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INGENIA Titan GO Product Manual

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TITAN GO Product Manual
Edition  08/09/2017
For the most up to date information visit the online manual.
INGENIA-CAT S.L.
8-14 MARIE CURIE, ADVANCED INDUSTRY PARK
08042 BARCELONA

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Summary of Contents for INGENIA Titan GO

  • Page 1 TITAN GO Product Manual Edition  08/09/2017 For the most up to date information visit the online manual. INGENIA-CAT S.L. 8-14 MARIE CURIE, ADVANCED INDUSTRY PARK 08042 BARCELONA...

  • Page 2: Table Of Contents

    6.3.2 Adjusting the resolver ............................34 6.3.2.1 Resolver Gain ..............................34 6.3.2.2 Configuring the resolver ..........................34 Dimensions and assembly Titan Go Dimensions............................36 Assembly Instructions............................37 7.2.1 Thermal interface material..........................38 7.2.2 Screw assembly..............................38 Application Software Configuration ..............................40 Applications..............................

  • Page 4: General Information

    The information contained within this document 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. ...
  • Page 5 TITAN GO Product Manual | General Information Telephone: +34 932 917 682 E-mail: hello@ingeniamc.com site: www.ingeniamc.com mailto:HELLO@INGENIAMC.COM http://www.ingeniamc.com/ INGENIA | 08/09/2017...

  • Page 6: Safety Information

    The following statements should be considered to avoid serious injury to those individuals performing the procedures and/or damage to the equipment:  • The Titan Go has no enclosure and has high voltage live parts. Take precautions before commissioning or touching it. Direct contact with live parts can cause serious injury or death.  ...

  • Page 7: Product Description

    TITAN GO Product Manual | Product Description 4 Product Description The Titan Go Servo Drive is an high power density solution providing top performance, advanced networking and built-in hardware and firmware based safety, as well as a fully featured motion controller. It can control multiple motor types and supports almost any feedback sensor including absolute serial encoders and resolvers. ...
  • Page 8 TITAN GO Product Manual | Product Description Maximum phase 300 A 250 A 300 A 100 A peak current Current sense ± 457 A range Current sense 893 mA/count resolution Shunt braking Low side shunt braking transistor on board. 100 A continuous braking current capacity.
  • Page 9 • Excitation voltage: Pure sine wave 12.2 V  17.3 V specifications • Excitation frequency: 10 kHz • Resolver gain: 1:0.5 default. Any other on demand. Contact Ingenia. • Expected sine and cosine input peak voltage: 3.9 V ± 20% p-p  • Input differential resistance ~ 24 kΩ...
  • Page 10 TITAN GO Product Manual | Product Description Protections • User configurable: • DC bus over-voltage • DC bus under-voltage • Drive over-temperature • Drive under-temperature • Over-current • Overload (I • Short-circuit protections:  • Phase to SUP+ • Phase to SUP- • Phase to phase •...

  • Page 11: Hardware Revisions

    TITAN GO Product Manual | Product Description Environmental and mechanical specifications Part number → TTN-200/200 TTN-100/400 TTN-200/400 TTN-50/800 (preliminary) Cold plate • -40ºC to +90ºC full current (with appropriate heatsink) temperature • +90ºC to 110ºC derated current Heat dissipation Maximum heat dissipation is 4 kW. Provide a heatsink according to environment temperature and power rating.
  • Page 12 TITAN GO Product Manual | Product Description 1.1.0 i047-01H1-1.1.0 First product release. Changes from previous version: September i047-01H2-1.1.0 • Modifications on the aluminum cooling plate, reduction of 1 mm 2017 thickness and added extra PCB support area for better vibration and i047-01H3-1.1.0 thermal performance.

  • Page 13: Connectors Guide

    TITAN GO Product Manual | Connectors Guide 5 Connectors Guide This chapter details the Titan Go Servo Drive connectors and pinout. INGENIA | 08/09/2017...

  • Page 14: Supply, Shunt And Motor Terminals

    TITAN GO Product Manual | Connectors Guide 5.1 Supply, shunt and motor terminals Power terminals M8 female terminal, 27 mm pitch. ERNI 225872 Signal Function Screw size 1  PH_C Motor phase C (Do not connect for DC and voice coils) PH_B Motor phase B (Negative for DC and voice coils)

  • Page 15: Ring Terminals And Screws

     Extra capacitance It is recommended to add extra capacitance to the main DC supply. The Titan Go has minimal DC bus capacitance that is enough to filter high frequency currents and is enough for battery powered applications. However it could not be enough in some cases and could damage the power supply by demanding excessive current ripple.

