INGENIA Nix series Product Manual
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INGENIA Nix series Product Manual

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Nix Product Manual
Edition  01/22/2019
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 Nix series

  • Page 1 Nix Product Manual Edition  01/22/2019 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

    1 Table of Contents Table of Contents General Information Manual revision history ............................5 Disclaimers and limitations of liability ......................5 Contact ................................5 Safety Information About this manual............................... 7 Warnings................................7 Precautions ................................. 7 Product Description Nix part numbering ............................. 8 Specifications..............................
  • Page 3 7.2.3 Battery connection ............................61 7.2.4 Connection of multiple drives with the same power supply ................62 7.2.5 Power supply wiring recommendations......................63 Wire section ............................... 63 Wire ferrules ..............................63 Wire length ................................ 63 Motor and shunt braking resistor........................63 7.3.1 AC and DC brushless motors ..........................
  • Page 4 NIX-x/xx-y-C (Nix with onboard connectors) ....................116 NIX-x/xx-y-P (Nix with gold plated pin headers).................... 117 NIX-x/xx-y-Q (Nix with Quick connectors board)................... 118 NIX-x/xx-E-C (Nix with EtherCAT) ........................119 Assembly Instructions............................. 120 8.5.1 Heatsinks ................................. 120 8.5.2 Thermal interface material..........................121 Software Configuration ..............................

  • Page 5: 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 6 Nix Product Manual | General Information Telephone: +34 932 917 682 E-mail: hello@ingeniamc.com Web site: www.ingeniamc.com INGENIA | 01/22/2019...

  • Page 7: Safety Information

    • 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 personnel. • Before turning on the Nix Servo Drive, check that all safety precautions have been followed, as well as the installation procedures. INGENIA | 01/22/2019...

  • Page 8: Product Description

    24 V and fully rugged. By using these inputs and outputs it is possible to implement alarm signals, connect digital sensors, activate external devices (LEDs, actuators, solenoids, etc.). Some of the digital and analog inputs can also be used as command / target sources. 4.1 Nix part numbering     INGENIA | 01/22/2019...
  • Page 9 Nix Product Manual | Product Description Ordering part number Status Image NIX-10/48-C-Q ACTIVE NIX-5/170-C-Q ON DEMAND NIX-10/48-C-C ACTIVE NIX-5/170-C-C ACTIVE NIX-10/48-E-C ACTIVE NIX-5/170-E-C ACTIVE   NIX-10/48-C-P ON DEMAND NIX-5/170-C-P ON DEMAND INGENIA | 01/22/2019...

  • Page 10: Specifications

    Internal DC bus 88 µF 13 µF capacitance Minimum motor 200 µH inductance Nominal phase 10 A continuous current Maximum phase 20 A (5 s) 10 A (5 s) peak current Current sense ± 29 A ± 19 A range INGENIA | 01/22/2019...
  • Page 11 Standby power 1.5 W (max) consumption Efficiency >97% at the rated power and current Motion control specifications Motion control Ingenia E-Core with EMCL2. core Supported motor • Rotary brushless (trapezoidal and sinusoidal) types • Linear brushless (trapezoidal and sinusoidal) • DC brushed •...
  • Page 12 • High power transient voltage suppressor for short braking (600 W peak TVS diode). • Encoder broken wire detector (for differential quadrature encoders only). Motor brake Motor brake output through GPO1 or GPO2. Up to 24 V and 1 A. INGENIA | 01/22/2019...

  • Page 13: Hardware Revisions

    • -40 ºC to +125 ºC (storage) Maximum 5% - 85% (non-condensing) humidity Dimensions 75 x 60 x 14 mm Weight (exc. 86 g mating connectors) Hardware revisions Hardware revision* Description and changes 1.0.0 First product demo. November 2015 INGENIA | 01/22/2019...

  • Page 14: Power And Current Ratings

    Nix 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.  Drive safety is always ensured by its protections. However, power losses and temperature limit the allowable motor current. INGENIA | 01/22/2019...

