INGENIA Jupiter JUP-15/130 Page 106 Installation Manual Download

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Installation Guide

INGENIA MOTION CONTROL

Confidential and proprietary information.

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307

Motor braking can cause reverse current sense and charge the battery.

Always ensure that the battery can accept this charge current which will be within the Jupiter current ratings.

<< Back to top

8.1.4 Connection of multiple drivers

Always use "star" connections when different servo drivers are connected to the same power supply.

Connect each drive to the common supply using separate wires for positive and return.

Summary of Contents for Jupiter JUP-15/130

Page 1: ...roprietary information Unauthorized Copies Prohibited Page of 1 307 Installation Guide URL Date Space Type Author INGENIA MOTION CONTROL Report i033 01 Jupiter Servo Drive 09 Sep 2015 17 31 http doc ingeniamc com display JUP Installation Guide ...

Page 2: ...____________________________________________________________________________________________________________ 12 6 Product Description ______________________________________________________________________________________________________________ 14 6 1 Specifications ______________________________________________________________________________________________________________ 15 6 2 Power ratings _...

Page 3: ...____________________________________________ 70 7 2 10 Motor safety connector ________________________________________________________________________________________________ 71 7 2 11 USB connector ______________________________________________________________________________________________________ 71 7 2 12 CAN interface connector ________________________________________________________________...

Page 4: ..._______________________________ 101 8 1 2 Recommended power supply connection _________________________________________________________________________________ 102 8 1 3 Simplified battery supply connection _____________________________________________________________________________________ 105 8 1 4 Connection of multiple drivers __________________________________________________________________...

Page 5: ...________________________________________ 224 8 4 5 Digital outputs interface _______________________________________________________________________________________________ 229 8 4 6 Low Speed LS single ended digital inputs interface ________________________________________________________________________ 235 8 4 7 High Speed HS digital inputs interface ____________________________________________...

Page 6: ...__________________________ 285 8 6 3 RS232 interface _____________________________________________________________________________________________________ 286 8 6 4 RS485 interface _____________________________________________________________________________________________________ 291 9 Dimensions ____________________________________________________________________________________________________...

Page 7: ...ents 1 1 Safety Information 1 2 Product Description Specifications Power and current ratings Architecture Hardware revisions 1 3 Installation Installing the USB Driver Connectors position and pinout Mating connectors Signalling LEDs 1 4 Wiring and Connections Power supply wiring Motor output wiring Feedback connections IO connections ...

Page 8: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 8 307 Command sources Communications 1 5 Dimensions ...

Page 9: ...NTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 9 307 2 Revision History Revision Release Date Changes 1 0 May 2015 Private preliminary draft Not for public use 2 0 September 2015 First public manual ...

Page 10: ...roprietary information Unauthorized Copies Prohibited Page of 10 307 3 Preliminary notes A PDF version of this manual is available in the section Downloads Please refer to page for information on previous hardware revisions and changes product hardware revisions ...

Page 11: ...entioned in this document INGENIA CAT shall in no event be liable for any incidental accidental indirect or consequential damages including but not limited to those resulting from 1 dependency of equipment presented 2 costs or substituting goods 3 impossibility of use loss of profit or data 4 delays or interruptions to business operations 5 and any other theoretical liability that may arise as a c...

Page 12: ...es and or damage to the equipment To prevent the formation of electric arcs as well as dangers to personnel and electrical contacts never connect disconnect the Jupiter Servo Drive while the power supply is on Disconnect the Jupiter Servo Drive from all power sources before proceeding with any possible wiring change After turning off the power and disconnecting the equipment power source wait at l...

Page 13: ...igh performance motion control equipment can move rapidly with very high forces Unexpected motion may occur especially during product commissioning Keep clear of any operational machinery and never touch them while they are working Do not make any connections to any internal circuitry Only connections to designated connectors are allowed All service and maintenance must be performed by qualified p...

Page 14: ...nded voltage operating range allows its use in several applications and the small footprint and the needless of an external heatsink allow the controller to be a valid OEM for critical size applications The Jupiter Digital Servo Drive has been designed with efficiency in mind It incorporates cutting edge MOSFET technology as well as optimized control algorithms to provide the perfect trade off bet...

Page 15: ...ant JUP 20 80 JUP 40 80 JUP 15 130 JUP 30 130 Power supply voltage 10 V to 80 V DC DC 10 V to 130 V DC DC Transient peak voltage 95 V 145 V Logic supply voltage 10 V to 95 V DC DC If not connected logic supply is bypassed from power supply 10 V to 95 V DC DC Note that the logic supply voltage power supply voltage Do not connect them together at voltages 95 V Internal DC bus capacitance 600 µF 450 ...

Page 16: ...pper 3 phases stepper Power stage PWM frequency 20 kHz default 40 kHz high PWM frequency configurable Current sensing On phases A B and C using 4 terminal shunt resistors Accuracy is 1 full scale 10 bit ADC resolution Sensors for commutation brushless motors Digital halls Trapezoidal Analog halls Sinusoidal Trapezoidal Quad Incremental encoder Sinusoidal Trapezoidal PWM encoder Sinusoidal Trapezoi...

Page 17: ...solated self supplied single or daisy chain on demand RS 485 RS 232 Network communication EtherCAT CoE Option Standalone execution from Internal EEPROM memory Analog input 10 V or 0 V to 5 V Step and Direction Pulse and direction PWM command Encoder follower Electronic Gearing Inputs and outputs 2 x non isolated single ended digital inputs GDI1 GDI2 5V logic 24V tolerant 2 x non isolated high spee...

Page 18: ...ESD EMI protections ESD protections are available in all inputs outputs and communications All inputs outputs feedbacks include noise filters Inverse polarity supply protection bidirectional High power transient voltage suppressor for short braking A TVS diode 600 W peak protects the circuitry from the voltage transients events Encoder broken wire for differential quadrature encoders only Ambient ...

Page 19: ...d cause a the driver to turn off The system temperature is available in and EMCL registers is measured near the power stage in different points for best reliability The temperature parameter that can be accessed from USB 2 0 CAN or serial interface does not indicate the air temperature Above 110ºC the Jupiter automatically turns off the power stage and stay in fault state avoiding any damage to th...

Page 20: ...es Prohibited Page of 20 307 Some parts of the Jupiter exceed 110ºC when operating especially at high load levels and wait at least 5 minutes after turn off to allow a safe cool down Do not touch the Jupiter when operating Following figure shows the basic power flow and losses in a servo drive system ...

Page 21: ...emperature stabilization is found after 3 τ Power losses calculation heat dissipation Operation of the Jupiter causes power losses that should be transferred to the surrounding environment as heat Heat dissipation depends on various parameters Principally Motor RMS current positive correlation DC bus voltage positive correlation Jupiter variant JUP20 130 and 130 variants have different power trans...

Page 22: ...onfidential and proprietary information Unauthorized Copies Prohibited Page of 22 307 Graph 1 power loses versus motor current at different voltages for Jupiter 80V Graph 2 power loses versus motor current at different voltages for Jupiter 130V ...

Page 23: ...hout cold plate Without cold plate the board itself is the heatsink Power losses cause the driver to increase its temperature following the this formula T 110ºC for safe operation P The thermal impedance typical value is shown above hower its exact value will vary according to Air flow around the driver Position vertical allows natural convection ...

Page 24: ...stallation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 24 307 Graph 3 Maximum current ratings NO heatsink Various Vbus voltages 80V variant ...

Page 25: ...tallation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 25 307 Graph 4 Maximum current ratings NO heatsink Various Vbus voltages 130V variant ...

Page 26: ...hermal tests performed in a climatic room where there was enough room for natural air convection Each application may reach different ratings depending on the installation ventilation or housing 6 3 2 Jupiter with cold plate choosing appropriate heatsink If power dissipation is 17 W No heatsink is needed When using high efficiency heatsinks or in enclosed spaces the equation can be simplified as f...

Page 27: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 27 307 ...

Page 28: ...rmal conductivity material such as black anodized aluminum Placing the driver in a small plastic package will definitively reduce its temperature range Temperature range can be increased by providing forced cooling with a fan or by placing a thermal gap pad on top of the board Always ensure electrical isolation between live parts and the heatsink TYPICALLY The jupiter without cold plate is suitabl...

Page 29: ...nd discharging those capacitors thousands of times per second which results in power losses and temperature increase even at 0 current Recommendation when motor is off exit motor enable mode which will switch off the power stage 6 3 3 Dynamic applications with non constant current The Jupiter has a big thermal inertia that allows storing heat during short current pulses exceeding nominal current w...

Page 30: ...cle The load cycle can be simplified as different constant currents during some times T Full cycle period I Current during t1 1 I Current during t2 2 I Current during tn n Dynamic model For systems with a time than 3 τ the dynamic model should be used Instead of considering thermal resistances you should consider the thermal impedance The Jupiter model can be simplified as a 2nd order Back to top ...

Page 31: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 31 307 ...

Page 32: ...INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 32 307 Back to top 6 5 Hardware revisions Hardware revision Description and changes 1 0 1B May 2015 First product demo ...

Page 33: ...O LED brightness JUP 39 Improved USB connection ruggedness and reliability at high motor current JUP 51 JUP 57 JUP 63 Improve CAN communication performance at high current voltage JUP 58 Silkscreen improvements for clarity and aesthetics JUP 35 JUP 37 JUP 80 JUP 86 Include a protection against overvoltage for the main internal power supply DC DC JUP 74 Manufacturing improvements JUP 23 JUP 28 JUP ...

Page 34: ... supply voltage power supply voltage Do not connect them together at voltages 95 V Internal DC bus capacitance 600 µF 450 µF Maximum phase peak current 40 ARMS 5 s 80 ARMS 5 s 30 ARMS 5 s 70 ARMS 5 s Maximum phase continuous current 20 ARMS 40 ARMS 15 ARMS 35 ARMS Standby power consumption 1 5 W max Efficiency 97 at the rated power and current Supported motor types Rotary or linear brushless trape...

Page 35: ...ale 10 bit ADC resolution Sensors for commutation brushless motors Digital halls Trapezoidal Analog halls Sinusoidal Trapezoidal Quad Incremental encoder Sinusoidal Trapezoidal PWM encoder Sinusoidal Trapezoidal Analog potentiometer Sinusoidal Trapezoidal Sensors supported for servo loops DC tachometer Digital halls Analog halls Quad Incremental encode PWM encoder Analog potentiometer Sin Cos enco...

Page 36: ...ication EtherCAT CoE Option Standalone execution from Internal EEPROM memory Analog input 10 V or 0 V to 5 V Step and Direction Pulse and direction PWM command Encoder follower Electronic Gearing Inputs and outputs 2 x non isolated single ended digital inputs GDI1 GDI2 5V logic 24V tolerant 2 x non isolated high speed differential digital inputs HS_GPI1 Pulse HS_GPI2 Direction 5V logic 24V toleran...

Page 37: ...ESD EMI protections ESD protections are available in all inputs outputs and communications All inputs outputs feedbacks include noise filters Inverse polarity supply protection bidirectional High power transient voltage suppressor for short braking A TVS diode 600 W peak protects the circuitry from the voltage transients events Encoder broken wire for differential quadrature encoders only Ambient ...

