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Nix Product Manual |

Wiring and Connections

INGENIA | 01/22/2019

111

7.7.3 CANopen interface

Nix Servo Drive supports CANopen interface, a multi-terminal communication protocol based on CAN (Controller
Area Network) bus. Nix CAN interface is isolated, and self-supplied. Main physical specifications are shown in the
next table:

Interface

Non-isolated
Self-supplied (no need for external supply)

Baud rate

From 125 kbps to 1 Mbps (default value)

Maximum number of nodes

Common mode voltage

Up to 48 V

Termination resistor

120 Î© on board (mount jumper to enable the termination)

Specification

Details

An example of CAN wiring is shown in the next figure.

Drive ID

When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise,
CANopen network may hang.



Summary of Contents for Nix series

Page 1: ...INGENIA CAT S L 8 14 MARIE CURIE ADVANCED INDUSTRY PARK 08042 BARCELONA Nix Product Manual Edition 01 22 2019 For the most up to date information visit the online manual ...

Page 2: ... Motor connector 24 5 1 3 Micro Match connectors mating 26 Ribbon cable 26 Multi core crimped cable 27 5 1 4 Feedback connector 29 5 1 5 Absolute encoder connector 31 5 1 6 I O connector 33 5 1 7 USB connector 35 5 1 8 CAN connector 37 Cleverly wiring CAN buses from standard DB9 connectors 38 5 1 9 RS485 interface connector 39 5 2 Connectors position and pinout of Nix with gold plated pin headers ...

Page 3: ... 82 DC tachometer 83 7 4 8 Feedback wiring recommendations 84 Recommendations for applications witch close feedback and motor lines 84 7 5 I O connections 84 7 5 1 General purpose single ended digital inputs interface GPI1 GPI2 85 7 5 2 High speed digital inputs interface HS_GPI1 HS_GPI2 87 7 5 3 Analog inputs interface AN_IN1 AN_IN2 92 7 5 4 Digital outputs interface GPO1 GPO2 94 Wiring of 5V loa...

Page 4: ...ed pin headers 117 8 3 NIX x xx y Q Nix with Quick connectors board 118 8 4 NIX x xx E C Nix with EtherCAT 119 8 5 Assembly Instructions 120 8 5 1 Heatsinks 120 8 5 2 Thermal interface material 121 9 Software 123 9 1 Configuration 123 9 2 Applications 123 9 3 Arduino 123 10 Service 124 ...

Page 5: ...t contains proprietary information belonging to INGENIA CAT S L Such information is supplied solely for the purpose of assisting users of the product in its installation INGENIA CAT S L rejects all liability for errors or omissions in the information or the product or in other documents mentioned in this document The text and graphics included in this document are for the purpose of illustration a...

Page 6: ...Nix Product Manual General Information INGENIA 01 22 2019 6 Telephone 34 932 917 682 E mail hello ingeniamc com Web site www ingeniamc com ...

Page 7: ...pment power source wait at least 10 seconds before touching any parts of the controller that are electrically charged or hot 3 3 Precautions The following statements should be considered to avoid serious injury to those individuals performing the procedures and or damage to the equipment The Nix Servo Drive components temperature may exceed 100 ÂºC during operation Some components become electrica...

Page 8: ...the small form factor 100ÂºC operation temperature and conduction cooling plate makes it a valid OEM for critical size applications The Nix 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 between EMI and efficiency Nix Digital Nix Servo Drive is provided with severa...

Page 9: ...tion INGENIA 01 22 2019 9 NIX 10 48 C Q NIX 5 170 C Q NIX 10 48 C C NIX 5 170 C C NIX 10 48 E C NIX 5 170 E C NIX 10 48 C P NIX 5 170 C P Ordering part number Status Image ACTIVE ON DEMAND ACTIVE ACTIVE ACTIVE ACTIVE ON DEMAND ON DEMAND ...

Page 10: ... DC bus capacitance 88 ÂµF 13 ÂµF Minimum motor inductance 200 ÂµH Nominal phase continuous current 10 ARMS 5 ARMS Maximum phase peak current 20 ARMS 5 s 10 ARMS 5 s Current sense range Â 29 A Â 19 A If logic supply is not connected the board is powered from power supply with a bypass diode NIX 10 48 double supply For double supplying the NIX 10 48 logic supply voltage must be higher than or equal...

Page 11: ...2 Supported motor types Rotary brushless trapezoidal and sinusoidal Linear brushless trapezoidal and sinusoidal DC brushed Rotary voice coil Linear voice coil Power stage PWM frequency 20 kHz default 80 kHz alternative PWM frequency configurable Current sensing On phases A B and C using 4 terminal shunt resistors Accuracy is Â 1 full scale 10 bit ADC resolution Sensors for commutation brushless mo...

Page 12: ... x Â 10 V differential analog input 12 bits AN_IN2 24 V tolerant 1 x 0 V 5 V single ended analog input 12 bits AN_IN1 24 V tolerant 2 x Open open drain digital outputs with a weak pull up to 5 V 24 V tolerant and 1 A short circuit and over current rugged 1 x 5 V output supply for powering external circuitry up to 200 mA Protections User configurable Bus over voltage Bus under voltage Over temperat...

Page 13: ... to enable 120 Î termination CiA 301 CiA 305 and CiA 402 compliant EtherCAT Available Environmental and mechanical specifications Ambient air temperature 40 ÂºC to 50 ÂºC full current Operating If the Nix is mounted on a heatsink plate the range can be extended up to 85ÂºC heatsink temperature 50 ÂºC to 100 ÂºC current derating operating 40 ÂºC to 125 ÂºC storage Maximum humidity 5 85 non condensi...