  • Page 15: Power Losses Calculation (Heat Dissipation)

    • Air temperature, higher power semiconductor temperatures reduce their efficiency.  • Motor speed. Faster motor speeds result in higher overall power loss since the input current is greater. This increases conduction losses on the reverse polarity protection circuitry.  INGENIA | 01/22/2019...

  • Page 16: Current Ratings

    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 allows natural convection). INGENIA | 01/22/2019...
  • Page 17 Without additional heatsink. Natural convection and stage to air   radiation cooling. Maximum power dissipation At T 50ºC without heatsink Thermal resistance from power 1.58 ºC/W Thermal resistance between cold plate and heatsink stage to heatsink not considered Temperature stabilization time   INGENIA | 01/22/2019...

  • Page 18: Dynamic Application (Non-Constant Current)

    4.4.3 Dynamic application (non-constant current) The Nix has a great thermal inertia that allows storing heat during short power pulses (exceeding nominal current) without overpassing the maximum temperature. This allows achieving high peak current ratings without need of additional heatsink.  INGENIA | 01/22/2019...

  • Page 19: System Temperature

    Switching them fast means charging 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. INGENIA | 01/22/2019...

  • Page 20: Improving Heat Dissipation With A Heatsink

    • 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. 4.5 Architecture Following figure shows a simplified hardware architecture of the Nix. Links provide direct access to relevant pages. INGENIA | 01/22/2019...
  • Page 21 Nix Product Manual | Product Description INGENIA | 01/22/2019...

  • Page 22: Connectors Guide

    • 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) INGENIA | 01/22/2019...

  • Page 23: Supply And Shunt Connector

    Nix Product Manual | Connectors Guide 5.1.1 Supply and shunt connector P1 Connector 4 position 3.5 mm pitch pluggable terminal block. FCI 20020110-C041A01LF Signal Function LOGIC_SUP Logic supply input (only for NIX-5/170-y-z) Ground connection INGENIA | 01/22/2019...

  • Page 24: Motor Connector

    SHUNT_OUT Shunt braking transistor output POW_SUP Power supply input For Nix version 1.0.0B, the the Supply and shunt mating connector is the Motor mating connector (3 position). For further information see Hardware revisions. 5.1.2 Motor connector P2 Connector INGENIA | 01/22/2019...
  • Page 25 • For wiring information, see motor and shunt braking resistor wiring section.  Previous versions compatibility Motor connector has changed from version 1.0.0B of the Nix Servo Drive. Version 1.0.0B connector was a 4 position pluggable terminal block with the following pinout. INGENIA | 01/22/2019...

  • Page 26: Micro-Match Connectors Mating

    Most Nix Servo Drive signal connections are based in TE Micro-Match connectors. Two different wiring options can be used ribbon cable and multi-core crimped cable. Ribbon cable Ribbon cable mating TE Micro-Match Male-on-Wire 1.27 mm pitch Description Image Cable Use 0.5 mm² (24 AWG) flat cable. INGENIA | 01/22/2019...

  • Page 27: Multi-Core Crimped Cable

    Micro-Match wires to specific sensor, feedback or other thin wires. Image B-155-9001 Distributor code Digi-Key A104848-ND 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 INGENIA | 01/22/2019...
  • Page 28 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 pins without cable. INGENIA | 01/22/2019...

  • Page 29: Feedback Connector

    Differential digital encoder: B+ input Sin-Cos encoder: Cos+ input ENC_B- / COS- Differential Encoder: B- input Sin-Cos encoder: Cos- input ENC_Z+ / Single ended digital encoder: Index input REF+ Differential digital encoder: Index+ input Sin-Cos encoder: Reference+ input INGENIA | 01/22/2019...
  • Page 30 Description 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 MC16M-300-ND Mouser 517-C3302/16SF Notes • For further information see Pluto cable Kit - Feedbacks.  INGENIA | 01/22/2019...