Page 38: ...sured near the power stage in different points for best reliability The temperature parameter that can be accessed from USB 2 0 CAN or serial interface does not indicate the air temperature Above 110ºC the Jupiter automatically turns off the power stage and stay in fault state avoiding any damage to the drive A Fault LED will be activated and cannot be reseted unless temperature decreases Driver s...

Page 39: ...mum overtemperature fault 110ºC Measured on the power stage not the heatsink Thermal impedance from power stage to air no cold plate no heatsink 5 2 K W with cold plate no heatsink 3 6 K W Maximum power dissipation without heatsink no cold plate no heatsink 11 5 W At T 50ºC A with cold plate no heatsink 16 7 W Thermal resistance from power stage to heatsink cold plate version 3 6 K W Thermal time ...

Page 40: ...DC bus voltage positive correlation Jupiter variant JUP20 130 and 130 variants have different power transistors with higher losses for the same current as the 80V variants Different JUP35 charts are provided for each variant Other less relevant parameters affect also the power loss but are not considered in the graphs Air temperature higher power semiconductor temperatures reduce their efficiency ...

Page 41: ...tallation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 41 307 Graph 2 power loses versus motor current at different voltages for Jupiter 130V ...

Page 42: ...t cold plate Without cold plate the board itself is the heatsink Power losses cause the driver to increase its temperature following the this formula T 110ºC for safe operation P The thermal impedance typical value is shown above hower its exact value will vary according to Air flow around the driver Position vertical allows natural convection ...

Page 43: ...stallation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 43 307 Graph 3 Maximum current ratings NO heatsink Various Vbus voltages 80V variant ...

Page 44: ...tallation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 44 307 Graph 4 Maximum current ratings NO heatsink Various Vbus voltages 130V variant ...

Page 45: ...n thermal tests performed in a climatic room where there was enough room for natural air convection Each application may reach different ratings depending on the installation ventilation or housing Jupiter with cold plate choosing appropriate heatsink If power dissipation is 17 W No heatsink is needed When using high efficiency heatsinks or in enclosed spaces the equation can be simplified as foll...

Page 46: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 46 307 ...

Page 47: ...rmal conductivity material such as black anodized aluminum Placing the driver in a small plastic package will definitively reduce its temperature range Temperature range can be increased by providing forced cooling with a fan or by placing a thermal gap pad on top of the board Always ensure electrical isolation between live parts and the heatsink TYPICALLY The jupiter without cold plate is suitabl...

Page 48: ...g and discharging those capacitors thousands of times per second which results in power losses and temperature increase even at 0 current Recommendation when motor is off exit motor enable mode which will switch off the power stage Dynamic applications with non constant current The Jupiter has a big thermal inertia that allows storing heat during short current pulses exceeding nominal current with...

Page 49: ...ull cycle The load cycle can be simplified as different constant currents during some times T Full cycle period I Current during t1 1 I Current during t2 2 I Current during tn n Dynamic model For systems with a time than 3 τ the dynamic model should be used Instead of considering thermal resistances you should consider the thermal impedance The Jupiter model can be simplified as a 2nd order 6 8 Ar...

Page 50: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 50 307 ...

Page 51: ...Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 51 307 6 9 Hardware revisions Hardware revision Description and changes 1 0 1B May 2015 First product demo ...

Page 52: ... kHz JUP 72 Improve HW overcurrent noise immunity to prevent unwanted short detections JUP 41 JUP 49 Reduce noise generated by the power stage JUP 48 JUP 71 JUP 66 Adjusted STO LED brightness JUP 39 Improved USB connection ruggedness and reliability at high motor current JUP 51 JUP 57 JUP 63 Improve CAN communication performance at high current voltage JUP 58 Silkscreen improvements for clarity an...

Page 53: ... operating temperature 25 C to 100 C Storage temperature 50 C to 125 C Maximum relative humidity 85 non condensing Operating area atmosphere No flammable gases or vapours permitted Use Indoor use only Installing the USB Driver Connectors position and pinout Mating connectors Signalling LEDs 7 1 Installing the USB Driver Before you connect your Jupiter Servo Drive to a computer running Microsoft Wi...

Page 54: ...r the necessary drivers Select Browse my computer for driver software Choose the folder where you saved them before If this window does not show up automatically go directly to the to install the driver manually Right click the Ingenia USB Controller Device Manager and select Update Driver Software After installing the drivers if you go to your computer s and expand the Ports COM LPT list you shou...

Page 55: ...have the power supply switched on otherwise the drivers will not show up in the Device Manager screen 7 1 1 Windows 8 Installation A digitally signed driver is required and The driver installation failed are a few of the error prompts you may have come across when attempting to install the drivers on Windows 8 Follow these steps to install the USB driver Bring up the and click Charms Bar Settings ...

Page 56: ...formation Unauthorized Copies Prohibited Page of 56 307 2 3 Then go to and scroll to the bottom of the page click the button under the section General Restart Now Advanced Startup The computer will reboot Go to and click Troubleshoot Advanced Options Startup Settings Restart ...

Page 57: ... Hit 7 on your keyboard to boot into Windows 8 with the driver signature check disabled You should now be able to install the USB driver Download USB Driver 7 2 Connectors position and pinout Contents CAN interface connector Feedbacks connector Absolute encoder connector I O connector RS232 interface connector Supply and shunt connector Supply shunt and motor connector Motor connector STO connecto...

Page 58: ...ROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 58 307 USB connector Next figures show Jupiter Servo Drive connectors Connector functionalities and pinouts are described in detail in the next subchapters ...

Page 59: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 59 307 ...

Page 60: ...7 2 1 CAN interface connector The connector is a 4 pin TE Micro MaTch connector Part number Polarization hole on PCB indicates pin 1 and ensures correct mating CAN interface 338068 4 connector position Pin numbers and pinout are shown below Pin Name Description 1 CAN_GND CAN ground connected to circuit ground 2 CANL CAN bus line dominant low ...

Page 61: ...TE Micro MaTch connector for motor feedbacks Part number Polarization hole on PCB indicates pin 1 and ensures correct TE 1 338068 2 cable position See for more information about different feedbacks wiring Feedback connections Pin numbers and connector s pinout are shown below Pin Name Description 1 5V_OUT 5 V 250mA supply for feedbacks 2 GND Ground connection 3 ENC_A SIN Single ended digital encod...

Page 62: ... Differential Encoder B input Sin Cos encoder Cos input 7 ENC_Z REF Single ended digital encoder Index input Differential digital encoder Index input Sin Cos encoder Reference input 8 ENC_Z REF Differential Encoder Index input Sin Cos encoder Reference input 9 GND Ground connection 10 HALL_1 Analog Halls A input Digital Halls A input 11 HALL_2 Analog Halls B input Digital Halls B input 12 HALL_3 A...

Page 63: ... Jupiter Pluto Neptune IO starter kit Back to top 7 2 3 Absolute encoder connector The Absolute encoder connector is a 6 pin TE Micro MaTch connector Part number Polarization hole on PCB indicates pin 1 and ensures correct cable 338068 6 position Pin numbers and connector pinout are shown below Pin Name Description 1 5V_OUT 5 V 250 mA supply 2 GND Ground connection 3 CLK Absolute encoder CLK posit...

Page 64: ... 2 4 I O connector Jupiter has a 16 pin TE Micro MaTch connector for inputs and outputs Part number See and for wiring 1 338068 6 Potentiometer PWM encoder interface information Polarization hole on PCB indicates pin 1 and ensures correct cable position Pin numbers and connector s pinout are shown below Pin Name Description 1 HS_GPI2 DIR High speed digital differential input 2 Command source Direc...

Page 65: ...gh speed digital differential input 1 Command source Pulse input Feedbacks PWM input 9 GND Ground 10 AN_IN1 Single ended analog input 1 11 AN_IN2 Differential analog inverting input 2 Single ended analog input 2 ground 12 AN_IN2 Differential analog non inverting input 2 Single ended analog input 2 13 GND Ground 14 LS_GPI2 Low speed digital single ended input 2 Could be safe torque off input on req...

Page 66: ...is shared with and servo drives which allows using the with Jupiter Pluto Neptune IO starter kit Back to top 7 2 5 RS232 interface connector The connector is a 6 pin TE Micro MaTch connector Part number Polarization hole on PCB indicates pin 1 and ensures correct cable RS232 interface 338068 6 position Pin numbers and connector pinout are shown below Pin Name Description 1 RETURN_TX Daisy chain TX...

Page 67: ...GND Common internally connected to driver GND 6 RETURN_TX Daisy chain TX return line connected to pin 1 Back to top 7 2 6 Supply and shunt connector For the Jupiter versions JUP 20 80 and JUP 15 130 the Supply and shunt connector is a 5 pin Wurth Electronics connector Part number See 691313710005 for power wiring information Pin numbers and connectors pinout are shown below Power supply wiring Pin...

Page 68: ...nd JUP 35 130 the and the is a 8 pin Phoenix connector Part number Supply and shunt connector Motor connector 1713927 See and for power and motor wiring information Pin numbers and connectors pinout are shown below Power supply wiring Motor wiring Pin Name Description 1 PH_A Motor phase A connection in DC motors 2 PH_B Motor phase B connection in DC motors 3 PH_C Motor phase C connection not conne...

Page 69: ... the Jupiter versions JUP 20 80 and JUP 15 130 the Motor connector is a 4 pin Wurth Electronics connector Part number See 691313710004 Motor wiring for motor wiring information Pin numbers and connectors pinout are shown below recommendations Pin Name Description 1 PH_A Motor phase A connection in DC motors 2 PH_B Motor phase B connection in DC motors 3 PH_C Motor phase C connection not connected ...

Page 70: ... STO connector is a 6 pin Phoenix connector Part number A notch in the connector indicates pin 1 and ensures correct mating 1881480 connector position Pin numbers and pinout are shown below Pin Name Description 1 STO1 STO1 positive input 2 STO1 STO1 negative input 3 STO2 STO2 positive input 4 STO2 STO2 negative input 5 STO_SUP Positive supply for STO 6 GND Negative supply for STO ...

Page 71: ...tor safety connector is a 4 pin Phoenix connector Part number A notch in the connector indicates pin 1 and ensures correct mating connector 1881464 position Pin numbers and pinout are shown below Pin Name Description 1 EXT_TEMP External temperature sensor input 2 GND Ground connection 3 BRAKE Brake negative output 4 BRAKE Brake positive output Back to top 7 2 11 USB connector ...

Page 72: ...lease see page for further information upgrades USB interface Pin numbers and standard pinout are shown below Pin Name Description 1 USB_SUPPLY USB 5 V supply input Used to power logic circuits when no external power supply is available 2 USB D USB Data line 3 USB D USB Data line 4 Not connected 5 GND Ground SHIELD NC Not Connected Connector metallic shield USB drivers Please install the USB drive...

Page 73: ...a 4 pin TE Micro MaTch connector Part number Polarization hole on PCB indicates pin 1 and ensures correct mating CAN interface 338068 4 connector position Pin numbers and pinout are shown below Pin Name Description 1 CAN_GND CAN ground connected to circuit ground 2 CANL CAN bus line dominant low 3 CANH CAN bus line dominant high 4 CAN_GND CAN ground connected to circuit ground ...