Page 14: ...ower losses reduction Termination resistor added on TX line of RS485 Modification of connectors footprints to improve manufacturing reliability Jumper for CAN port enabling is now provided with Nix Hardware revision Description and changes 4 4 Power and current ratings Nix is capable of providing the nominal current from 25ÂºC to 50ÂºC ambient air temperature without the need of any additional hea...

Page 15: ...rs compared to the 48 V variants The 170 V variant have greater power losses for a given motor current Different charts are provided for each variant see below 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 Motor speed Faster motor speeds result in higher overall power lo...

Page 16: ...For this reason when the ambient temperature rises the output current must be limited to avoid an excessive drive temperature TP 110ÂºC The threshold temperature where the current derating should start depends on the DC bus voltage and the Nix part number The thermal impedance typical value is shown above however its exact value will vary according to Air flow around the drive Position vertical al...

Page 17: ...r Thermal resistance from power stage to air 3 8 ÂºC W Without additional heatsink Natural convection and radiation cooling Maximum power dissipation without heatsink 16 W At TA 50ÂºC Thermal resistance from power stage to heatsink 1 58 ÂºC W Thermal resistance between cold plate and heatsink not considered Temperature stabilization time 600 s Parameter Valu e Units Notes ...

Page 18: ...perature This allows achieving high peak current ratings without need of additional heatsink Current derating The current derating graph is only indicative and is based on 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 Current derating is only a recom...

Page 19: ...ring tn 4 4 4 System temperature Next thermal image shows an example of the heat distribution in a NIX 10 48 y z This test has been performed without cold plate at maximum load and air temperature in a 3 phase application The drive is getting hot even at 0 current This is normal Nix power stage includes high power MOSFET transistors which have parasitic capacitances Switching them fast means charg...

Page 20: ...or best heat dissipation Always allow natural air convection by ensuring â 10 mm air space around the drive Place the Nix in vertical position Use a good thermal interface material to improve the heat dissipation when using heatsink See Dimensions and Assembly for details If housed use a good thermal conductivity material such as black anodized aluminum Placing the drive in a small plastic package...

Page 21: ...Nix Product Manual Product Description INGENIA 01 22 2019 21 ...

Page 22: ...o Drive connectors and pinout Four Nix variants are detailed Nix with onboard connectors NIX x xx y C Nix with gold plated pin headers NIX x xx y P Nix with Quick Connector Board NIX x xx y Q Nix with EtherCAT interface NIX x xx E z 5 1 Connectors position and pinout of Nix with onboard connectors NIX x xx y C ...

Page 23: ...INGENIA 01 22 2019 23 5 1 1 Supply and shunt connector P1 Connector 4 position 3 5 mm pitch pluggable terminal block FCI 20020110 C041A01LF Pin Signal Function 1 LOGIC_SUP Logic supply input only for NIX 5 170 y z 2 GND Ground connection ...

Page 24: ...the application current ratings Higher section is always preferred to minimize resistance and wire self heating Recommended wire section is 0 5 mmÂ 1 5 mmÂ 5 1 2 Motor connector P2 Connector Previous versions compatibility Supply and shunt connector has changed from version 1 0 0B of the Nix Servo Drive Version 1 0 0B connector was a 3 position pluggable terminal block with the following pinout 1 ...

Page 25: ... number FCI 20020004 C031B01LF Distributor codes Farnell 1788432 Digi Key 20020004 C031B01LF ND Mouser 649 220004 C031B01LF Notes Dimension the wiring according to the application current ratings Higher section is always preferred to minimize resistance and wire self heating Recommended wire section is 0 5 mmÂ 1 5 mmÂ For wiring information see motor and shunt braking resistor wiring section Previ...

Page 26: ...on TE Micro Match Male on Wire 1 27 mm pitch Image Cable Use 0 5 mmÂ 24 AWG flat cable 1 PH_A Motor phase A connection Positive for DC and voice coils 2 PH_B Motor phase B connection Negative for DC and voice coils 3 PH_C Motor phase C connection Do not connected in DC motors and voice coils 4 PE Protective Earth connection Pin Name Description For Nix version 1 0 0B the the Motor mating connector...

Page 27: ... Heat shrinkable Can be used to reliably connect flat Micro Match wires to specific sensor feedback or other thin wires Image TE B 155 9001 Distributor code Digi Key A104848 ND Wiring accessory wire to wire solder sleeve Multi core crimped cable Multi core crimped cable mating Description TE Micro Match housing connector 1 27 mm pitch Image Crimp terminals Description Crimp terminal male 20 24 AWG...

Page 28: ...xible wires Clean wiring Crimped single cables makes wiring cleaner and is a preferred option for volume applications Mechanical fixation for non connected pins Main mechanical subjection is provided by the fastening of male and female electrical pins In order to increase mechanical subjection in applications where not all the pins are connected it is important to put crimp terminals also in the p...

Page 29: ...onnection 3 ENC_A SIN Single ended digital encoder A input Differential digital encoder A input Sin Cos encoder Sin input 4 ENC_A SIN Differential Encoder A input Sin Cos encoder Sin input 5 ENC_B COS Single ended digital encoder B input Differential digital encoder B input Sin Cos encoder Cos input 6 ENC_B COS Differential Encoder B input Sin Cos encoder Cos input 7 ENC_Z REF Single ended digital...