  • Page 31: Absolute Encoder Connector

    Right-angled 6 pin TE Micro-Match 338070-6 connector. Signal Function +5V_OUT +5V 200mA max supply for absolute encoder (shared with feedback and I/O connector) Ground connection CLK+ Absolute encoder CLK positive signal output Absolute encoder CLK negative signal output CLK- INGENIA | 01/22/2019...
  • Page 32 Mouser 517-HF365/06SF Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch 16 position TE Connectivity 338095-6 Part number Distributor codes Digi-Key A99415-ND Mouser 571-338095-8 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable. INGENIA | 01/22/2019...

  • Page 33: I/O Connector

    Digital output 2 (open collector with weak pull-up to 5 V) GPO1 Digital output 1 (open collector with weak pull-up to 5 V) Ground HS_GPI1+ / PULSE+ / PWM+ High speed digital differential input 1+ Command source: Pulse+ input Feedback: PWM+ input INGENIA | 01/22/2019...
  • Page 34 I/O connector pinout is shared with Jupiter, Hydra, Pluto Neptune servo drives, which allows using IO starter kit and Pluto Cable Kit. Ribbon cable mating Description TE Micro-Match Male-on-Wire 1.27 mm pitch 16 position TE Connectivity 8-215083-6 Part number INGENIA | 01/22/2019...

  • Page 35: Usb Connector

    Multi-core crimped cable mating TE Micro-Match housing connector 1.27 mm pitch 16 position Description Part number TE Connectivity 1-338095-6 Distributor codes Digi-Key A99495-ND Mouser 571-1-338095-6 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires. 5.1.7 USB connector  P6 Connector INGENIA | 01/22/2019...
  • Page 36 • Avoid applying excessive mechanical stress to the USB connector. • Please see Communications page for further information Mating Description USB Shielded I/O Cable Assembly, USB A-to-Micro-USB B, 1.50m Length, Black, Lead-Free Image Part number Molex 68784-0002 Distributor codes Farnell 1617586 Digi-Key WM17146-ND Mouser 538-68784-0002 INGENIA | 01/22/2019...

  • Page 37: Can Connector

    • 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 TE Micro-Match Male-on-Wire 1.27 mm pitch 4 position Description Part number TE Connectivity 215083-4 INGENIA | 01/22/2019...

  • Page 38: Cleverly Wiring Can Buses From Standard Db9 Connectors

    Nix Micro-Match DB9 standard to ribbon cable 1 (CAN_GND) 6 (CAN_GND) 2 (CAN_L) 2 (CAN_L) 3 (CAN_H) 7 (CAN_H) 4 (CAN_GND) 3 (CAN_GND) Multi-core crimped cable mating TE Micro-Match housing connector 1.27 mm pitch 16 position Description INGENIA | 01/22/2019...

  • Page 39: Rs485 Interface Connector

    Common (internally connected to drive GND) Common (internally connected to drive GND) RS485 receive data + (should be connected to master TX+) RS485 receive data - (should be connected to master TX-) Common (internally connected to drive GND) INGENIA | 01/22/2019...
  • Page 40 Mouser 517-HF365/06SF Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch 8 position TE Connectivity 338095-8 Part number Distributor codes Digi-Key A99415-ND Mouser 571-338095-8 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable. INGENIA | 01/22/2019...

  • Page 41: Connectors Position And Pinout Of Nix With Gold Plated Pin Headers (Nix-X/Xx-Y-P)

    Nix Product Manual | Connectors Guide 5.2 Connectors position and pinout of Nix with gold plated pin headers (NIX-x/xx-y-P) INGENIA | 01/22/2019...
  • Page 42 Digital output 2 (open collector with weak pull-up to 5 V) GPO1 Digital output 1 (open collector with weak pull-up to 5 V) Ground connection HS_GPI1+ / PULSE+ / High speed digital differential input 1+ PWM+ Command source: Pulse+ input Feedback: PWM+ input INGENIA | 01/22/2019...
  • Page 43 Absolute encoder DATA positive signal input DATA- Absolute encoder DATA negative signal input Name Description Ground connection Ground connection RS485 receive data + (should be connected to master TX+) RS485 receive data - (should be connected to master TX-) INGENIA | 01/22/2019...
  • Page 44 Single ended digital encoder: Index input Differential digital encoder: Index+ input Sin-Cos encoder: Reference+ input ENC_Z-/REF- Differential Encoder: Index- input Sin-Cos encoder: Reference- input Ground connection HALL_1 Hall sensor input 1 (analog and digital) HALL_2 Hall sensor input 2 (analog and digital) INGENIA | 01/22/2019...