Page 74: ... indicates pin 1 and ensures correct TE 1 338068 2 cable position See for more information about different feedbacks wiring Feedback connections Pin numbers and connector s pinout are shown below Pin Name Description 1 5V_OUT 5 V 250mA supply for feedbacks 2 GND Ground connection 3 ENC_A SIN Single ended digital encoder A input Differential digital encoder A input Sin Cos encoder Sin input 4 ENC_A...

Page 75: ...r Index input Differential digital encoder Index input Sin Cos encoder Reference input 8 ENC_Z REF Differential Encoder Index input Sin Cos encoder Reference input 9 GND Ground connection 10 HALL_1 Analog Halls A input Digital Halls A input 11 HALL_2 Analog Halls B input Digital Halls B input 12 HALL_3 Analog Halls C input Digital Halls C input The connector pinout is identical as in Pluto Servo d...

Page 76: ...nector Part number Polarization hole on PCB indicates pin 1 and ensures correct cable 338068 6 position Pin numbers and connector pinout are shown below Pin Name Description 1 5V_OUT 5 V 250 mA supply 2 GND Ground connection 3 CLK Absolute encoder CLK positive signal input 4 CLK Absolute encoder CLK negative signal input 5 DATA Absolute encoder DATA positive signal input 6 DATA Absolute encoder DA...

Page 77: ...1 338068 6 Potentiometer PWM encoder interface information Polarization hole on PCB indicates pin 1 and ensures correct cable position Pin numbers and connector s pinout are shown below Pin Name Description 1 HS_GPI2 DIR High speed digital differential input 2 Command source Direction input 2 HS_GPI2 DIR High speed digital differential input 2 Command source Direction input 3 GND Ground 4 GPO2 Dig...

Page 78: ...WM input 9 GND Ground 10 AN_IN1 Single ended analog input 1 11 AN_IN2 Differential analog inverting input 2 Single ended analog input 2 ground 12 AN_IN2 Differential analog non inverting input 2 Single ended analog input 2 13 GND Ground 14 LS_GPI2 Low speed digital single ended input 2 Could be safe torque off input on request please contact us 15 LS_GPI1 Low speed digital single ended input 1 16 ...

Page 79: ...tor is a 6 pin TE Micro MaTch connector Part number Polarization hole on PCB indicates pin 1 and ensures correct cable RS232 interface 338068 6 position Pin numbers and connector pinout are shown below Pin Name Description 1 RETURN_TX Daisy chain TX return line connected to pin 6 2 GND Common internally connected to driver GND 3 RX RS232 receive data should be connected to master TX 4 TX RS232 tra...

Page 80: ...t connector For the Jupiter versions JUP 20 80 and JUP 15 130 the Supply and shunt connector is a 5 pin Wurth Electronics connector Part number See 691313710005 for power wiring information Pin numbers and connectors pinout are shown below Power supply wiring Pin Name Description 1 SHUNT_OUT Shunt output 2 POW_SUP Power supply input 3 GND Ground connection 4 LOGIC_SUP Logic supply input 5 PE Prote...

Page 81: ...d shunt connector Motor connector 1713927 See and for power and motor wiring information Pin numbers and connectors pinout are shown below Power supply wiring Motor wiring Pin Name Description 1 PH_A Motor phase A connection in DC motors 2 PH_B Motor phase B connection in DC motors 3 PH_C Motor phase C connection not connected in DC motors 4 SHUNT_OUT Shunt output 5 POW_SUP Power supply input 6 GN...

Page 82: ...iring information Pin numbers and connectors pinout are shown below recommendations Pin Name Description 1 PH_A Motor phase A connection in DC motors 2 PH_B Motor phase B connection in DC motors 3 PH_C Motor phase C connection not connected in DC motors 4 PE Protective Earth connection 7 2 20 STO connector The Safe Torque Off STO connector is a 6 pin Phoenix connector Part number A notch in the co...

Page 83: ... 2 STO1 STO1 negative input 3 STO2 STO2 positive input 4 STO2 STO2 negative input 5 STO_SUP Positive supply for STO 6 GND Negative supply for STO 7 2 21 Motor safety connector The Motor safety connector is a 4 pin Phoenix connector Part number A notch in the connector indicates pin 1 and ensures correct mating connector 1881464 position Pin numbers and pinout are shown below ...

Page 84: ...ut 2 GND Ground connection 3 BRAKE Brake negative output 4 BRAKE Brake positive output 7 2 22 USB connector Neptune includes a 5 pin micro USB connector for USB interface This allows easy access to the driver configuration using or downloading MotionLab firmware Please see page for further information upgrades USB interface Pin numbers and standard pinout are shown below Pin Name Description ...

Page 85: ... 4 Not connected 5 GND Ground SHIELD NC Not Connected Connector metallic shield USB drivers Please install the USB drivers before connecting the Neptune see Installing USB driver on Windows 8 8 1 7 3 Mating connectors 7 3 1 CAN interface mating connector For flat ribbon cable The easiest and lowest cost option is using a flat ribbon cable with 1 27 mm pitch Manufacturer Manufacturer ID Farnell Dig...

Page 86: ...r volume applications Jupiter connectors include locking latches that provide audible click during mating and ensure assembly robustness Manufacturer Manufacturer ID Farnell Digikey Mouser Connector TE Connectivity 338095 4 2420421 571 338095 4 Crimp terminals TE Connectivity 1 338097 1 1291807 A99491CT ND 571 1 338097 1 Suggested cable Use 0 2 0 5 mm 20 24 AWG twisted pair with 120 Ω differential...

Page 87: ...Back to top 7 3 2 Feedbacks mating connectors For ribbon cable The easiest and lowest cost option is using a flat ribbon cable with 1 27 mm pitch Please see Pluto feedbacks cable Manufacturer Manufacturer ID Farnell Digikey Mouser Connector TE Connectivity 8 215083 2 149093 A99460CT ND 571 8 215083 2 Suggested cable 3M 3302 16 300SF 1369751 MC16M 300 ND 517 C3302 16SF ...

Page 88: ...ches that provide audible click during mating and ensure assembly robustness Manufacturer Manufacturer ID Farnell Digikey Mouser Connector TE Connectivity 1 338095 2 A99497 ND 571 1 338095 2 Crimp terminals TE Connectivity 1 338097 1 1291807 A99491CT ND 571 1 338097 1 Suggested cable Use 0 2 0 5 mm 20 24 AWG flexible wires Back to top 7 3 3 Absolute encoder mating connectors For flat ribbon cable ...

Page 89: ...t provide audible click during mating and ensure assembly robustness Manufacturer Manufacturer ID Farnell Digikey Mouser Connector TE Connectivity 338095 6 A99416 ND 571 338095 6 Crimp terminals TE Connectivity 1 338097 1 1291807 A99491CT ND 571 1 338097 1 Suggested cable Use 0 2 0 5 mm 20 24 AWG Back to top 7 3 4 I O mating connectors For ribbon cable The easiest and lowest cost option is using a...

Page 90: ...ng cleaner and is a preferred option for volume applications Jupiter connectors include locking latches that provide audible click during mating and ensure assembly robustness Manufacturer Manufacturer ID Farnell Digikey Mouser Connector TE Connectivity 1 338095 6 A99495 ND 571 1 338095 6 Crimp terminals TE Connectivity 1 338097 1 1291807 A99491CT ND 571 1 338097 1 Suggested cable Use 0 2 0 5 mm 2...

Page 91: ...6 Suggested cable 3M HF365 06SF 1859550 MD06R 100 ND 517 HF365 06SF For crimped cable Some applications require single cables with crimp terminals This makes the wiring cleaner and is a preferred option for volume applications Jupiter connectors include locking latches that provide audible click during mating and ensure assembly robustness Manufacturer Manufacturer ID Farnell Digikey Mouser Connec...

Page 92: ...al block mating connector provides an easy installation and connection Manufacturer Manufacturer ID Farnell Digikey Mouser Connector Wurth Electronics 691352710005 1841344 732 2778 ND 710 691352710005 Wire gauges Dimension the wiring according to the application current ratings Higher section is preferred to minimize resistance and wire self heating Recommended wire section is 1 5 mm 4 mm ...

Page 93: ...ock mating connector provides an easy installation and connection Manufacturer Manufacturer ID Farnell Digikey Mouser Connector Wurth Electronics 691352710004 1841343 732 2777 ND 710 691352710004 Wire gauges Dimension the wiring according to the application current ratings Higher section is preferred to minimize resistance and wire self heating Recommended wire section is 1 5 mm 4 mm ...

Page 94: ...inal block mating connector provides an easy installation and connection Manufacturer Manufacturer ID Farnell Digikey Mouser Connector Phoenix Contact 1881367 277 1434 ND 651 1881367 Wire gauges Dimension the wiring according to the application current ratings Higher section is preferred to minimize resistance and wire self heating Recommended wire section is 0 14 mm 0 5 mm ...

Page 95: ... terminal block mating connector provides an easy installation and connection Manufacturer Manufacturer ID Farnell Digikey Mouser Connector Phoenix Contact 1881341 277 1432 ND 651 1881341 Wire gauges Dimension the wiring according to the application current ratings Higher section is preferred to minimize resistance and wire self heating Recommended wire section is 0 14 mm 0 5 mm ...

Page 96: ...micro B as used in mobile phones chargers are valid for interfacing the Jupiter Following are suggested part numbers Connector Manufacturer Manufacturer ID Farnell Digikey Mouser Micro USB 2 0 cable assembly Molex 68784 0002 1617586 WM17146 ND 538 68784 0002 7 4 Signalling LEDs Jupiter Servo Drive has 4 signalling LEDs near the CAN interface connector and USB connector ...

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Page 98: ...T Orange LED is turned on with the Shunt PWM signal and indicates that maximum user voltage has been exceeded and Shunt is enabled Back to top 7 4 2 CAN signalling LEDs There are 2 LEDs besides the CAN interface connector These LEDs provide information regarding communication status according to CANopen CiA 303 3 The Red LED is and green one is recommendations ERROR LED RUN LED The CANopen ERROR L...

Page 99: ...artbeat consumer has occurred Triple flash Sync error The sync message has not been received within the configured communication cycle period time out On Bus off The CAN controller is bus off The CANopen RUN LED indicates the status of the CANopen network state machine Next table shows the CANopen RUN LED truth table RUN LED State Description Off Off The device is switched off Blinking Pre operati...

Page 100: ... off phase 1000 ms Double flash Sequence of 2 short flashes 200 ms separated by an off phase 200 ms The sequence is finished by a long off phase 1000 ms Triple flash Sequence of 3 short flashes 200 ms separated by an off phase 200 ms The sequence is finished by a long off phase 1000 ms Blinking On and off with a frequency of 2 5 Hz ON for 200 ms followed by off for 200 ms Back to top ...

Page 101: ...es Communications 8 1 Power supply wiring The Jupiter has a single and has separated supply inputs for the logic and the power stage An internal power supply provides circuits Supply and shunt connector with appropriate voltages as well as a regulated 5 V output voltage to supply feedback sensors and I O The Jupiter can be powered from USB for configuration purposes without the need of an external...

