INGENIA 2147502492, Product Manual

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9.2. Protective Earth ................................................................................................................................................ 38
9.3. Power Supply and Motor Power....................................................................................................................... 40
9.3.1. Single Power Supply ......................................................................................................................................... 40
9.3.1.1 Power Supply Requirements............................................................................................................................ 40
9.3.2. Dual Power Supply ........................................................................................................................................... 41
9.3.2.1 Logic Supply Requirements.............................................................................................................................. 41
9.3.3. Power Supply EMI Filter.................................................................................................................................... 41
9.3.4. Shunt Braking Resistor Connection ................................................................................................................ 42
9.3.5. Motor Connections............................................................................................................................................ 43
9.3.5.1 3 Phase Brushless.............................................................................................................................................. 43
9.3.5.2 DC Motor ............................................................................................................................................................ 44
9.3.5.3 Motor Choke ...................................................................................................................................................... 44
9.3.6. Power Wiring Recommendations..................................................................................................................... 45
9.3.6.1 Cable Selection ................................................................................................................................................. 45
9.3.6.2 Soldering Power Pins........................................................................................................................................ 45
9.4. Safe Torque Off (STO) ....................................................................................................................................... 47
9.4.1. Safety Function Specifications......................................................................................................................... 47
9.4.2. Integration Requirements ................................................................................................................................ 48
9.4.3. STO External Diagnostic Test ........................................................................................................................... 50
9.4.4. STO Operation States ....................................................................................................................................... 52
9.4.5. Interface and Connections ............................................................................................................................... 53
9.4.6. STO bypass (needed when no STO functionality is implemented) ................................................................ 55
9.5. Brake and Motor Temperature......................................................................................................................... 56
9.5.1. Motor electromagnetic / electromechanical brake......................................................................................... 56
9.5.2. External temperature sensor ........................................................................................................................... 57
9.6. Feedbacks.......................................................................................................................................................... 59
9.6.1. Digital Halls ....................................................................................................................................................... 59
9.6.2. Absolute Encoder 1 ........................................................................................................................................... 61
9.6.3. Absolute Encoder 2 ........................................................................................................................................... 63
9.6.4. Incremental Encoder ........................................................................................................................................ 64
9.6.5. Feedback wiring recommendations ................................................................................................................ 66
9.7. Inputs and Outputs ........................................................................................................................................... 68
9.7.1. Digital Inputs Interface ..................................................................................................................................... 68
9.7.2. Analog Input Interface ...................................................................................................................................... 70
9.7.3. Digital Outputs Interface .................................................................................................................................. 71
9.8. Communications............................................................................................................................................... 73
9.8.1. CANopen Interface ............................................................................................................................................ 73
9.8.1.1 CAN wiring recommendations ......................................................................................................................... 74
9.8.2. EtherCAT Interface ............................................................................................................................................ 75
9.8.2.1 Recommended EtherCAT cables and connectors ........................................................................................... 76