  • Page 45: Integrating The Nix With Pin Headers On A Pcb

    5.2.1 Integrating the Nix with pin headers on a PCB The Nix pin header version is designed to be soldered or plugged on a PCB  Ingenia connector board Ingenia provides a terminal block connector board, with open-source PCB design, which can be used as a reference.
  • Page 46 • 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). INGENIA | 01/22/2019...

  • Page 47: Mating Connectors

    2.5 mm width Gold flash 3-way pin Absolute Sullins PPPC031LFBN- Digi-Key receptacle encoder S7036-ND 8.5 mm height 2.5 mm width Gold flash 6-way pin Sullins PPPC061LFBN-  I/O Digi-Key receptacle S7039-ND 8.5 mm height 2.5 mm width Gold flash INGENIA | 01/22/2019...

  • Page 48: Nix With Quick Connectors Board (Nix-X/Xx-Y-Q)

    • Signal wires: 0.2 mm  ~ 0.5 mm  (26 ~  20 AWG).  Open-source design The Quick Connector Board is an open-source design and can be used as reference. The 3DPDF, the STEP model and the PCB outputs of the Quick connector board are available for download INGENIA | 01/22/2019...
  • Page 49 Nix Product Manual | Connectors Guide As can be seen, the pinout is clearly labeled in the Quick Connector Board: INGENIA | 01/22/2019...

  • Page 50: Connectors Position And Pinout Of Nix With Ethercat (Nix-X/Xx-E-Z)

    Nix Product Manual | Connectors Guide 5.4 Connectors position and pinout of Nix with EtherCAT (NIX-x/xx-E-z) INGENIA | 01/22/2019...

  • Page 51: Ethercat Connectors

    Receive Data+ line +2V5 2.5 V generated internally +2V5 2.5 V generated internally RX_D- Receive Data- line Not connected GND_CHASSIS Connected to the connector chassis Notes • Pinout is the same for Input (PORT 1) and output (PORT 2) connectors INGENIA | 01/22/2019...

  • Page 52: Signalling Leds

    Three LEDs situated next to the RS485 connector indicate the supply and operation status. Next table shows the meaning of each LED: Colour Meaning POWER Green LED is on when internal power supply is working. FAULT LED is on when a fault or error has occurred. INGENIA | 01/22/2019...

  • Page 53: Can Signalling Leds

    The device is switched off 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: INGENIA | 01/22/2019...

  • Page 54: Ethercat Signalling Leds

    Blinking PRE-OPERATIONAL Blinking Invalid configuration Single Flash SAFE-OPERATIONAL Single flash Local error OPERATIONAL Double flash Watchdog timeout     Application controller failure For high severity errors inside the Nix Servo Drive, an special LED state has been developed: INGENIA | 01/22/2019...
  • Page 55 The 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: Slave State LINK LED Port closed Flickering Port opened (activity on port) Port opened (no activity on port)  INGENIA | 01/22/2019...

  • Page 56: Wiring And Connections

    EMI reduction. 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 recommended Earth wiring is shown following. INGENIA | 01/22/2019...
  • Page 57 PE connection is not practical (not enough connection terminals) connect all PE terminals in a central connection bus. • Whenever possible, mount the Ingenia drive on a metallic conductive surface connected to earth. Use good quality plated screws that won’t oxidize or lose conductivity during the expected lifetime. Note that the PE terminal is internally connected with the Nix Servo Drive standoffs. ...

  • Page 58: Power Supply

    When the Nix is powered from USB, it is not capable of driving a motor, but communications, feedbacks and IOs are fully functional.  Disconnection recommendations There are no critical instructions for disconnecting the Nix. Just some recommendations: INGENIA | 01/22/2019...