Page 102: ...ed through two different pins LOGIC_SUP and POW_SUP Therefore the logic circuitry and the power stage can be powered from different power supplies The Jupiter versions JUP 20 80 and JUP 50 80 supports 10 V to 80 V in both inputs The Jupiter versions JUP 15 130 and JUP 35 130 supports 10 V to 80 V in the LOGIC_SUP input and 10 V to 130 V in the POW_SUP input The following picture shows the Jupiter ...

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Page 104: ...r versions JUP 20 80 and JUP 50 80 if POW_SUP voltage is higher than LOGIC_SUP voltage the logic circuitry is powered from the POW_SUP supply The following picture shows the Jupiter versions JUP 15 130 and JUP 35 130 power supply connection diagram For safety reasons the power supply must always provide full galvanic isolation Back to top ...

Page 105: ...307 8 1 3 Simplified battery supply connection Next figure shows a simplified wiring diagram for the Jupiter Standard version and High Current version power supply from a battery Next figure shows a simplified wiring diagram for the Jupiter High Voltage version and High Current High Voltage version power supply from a battery ...

Page 106: ... sense and charge the battery Always ensure that the battery can accept this charge current which will be within the Jupiter current ratings Back to top 8 1 4 Connection of multiple drivers Always use star connections when different servo drivers are connected to the same power supply Connect each drive to the common supply using separate wires for positive and return ...

Page 107: ...s Wire section The minimum wire section is determined by the current consumption and the allowed voltage drop across the conductor It is preferred to use wide section stranded wires to reduce impedance power losses and ease the assembly Insulator size should not exceed 5 mm connector pitch Following table indicates recommended section Connection Minimum wire size Maximum wire size ...

Page 108: ... prevent cable damage or wrong contacts Ensure crimped ferrule diameter does not exceed 2 5 mm and the insulator is 5 mm Following are some suggested ferrules Manufacturer Part number Image Description WAGO 216 206 2 5 mm 14 AWG 2 WAGO 216 224 1 5 mm 16 AWG 2 Wire length The distance between the Jupiter Servo Drive and the power supply should be minimized when possible Short power cables are prefe...

Page 109: ... conductive surface connected to earth Note that the PE terminal is internally connected with the Jupiter Servo Drive standoffs High current wiring recommendations Wire section The minimum wire section is determined by the supply and motor current It is preferred to use wide section stranded wires to reduce impedance power losses and ease the assembly Insulator size should not exceed 6 35 mm conne...

Page 110: ... must be magnetically shielded and must be rated for the motor surge current Typically the necessary values are around 100 μH Back to top 8 1 6 Recommended power supply connection Jupiter logic and power supply is provided through two different pins LOGIC_SUP and POW_SUP Therefore the logic circuitry and the power stage can be powered from different power supplies The Jupiter versions JUP 20 80 an...

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Page 112: ...ltage the logic circuitry is powered from the POW_SUP supply The following picture shows the Jupiter versions JUP 15 130 and JUP 35 130 power supply connection diagram For safety reasons the power supply must always provide full galvanic isolation 8 1 7 Simplified battery supply connection Next figure shows a simplified wiring diagram for the Jupiter Standard version and High Current version power...

Page 113: ...ROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 113 307 Next figure shows a simplified wiring diagram for the Jupiter High Voltage version and High Current High Voltage version power supply from a battery ...

Page 114: ...urrent sense and charge the battery Always ensure that the battery can accept this charge current which will be within the Jupiter current ratings 8 1 8 Connection of multiple drivers Always use star connections when different servo drivers are connected to the same power supply Connect each drive to the common supply using separate wires for positive and return ...

Page 115: ...termined by the current consumption and the allowed voltage drop across the conductor It is preferred to use wide section stranded wires to reduce impedance power losses and ease the assembly Insulator size should not exceed 5 mm connector pitch Following table indicates recommended section Connection Minimum wire size Maximum wire size Stranded wire preferred 1 5 mm2 4 mm 12 AWG 2 Solid wire 1 5 ...

Page 116: ... Ensure crimped ferrule diameter does not exceed 2 5 mm and the insulator is 5 mm Following are some suggested ferrules Manufacturer Part number Image Description WAGO 216 206 2 5 mm 14 AWG 2 WAGO 216 224 1 5 mm 16 AWG 2 Wire length The distance between the Jupiter Servo Drive and the power supply should be minimized when possible Short power cables are preferred For best immunity use twisted cabl...

Page 117: ... conductive surface connected to earth Note that the PE terminal is internally connected with the Jupiter Servo Drive standoffs High current wiring recommendations Wire section The minimum wire section is determined by the supply and motor current It is preferred to use wide section stranded wires to reduce impedance power losses and ease the assembly Insulator size should not exceed 6 35 mm conne...

Page 118: ...allel with other wires for long distances especially feedback and signal wires The parasitic capacitance between motor wires should not exceed 10 nF If very long cables 100 meters are used this condition may not be met In this case add series inductors between the Jupiter outputs and the cable The inductors must be magnetically shielded and must be rated for the motor surge current Typically the n...

Page 119: ... Wire ferrules Motor choke High current wiring recommendations Wire section Wire ferrules Wire length 8 2 1 AC and DC Brushless motors Brushless motors should be connected to phases A B and C pins Note that some manufacturers may use different phase name conventions see Table below A motor choke with the three phases winded together is recommended to minimize potential noise issues ...

Page 120: ...Unauthorized Copies Prohibited Page of 120 307 Phase name Alphabetic Numeric UVW PH_A A 1 U PH_B B 2 V PH_C C 3 W Back to top 8 2 2 DC motors and voice coil actuators DC motors and voice coil actuators are connected to phase A and phase B connections Phase C output is left unconnected ...

Page 121: ...wire bipolar stepper motors The connection diagram is shown in next figure Note that stepper phases A and B are connected together to Jupiter PH_C output The connection between the two phases should be made as close as possible to the driver The current ratings specified in figure are divided by 2 using this configuration since phase C shares the current of two phases The connection of 3 phase bip...

Page 122: ...vided by 2 when working with 2 phase bipolar stepper motors Back to top 8 2 4 External Shunt resistor The external shunt resistor should be connected between SHUNT_OUT and POW_SUP pins of the Jupiter Supply and shunt connector It s strongly recommended to use an external fuse to limit the maximum power dissipation according to the chosen shunt resistor ...

Page 123: ... or reversals the mechanical energy is converted into electrical energy by the motor This energy is injected into the power supply and could lead to an increase of the supply voltage depending on the power supply characteristics especially its output capacitance and then damage both the controller and the power supply A shunt circuit prevents the bus voltage from rising too high and therefore prot...

Page 124: ...e current protection This information must be provided by the battery manufacturer Reverse currents might cause catastrophic battery failure Shunt Resistor Sizing To size the shunt resistor the parameters in next table should be known or estimated Abbreviation Parameter Typical Value Electrical parameters VNOM Nominal Bus voltage V 10 V to 130 V VMAX Turn on voltage for shunt circuit user configur...

Page 125: ...ated to system loses during deceleration J ED Net deceleration energy J PD PK Deceleration peak power W PD AV Average deceleration power on a cyclic system W RSH Calculated shunt resistor Ω 5 to 200 PR Shunt resistor rated power W Use following equations to calculate the net deceleration energy E eqn 1 by subtracting system loses during deceleration E eqn 2 from the kinetic energy D L E eqn 3 of t...

Page 126: ...citance is the Jupiter internal 600 µF however typical power supplies have large output capacitances that are parallel to the bus capacitance Since battery operated systems allow regenerative breaking this equation is not valid in this case The worst case is a diode protected system 4 If a shunt resistor is necessary the deceleration peak power P should be calculated using eqn 5 D PK 5 In systems ...

Page 127: ...n two shunt resistor values it is suggested to choose the lowest resistance value since the DC can be easily adjusted 7 Back to top Safe Torque Off connection The Safe Torque Off STO function is used to prevent motor rotation in an emergency event while the Jupiter remains connected to the power supply When STO is activated the power can not reach the drive and the motor shaft will slow down until...

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Page 129: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 129 307 Back to top Motor safety systems connection ...

Page 130: ... add to the system a motor brake and also an external temperature sensor for the motor Electromechanical brakes are needed in critical applications where the disconnection of the motor or a lack of electric braking could be dangerous or harmful e g falling suspended loads Jupiter Digital Servo Drive includes a brake output 1 A full temperature range to that end Next figure show how to connect a br...

Page 131: ... The brake nominal voltage is the same that the power supply voltage The brake nominal voltage is lower than the power supply voltage In this case the brake output voltage can be easily via the GPO5 configured PWM duty cycle Although effective brake voltage will be reduced by the PWM ensure the brake withstands the peak voltage Brake connection using an external power supply ...

Page 132: ...tput is a N Channel MOSFET that operates as a switch The brake is internally connected to When correctly configured it will be enabled GPO5 automatically Since electromechanical brakes are normally locked devices for passive safety reasons the switch becomes connected to unlock the brake For instance a Drive power failure would open the switch and therefore activate the electromechanical brake Nex...

Page 133: ...t maximum 10 s Overvoltage Overtemperature Turn on and turn off times are specified for loads at 24 VDC and 700 mA Turn on and turn off times are defined as the time to reach 95 of nominal current The real time required for mechanical braking will strongly depend on the brake model and its dynamic behavior External temperature sensor wiring An external temperature sensor PTC thermistor can be conn...

Page 134: ...d Page of 134 307 The suggested PTC thermistor value is a 1 KΩ nominal resistance 25 ªC as Vishay PTC TFPTL10L1001FL2B Details The external temperature sensor input has the following electrical specifications Specification Value Type of input Single ended ESD protection 1000 V Human Body Model 300 V Machine Model ...

Page 135: ...he motor Short cables are preferred since they reduce power losses as well should be minimized when possible as electromagnetic emissions and immunity Avoid running motor wires in parallel with other wires for long distances especially feedback and signal wires The parasitic capacitance between motor wires should not exceed 10 nF If very long cables 100 meters are used this condition may not be me...

Page 136: ...ity is a concern or that must comply with the EMC standards the use of an external common modechoke is necessary Place the choke as close to the driver as possible 2 turns to the choke are recommended for best performance Make sure the chosen choke does not saturate at the maximum operating phase current If this happens the choke temperature would increase rapidly Next table shows a choke that fit...

Page 137: ...mmended section Connection Minimum wire size Maximum wire size Stranded wire preferred 2 mm2 4 mm 12 AWG 2 Solid wire 3 mm2 6 mm 10 AWG 2 Wire ferrules It is recommended to use wire ferrules to prevent cable damage or wrong contacts Ensure crimped ferrule diameter does not exceed 2 5 mm and the insulator is 5 mm Following are some suggested ferrules Manufacturer Part number Image Description Phoen...

Page 138: ...e used this condition may not be met In this case add series inductors between the Jupiter outputs and the cable The inductors must be magnetically shielded and must be rated for the motor surge current Typically the necessary values are around 100 μH Back to top 8 2 6 AC and DC Brushless motors Brushless motors should be connected to phases A B and C pins Note that some manufacturers may use diff...