Page 30: ...wiring Nix connectors include locking latches that provide audible click during mating and ensure assembly robustness Ribbon cable mating Description TE Micro Match Male on Wire 1 27 mm pitch 12 position Part number TE Conectivity 8 215083 2 Distributor codes Farnell 149093 Digi Key A99460CT ND Mouser 571 8 215083 2 Cable Part number 3M 3302 16 300SF Distributor codes Farnell 1369751 Digi Key MC16...

Page 31: ...Digi Key A99497 ND Mouser 571 1 338095 2 Cable Use 0 2 0 5 mmÂ 20 24 AWG flexible wires 5 1 5 Absolute encoder connector P4 Connector Right angled 6 pin TE Micro Match 338070 6 connector Pin Signal Function 1 5V_OUT 5V 200mA max supply for absolute encoder shared with feedback and I O connector 2 GND Ground connection 3 CLK Absolute encoder CLK positive signal output 4 CLK Absolute encoder CLK neg...

Page 32: ...ible click during mating and ensure assembly robustness Ribbon cable mating Description TE Micro Match Male on Wire 1 27 mm pitch 6 position Part number TE Connectivity 215083 6 Distributor codes Digi Key A99463CT ND Mouser 571 7 215083 6 Cable Part number 3M HF365 06SF Distributor codes Farnell 1859550 Digi Key MD06R 100 ND Mouser 517 HF365 06SF Multi core crimped cable mating Description TE Micr...

Page 33: ...d 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 Digital output 2 open collector with weak pull up to 5 V 5 GPO1 Digital output 1 open collector with weak pull up to 5 V 6 GND Ground 7 HS_GPI1 PULSE PWM High speed digital differential input 1 Command source Pulse input Feedback PWM...

Page 34: ...GPI1 General purpose single ended digital input 16 5V_OUT 5V 200mA max output shared with feedback and absolute encoder connector Notes Polarization hole on PCB indicates pin 1 and ensures correct cable position See I O connections for further information about different I O wiring Nix connectors include locking latches that provide audible click during mating and ensure assembly robustness Ribbon...

Page 35: ...9751 Digi Key MC16M 300 ND Mouser 517 C3302 16SF Notes For further information see Pluto cable Kit General purpose I O Multi core crimped cable mating Description TE Micro Match housing connector 1 27 mm pitch 16 position Part number TE Connectivity 1 338095 6 Distributor codes Digi Key A99495 ND Mouser 571 1 338095 6 Cable Use 0 2 0 5 mmÂ 20 24 AWG flexible wires 5 1 7 USB connector P6 Connector ...

Page 36: ... shield NOT CONNECTED Notes Micro USB connection allows easy access to the drive configuration using Motion Lab or downloading latest firmware revision Shorter USB cables are preferred whenever possible for minimal EMI Avoid applying excessive mechanical stress to the USB connector Please see Communications page for further information Description USB Shielded I O Cable Assembly USB A to Micro USB...

Page 37: ...N bus line dominant high 4 CAN_GND CAN ground isolated from Nix power GND Notes Polarization hole on PCB indicates pin 1 and ensures correct mating connector position See Communications for further information about CAN wiring Nix connectors include locking latches that provide audible click during mating and ensure assembly robustness Ribbon cable mating Description TE Micro Match Male on Wire 1 ...

Page 38: ...nnector using a 4 way 1 27 pitch flat ribbon cable Use a DB9 to ribbon connector like H7MXH 0906M ND or AMPHENOL L117DEFRA09S ND Corresponding pinouts 1 CAN_GND 6 CAN_GND 2 CAN_L 2 CAN_L 3 CAN_H 7 CAN_H 4 CAN_GND 3 CAN_GND Nix Micro Match DB9 standard to ribbon cable Multi core crimped cable mating Description TE Micro Match housing connector 1 27 mm pitch 16 position Wire impendance Typical flat ...

Page 39: ...120 Î differential impedance 5 1 9 RS485 interface connector P8 Connector Right angled 8 pin TE Micro Match 338070 8 connector Pin Signal Function 1 GND Common internally connected to drive GND 2 GND Common internally connected to drive GND 3 RX RS485 receive data should be connected to master TX 4 RX RS485 receive data should be connected to master TX 5 GND Common internally connected to drive GN...

Page 40: ...that provide audible click during mating and ensure assembly robustness Ribbon cable mating Description TE Micro Match Male on Wire 1 27 mm pitch 8 position Part number TE Connectivity 215083 8 Distributor codes Farnell 149184 Digi Key A99462CT ND Mouser 215083 8 Cable Part number 3M HF365 06SF Distributor codes Farnell 1859550 Digi Key MD06R 100 ND Mouser 517 HF365 06SF Multi core crimped cable m...

Page 41: ...Nix Product Manual Connectors Guide INGENIA 01 22 2019 41 5 2 Connectors position and pinout of Nix with gold plated pin headers NIX x xx y P ...

Page 42: ...A Motor phase A Positive for DC and voice coils I1 HS_GPI2 DIR High speed digital differential input 2 Command source Direction input I2 HS_GPI2 DIR High speed digital differential input 2 Command source Direction input I3 GND Ground connection I4 GPO2 Digital output 2 open collector with weak pull up to 5 V I5 GPO1 Digital output 1 open collector with weak pull up to 5 V I6 GND Ground connection ...

Page 43: ...uld be torque off input on request I15 GPI1 General purpose single ended digital input 1 I16 5V_OUT 5V 200mA max output shared with feedback connector and absolute encoder connector A1 5V_OUT 5V 200mA max output shared with feedback connector and I O connector A2 GND Ground connection A3 CLK Absolute encoder CLK positive signal output A4 CLK Absolute encoder CLK negative signal output A5 DATA Abso...