  • Page 59: Power Supply Requirements

    Although the logic supply accepts a wide voltage range, a power supply of 24 V and 5 W is recommended for the NIX-5/170-y-z.  Further information on how to dimension a power supply for the Ingenia drives can be found here. Following are shown different power supply examples:...

  • Page 60: Power Supply Connection

    For double supplying the NIX-10/48 and NIX-15/48, logic supply voltage must be higher than or equal to power supply voltage.  Twisted cables Twisted power supply cables are preferred to reduce electromagnetic emissions and increase immunity. The following picture shows the Nix versions NIX-10/48 and NIX-15/48 supply wiring diagram.   INGENIA | 01/22/2019...

  • Page 61: Battery Connection

    For safety reasons, it is important to use power supplies with full galvanic isolation. 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. INGENIA | 01/22/2019...

  • Page 62: Connection Of Multiple Drives With The Same Power Supply

    Connection of multiple drives with the same power supply When different servo drives are connected to the same power 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. INGENIA | 01/22/2019...

  • Page 63: Power Supply Wiring Recommendations

    • For best immunity use twisted and shielded 2-wire cables for the DC power supply. This becomes crucial in long cable applications. • Avoid running supply wires in parallel with other wires for long distances, especially feedback and signal wires. 7.3 Motor and shunt braking resistor INGENIA | 01/22/2019...

  • Page 64: Ac And Dc Brushless Motors

    In order to minimize the capacitive coupling of the motor wires, and therefore cancelling the effect of the common mode rejection effect, the choke has to be properly wired. • An excessive number of turns causes a high capacitive coupling. Only 2 or 3 turns per motor phase are recommended. INGENIA | 01/22/2019...

  • Page 65: Dc Motors And Voice Coils Actuators

    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. INGENIA | 01/22/2019...

  • Page 66: Motor Wiring Recommendations

    For higher 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 mm . Ensure the insulator does not exceed 3.5 mm (connector pitch). Following table indicates recommended wire ferrules for the Nix Servo Drive: INGENIA | 01/22/2019...

  • Page 67: Motor Choke

    To absorb this energy the Nix incorporates a shunt transistor to connect an external braking resistor.  Wiring recommendations of the shunt braking resistor: • The external braking resistor should be connected between SHUNT_OUT and POW_SUP terminals of the Nix Supply and shunt connector.  INGENIA | 01/22/2019...
  • Page 68 As a recommendation, set the DC bus voltage limit above the maximum expected DC supply voltage + 5%. When using batteries set the DC bus voltage limit below the maximum charge voltage. This will allow regenerative braking and protect the battery against overcharging. INGENIA | 01/22/2019...

  • Page 69: Feedback Connections

    Digital halls can be used for commutation, position and velocity control. Resolution using these sensors is much lower than using encoders. Nix can use single ended Hall sensors to drive the motor with trapezoidal commutation, but not with sinusoidal commutation.  INGENIA | 01/22/2019...
  • Page 70 Digital halls input pins are shared with Analog Halls interface pins. The 1 kΩ pull-up resistors are disconnected when Analog-halls input is selected to prevent analog data corruption. Next figure shows the circuit model of the digital Halls inputs.  INGENIA | 01/22/2019...

  • Page 71: Analog Halls Interface

    These sensors can be used for a fine positioning of the rotor. Nix analog halls inputs main features are shown in next table: Specification Value Type of inputs Non-isolated Single ended analog filtered ESD protected Number of inputs INGENIA | 01/22/2019...
  • Page 72 1 kΩ pull-up is disconnected automatically.   Next figure shows how to connect the linear Halls to the Nix Servo Drive. Refer to  Feedback wiring recommendations for more information about connections and wires. INGENIA | 01/22/2019...