Page 139: ... Prohibited Page of 139 307 Phase name Alphabetic Numeric UVW PH_A A 1 U PH_B B 2 V PH_C C 3 W 8 2 7 DC motors and voice coil actuators DC motors and voice coil actuators are connected to phase A and phase B connections Phase C output is left unconnected Use a motor choke with 2 turns of the phase wires ...

Page 140: ...re Note that stepper phases A and B are connected together to Jupiter PH_C output The connection between the two phases should be made as close as possible to the driver The current ratings specified in figure are divided by 2 using this configuration since phase C shares the current of two phases The connection of 3 phase bipolar stepper motors is identical to the one of the brushless motors Curr...

Page 141: ... connected between SHUNT_OUT and POW_SUP pins of the Jupiter Supply and shunt connector It s strongly recommended to use an external fuse to limit the maximum power dissipation according to the chosen shunt resistor Shunt resistor connections should also be as short as possible to reduce parasitic inductances Shunt resistor may have hot surfaces during operation Shunt resistor overview and sizing ...

Page 142: ...activated when the DC bus voltage exceeds a certain value defined by the user Its PWM duty cycle can also be configured by the user In general a battery powered system is capable of absorbing regenerative energy and therefore no shunt resistor would be needed However only use this option if the battery is designed to accept negative current peaks and does not provide a reverse current protection T...

Page 143: ... of inertia kg m N m s 2 2 JL Load moment of inertia kg m N m s 2 2 TF Friction torque N m tD Time to deceleration s tCYC Time between decelerations cycles t s D Calculated parameters EK System kinetic energy before deceleration J EL Energy related to system loses during deceleration J ED Net deceleration energy J PD PK Deceleration peak power W PD AV Average deceleration power on a cyclic system ...

Page 144: ... safe approach 1 2 3 If the calculated net deceleration energy E exceeds the energy that bus capacitors can store a shunt resistor is required see eqn 4 Note that the minimum D capacitance is the Jupiter internal 600 µF however typical power supplies have large output capacitances that are parallel to the bus capacitance Since battery operated systems allow regenerative breaking this equation is n...

Page 145: ...ween two shunt resistor values it is suggested to choose the lowest resistance value since the DC can be easily adjusted 7 8 2 10 Safe Torque Off connection The Safe Torque Off STO function is used to prevent motor rotation in an emergency event while the Jupiter remains connected to the power supply When STO is activated the power can not reach the drive and the motor shaft will slow down until i...

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Page 147: ...safety an security systems This allows to add to the system a motor brake and also an external temperature sensor for the motor Electromechanical brakes are needed in critical applications where the disconnection of the motor or a lack of electric braking could be dangerous or harmful e g falling suspended loads Jupiter Digital Servo Drive includes a brake output 1 A full temperature range to that...

Page 148: ...The on board supply connection is useful when The brake nominal voltage is the same that the power supply voltage The brake nominal voltage is lower than the power supply voltage In this case the brake output voltage can be easily via the GPO5 configured PWM duty cycle Although effective brake voltage will be reduced by the PWM ensure the brake withstands the peak voltage ...

Page 149: ...be used when the brake nominal voltage is higher than the power supply voltage An internal freewheling diode in anti parallel with the brake is provided on board This will prevent inductive kicking voltage rise when current through the inductor falls to zero The Jupiter brake output can also be used as a general purpose high current digital output GPO5 This can be easily configured using Motion La...

Page 150: ...the switch and therefore activate the electromechanical brake Next table clarifies the operation of this output Brake state value Brake switch Mechanical brake Active Set brake 1 Open Locked braking Off Set brake 0 Closed Unlocked not braking User should verify that the application will be within the brake output specifications shown in next table Specification Value Type of output N Channel MOSFE...

Page 151: ... time to reach 95 of nominal current The real time required for mechanical braking will strongly depend on the brake model and its dynamic behavior External temperature sensor wiring An external temperature sensor PTC thermistor can be connected to the Jupiter to measure the motor temperature The following picture shows the recommended connection The suggested PTC thermistor value is a 1 KΩ nomina...

Page 152: ...t is preferred to use wide section stranded wires to reduce impedance power losses and ease the assembly Insulator size should not exceed 5 mm connector pitch Following table indicates recommended section Connection Minimum wire size Maximum wire size Stranded wire preferred 1 5 mm2 4 mm2 Solid wire 1 5 mm2 4 mm2 Wire length The distance between the Jupiter Servo Drive and the motor Short cables a...

Page 153: ...tors between the Jupiter outputs and the cable The inductors must be magnetically shielded and must be rated for the motor surge current Typically the necessary values are around 100 μH Wire ferrules It is recommended to use wire ferrules to prevent cable damage or wrong contacts Ensure crimped ferrule diameter does not exceed 2 5 mm and the insulator is 5 mm Following are some suggested ferrules ...

Page 154: ... Jupiter Servo Drive specifications Type Manufacturer Reference Output Choke Emikon CH 1 High current wiring recommendations Wire section The minimum wire section is determined by the supply and motor current It is preferred to use wide section stranded wires to reduce impedance power losses and ease the assembly Insulator size should not exceed 6 35 mm connector pitch Following table indicates re...

Page 155: ... very long cables 100 meters are used this condition may not be met In this case add series inductors between the Jupiter outputs and the cable The inductors must be magnetically shielded and must be rated for the motor surge current Typically the necessary values are around 100 μH 8 3 Feedback connections The motor has inputs for differential or single ended digital incremental encoders for digit...

Page 156: ...uts for velocity and or position control as well as commutation sensor The encoder provides incremental position feedback that can be extrapolated into precise velocity or position information Using high resolution encoders allows Jupiter Servo Drive to use sinusoidal commutation Channel A and channel B signals should have a phase shift of 90 degrees Based on the speed and the order of the pulse t...

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Page 158: ...s where low speed smoothness is the objective The Jupiter Servo Drive has one differential quadrature encoder interface with optional index signal input Index is a single pulse per revolution signal that can be used to know absolute positions Next table illustrates digital encoder inputs main features Specification Value Type of inputs Non isolated Differential or single ended ESD protected Number...

Page 159: ...ulled up to 5 V and the low signals ENC_A ENC_B and ENC_Z are biased to 2 5 V This arrangement let user to connect either open collector and totem pole single ended output encoders or differential output encoders The encoder interface accepts an RS 422 differential quadrature line driver signal in the range of 0 V to 5 V up to 10 MHz When single ended encoder is connected only high signals ENC_A E...

Page 160: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 160 307 Next figure shows the circuit model of the digital encoder inputs ...

Page 161: ... proprietary information Unauthorized Copies Prohibited Page of 161 307 Encoder broken wire detection For differential digital encoders only a broken wire detection circuit is included The circuit is based on 3 EX OR gates only works for differential encoders ...

Page 162: ...OR result 1 and no fault will be generated Back to top Analog encoder interface The Jupiter Servo Drive can use an analog encoder Sin Cos encoder as position and velocity feedback element This type of sensors encode position information by providing a pair of quadrature sine and cosine signals as the motor moves Depending on the both signals amplitude rotor position can be calculated The signals m...

Page 163: ...ame as COS but with 180º phase shift REF One sine half wave per revolution as index pulse REF Same as REF but with 180º phase shift We are aware that the signals are not always perfect sine and cosines This is why Jupiter includes sin cos calibration and adjustment parameters See the EMCL parameters Analog encoder Sin Cos encoder An automatic calibration based on Lissajous curves is included in th...

Page 164: ...1000 4 2 ESD 15 kV air 8 kV contact IEC 61000 4 4 EFT 40 A 5 50 ns Typical voltage range 2 25 2 75 V Maximum voltage range 0 5 5 5 V Maximum working frequency 25 kHz as analog encoder 10 MHz as digital encoder automatic switching Input impedance 120 Ω resistive differential 100 pF capacitive 1 kΩ to GND Resolution 10 bits Next Figure shows how to connect a Sin Cos encoder to Jupiter Servo Drive Re...

Page 165: ...allation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 165 307 Circuit model for each differential channel A B REF is shown in the next figure ...

Page 166: ... as position and velocity feedback element This type of sensor generates digital words that represent the encoder actual position as well as its speed and direction of motion If power is lost its output will be correct whenever power is restored It is not necessary to move to a reference position as with incremental type encoders Next table shows the absolute encoder inputs electrical specificatio...

Page 167: ...d Page of 167 307 Type of inputs Non isolated Differential ESD protected ESD capability IEC 61000 4 2 ESD 12 kV air 12 kV contact IEC 61000 4 4 EFT 4 kV Number of inputs 2 CLK and DATA Nominal voltage range 0 5 V Maximum voltage range 13 16 5 V Next figures show the circuit model for the absolute encoder receiver ...

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Page 169: ...devices that are built into the motor to detect the position of the rotor magnetic field Usually motors include 3 hall sensors spaced 60º or 120º apart Using these 3 signals the drive is capable to detect the position direction and velocity of the rotor Next figures show examples of digital halls signals Digital halls signals example 60º option Digital halls signals example 120º option ...

Page 170: ...ed up to 5 V so industry standard open collector and logic output hall effect sensors can be connected Next table summarizes digital halls inputs main features Specification Value Type of inputs Non isolated Single ended with pull up and low pass filter ESD protected Number of inputs 3 ESD capability IEC 61000 4 2 ESD 15 kV air 8 kV contact IEC 61000 4 4 EFT 40 A 5 50 ns Voltage range 0 5 V Maximu...

Page 171: ...Analog Halls interface The 1 kΩ pull up resistors are disconnected when Analog halls input is selected to prevent the analog data corruption Next figure shows the circuit model of the digital Halls inputs Next figure illustrates how to connect the digital halls to the Jupiter Servo Drive Refer to for more information about connections Feedback wiring recommendations and wires ...

Page 172: ...iring should be physically isolated from motor AC power and all other power wiring Back to top Analog halls interface The Jupiter Servo Drive can operate with analog Hall sensors also known as linear halls as feedback option Signals provided by these sensors are typically 5 V peak to peak sinusoidal signals with 2 5 V offset and a phase shift of 120 degrees These sensors can be used for a fine pos...

Page 173: ...imum working frequency 5 kHz limited by 2nd order Sallen key low pass filter at 10 kHz cutoff frequency Voltage range 0 5 V 10 bits Maximum voltage range 0 3 5 3 V Input impedance 24 kΩ Next figure illustrates the circuit model for one of the linear Halls inputs An active Sallen Key low pass filter provides immunity to motor and feedback noise Note that analog halls pins are shared with to avoid a...

Page 174: ...dential and proprietary information Unauthorized Copies Prohibited Page of 174 307 Next figure shows how to connect the linear Halls to the Jupiter Servo Drive Refer to for more information about connections Feedback wiring recommendations and wires ...

Page 175: ... and proprietary information Unauthorized Copies Prohibited Page of 175 307 Hall sensors wiring must be electrically isolated from motor AC power and any other power wiring Back to top Analog input interface The included page could not be found Back to top ...

Page 176: ...h a duty cycle proportional to the angle position of the rotor Next figure illustrates PWM feedback input for different rotor positions For this feedback interface the high speed digital input 1 is used HS_GPI1 Next table summarizes main features of this input Specification Value for 5 V input Number of inputs 1 Type of input ESD protected Differential ESD capability IEC 61000 4 2 ESD 12 kV air 6 ...