Page 44: ...tion F3 ENC_A SIN Single ended digital encoder A input Differential digital encoder A input Sin Cos encoder Sin input F4 ENC_A SIN Differential Encoder A input Sin Cos encoder Sin input F5 ENC_B COS Single ended digital encoder B input Differential digital encoder B input Sin Cos encoder Cos input F6 ENC_B COS Differential Encoder B input Sin Cos encoder Cos input F7 ENC_Z REF Single ended digital...

Page 45: ...ith pin headers on a PCB The Nix pin header version is designed to be soldered or plugged on a PCB Dimensions The picture below shows the Nix dimensions and holes from the connector header point of view Ingenia connector board Ingenia provides a terminal block connector board with open source PCB design which can be used as a reference ...

Page 46: ...r pitch 2 54 mm for signal and 3 5 mm for power pins Recommended pin header trough hole diameter 0 9 mm varies depending on the chosen pin receptacle Recommended power pins through hole diameter 1 6 mm Avoid placing high components under the board Check mechanical interference with the Nix for more details see Dimensions and Assembly ...

Page 47: ...eight 2 5 mm width Gold flash Sullins PPPC061LFBN RC Digi Key S7039 ND 2 Connector Description Part number Image Distributor code Quanti ty Routing the PCB The traces should always be as short as possible to minimize potential EMI issues Take due care with signal returns and GND routing especially for high speed signals and analog inputs Do NOT use a general ground plane as this could cause unwant...

Page 48: ...of mating connectors No extra crimping tools are needed to start using the Nix Servo Drive only a screwdriver to plug the cables The Quick Connector Board has spring type connectors from Phoenix and Weidmuller for easy and fast prototyping and testing Supply and motor cables can be connected or directly soldered Simple user interface with clear labeling See Dimensions to check the total size of th...

Page 49: ...Nix Product Manual Connectors Guide INGENIA 01 22 2019 49 As can be seen the pinout is clearly labeled in the Quick Connector Board ...

Page 50: ...Nix Product Manual Connectors Guide INGENIA 01 22 2019 50 5 4 Connectors position and pinout of Nix with EtherCAT NIX x xx E z ...

Page 51: ...7499021125 Pin Signal Function 1 TX_D Transmit Data line 2 TX_D Transmit Data line 3 RX_D Receive Data line 4 2V5 2 5 V generated internally 5 2V5 2 5 V generated internally 6 RX_D Receive Data line 7 NC Not connected 8 GND_CHASSIS Connected to the connector chassis Notes Pinout is the same for Input PORT 1 and output PORT 2 connectors ...

Page 52: ...tion 2 LEDs next to the CAN connector Nix with EtherCAT includes 3 more LEDs for the EtherCAT fieldbus status 6 1 Power and operation signalling LEDs Three LEDs situated next to the RS485 connector indicate the supply and operation status Next table shows the meaning of each LED POWER Green LED is on when internal power supply is working FAULT Red LED is on when a fault or error has occurred LED C...

Page 53: ...ning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning level too many error frames Double flash Error control event A guard event NMT slave or NMT master or a heartbeat event heartbeat 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 ...

Page 54: ...te that the specified timings can vary in up to Â 20 6 3 EtherCAT signalling LEDs The Nix Servo Drive with EtherCAT fieldbus includes 3 more LEDs to indicate communication status according to EtherCAT specification The EtherCAT bicolor green red LED indicates the EtherCAT state machine status The green LED is the RUN LED and the red LED is the ERROR LED Next table shows their states meaning RUN LE...

Page 55: ... other two LEDs are situated in the EtherCAT connector Each connector has two LEDs but only the yellow LED is used The LINK LED indicates the state of the EtherCAT physical link activity Off Port closed Flickering Port opened activity on port On Port opened no activity on port LINK LED Slave State The frequency of the blinking is different than the used for communication and is product dependent ...

Page 56: ...the charge to Earth activating the installation safety systems differential protections and protecting the users Moreover a proper connection to PE prevents many of the noise problems that occur operating a servo drive Nix Servo Drive provides the following earth ground connection points which are internally connected and decoupled to power ground Plated holes for standoffs A diagram of the recomm...

Page 57: ...lose as possible to power supply cables In order to avoid ground loops it is a good practice to have a central earth connection point or bus for all the electronics of the same bench If multiple drives are supplied from the same power supply or supply PE to drive PE connection is not practical not enough connection terminals connect all PE terminals in a central connection bus Whenever possible mo...

Page 58: ...el 20 mm RS Pro 471 1300 Description Image Part number 7 2 Power supply The Nix Servo Drive is supplied from the Supply and shunt connector and has separated supply inputs for the logic and the power stage only required for NIX 5 170 y z An internal DC DC converter provides circuits with appropriate voltages as well as a regulated 5 V output voltage to supply feedback sensors and I O The Nix can b...

Page 59: ...ion a power supply for the Ingenia drives can be found here Following are shown different power supply examples CUI Inc VSK S5 24UA T 24 230 mA Enclosed linear power supply for all Nix part numbers logic supply TDK Lambda PFE500F4 8 48 10 5 Switching closed frame power supply recommended for NIX 5 48 500 W TDK Lambda PFE1000F 48 48 21 Switching closed frame power supply recommended for NIX 10 48 1...

Page 60: ...will limit the inrush and then bypass it with a electromechanical or solid state relay Some relays include an on delay function An alternative is to activate the relay from the driver after power up by using a macro and a GPO to control the relay 7 2 2 Power supply connection Nix logic and power supplies are provided through two different pins LOGIC_SUP and POW_SUP Therefore the logic circuitry an...