  • Page 73: Digital Incremental Encoder

    High resolution motor mounted encoders allows excellent velocity and position control at all speeds. Encoder feedback should be used for applications requiring precise and accurate velocity and position control. Digital encoders are especially useful in applications where low-speed smoothness is the objective. INGENIA | 01/22/2019...
  • Page 74 10 MHz. When single ended encoder is connected, only high signals (ENC_A+, ENC_B+ and ENC_Z+) must be used.  Next figures illustrate how to connect a differential and a single ended encoder to the Nix Servo Drive. Refer to Feedback wiring recommendations  for more information about connections and wires.  INGENIA | 01/22/2019...

  • Page 75: Digital Encoders With Single Ended 24 V Outputs

    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 kΩ 1/4 W resistor in series with the ENC_X- (inverting) input and leave the ENC_X+ floating.  INGENIA | 01/22/2019...

  • Page 76: Digital Encoders With Differential 24 V Outputs

    This sensor provide a pair of quadrature sine and cosine signals as the motor moves, which frequency depends on the motor speed. The signals may be generated by optical or magnetic means. For noise immunity the signals are typically transmitted differentially from the encoder to the sensor interface electronics. Signal description Signal example INGENIA | 01/22/2019...
  • Page 77 IEC 61000-4-2 (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 recommended working 1 kHz used as analog encoder frequency 10 MHz used as digital encoder INGENIA | 01/22/2019...
  • Page 78 • If the average is different to 2.5 V±0.1 V. connect all the ENC_X- inputs to the average value. Some encoders provide this output and name (confusingly) Vref. The value of the average must be between 0.6 V and 4.4 V. Circuit model for each differential channel (A, B, REF) is shown in the next figure. INGENIA | 01/22/2019...

  • Page 79: Absolute Encoder Interface

    Maximum voltage range -13 ~ 16.5 V Maximum readable frequency (SSI) 1 kHz Termination 120 Ω on data line Next Figure shows how to connect an Absolute encoder to Nix Servo Drive. Refer to Feedback wiring recommendations for more information about connections and wires.  INGENIA | 01/22/2019...

  • Page 80: Digital Input Feedback - Pwm Encoder

    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 illustrates PWM feedback input for different rotor positions: INGENIA | 01/22/2019...
  • Page 81 Next figure 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. INGENIA | 01/22/2019...

  • Page 82: Analog Input Feedback

    A typical analog sensor used for position feedback is a potentiometer. This sensor provides a voltage proportional to the rotor position. The following picture shows how to connect a potentiometer as a position sensor using analog input 1: INGENIA | 01/22/2019...

  • Page 83: Dc Tachometer

    The Nix Servo Drive can use a DC tachometer for velocity feedback through the I/O connector. a DC tachometer provides an analog signal whose voltage level is proportional to the rotor speed. Next figure illustrates how to connect a DC tachometer with differential output to the Nix Servo Drive. INGENIA | 01/22/2019...

  • Page 84: Feedback Wiring Recommendations

    (< 500 Ω). Use ceramic capacitors with good quality dielectric, like C0G.  For further information contact Ingenia engineers for support. 7.5 I/O connections The Nix Servo Drive provides various inputs and output terminals for parameter observation and drive control options.

  • Page 85: General Purpose Single Ended Digital Inputs Interface (Gpi1, Gpi2)

    4 V < V < 24 V Low level input voltage 0 < V < 1 V Input impedance 30 kΩ 1st order filter cutting frequency (-3 dB) 100 kHz Sampling rate 1 ksps Max delay 2 μs INGENIA | 01/22/2019...
  • Page 86 Nix 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. INGENIA | 01/22/2019...