  • Page 16: Micro Fit 3.0 Connectors Mating

    RS 483-2637 5.3 Micro Fit 3.0 connectors mating All Titan Go Servo Drive signal and communication connections are based in Molex Micro-Fit™ 3 mm pitch connectors. Multi-core crimped cables can be used for wiring inputs, outputs, feedbacks and communications. Multi-core crimped cable mating Description Molex Micro-Fit™...

  • Page 17: P1: Aux Supply Connector

    5.4 P1: Aux supply connector Titan GO is self supplied from the DC bus using an internal DC/DC converter that starts at 60 V and works up to 850 However, some applications require an independent auxiliary power supply to work with the power off. This can be done with connector P1.
  • Page 18 TITAN GO Product Manual | Connectors Guide P1 connector 4 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex Signal Function GND_D Logic ground connection, isolated from GND_P +24V_IN +24 V logic supply input (10 V to 60 V) GND_D Logic ground connection, isolated from GND_P...

  • Page 19: P2: Communications And Ios Connector

    • See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables. 5.5 P2: Communications and IOs connector Titan GO has an isolated connector for the communications and the inputs/outputs. It includes RS-485, CAN, 5x Digital inputs, 1x Digital output and 1x Analog input.
  • Page 20 TITAN GO Product Manual | Connectors Guide P2 connector 18 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Signal Function RS485_RX+ RS485 receive data + (should be connected to master TX+) RS485_RX- RS485 receive data - (should be connected to master TX-)

  • Page 21: P3: Safe Torque Off Connector

    Digi-Key WM2491-ND / Mouser 538-43025-1800 / Farnell 9961330 Notes • See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables. 5.6 P3: Safe torque off connector Titan GO has a Safe Torque Off interface (SIL3 compliant).  INGENIA | 08/09/2017...
  • Page 22 TITAN GO Product Manual | Connectors Guide P3 connector 6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex Signal Function STO1 Safe Torque Off input 1 (24 V levels) STO2 Safe Torque Off input 2 (24 V levels) STO_STATUS_EMITTER Safe Torque Off Feedback output signalling optocoupler...

  • Page 23: P4: Digital Halls And Motor Temperature Connector

    TITAN GO Product Manual | Connectors Guide P3 Mating Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 6 Circuits. Image Part number Molex 43025-0600 Distributor code Digi-Key WM1785-ND / Mouser 538-43025-0600 / Farnell 672907 Notes • See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.
  • Page 24 TITAN GO Product Manual | Connectors Guide Signal Function HALL_1 Digital Hall 1 sensor input HALL_2 Digital Hall 2 sensor input HALL_3 Digital Hall 3 sensor input +5V_OUT 5 V 200 mA max isolated output for halls 5, 6 GND_HALLS Halls only ground connection, isolated from GND_P and GND_D to maximize noise immunity.

  • Page 25: P5: Usb Connector

    TITAN GO Product Manual | Connectors Guide 5.8 P5: USB connector P5 connector 5 pin vertical mini-USB connector. Wurth Electronics 651005136421 Signal Function USB_SUPPLY USB +5V. Does not supply the Titan. USB_D+ USB Data+ line USB_D- USB Data- line Not connected GND_USB USB GND, isolated from all other GNDs.
  • Page 26 • The Titan USB port is 100% isolated from the power. P5 Mating Description USB Shielded I/O Cable Assembly, USB A-to-Mini-USB B, 1 m Length, Black, Lead-Free. Not included in the delivery of Titan Go. Image Part number Molex 43025-0800...

  • Page 27: P6: Encoder Connector

    TITAN GO Product Manual | Connectors Guide 5.9 P6: Encoder connector P6 connector 10 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex. Signal Function for absolute encoder Function for incremental encoder 1,3,8 GND_D Logic ground. CLK+/A+ Clock positive signal output...

  • Page 28: P7: Resolver

    TITAN GO Product Manual | Connectors Guide P6 Mating Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 10 Circuits. Image Part number Molex 43025-1000 Distributor code Digi-Key WM1787-ND / Mouser 538-43025-1000 / Farnell 672920 Notes • See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.
  • Page 29 TITAN GO Product Manual | Connectors Guide SIN+ Sine positive EXC- Excitation negative COS- Cosine negative SIN- Sine negative Notes • Attention, this connector is the same model as the STO. • Titan standard option is for resolver with a transform ratio of 1:0.5. Other gains are possible on demand.