Page 61: ...ram 7 2 3 Battery connection Next figure shows a simplified wiring diagram for the NIX 10 48 and NIX 15 48 versions supplied from a battery Next figure shows a simplified wiring diagram for the NIX 5 170 supplied from a battery Isolated power supplies For safety reasons it is important to use power supplies with full galvanic isolation ...

Page 62: ... supply connect them in star topology for reducing cable impedance and common mode coupled noise That is connect each drive to the common supply using separate wires for positive and return Motor braking current 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 Nix current ratings ...

Page 63: ...applications direct cable connection is recommended since it provides lower contact resistance Due to the connector s size the maximum allowed ferrule size is 0 5 mm2 Ensure the insulator does not exceed 3 5 mm connector pitch Following table indicates recommended wire ferrules for the Nix Servo Drive Phoenix Contact 3201369 8 mm pin length 0 5 mm2 20 AWG TE Connectivity 966067 1 6 mm pin legth 0 ...

Page 64: ... sensitive signals the use of a motor choke is recommended The objective of the motor choke is to block the common mode current to the motor and cables While using a separate choke for each phase could also work the EMI reduction would be much lower than passing all the phases through the same choke Proper three phase motor choke wiring In order to minimize the capacitive coupling of the motor wir...

Page 65: ...120Âº apart Start each phase wire in the same rotating direction wrapping all phases clockwise or anticlockwise This will add the common mode flux and increase its impedance Common mode choke In order to minimize EMI that can affect sensitive signals the use of a motor choke is recommended The objective of the motor choke is to block the common mode current to the motor and cables While using a se...

Page 66: ...r power applications direct cable connection is recommended since it provides lower contact resistance Due to the connector s size the maximum allowed ferrule size is 0 5 mm2 Ensure the insulator does not exceed 3 5 mm connector pitch Following table indicates recommended wire ferrules for the Nix Servo Drive Proper DC motor choke wiring In order to minimize the capacitive coupling of the motor wi...

Page 67: ... LFB360230 300 Type Manufacturer Reference Wire length The distance between the Nix Servo Drive and the motor should be minimized when possible Short cables are preferred since they reduce power losses as well 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 mot...

Page 68: ...calculation tool can be found here Hot surfaces Be careful shunt resistor may have hot surfaces during operation Configuration of the shunt The shunt transistor can be configured using parameters in the register 0x2103 Shunt configuration When the supply voltage reaches the maximum voltage indicated in register 0x2101 Drive bus voltage the shunt transistor is activated As a recommendation set the ...

Page 69: ...ly This output is overload and short circuit protected 7 4 1 Digital Halls interface 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 120Âº apart Using these 3 signals the drive is capable to detect the position direction and velocity of the rotor Next figures show examples of digi...

Page 70: ...000 4 4 EFT 40 A 5 50 ns Voltage range 0 5 V Maximum voltage range 0 5 5 5 V Maximum recommended working frequency 1 kHz 1st order filter cutting frequency 3dB 160 kHz Sampling frequency 10 ksps Type of sensors Open collector Logic output Push pull output Pull up resistor value 1 kÎ The pull up is activated only when the drive is configured to use digital hall sensors Specification Value Next figu...

Page 71: ...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 rotor Nix analog halls inputs main features are shown in next table Type of inputs Non isolated Single ended analog filtered ESD protected Number of inputs 3 Specification Value Velocity con...

Page 72: ...edance 24 kÎ Specification Value 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 Digital Halls interface to avoid any signal distortion when analog halls interface is selected the 1 kÎ pull up is disconnected automatically Next figure shows how...

Page 73: ...Drive to use sinusoidal commutation Channel A and channel B signals should have a phase shift of 90 degrees indicating the rotation direction Based on the pulses frequency the drive can calculate the motor velocity and position Example of single ended digital encoder inputs Example of digital differential encoder signals High precision applications High resolution motor mounted encoders allows exc...

Page 74: ...ion resistor 120 Î between ENC_x and ENC_x Bias resistors ENC_x positive input 1 kÎ to 5 V ENC_x negative input 1 kÎ to 2 5 V equivalent Specification Value For encoder signal reception an analog differential line receiver with an hysteresis comparator is used The high signals ENC_A ENC_B and ENC_Z are pulled up to 5 V and the low signals ENC_A ENC_B and ENC_Z are biased to 2 5 V This arrangement ...

Page 75: ...vo Drive can also interface single ended digital encoders with output voltages higher than 5 V for instance 24 V PLC level encoder With the use of series connected limiting resistors Nix is able to read encoder counts correctly while the inputs are correctly protected It is recommended to use a 4 7 kÎ 1 4 W resistor in series with the ENC_X inverting input and leave the ENC_X floating ...

Page 76: ... gates that will generate an error if the encoder is disconnected or a wire is broken This system only works for differential encoders 7 4 4 Analog encoder Sin Cos encoder interface The Nix Servo Drive can use analog encoder also known as Sin Cos encoder as position and velocity feedback element This sensor provide a pair of quadrature sine and cosine signals as the motor moves which frequency dep...

Page 77: ...ically at high speed ESD protected Number of inputs 3 SIN COS REF ESD capability IEC 61000 4 2 ESD Â 15 kV air Â 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 recommended working frequency 1 kHz used as analog encoder 10 MHz used as digital encoder Specification Value Sin Cos calibration Analog encoder signals are not always p...