  • Page 87: High-Speed Digital Inputs Interface (Hs_Gpi1, Hs_Gpi2)

    The high-speed (HS) non-isolated digital inputs are ready for 5 V levels but are 24 V tolerant. Next table show their electrical specifications.  Defect logic value Nix high-speed inputs are default low-level (OFF). When no signal or load is connected, the board will detect a logic low. INGENIA | 01/22/2019...
  • Page 88 10 kΩ resistors, resulting in a total input impedance of 30 kΩ. This bias resistors allow both single ended and differential input operation. Noise immunity can be improved by reducing input impedance with a termination resistor between HS_GPI+ and HS_GPI-. High-speed digital inputs electrical equivalent circuit is the following: INGENIA | 01/22/2019...
  • Page 89 Next figure illustrates how to connect high-speed differential signal to HS_GPI1 (same wiring can be used for HS_GPI2).  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. INGENIA | 01/22/2019...
  • Page 90 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.   INGENIA | 01/22/2019...
  • Page 91 For a  sensor supply of 5 V, 1 kΩ is recommended. For a sensor supply of 24 V, 47 kΩ is recommended.   The connection of a NPN three-wire sensor with a noise filter is shown in the next figure. INGENIA | 01/22/2019...

  • Page 92: Analog Inputs Interface (An_In1, An_In2)

    Maximum voltage on any pin (referred to GND) 24 V 1st order filter cutting frequency (-3dB) 4.2 kHz 4.4 kHz Sampling rate (max) 10 ksps Next figure shows the circuit model for the analog input 1:  Next figure shows the circuit model for the analog input 2:  INGENIA | 01/22/2019...
  • Page 93 Next figure illustrates how to connect an analog single ended source to the Nix Servo Drive analog input 1. Next figure shows how to interface differential and single ended voltage sources to the differential analog input 2. The differential analog input is typically used as a command source or feedback signal.  INGENIA | 01/22/2019...

  • Page 94: Digital Outputs 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: Specification Value Number of outputs INGENIA | 01/22/2019...
  • Page 95 = 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 1 kHz Next figure shows digital output circuit model.  INGENIA | 01/22/2019...

  • Page 96: Wiring Of 5V Loads

    Loads 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).  INGENIA | 01/22/2019...
  • Page 97 An alternative to the freewheeling diode is to place a varistor or an RC snubber in parallel with the load. An example of how to connect an inductive load to GPO2 is shown in the next figure (same wiring could be used for GPO1).  INGENIA | 01/22/2019...

  • Page 98: Motor Brake Output (Gpo1, Gpo2)

    This kind of brakes increase the safety of the application, because in a drive power failure, the switch would be opened and therefore the brake activated. Next figure show how the typical connection using the main supply as brake power supply. INGENIA | 01/22/2019...

  • Page 99: Torque Off Input (Custom Purchase Order)

     < 1 V) by defect, so the input must be connected to a logic high level (4 V < V  < 24 V) to activate the power stage. Next figures show two examples of connection of the torque off input, a self-supplied option and an external supplied option. INGENIA | 01/22/2019...

  • Page 100: Command Sources

    Position, velocity, torque Analog input (+/- 10 V o 0 – 5 V) Position, velocity, torque Step and direction Position PWM command Position, velocity, torque Encoder following / electronic gearing Position Please, see Command sources section from E-Core documentation for configuration details.  INGENIA | 01/22/2019...

  • Page 101: Network Communication Interface

    (AN_IN1) and a dual track potentiometer to the differential analog input (AN_IN2). As an application example, the next picture shows how to connect a dual track potentiometer to get a ±10 V differential input. INGENIA | 01/22/2019...

  • Page 102: Step And Direction

    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-speed digital inputs. Next figures illustrate how to connect a single ended and differential step and direction command source to the Nix Servo Drive. INGENIA | 01/22/2019...

  • Page 103: Pwm Command

    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.  INGENIA | 01/22/2019...

  • Page 104: Dual Input Mode

    "1" for counter-clockwise rotation). In this mode, a duty cycle of 0% corresponds with a target of 0 rad, 0 rpm or 0 N·m, and a duty cycle of 100% corresponds to the maximum position, velocity or torque. Two general purpose inputs are used:  • High speed digital input 2 (HS_GPI2) for PWM Command INGENIA | 01/22/2019...

  • Page 105: 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. INGENIA | 01/22/2019...

  • Page 106: Communications

    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: • • Serial interface - RS485 • CANopen INGENIA | 01/22/2019...