Page 177: ...Input impedance 10 kΩ High level input voltage HS_GPI1 HS_GPI1 150 mV Low level input voltage HS_GPI1 HS_GPI1 600 mV Typical voltage range 0 to 5 V Maximum absolute voltage range 24 V to 24 V Recommended frequency range 500 20000 Hz Minimum detectable pulse width 200 ns Next figure shows the circuit model for the PWM encoder input ...

Page 178: ...allation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 178 307 Next figure illustrates how to connect a PWM encoder to the Jupiter Servo Drive ...

Page 179: ...ide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 179 307 Single ended PWM encoders can also be connected to Jupiter Servo Drive Next figure shows how to do it ...

Page 180: ...High Speed digital inputs PWM encoder wiring should be physically isolated from motor AC power and all other power wiring Back to top Digital encoder interface Jupiter can use single ended or differential encoder inputs for velocity and or position control as well as commutation sensor The encoder provides incremental position feedback that can be extrapolated into precise velocity or position inf...

Page 181: ...07 Channel A and channel B signals should have a phase shift of 90 degrees Based on the speed and the order of the pulse the drive can calculate the motor velocity and position Index signal Z is used to detect absolute rotor position Example of single ended digital encoder inputs Example of digital differential encoder signals ...

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Page 183: ...s where low speed smoothness is the objective The Jupiter Servo Drive has one differential quadrature encoder interface with optional index signal input Index is a single pulse per revolution signal that can be used to know absolute positions Next table illustrates digital encoder inputs main features Specification Value Type of inputs Non isolated Differential or single ended ESD protected Number...

Page 184: ...ulled up to 5 V and the low signals ENC_A ENC_B and ENC_Z are biased to 2 5 V This arrangement let user to connect either open collector and totem pole single ended output encoders or differential output encoders The encoder interface accepts an RS 422 differential quadrature line driver signal in the range of 0 V to 5 V up to 10 MHz When single ended encoder is connected only high signals ENC_A E...

Page 185: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 185 307 Next figure shows the circuit model of the digital encoder inputs ...

Page 186: ... proprietary information Unauthorized Copies Prohibited Page of 186 307 Encoder broken wire detection For differential digital encoders only a broken wire detection circuit is included The circuit is based on 3 EX OR gates only works for differential encoders ...

Page 187: ...no fault will be generated Analog encoder Sin Cos encoder The Jupiter Servo Drive can use an analog encoder Sin Cos encoder as position and velocity feedback element This type of sensors encode position information by providing a pair of quadrature sine and cosine signals as the motor moves Depending on the both signals amplitude rotor position can be calculated The signals may be generated by opt...

Page 188: ... 180º phase shift REF One sine half wave per revolution as index pulse REF Same as REF but with 180º phase shift We are aware that the signals are not always perfect sine and cosines This is why Jupiter includes sin cos calibration and adjustment parameters See the EMCL parameters Analog encoder Sin Cos encoder An automatic calibration based on Lissajous curves is included in this allows adjusting...

Page 189: ...1000 4 2 ESD 15 kV air 8 kV contact IEC 61000 4 4 EFT 40 A 5 50 ns Typical voltage range 2 25 2 75 V Maximum voltage range 0 5 5 5 V Maximum working frequency 25 kHz as analog encoder 10 MHz as digital encoder automatic switching Input impedance 120 Ω resistive differential 100 pF capacitive 1 kΩ to GND Resolution 10 bits Next Figure shows how to connect a Sin Cos encoder to Jupiter Servo Drive Re...

Page 190: ...allation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 190 307 Circuit model for each differential channel A B REF is shown in the next figure ...

Page 191: ...sition and velocity feedback element This type of sensor generates digital words that represent the encoder actual position as well as its speed and direction of motion If power is lost its output will be correct whenever power is restored It is not necessary to move to a reference position as with incremental type encoders Next table shows the absolute encoder inputs electrical specifications Spe...

Page 192: ...d Page of 192 307 Type of inputs Non isolated Differential ESD protected ESD capability IEC 61000 4 2 ESD 12 kV air 12 kV contact IEC 61000 4 4 EFT 4 kV Number of inputs 2 CLK and DATA Nominal voltage range 0 5 V Maximum voltage range 13 16 5 V Next figures show the circuit model for the absolute encoder receiver ...

Page 193: ...nterface The Hall sensors are Hall effect devices that are built into the motor to detect the position of the rotor magnetic field Usually motors include 3 hall sensors spaced 60º or 120º apart Using these 3 signals the drive is capable to detect the position direction and velocity of the rotor Next figures show examples of digital halls signals ...

Page 194: ...tion and velocity control Resolution using these sensors is much lower than using encoders Jupiter can use single ended Hall sensors to drive the motor with trapezoidal commutation but not with sinusoidal commutation This interface accepts 0 5 V level input signals Inputs are pulled up to 5 V so industry standard open collector and logic output hall effect sensors can be connected Next table summa...

Page 195: ...ge range 0 5 V Maximum voltage range 0 5 5 5 V Maximum working frequency 50 kHz limited by noise filter Type of sensors Open collector Logic output Push pull output Pull up resistor value 1 kΩ The pull up is activated only when the driver is configured to use digital hall sensors Digital halls input pins are shared with pins Analog Halls interface The 1 kΩ pull up resistors are disconnected when A...

Page 196: ...ial and proprietary information Unauthorized Copies Prohibited Page of 196 307 Next figure illustrates how to connect the digital halls to the Jupiter Servo Drive Refer to for more information about connections Feedback wiring recommendations and wires ...

Page 197: ...g should be physically isolated from motor AC power and all other power wiring Analog Halls interface The Jupiter Servo Drive can operate with analog Hall sensors also known as linear halls as feedback option Signals provided by these sensors are typically 5 V peak to peak sinusoidal signals with 2 5 V offset and a phase shift of 120 degrees These sensors can be used for a fine positioning of the ...

Page 198: ...ng frequency 5 kHz limited by 2nd order Sallen key low pass filter at 10 kHz cutoff frequency Voltage range 0 5 V 10 bits Maximum voltage range 0 3 5 3 V Input impedance 24 kΩ Next figure illustrates the circuit model for one of the linear Halls inputs An active Sallen Key low pass filter provides immunity to motor and feedback noise Note that analog halls pins are shared with to avoid any signal ...

Page 199: ...dential and proprietary information Unauthorized Copies Prohibited Page of 199 307 Next figure shows how to connect the linear Halls to the Jupiter Servo Drive Refer to for more information about connections Feedback wiring recommendations and wires ...

Page 200: ...eedback Potentiometer The Jupiter can use an analog signal as position and velocity feedback element In this case rotor position or velocity is calculated depending on the voltage level of one analog input There are 2 analog inputs with different input voltage range Both can be used as position or velocity feedback input selected via software Next table summarizes main features of these analog inp...

Page 201: ... kV air 8 kV contact Analog input resolution 12 bits Maximum operating differential voltage input 2 10 V Maximum operating voltage input 1 0 5 V Maximum voltage on any input pin for input 2 referred to GND 24 V Maximum voltage on any input pin for input 1 referred to GND 24 V Maximum working frequency 10 kHz for input 1 50 kHz for input 2 Input impedance 10 kΩ Next table shows the Jupiter Servo Dr...

Page 202: ...NIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 202 307 Next figure shows the circuit model for the analog input 2 Next figure shows the circuit model for the analog input 1 ...

Page 203: ...ion Unauthorized Copies Prohibited Page of 203 307 Next figures illustrate how to connect an analog source to the Jupiter Servo Drive analog input 2 for differential and single ended sources Refer to Feedback for more information about connections and wires wiring recommendations ...

Page 204: ...ietary information Unauthorized Copies Prohibited Page of 204 307 Next figure illustrates how to connect an analog single ended source to the Jupiter Servo Drive analog input 1 Refer to for more Feedback wiring recommendations information about connections and wires ...

Page 205: ...uide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 205 307 The following picture shows how to connect a potentiometer as a position sensor using analog input 1 ...

Page 206: ... 206 307 Analog feedback wiring should be physically isolated from motor AC power and all other power wiring PWM encoder interface A PWM encoder provides a Pulse Width Modulated signal with a duty cycle proportional to the angle position of the rotor Next figure illustrates PWM feedback input for different rotor positions ...

Page 207: ...gital input 1 is used HS_GPI1 Next table summarizes main features of this input Specification Value for 5 V input Number of inputs 1 Type of input ESD protected Differential ESD capability IEC 61000 4 2 ESD 12 kV air 6 kV contact Input impedance 10 kΩ High level input voltage HS_GPI1 HS_GPI1 150 mV Low level input voltage HS_GPI1 HS_GPI1 600 mV Typical voltage range 0 to 5 V ...

Page 208: ...Copies Prohibited Page of 208 307 Maximum absolute voltage range 24 V to 24 V Recommended frequency range 500 20000 Hz Minimum detectable pulse width 200 ns Next figure shows the circuit model for the PWM encoder input Next figure illustrates how to connect a PWM encoder to the Jupiter Servo Drive ...

Page 209: ...ide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 209 307 Single ended PWM encoders can also be connected to Jupiter Servo Drive Next figure shows how to do it ...

Page 210: ...edback wiring recommendations High speed HS digital inputs interface about High Speed digital inputs PWM encoder wiring should be physically isolated from motor AC power and all other power wiring 8 3 2 Velocity feedback interfaces DC Tachometer The Jupiter Servo Drive can use a DC tachometer signal as velocity feedback element Tachometer provides an analog signal whose voltage level is proportion...

Page 211: ... them can be used as velocity feedback input and can be selected via software depending on the voltage range of the feedback element and its kind of output single ended or differential Next figure illustrates how to connect source tachometer to the Jupiter Servo Drive for differential sources DC tachometer feedback wiring should be physically isolated from motor AC power and all other power wiring...

Page 212: ...tional to the rotor speed There are two analog inputs with different input voltage range Any of them can be used as velocity feedback input and can be selected via software depending on the voltage range of the feedback element and its kind of output single ended or differential Next figure illustrates how to connect source tachometer to the Jupiter Servo Drive for differential sources DC tachomet...

Page 213: ...llowing are several recommendations for analog signals wiring which can effectively reduce noise interference Use to improve noise immunity Twisted pairs help in elimination of noise due to electromagnetic fields by twisting the two signal leads at twisted pair cable regular intervals Any induced disturbance in the wire will have the same magnitude and result in error cancellation Connect the comm...

Page 214: ...ected to signal source GND and outer shield connected to the signal source I O connector frame Leave both shields unconnected on the driver side If the signal source output voltage is larger than 10 V use a 3 resistor differential divider located near the servo drive connector 8 4 IO connections The Jupiter Servo Drive provides various for parameter observation and drive configuration options inpu...

Page 215: ...ls and are 24 V tolerant Next table show their electrical specifications Specification Value Number of inputs 2 GPI1 GPI2 Type of input Single ended ESD protected Low pass filtered ESD capability IEC 61000 4 2 ESD 15 kV air 8 kV contact Input current 0 7 mA 5 V 2 mA 15 V High level input voltage 4 V Vin 24 V Low level input voltage 0 Vin 1 V Input impedance 30 kΩ Max delay 2 μs Max frequency 200 k...