Page 78: ...should be chosen to attenuate the voltage at the input around 1 Vpp Â 20 Use the following formula to determine the resistor that must be placed on each input Rin 50 Â Vinpp 1 V Example for 3 Vpp Sin Cos the resistance in series with each pin should be Rin 50 Â 3 1 100 Î If no REF Or Zero index signal is available leave the ENC_Z and ENC_Z pins floating For single ended analog Sin Cos encoders Con...

Page 79: ...t necessary to move to a reference position as with incremental type encoders Next table shows the absolute encoder inputs electrical specifications Type of inputs Non isolated Differential ESD protected ESD capability IEC 61000 4 2 ESD Â 12 kV air Â 12 kV contact IEC 61000 4 4 EFT Â 4 kV Number of inputs 2 CLK and DATA Nominal voltage range 0 5 V Maximum voltage range 13 16 5 V Maximum readable f...

Page 80: ...e I O connector as a feedback element A PWM encoder provides a Pulse Width Modulated PWM signal with a duty cycle proportional to the angle position of the rotor This feedback can be interfaced through the high speed digital input 1 HS_GPI1 Both differential and single ended PWM encoders can be used Further specifications about the PWM input can be found in I O connection section Next figure illus...

Page 81: ... illustrates how to connect a differential PWM encoder to the Nix Servo Drive Single ended operation In order to use the high speed digital input in single ended mode connect the negative terminal HS_GPIx to 2 5 V This voltage can be achieved with a voltage divider from 5V_OUT ...

Page 82: ...Nix have 2 analog inputs that can be used for feedback input each one with a different input range The input used as feedback can be selected by software Further specifications about the analog inputs input can be found in I O connection section Refer to Feedback wiring recommendations for more information about connections and wires Potentiometer A typical analog sensor used for position feedback...

Page 83: ...h values of resistance 10 kÎ can result in non linear behavior due to its the drive parallel input resistors High resistance values also reduce the signal to noise ratio making it easier to have disturbances and reducing the quality of the measure However a very small value of resistance may also consume too much power and cause self heating which causes additional variations on resistance Therefo...

Page 84: ...lications witch close feedback and motor lines In some applications like in the subsea market where additional connectors and cables are a problem the feedback cannot be wired separately from the motor and power lines This creates noise problems that could result in hall sensors wrong commutation errors or encoder loss of counts For these applications we recommend Use a common mode choke on the mo...

Page 85: ...e 4 V Vin 24 V Low level input voltage 0 Vin 1 V Input impedance 30 kÎ 1st order filter cutting frequency 3 dB 100 kHz Sampling rate 1 ksps Max delay 2 Î s Specification Value Motor brake input Digital outputs GPO1 and GPO2 can also be used as a motor brake output Alternative assembly options Under a custom purchase order Nix Servo Drive can be provided with some alternative I O 2 x Â 10 V differe...

Page 86: ...ix Servo Drive general purpose inputs can be used for connecting three wire sensors Next figures illustrate the connection of PNP and NPN three wire sensors in input GPI2 same wiring can be used for GPI1 Pin 16 5V_OUT can be used as a supply source Non isolated I O Nix Inputs and outputs are not isolated The ground of the Nix Servo Drive and the ground of the devices connected to I Os must be the ...

Page 87: ...ll up resistors Pull up resistors ensure the desired logic state when the sensor transistor or relay is in off state NPN pull up resistor value must be chosen in order to ensure â 4 V at the GPI pin considering the 30 kÎ input resistance For a sensor supply of 5 V 1 kÎ is recommended For a sensor supply of 24 V 10 kÎ is recommended Defect logic value Nix high speed inputs are default low level OFF...

Page 88: ...ency 10 MHz Sampling rate 20 Msps Total rising delay 65 ns Total falling delay 55 ns Maximum common mode voltage VCM 7 V â VCM â 12 V Specification Value Next figure shows the circuit model for high speed digital input Input is composed of a 3 resistor differential divider with 10 kÎ resistors resulting in a total input impedance of 30 kÎ This bias resistors allow both single ended and differentia...

Page 89: ...ated I O Nix Inputs and outputs are not isolated The ground of the Nix Servo Drive and the ground of the devices connected to I Os must be the same Otherwise inputs or outputs may be damaged Single ended operation In order to use the high speed digital input in single ended mode connect the negative terminal HS_GPIx to 2 5 V This voltage can be achieved with a voltage divider from 5V_OUT ...

Page 90: ... can be used for HS_GPI1 Nix Servo Drive high speed digital inputs can be used for connecting three wire sensors Next figures illustrate the connection of PNP and NPN three wire sensors in input HS_GPI2 Same wiring can be used for HS_GPI1 Pin 16 5V_OUT can be used as a supply source For a 24 V input the negative terminal HS_GPIx can be connected to 5 V 5V_OUT ...

Page 91: ...HS_GPI pull up resistors Pull up resistors ensure the desired logic state when the sensor transistor or relay is in off state NPN pull up resistor value must be chosen in order to ensure a positive value in the differential receiver while consuming low current For a sensor supply of 5 V 1 kÎ is recommended For a sensor supply of 24 V 47 kÎ is recommended ...

Page 92: ...puts Type of inputs Single ended ESD protected Differential ESD protected ESD capability Â 4 kV contact Analog input resolution 12 bits Maximum operating voltage 0 5 V Â 10 V Maximum common mode voltage Analog input 2 Â 10 V Maximum voltage on any pin referred to GND 7 V 24 V 1st order filter cutting frequency 3dB 4 2 kHz 4 4 kHz Sampling rate max 10 ksps Specification Analog input 1 Analog input ...

