INGENIA Everest XCR, Product Manual

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9.3.2. Dual Power Supply ............................................................................................................................................ 35
9.3.3. Power Supply EMI Filter..................................................................................................................................... 36
9.3.4. Shunt Braking Resistor Connection .................................................................................................................. 36
9.3.5. Motor Connections............................................................................................................................................. 37
3 Phase Brushless .............................................................................................................................................. 37
DC Motor ............................................................................................................................................................. 37
Motor Choke ....................................................................................................................................................... 38
9.3.6. Power Wiring Recommendations ..................................................................................................................... 38
Cable Selection .................................................................................................................................................. 38
Soldering Power Pins......................................................................................................................................... 39
9.4. Safe Torque Off (STO), Brake and Motor Temperature.................................................................................... 39
9.4.1. STO bypass (needed when no STO functionality is implemented)................................................................. 42
9.4.2. Motor electromagnetic / electromechanical brake ......................................................................................... 43
9.4.3. External temperature sensor wiring ................................................................................................................. 44
9.5. Feedbacks........................................................................................................................................................... 45
9.5.1. Digital Halls ........................................................................................................................................................ 45
9.5.2. Absolute Encoder 1 ............................................................................................................................................ 47
9.5.3. Absolute Encoder 2 ............................................................................................................................................ 48
9.5.4. Incremental Encoder ......................................................................................................................................... 49
9.5.5. Feedback wiring recommendations ................................................................................................................. 51
9.6. Inputs and Outputs ............................................................................................................................................ 51
9.6.1. Digital Inputs Interface ...................................................................................................................................... 52
9.6.2. Analog Input Interface ....................................................................................................................................... 53
9.6.3. Digital Outputs Interface ................................................................................................................................... 54
9.7. Communications................................................................................................................................................ 55
9.7.1. CANopen interface ............................................................................................................................................. 56
CAN wiring recommendations .......................................................................................................................... 57
9.7.2. EtherCAT interface ............................................................................................................................................. 58
Recommended EtherCAT cables and connectors............................................................................................ 59
Ethernet over EtherCAT (EoE) protocol - Used by Motion Lab 3...................................................................... 60
10. Dimensions 62
11. Service 63