIR / I/O • Monopolar 0…+5V or bipolar –10V…+10V
5
REF I analogue input. May be used as analogue
position or speed feedback (from a tachometer)
• 5V compatible input/output
IO#38 /
6 I/O • Can be used as PULSE input in Pulse &
PULSE
Direction motion mode
I • 5V compatible input
7 IN#24/LSN
• Negative limit switch
I • 5V compatible input
8 IN#2/LSP
• Positive limit switch

3.2.8. J7, J8 CAN connectors

Pin Pin name Type Function

1 CAN_H I/O CAN-Bus positive line (positive during dominant bit)
2 CAN_L I/O CAN-Bus negative line (negative during dominant bit)
3 GND - Ground

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IO ISCM v1.2 connectors pin out

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 IO ISCM v1.2 Mechanical Drawing

3.3. IO ISCM v1.2 Mechanical Drawing

J4

v 1.2
63,5mm

56,3mm

69mm

76,2mm

Figure 3.4. IO ISCM v1.2 Mechanical Drawing

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IO ISCM v1.2 Mechanical Drawing

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Connecting IO ISCM v1.2 with ISCM4805v1.2 Intelligent Servo Drives

3.4. Connecting IO ISCM with ISCM4805/ISCM8005 v1.2 Intelligent

Drives

In order to connect IO ISCM to the ISCM4805/ISCM8005 boards please follow-up this

procedure:

1. Power down the IO ISCM board

2. Plug the ISCM4805/ISCM8005 board into J1 card edge connector of the IO ISCM board.

3. Insert the serial cable from PC into J6 female connector from IO ISCM board.

4. Power on the IO ISCM board, the green LED from ISCM4805 drive board should light.

ISCM4805 v1.2

ISCM8005 v1.2

Figure 3.5. ISCM4805 connected to IO ISCM extension board

 Technosoft 2005 21 IO ISCM v1.2 – User Manual

Connecting IO ISCM v1.2 with ISCM4805v1.2 Intelligent Servo Drives

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Connecting two or more IO ISCM v1.2 starter kits

3.5. Connecting two or more IO ISCM starter kits for multiple axis
motion control applications
The IO ISCM board can be easily connected with another IO ISCM board in order to implement
multiple axis applications.
This can be done using J10 female connector on one board and J11 male connector on the
other board, as shown in the figure below.

ISCM4805 v1.2 ISCM4805 v1.2 ISCM4805 v1.2

ISCM8005 v1.2 ISCM8005 v1.2 ISCM8005 v1.2

Figure 3.6. Connecting IO ISCM starter kits for multiple axis applications

The power supply must be connected only at the first board (using J2 connector), the others
being supplied through J10 and J11 connectors.
The communication with ISCM4805 Intelligent Drives is made using just one RS232 serial cable
connected to one IO ISCM board. The other ISCM4805 Drives are considered as nodes of a CAN
network. The CAN connection between nodes is also made trough J10 and J11 connectors.
According to CAN specification, the first and the last node from the multiple-axis network must
have a terminator connected between CAN_H and CAN_L signals. Strapping the SJ7 solder-joint, the
CAN terminator can be included in the network.

 Technosoft 2005 23 IO ISCM v1.2 – User Manual

Connecting two or more IO ISCM v1.2 starter kits

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 Technosoft 2005 24 IO ISCM v1.2 – User Manual