Page 93: ...rces to the differential analog input 2 The differential analog input is typically used as a command source or feedback signal Extending AN_IN1 voltage range To get a 0 10 V input range in AN_IN1 input place a 30 kÎ resistor in series with the input Non isolated I O Nix Inputs and outputs are not isolated The ground of the Nix Servo Drive and the ground of the devices connected to I Os must be the...

Page 94: ...tputs interface GPO1 GPO2 Nix Servo Drive has two digital non isolated outputs Digital outputs are based on an open drain MOSFET with a weak pull up to 5 V and are 24 V tolerant and short circuit protected Next table shows their main features Number of outputs 2 Specification Value ...

Page 95: ...d MOSFET ESD capability IEC 61000 4 2 ESD Â 15 kV air Â 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 Î s 30 V and Rload 100 kÎ 20 Î s 5 V and Rload 100 kÎ OFF_ON delay 15Î s 30 V and Rload 100 kÎ 50 Î s 5 V and Rload 100 kÎ Max working frequency 1 kHz Specification Value Next figure shows digit...

Page 96: ...s that require 24V as high level voltage can also be interfaced with GPO For this option an external power supply is needed The load can be connected with a pull up to 24V or directly switched with the GPO Next figures show two example connections to GPO2 same wiring could be used for GPO1 Non isolated I O Nix Inputs and outputs are not isolated The ground of the Nix Servo Drive and the ground of ...

Page 97: ...s or motor brakes can cause inductive kicking that is a sudden voltage rise when the current through the inductor is falls to zero In order to avoid this voltage rise it is recommended to place a diode in anti parallel with the load known as freewheeling diode Standard rectifier diodes such as 1N4002 or 1N4934 are appropriate for the application An alternative to the freewheeling diode is to place...

Page 98: ... found in Digital outputs interface Next figure show how the typical connection using the main supply as brake power supply Motor brake operation For brake operation of a GPO this function has to be configured through Motion Lab The brake operation is usually configured for normally locked electromechanical brakes that is brakes that by default block the movement of the motor shaft For this reason...

Page 99: ... This input should not be confused with a digital input configured as enable input because enable input is firmware controlled and does not guarantee intrinsic safety as it can be reconfigured by a user GPI2 input reads a logic low state 0 V Vin 1 V by defect so the input must be connected to a logic high level 4 V Vin 24 V to activate the power stage Next figures show two examples of connection o...

Page 100: ...de Encoder follower electronic gearing Analog inputs step and direction PWM command and encoder follower electronic gearing are interfaced through general purpose inputs Next table illustrates which variables can be controlled with each command source Network interface Position velocity torque Standalone Position velocity torque Analog input 10 V o 0 â 5 V Position velocity torque Step and directi...

Page 101: ...ere is no need of any external command source Programs or macros composed with Motion Lab suite allow to configure position velocity or torque targets and to interface with general purpose inputs and outputs This feature can be very useful in applications such as production lines or test equipment where repetitive movements are usual Please refer to MotionLab documentation for further information ...

Page 102: ...tion Pulse signal is usually a square 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 This command source is interfaced through high speed digital inputs HS_GPI1 is used for Step input and HS_GPI2 is used for Direction input Refer to I O Connections for further specifications about high s...

Page 103: ...ty cycle sets the target position velocity or torque A duty cycle of 50 corresponds with a target of 0 rad 0 rpm or 0 NÂ m and higher or lower values indicate the target in a different rotating direction That is a duty cycle of 0 corresponds with the maximum position velocity or torque in one direction and a 100 duty corresponds to the maximum position velocity or torque in the opposite direction ...

Page 104: ...duty cycle sets the target position velocity or torque and a Direction signal that indicates the rotation direction i e logic low or 0 for clockwise rotation and logic high or 1 for counter clockwise rotation In this mode a duty cycle of 0 corresponds with a target of 0 rad 0 rpm or 0 NÂ m and a duty cycle of 100 corresponds to the maximum position velocity or torque Two general purpose inputs are...

Page 105: ...d connections are shown in the next figures 7 6 6 Encoder following or electronic gearing Encoder following command source is used tor drive two motors to the same position The encoder or an auxiliary encoder of the master motor is read by the Nix Servo Drive and used as position target A gearing ratio between the motors input counts to output counts ratio can be configured via software ...

Page 106: ... digital inputs HS_GPI Encoder channel A must be connected to high speed digital input 1 and channel B to high speed digital input 2 Connection examples for the differential and single ended master encoders are shown in the next figures 7 7 Communications The Nix Servo Drive provides the following network communication interfaces for configuration and operation USB Serial interface RS485 CANopen ...

Page 107: ...external power supply With USB supply the Nix is not capable of driving a motor but communications feedbacks and IOs are fully functional An internal switch automatically chooses the power source prioritizing the Supply and shunt connector Please note that several functionalities will not be available when powered from USB USB wiring recommendations Although USB is a widespread communication stand...

Page 108: ...uded Specification Details Next figure illustrates how to connect Nix Servo Drive with a host in a point to point configuration USB EMI sensitivity USB is not a rugged interface and is sensitive to EMI For the NIX 5 170 use a good quality cable shorter than 1 m to avoid communication problems while the power stage is enabled Multi point connection Nix Servo Drive RS485 interface is not intended fo...

Page 109: ...t figure Termination resistor The use of termination resistors at the RX side of each differential pair 120 Î between RX and RX of both host and slave is essential for correct operation of the RS485 communication For long cable distances 10 m a termination in the TX side is also recommended Nix Servo Drive version 1 1 0 includes a termination on the RX terminals Therefore a 120 Î termination resis...