Page 216: ...on Unauthorized Copies Prohibited Page of 216 307 Next figure shows proper inputs connection Jupiter Inputs and outputs are not isolated The ground of the Jupiter Servo Drive and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged ...

Page 217: ...dential and proprietary information Unauthorized Copies Prohibited Page of 217 307 Three wire sensors can also be connected to Jupiter Servo Drive LS inputs Next figures illustrate how to do it for PNP and NPN 3 wire sensors LS_GPI1 can also be used ...

Page 218: ...must be chosen in order to ensure 4 V at the GPI pin considering the input 30 kΩ resistance For Vcc 5 V 1 kΩ is recommended For 24 V 10 kΩ Back to top 8 4 3 High speed HS digital inputs interface The high speed HS non isolated digital inputs are ready for 5 V levels and tolerant to 24 V Next table show their electrical specifications Specification Value ...

Page 219: ...ut voltage 24 V Total rising delay 65 ns Total falling delay 55 ns Receiver differential threshold voltage 7 V V 12 V V common mode input voltage CM CM Receiver input hysteresis 25 mV V V 0 Max frequency 10 MHz Next figures show the circuit model for high speed digital input Resistance values are 10 kΩ which results on a 30 kΩ input impedance This bias resistor configuration allows single ended an...

Page 220: ...ut signal to the positive HS_GPI input HS_GPI1 and HS_GPI2 inputs are in HIGH state by defect Jupiter Inputs and outputs are not isolated The ground of the Jupiter Servo Drive and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged For a high speed signal connection such as to these inputs refer to next figure HS_GPI2 can also be used Step and Di...

Page 221: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 221 307 If a single ended input is used follow the next recommendation ...

Page 222: ... Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 222 307 For three wire sensor connection to these inputs refer to next figures HS_GPI2 can also be used ...

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Page 224: ...formation Unauthorized Copies Prohibited Page of 224 307 Back to top 8 4 4 Analog inputs interface Jupiter Servo Drive has two 12 bit analog inputs with different input voltage ranges Next table shows their main features Specification Value Number of inputs 2 Type of inputs ...

Page 225: ...4 2 ESD 15 kV air 8 kV contact ESD capability input 1 IEC 61000 4 2 ESD 15 kV air 8 kV contact Analog input resolution 12 bits Input 2 differential voltage range 10 V Input 2 max common mode range 10 10 V Input 1 voltage range 0 5 V Maximum working frequency 10 kHz Maximum voltage on any input pin for analog inputs referred to GND 24 V Input impedance see schematic Next figures illustrate analog i...

Page 226: ... get a 0 10 V input range in AN_IN1 input place a 70 kΩ resistor in series with the input Next figure shows how to interface voltage sources to the differential analog input 2 The differential analog input is typically used as a command source Refer to for more information about connections and wires Feedback wiring recommendations ...

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Page 228: ...llation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 228 307 To interface to a single ended non differential voltage source use analog input 1 ...

Page 229: ...orized Copies Prohibited Page of 229 307 Back to top 8 4 5 Digital outputs interface Jupiter Servo Drive has two digital non isolated outputs Refer to for connector s position and pinout Next table shows their main features IO Connector Specification Value Number of outputs 2 Type of output ...

Page 230: ... self protected MOSFET ESD capability IEC 61000 4 2 ESD 15 kV air 8 kV contact Maximum supply output 30 V 5 24 V typical Maximum sink source current Source low current 5 V 5 mA Sink 500 mA 5 or 24 V ON OFF delay 124 μs 30 V and R 100 kΩ load 20 μs 5 V and R 100 kΩ load OFF_ON delay 15μs 30 V and R 100 kΩ load 50 μs 5 V and R 100 kΩ load Max working frequency 3 5 kHz Next figure shows digital outpu...

Page 231: ...and proprietary information Unauthorized Copies Prohibited Page of 231 307 Load should be connected in a different way depending on desired voltage levels 5 V outputs Next figure illustrates how to connect a load to 5 V digital outputs GPO1 can also be used ...

Page 232: ...y information Unauthorized Copies Prohibited Page of 232 307 24 V outputs If 24 V outputs are needed an external power supply should be used For this option outputs may be connected as voltage or current outputs Next figures illustrate how to do it GPO1 can also be used ...

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Page 234: ...hode connected to the positive pole Standard rectifier diodes such as 1N4002 or 1N4934 are appropriate for the application These will prevent inductive kicking voltage rise when current through the inductor falls to zero Actually there are other options to avoid inductive kicking Instead of a diode a varistor or a RC snubber in parallel with the brake can also be used This will improve transistor ...

Page 235: ...olated The ground of the Jupiter and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged Back to top 8 4 6 Low Speed LS single ended digital inputs interface The low speed LS non isolated digital inputs are ready for 5 V levels and are 24 V tolerant Next table show their electrical specifications Specification Value ...

Page 236: ...input Single ended ESD protected Low pass filtered ESD capability IEC 61000 4 2 ESD 15 kV air 8 kV contact Input current 0 7 mA 5 V 2 mA 15 V High level input voltage 4 V Vin 24 V Low level input voltage 0 Vin 1 V Input impedance 30 kΩ Max delay 2 μs Max frequency 200 kHz Inputs electrical equivalent circuit is the following Next figure shows proper inputs connection ...

Page 237: ...ts and outputs are not isolated The ground of the Jupiter Servo Drive and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged Three wire sensors can also be connected to Jupiter Servo Drive LS inputs Next figures illustrate how to do it for PNP and NPN 3 wire sensors LS_GPI1 can also be used ...

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Page 239: ... ensure 4 V at the GPI pin considering the input 30 kΩ resistance For Vcc 5 V 1 kΩ is recommended For 24 V 10 kΩ 8 4 7 High Speed HS digital inputs interface The high speed HS non isolated digital inputs are ready for 5 V levels and tolerant to 24 V Next table show their electrical specifications Specification Value Number of inputs 2 HS_GPI1 HS_GPI2 Type of input ESD protected ...

Page 240: ...ay 65 ns Total falling delay 55 ns Receiver differential threshold voltage 7 V V 12 V V common mode input voltage CM CM Receiver input hysteresis 25 mV V V 0 Max frequency 10 MHz Next figures show the circuit model for high speed digital input Resistance values are 10 kΩ which results on a 30 kΩ input impedance This bias resistor configuration allows single ended and differential input If lower im...

Page 241: ...ut signal to the positive HS_GPI input HS_GPI1 and HS_GPI2 inputs are in HIGH state by defect Jupiter Inputs and outputs are not isolated The ground of the Jupiter Servo Drive and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged For a high speed signal connection such as to these inputs refer to next figure HS_GPI2 can also be used Step and Di...

Page 242: ...Installation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 242 307 If a single ended input is used follow the next recommendation ...

Page 243: ... Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 243 307 For three wire sensor connection to these inputs refer to next figures HS_GPI2 can also be used ...

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Page 245: ... Copies Prohibited Page of 245 307 8 4 8 Analog inputs interface Jupiter Servo Drive has two 12 bit analog inputs with different input voltage ranges Next table shows their main features Specification Value Number of inputs 2 Type of inputs Differential input 2 Single ended input 1 ESD protected ...

Page 246: ...ct ESD capability input 1 IEC 61000 4 2 ESD 15 kV air 8 kV contact Analog input resolution 12 bits Input 2 differential voltage range 10 V Input 2 max common mode range 10 10 V Input 1 voltage range 0 5 V Maximum working frequency 10 kHz Maximum voltage on any input pin for analog inputs referred to GND 24 V Input impedance see schematic Next figures illustrate analog inputs circuit models ...

Page 247: ... get a 0 10 V input range in AN_IN1 input place a 70 kΩ resistor in series with the input Next figure shows how to interface voltage sources to the differential analog input 2 The differential analog input is typically used as a command source Refer to for more information about connections and wires Feedback wiring recommendations ...

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Page 249: ...llation Guide INGENIA MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 249 307 To interface to a single ended non differential voltage source use analog input 1 ...

Page 250: ...igital outputs interface Jupiter Servo Drive has two digital non isolated outputs Refer to for connector s position and pinout Next table shows their main features IO Connector Specification Value Number of outputs 2 Type of output ESD protected Overload short circuit and overtemperature protected with auto restart self protected MOSFET ...

Page 251: ...D 15 kV air 8 kV contact Maximum supply output 30 V 5 24 V typical Maximum sink source current Source low current 5 V 5 mA Sink 500 mA 5 or 24 V ON OFF delay 124 μs 30 V and R 100 kΩ load 20 μs 5 V and R 100 kΩ load OFF_ON delay 15μs 30 V and R 100 kΩ load 50 μs 5 V and R 100 kΩ load Max working frequency 3 5 kHz Next figure shows digital outputs circuit model ...

Page 252: ...and proprietary information Unauthorized Copies Prohibited Page of 252 307 Load should be connected in a different way depending on desired voltage levels 5 V outputs Next figure illustrates how to connect a load to 5 V digital outputs GPO1 can also be used ...

Page 253: ...y information Unauthorized Copies Prohibited Page of 253 307 24 V outputs If 24 V outputs are needed an external power supply should be used For this option outputs may be connected as voltage or current outputs Next figures illustrate how to do it GPO1 can also be used ...

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Page 255: ...hode connected to the positive pole Standard rectifier diodes such as 1N4002 or 1N4934 are appropriate for the application These will prevent inductive kicking voltage rise when current through the inductor falls to zero Actually there are other options to avoid inductive kicking Instead of a diode a varistor or a RC snubber in parallel with the brake can also be used This will improve transistor ...

Page 256: ...nputs and outputs are not isolated The ground of the Jupiter and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged 8 5 Command sources The command source input for the Jupiter can be provided by one of the following options Network interface CANopen or USB Stand alone Analog input 10 V o 0 5 V ...

Page 257: ...ates command source options and which parameters can be controlled Please see page for further details on configuration parameters Command sources old Command source Controlled parameter Network interface Position velocity torque Standalone Position velocity torque Step and direction Position Encoder following electronic gearing Position Analog input 10 V o 0 5 V Position velocity torque PWM comma...

Page 258: ...se than USB and RS 232 and allows higher distances between the Jupiter Servo Drive and the commander Using this command source target position velocity or torque can be set Back to top 8 5 3 Standalone Jupiter Servo Drive is provided with an internal non volatile memory Through the appropriate software tool user can save instructions to this 1 Mb 128K x 8bit EEPROM allowing Jupiter Servo Drive to ...

Page 259: ...input voltage range and type of output of the commander Jupiter Servo Drive provides two analog inputs one 10 V differential input and one 0 to 5 V single ended input Refer to for more details Analog inputs interface about analog inputs The examples shown below are implemented in the IO Starter Kit The next picture shows how to connect a potentiometer to get a 0 to 5 V input single ended As an app...

Page 260: ...ource Step pulse and Direction The direction signal sets the direction of rotation for example logic 0 for clockwise rotation and a logic 1 for counter clockwise rotation Pulse signal is a 50 PWM signal and each pulse on this signal causes the controller to move the motor one step in that direction This command source can be used only for position mode General purpose high speed digital inputs are...