  • Page 30: Signalling Leds

    6 Signalling LEDs Titan Go Servo Drive provides information through 6 signalling LEDs: • Supply and operation: 2 LEDs below the TITAN GO logo. • Shunt resistor activation: 1 LED below the TITAN GO logo. • CANopen communication: 2 LEDs below the TITAN GO logo.

  • Page 31: Power And Operation Signalling Leds

    TITAN GO Product Manual | Signalling LEDs 6.1 Power and operation signalling LEDs Two LEDs placed below the TITAN GO logo indicate the supply and operation status. INGENIA | 08/09/2017...

  • Page 32: Can Signalling Leds

    LED is on when an error event has occurred and the drive is trapped in the Fault state. Find more about the Fault state in the E-Core documentation  page. 6.2 CAN signalling LEDs Two LEDs below the TITAN GO logo provide information about the CANopen communication status, according to CiA 303-3 recommendations . The red LED is ERROR LED and green one is RUN...

  • Page 33: Resolver Status Leds

    TITAN GO Product Manual | Signalling LEDs LED state*  Concept Description Blinking Pre-operational The device is in state PREOPERATIONAL Single flash Stopped The device is in state STOPPED Operational The device is in state OPERATIONAL *See a detailed description of the states in the next table: * Possible LED states...

  • Page 34: Adjusting The Resolver

    2. With motor disabled check the motor position read by the resolver. Rotate the motor and ensure that position is well read. Use Ingenia Motion Lab scope with position actual value register being monitored. 3. If some of the orange or blue LEDs are on this means incorrect resolver gain or alignment. Check the correct relative position between stator and rotor of the resolver.
  • Page 35 TITAN GO Product Manual | Signalling LEDs 7. When no error appear with motor turning and active (orange and blue leds always off). You can proceed and configure commutation sensor. After that configure the control loops, starting with the current loop.  INGENIA | 08/09/2017...

  • Page 36: Dimensions And Assembly

    TITAN GO Product Manual | Dimensions and assembly 7 Dimensions and assembly The Titan Go Servo Drive have a 206 mm x 172 mm footprint, 55 mm height and 4 x Ø 9 mm holes for M8 screws mounting.  Thermal dissipation required To reach its power specifications, Titan Go must be mounted over a heatsink, and a thermal interface material must be placed and compressed in between to ensure a good contact.

  • Page 37: Assembly Instructions

    TITAN GO Product Manual | Dimensions and assembly All dimensions are in mm.  All tolerances ≤ ±0.2 mm. 7.2 Assembly Instructions The assembly of the plate to a cooling surface is essential to achieve desired performance. Due to the dimensions of the plate, it is essential that the thermal pad is thick and soft enough to compensate the flexing during assembly.

  • Page 38: Thermal Interface Material

    TITAN GO Product Manual | Dimensions and assembly 7.2.1 Thermal interface material Manufacturer Part Number and Thickness Thermal Estimated thermal description before conductivit resistance plate to compression heatsink Laird A15896-02 0.50 mm 5.0 W/m·K 0.003 K/W Technologies TFLEX 720 9X9" Laird A15896-04 1.00 mm 5.0 W/m·K...
  • Page 39 TITAN GO Product Manual | Dimensions and assembly Image Part number RS-Pro 232-8344 Distributor codes RS 232-8344 Crinkle washer Description M8 stainless steel crinkle washer Image Part number Duratool D00829 Distributor codes Farnell 1614006 http://es.farnell.com/duratool/d00829/crinkle-washer-s-s-m8/dp/1614006?CMP=GRHB-OCTOPART INGENIA | 08/09/2017...

  • Page 40: Application Software

    Before configuring your drive for a new application make sure you have upgraded to the latest firmware revision. Applications If you want to make your own application to communicate with the Titan Go and develop standalone or multiaxis systems you can use the multi-platform library MCLIB Arduino To start an Arduino based project easily, connect using the...

  • Page 41: Service

    GIZATECH www.gizatech.eu/ comercial@milexia.es ANTRIMON MOTION Switzerland www.antrimon.com motion@antrimon.com Turkey FEMSAN www.femsan.com melike@femsan.com United MOTION CONTROL Kingdom PRODUCTS www.motioncontrolproducts.com info@motioncontrolproducts.com United States NAMPRO www.namproinc.com sales@namproinc.com United States GROUP SIX www.grp6.com ingenia@grp6.com INGENIA-CAT S.L. 8-14 MARIE CURIE, ADVANCED INDUSTRY PARK 08042 BARCELONA...

This manual is also suitable for:

Ttn-200/400Ttn-50/800Ttn-200/200Ttn-100/400

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