Page 110: ...n on the RX line allowing direct daisy chain wiring for short links Nix Servo Drive version 1 2 0 includes a termination on the TX terminals allowing direct daisy chain wiring for long distances Daisy chain clever wiring with flat cable The Nix Servo Drive RS485 connector allows to implement a daisy chain using flat ribbon cable This solution highly simplifies the wiring Note that for short distan...

Page 111: ...ons are shown in the next table Interface Non isolated Self supplied no need for external supply Baud rate From 125 kbps to 1 Mbps default value Maximum number of nodes 64 Common mode voltage Up to 48 V Termination resistor 120 Î on board mount jumper to enable the termination Specification Details An example of CAN wiring is shown in the next figure Drive ID When installing CANopen communication ...

Page 112: ...re inductive Nix Servo Drive includes a termination resistor on board A jumper placed next to the CAN connector allows the user to connect or disconnect the 120 Î termination resistor Use a standard 1 27 mm pitch jumper for this purpose CAN GND connection GND line in CAN devices is used for equaling potential between master and slaves but is not used for data transmission as the line is fully diff...

Page 113: ...RJ 45 connectors Cable adapter to 9 pin D SUB CAN Vector Informati k VN1630 USB to CAN or CAN FD four channel two connectors interface High speed CAN channels in two separate 9 pin D SUB CAN connectors Highly robust plastic housing Manufact urer Part Number Image Description CAN wiring recommendations Build CAN network using cables with 2 pairs of twisted wires 2 wires pair as follows one pair for...

Page 114: ...ion technology test and measurement and many other applications Next table summarizes the features of the Nix EtherCAT interface EtherCAT specific features Ports available 2 LED Signals Status LED Link Act LED Supported Mailbox CoE SDO info Not supported Segmented SDO Supported SDO complete access Not supported Synchronization modes Free Run Distributed clock Cyclic modes Process data object Confi...

Page 115: ...Nix Product Manual Wiring and Connections INGENIA 01 22 2019 115 ...

Page 116: ... maximum 14 5 mm height The drive is provided with 4 x Ã 3 2 mm holes for M3 standoff mounting to the drive plate and to allow mounting the EtherCAT Daughter Board and the IO Starter Kit These holes are plated and connected to protective earth PE The drive plate is provided with 4 x Ã 3 2 mm M3 holes for fixing or heatsink mounting if needed 3D models can be downloaded here Next figure shows mecha...

Page 117: ...plated pin headers Nix Servo Drive version NIX x xx y P has a 60 mm x 75 mm footprint and a maximum 19 4 mm height The drive plate has 4 x Ã 3 2 mm M3 holes for fixing or heatsink mounting if needed 3D models can be downloaded here Next figure shows mechanical dimensions in mm Tolerances â Â 0 2 mm ...

Page 118: ... connectors board Nix Servo Drive version NIX x xx y Q has a 60 mm x 75 mm footprint and a maximum 31 1 mm height The drive plate has 4 x Ã 3 2 mm M3 holes for fixing or heatsink mounting if needed 3D models can be downloaded here Next figure shows mechanical dimensions in mm Tolerances â Â 0 2 mm ...

Page 119: ...h EtherCAT Nix Servo Drive version NIX x xx E C has a 60 mm x 75 mm footprint and a maximum 23 6 mm height The drive plate has 4 x Ã 3 2 mm M3 holes for fixing or heatsink mounting if needed 3D models can be downloaded here Next figure shows mechanical dimensions in mm Tolerances â Â 0 2 mm ...

Page 120: ...l to achieve desired performance Due to the dimensions of the plate it is essential that the thermal pad is soft enough to compensate the flexing during assembly Next are some thermal interface materials suitable for the Nix 8 5 1 Heatsinks In order to choose the cooling needs of the Nix please see the thermal calculations in Product Description page ...

Page 121: ...hieve an excellent heat transfer See below ðŸ 8 5 2 Thermal interface material Thermal interface materials for a cooling plate with a big surface should be tacky and soft to prevent the formation of air bubbles Please note that thin high performance materials that look promising on the datasheet may end up with poor heat transfer With thin materials the pressure is only applied near the screws and...

Page 122: ...y Estimated thermal resistance plate to heatsink with an area of 50 mm x 50 mm Laird Technologies A15896 02 TFLEX 720 9X9 0 50 mm 5 0 W mÂ ÂºC 0 04 ÂºC W Bergquist GPHC5 0 0 020 02 08 16 0 51 mm 5 0 W mÂ ÂºC 0 04 ÂºC W t Global Technology H48 6A 320 320 0 5 1 A 0 50 mm 4 0 W mÂ ÂºC 0 05 ÂºC W Bergquist BP100 0 005 00 1112 0 127 mm 0 8 W mÂ ÂºC 0 064 ÂºC W ...

Page 123: ...ations If you want to make your own application to communicate with the Nix and develop standalone or multiaxis systems you can use the multi platform library MCLIB 9 3 Arduino To start an Arduino based project easily connect using the serial RS485 port of the Nix and use our Arduino Library Ardulib Keep the firmware updated Before configuring your drive for a new application make sure you have up...

Page 124: ...servotecnica com info servotecnica com Norway ELECTRO DRIVES AS www electro drives no firmapost electro drives no Portugal MECÃ NICA MORDERNA www mecmod com pt vendas mecmod com Russia AVI SOLUTIONS www avi solutions com sales avi solutions com Singapore I MOTION www imotionasia com ivan imotionasia com South Korea SERVOSTAR www servostar co kr servo servostar co kr South Korea ALLTEK www alltek c...

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