Page 261: ...mation Unauthorized Copies Prohibited Page of 261 307 Refer to for information about connector position and pinout and see for more information Connectors position and pinout High speed HS digital inputs interface about digital inputs Next figure shows how to connect this input ...

Page 262: ...s Prohibited Page of 262 307 Back to top 8 5 6 PWM command PWM input signal specification For this feedback interface the High Speed digital input 2 in TTL configuration is used HS_GPI2 Next table summarizes main features of this input Specification Value for 5 V input Number of inputs 1 Type of input ...

Page 263: ...input voltage HS_GPI2 HS_GPI2 150 mV Low level input voltage HS_GPI2 HS_GPI2 600 mV Recommended frequency range 500 20000 Hz Minimum detectable pulse width 200 ns Next Table shows the Pluto Servo Drive PWM encoder input differential voltage range Pin Vmin Vtyp Vmax Units HS_GPI2 referred to HS_GP2 15 TTL option 0 to 5 TTL option 15 TTL option V Next Figure shows the circuit model for the PWM encod...

Page 264: ...velocity or torque For velocity mode a duty cycle of 50 corresponds with 0 rpm A 0 duty cycle corresponds with the maximum velocity in one direction and a 100 duty corresponds to the maximum velocity in the opposite direction Position and torque modes work in a similar way This mode uses High speed digital input 2 Refer to for information about connector s position and pinout and see for more info...

Page 265: ... 0 duty corresponds with 0 rpm and a 100 duty corresponds with maximum velocity The direction of rotation depends on the value of the Direction signal Position and torque modes work in a similar way Dual input mode uses two general purpose inputs High speed digital input 2 for PWM Command Low speed digital input 1 for Direction Refer to for information about connector s position and pinout and see...

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Page 267: ...al can be used to command the drive in a master slave configuration The gearing ratio input counts to output counts ratio can be configured via software Encoder Following is only a valid option when the Jupiter Servo drive is operated in position mode The auxiliary encoder signal input should be connected to high speed digital input pins Master encoder channel A must be connected to high speed dig...

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Page 269: ... form of input command Supported network interfaces for Jupiter Servo drive are CAN CANopen protocol and USB RS 232 RS 485 USB and RS 232 interfaces are not suitable for long distances or noisy environments These protocols are only recommended for configuration purposes For normal operation is suggested to use the CAN interface or the RS 485 interface This interface is more robust against noise th...

Page 270: ...in the macros This feature can be very useful in applications such as production lines or test equipment where repetitive movements are usual Please refer to Programming your for further information Drive 8 5 10 Analog input User can control the target position velocity or torque using an analog signal Any of the general purpose analog inputs can be used as command source depending on input voltag...

Page 271: ... MOTION CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 271 307 As an application example the next picture shows how to connect a dual track potentiometer to get a 10 V differential input ...

Page 272: ...al source Step pulse and Direction The direction signal sets the direction of rotation for example logic 0 for clockwise rotation and a logic 1 for counter clockwise rotation Pulse signal is a 50 PWM signal and each pulse on this signal causes the controller to move the motor one step in that direction This command source can be used only for position mode General purpose high speed digital inputs...

Page 273: ...mation Unauthorized Copies Prohibited Page of 273 307 Refer to for information about connector position and pinout and see for more information Connectors position and pinout High speed HS digital inputs interface about digital inputs Next figure shows how to connect this input ...

Page 274: ...ited Page of 274 307 8 5 12 PWM command PWM input signal specification For this feedback interface the High Speed digital input 2 in TTL configuration is used HS_GPI2 Next table summarizes main features of this input Specification Value for 5 V input Number of inputs 1 Type of input ESD protected Differential ...

Page 275: ...voltage HS_GPI2 HS_GPI2 600 mV Recommended frequency range 500 20000 Hz Minimum detectable pulse width 200 ns Next Table shows the Pluto Servo Drive PWM encoder input differential voltage range Pin Vmin Vtyp Vmax Units HS_GPI2 referred to HS_GP2 15 TTL option 0 to 5 TTL option 15 TTL option V Next Figure shows the circuit model for the PWM encoder input for TTL option HS input circuit model TTL op...

Page 276: ...uty cycle of 50 corresponds with 0 rpm A 0 duty cycle corresponds with the maximum velocity in one direction and a 100 duty corresponds to the maximum velocity in the opposite direction Position and torque modes work in a similar way This mode uses High speed digital input 2 Refer to for information about connector s position and pinout and see for more information Connectors position and pinout H...

Page 277: ... 0 duty corresponds with 0 rpm and a 100 duty corresponds with maximum velocity The direction of rotation depends on the value of the Direction signal Position and torque modes work in a similar way Dual input mode uses two general purpose inputs High speed digital input 2 for PWM Command Low speed digital input 1 for Direction Refer to for information about connector s position and pinout and see...

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Page 279: ...n be used to command the drive in a master slave configuration The gearing ratio input counts to output counts ratio can be configured via software Encoder Following is only a valid option when the Jupiter Servo drive is operated in position mode The auxiliary encoder signal input should be connected to high speed digital input pins Master encoder channel A must be connected to high speed digital ...

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Page 281: ...ter Servo Drive provides different network communication interfaces for configuration and operation All the interfaces can be used to connect any of the supplied software applications or a custom application built with the supplied libraries for the controller For ease of setup and diagnostics of CAN communication USB and CANopen can be used simultaneously The communications connectors position an...

Page 282: ... Controller Area Network Bus a serial communication protocol developed by Bosch for exchanging information between electronic control units on automobiles Next table shows specifications CAN interface pins Specification Details Baud rate from 125 kbps to 1 Mbps default value Maximum number of nodes 64 Interface isolated 2500 V self powered no need for external supply RMS Common mode voltage up to ...

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Page 284: ...SHIELD It is preferred to connect both GND pins 1 and 4 although it is not mandatory The GND line in CANopen devices basically equals potentials between the master and the slaves but is not used for data transmission as the line is fully differential Since the CAN interface of Jupiter is fully isolated the GND pin can be connected to the CAN SHIELD to minimize noise problems The Jupiter is an elec...

Page 285: ...d of the host PC Usually this connection is soldered internally inside the connector at the PC end Ensure that the shield of the cable is connected to the shield of the connector used for communications If cable is long 5 m it is recommended to connect protective earth at both ends 8 6 2 USB interface Jupiter Servo Drive supports Universal Serial Bus USB a standard interface for connecting periphe...

Page 286: ...shield connected to PC end Shield of micro USB connector is not connected on Jupiter Do not rely on an earthed PC to provide the Jupiter Servo Drive earth connection The drive must be earthed through a separate circuit Avoid creating ground loops 8 6 3 RS232 interface Jupiter Servo Drive is provided with but can be supplied with RS 232 interface Please contact with to purchase Jupiter Servo RS 485...

Page 287: ...l duplex Interface Isolated 2500 V self powered no need for external supply RMS Daisy chain Supported easy way connection see RS232 wiring guide below RS 232 interface is recommended just for configuration purposes CANopen option is strongly recommended mostly in noisy environments Next figure illustrates how to connect Jupiter Servo Drive with a host in a point to point configuration Daisy chain ...

Page 288: ...rietary information Unauthorized Copies Prohibited Page of 288 307 Daisy chain must be previously configured using MotionLab See for configuration details Serial commanding Next figure shows how to connect several Jupiter Servo Drives in a daisy chain configuration ...

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Page 290: ...h connection The drive must be earthed through a separate circuit Most communication problems are caused by the lack of such connection Ensure that the shield of the cable is connected to the shield of the connector used for communications Avoid creating ground loops RS 232 wiring guide The Jupiter Servo Drive RS232 connector allows an easy daisy chain using a 6 way 1 27 pitch flat ribbon cable Us...

Page 291: ...Following table shows RS485 interface connector specifications Specification Details Communication distance up to 1200 m Baud rate 100 to 10000 kbps Channel type Simplex half duplex or full duplex Interface Isolated 2500 V self powered no need for external supply RMS Daisy chain Supported Next figure illustrates how to connect Jupiter Servo Drive with a host in a point to point configuration ...

Page 292: ...f 292 307 A 120 Ω termination resistor should be placed at the end of each differential pair bus Suggested termination resistor Xicon 271 120 RC DAISY CHAIN CONFIGURATION Daisy chain must be previously configured using MotionLab Next figure shows how to connect several Jupiter Servo Drives in a daisy chain configuration ...

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Page 294: ...ON CONTROL Confidential and proprietary information Unauthorized Copies Prohibited Page of 294 307 A 120 Ω termination resistor should be placed at the end of each differential pair bus Suggested termination resistor Xicon 271 120 RC ...

Page 295: ...pacers washers or nuts exceeding 6 mm external diameter as they could collide with some electrical parts Also take due precautions not to damage any components during assembly 9 1 JUP 20 80 Jupiter version JUP 20 80 has a 100 mm x 100 mm footprint and a maximum 25 6 mm height The driver is provided with 4 x Ø 4 2 mm holes for M4 standoff mounting as well as 4 x 3 2 Ø for M3 standoffs to allow moun...

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Page 297: ...y information Unauthorized Copies Prohibited Page of 297 307 Jupiter version JUP 20 80 can also be provided with a cooling plate allowing to fix the board to a heat sink with 4 x Ø 4 6 mm holes for M4 screws Next figure shows mechanical dimensions in mm Tolerances 0 2 mm ...

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Page 299: ...50 80 has a 120 mm x 102 mm footprint and a maximum 28 1 mm height The driver is provided with a cooling plate allowing to fix the board to a heat sink with 4 x Ø 4 6 mm holes for M4 screws Jupiter also has 4 x 3 2 Ø for M3 standoffs to allow mounting the and the EtherCAT Daughter Board IO Starter Kit Next figure shows mechanical dimensions in mm Tolerances 0 2 mm ...

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Page 301: ...15 130 has a 120 mm x 102 mm footprint and a maximum 31 6 mm height The driver is provided with a cooling plate allowing to fix the board to a heat sink with 4 x Ø 4 6 mm holes for M4 screws Jupiter also has 4 x 3 2 Ø for M3 standoffs to allow mounting the and the EtherCAT Daughter Board IO Starter Kit Next figure shows mechanical dimensions in mm Tolerances 0 2 mm ...

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Page 303: ...35 130 has a 120 mm x 102 mm footprint and a maximum 31 6 mm height The driver is provided with a cooling plate allowing to fix the board to a heat sink with 4 x Ø 4 6 mm holes for M4 screws Jupiter also has 4 x 3 2 Ø for M3 standoffs to allow mounting the and the EtherCAT Daughter Board IO Starter Kit Next figure shows mechanical dimensions in mm Tolerances 0 2 mm ...

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Page 305: ...rCAT version Jupiter EtherCAT version has a 100 mm x 100 mm footprint and a maximum 26 mm height The driver is provided with 4 x M3 standoff 2 RJ45 connectors allow the user to use EtherCAT as a communication protocol See for more details and 3D models EtherCAT Daughter Board Next figure shows mechanical dimensions in mm Tolerances 0 2 mm ...

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