  • Page 107: Usb Interface

    • Do not rely on an earthed PC to provide the Nix Servo Drive earth connection. The drive must be earthed through a separate circuit. • Avoid creating ground loops by using isolated power supplies. • Shortest cables are preferred.  INGENIA | 01/22/2019...

  • Page 108: Rs485 Interface

    Nix version 1.1.0: 120Ω on RX line included. Termination resistor Nix version 1.2.0 (Release Feb 2017): Resistor 120 Ω on TX and RX lines included. Next figure illustrates how to connect Nix Servo Drive with a host in a point to point configuration. INGENIA | 01/22/2019...

  • Page 109: Multi-Point Connection Using Daisy Chain

    Daisy chain connection is a multi-point network topology based on connecting multiple terminals in a ring. The wiring consists on connecting the TX terminals of each device to the RX terminals of the next device. An example of daisy chain wiring of multiple Nix is shown in the next figure.  INGENIA | 01/22/2019...
  • Page 110 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 distances, the flat ribbon cable with characteristic 100Ω ~ 120Ω line impedance provides good physical layer for RS485. For long distances preferably use twisted pair cable.   INGENIA | 01/22/2019...

  • Page 111: Canopen Interface

    120 Ω on board (mount jumper to enable the termination)  Drive ID When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, CANopen network may hang. An example of CAN wiring is shown in the next figure. INGENIA | 01/22/2019...
  • Page 112 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 differential. For this reason, if the host device shares supply GND with Nix it is not needed to connect CAN connector GND again, as this could cause ground loop issues. INGENIA | 01/22/2019...

  • Page 113: Can Interface For Pc

    • For a total CAN bus length over 40 meters, it is mandatory to use shielded twisted cables. Connect the cable shield to protective earth at both ends. Ensure that the cable shield is connected to the connector shield, as connection to host protective earth is usually soldered inside the connector. INGENIA | 01/22/2019...

  • Page 114: Ethercat Interface

    SDO info Not supported Segmented SDO Supported SDO complete access Not supported Synchronization modes Free Run Distributed clock ( Cyclic modes) Process data object Configurable, up to 64 objects Next figure shows a wiring diagram of an EtherCAT bus. INGENIA | 01/22/2019...
  • Page 115 Nix Product Manual | Wiring and Connections INGENIA | 01/22/2019...

  • Page 116: Dimensions And Assembly

    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 Ø 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 ≤ ±0.2 mm. INGENIA | 01/22/2019...

  • Page 117: Nix-X/Xx-Y-P (Nix With Gold 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 Ø 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 ≤ ±0.2 mm. INGENIA | 01/22/2019...

  • Page 118: Nix-X/Xx-Y-Q (Nix With Quick 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 Ø 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 ≤ ±0.2 mm. INGENIA | 01/22/2019...

  • Page 119: Nix-X/Xx-E-C (Nix With 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 Ø 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 ≤ ±0.2 mm. INGENIA | 01/22/2019...

  • Page 120: Assembly Instructions

    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.  INGENIA | 01/22/2019...

  • Page 121: Thermal Interface Material

    Manufacturer Part Number and Thickness Thermal Estimated thermal description before conductivit resistance plate to compression heatsink (with an area of 50 mm x 50 mm) Laird A15372-02 0.127 mm 3.8 W/ 0.013 ºC/W Technologies m·ºC INGENIA | 01/22/2019...
  • Page 122 A15896-02 Laird 0.50 mm 5.0 W/ 0.04 ºC/W Technologies m·ºC TFLEX 720 9X9" Bergquist GPHC5.0-0.020-02-08 0.51 mm 5.0 W/ 0.04 ºC/W m·ºC t-Global H48-6A-320-320-0.5-1 0.50 mm 4.0 W/ 0.05 ºC/W Technology m·ºC Bergquist BP100-0.005-00-1112 0.127 mm 0.8 W/ 0.064 ÂºC/W m·ºC INGENIA | 01/22/2019...

  • Page 123: Software

    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. INGENIA | 01/22/2019...

  • Page 124: Service

    ANTRIMON Switzerland MOTION AG 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:

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