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Related Manuals for INGENIA Neptune
Summary of Contents for INGENIA Neptune
- Page 1 Neptune Servo Drive Product Manual Version: Date: 05-abr-2016 14:02...
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Page 2: Table Of Contents
I/O mating connectors 4.2.4 RS232 mating connectors 4.2.5 USB mating connector Pin header variant pinout 4.3.1 Pinout 4.3.2 Integrating the Neptune pin header variant on a PCB 4.3.3 Recommended mating connectors EtherCAT variant pinout 4.4.1 EtherCAT input and output connector... - Page 3 Wiring and Connections Power supply wiring 5.1.1 Recommended power supply connection 5.1.2 Simplified battery supply connection 5.1.3 Connection of multiple drivers 5.1.4 Power supply wiring recommendations Motor output wiring 5.2.1 AC and DC Brushless motors 5.2.2 DC motors and voice coil actuators 5.2.3 Stepper motors 5.2.4...
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Page 4: Revision History
EtherCAT signalling LEDs 6.3.1 EtherCAT status LED 6.3.2 EtherCAT in-connector LED Software Before you begin Hardware Installation: Software Installation and Drive Communication Setup: Updating your drive Firmware Configuring your drive Dimensions Standard version Pin header version EtherCAT version Revision History... -
Page 5: Preliminary Notes
INGENIA-CAT rejects all liability for errors or omissions in the information or the product or in other documents mentioned in this document. -
Page 6: Warnings
This information is provided to protect users and their working area when using the Neptune Servo Drive, as well as other hardware that may be connected to it. Please read this chapter carefully before starting the installation process. -
Page 7: Specifications
Product Manual Product Description Neptune is a high performance closed loop servo drive controller suitable for DC brushed, voice coils, brushless and stepper motors. Its incredibly compact design includes multiple communication ports, enabling thus a wide choice of interfacing methods. Its extended voltage operating range allows its use in several applications, and the small footprint and the needless of an external heatsink allow the controller to be a valid OEM for critical- size applications. - Page 8 Product Manual Current sensing On phases A and B (phase C generated internally). Accuracy is ± 1% full scale. 10 bit resolution. Current sense ± 6.3 A range Current sense 12.28 mA/count resolution Sensors for Digital halls (Trapezoidal) commutation Analog halls (Sinusoidal / Trapezoidal) (brushless motors) Quad.
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Page 9: Hardware Revisions
20 g *Stepper motor control capabilities are limited. Please contact our engineers for assistance. The Neptune servo drive can work with stepper but is not specially designed for that. The Hydra servo drive is specially designed to work with steppers. -
Page 10: Power And Current Ratings
*Hardware revision is screen printed on the board. Power and current ratings The Neptune Servo drive is capable of providing the nominal current from -25ºC to 50ºC ambient air temperature without the need of any additional heatsink or forced cooling system. From 50ºC to 100ºC of ambient temperature a current derating is needed to avoid a system overtemperature. - Page 11 5 minutes after turn off to allow a safe cool down. Thermal image of the Neptune Servo Drive operating at nominal current. Do not touch any live part when in operation and wait at least 5 minutes after power off: To improve the heat dissipation, an small heatsink attached to the hottest ic with a good thermal interface material can be added.
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Page 12: Architecture
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. Architecture Following figure shows a simplified hardware architecture of the Neptune. 12/90... -
Page 13: Connectors
Product Manual Connectors 13/90... -
Page 14: Connectors Position And Pinout
Product Manual Connectors Connectors position and pinout Next figures show Neptune Servo Drive connectors. Connector functionalities and pinouts are described in detail in the next subchapters. For the Neptune pin header version please visit the Pin header variant section. For EtherCAT connectors pinout see... -
Page 15: Can Interface
Product Manual CAN interface CAN interface connector is a 4 pin TE Micro-Match connector. Part number 338068-4 . Polarization hole on PCB indicates pin 1 and ensures correct mating connector position. Pin numbers and pinout are shown below. Name Description CAN_GND CAN ground (connected to circuit ground) 15/90... -
Page 16: Feedbacks Connector
CAN bus line dominant high CAN_GND CAN ground (connected to circuit ground) Feedbacks connector Neptune has a 12 pin TE Micro-Match connector for motor feedbacks. Part number TE 1-338068-2 Polarization hole on PCB indicates pin 1 and ensures correct cable position. See Feedback connections for more information about different feedbacks wiring. -
Page 17: Io Connector
IO starter kit with Neptune. IO connector Neptune has a 16 pin TE Micro-Match connector for inputs and outputs. Part number 1-338068-6 . See Potentiometer PWM encoder interface for wiring information. Polarization hole on PCB indicates pin 1 and ensures correct cable position. - Page 18 Cable Kit Manual I/O connector pinout is shared with Pluto Jupiter servo drives, which allows using the starter kit with Neptune. Connector alternatives 2 alternative connectors are offered: Pin header termination. For board stacking on backplane. Right angle alternative Part number 1-338070-6...
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Page 19: Rs232 Interface Connector
Product Manual RS232 interface connector RS232 interface connector is a 6 pin TE Micro-Match connector. Part number 338068-6 . Polarization hole on PCB indicates pin 1 and ensures correct cable position. Pin numbers and connector pinout are shown below: Name Description RETURN_TX Internally connected to pin 6. -
Page 20: Usb Connector
. Note that overall diameter exceeds the connector pitch, however therefore it is not recommended to use more than 3 terminals. USB connector Neptune includes a 5 pin micro-USB connector for USB interface. This allows easy access to the driver configuration using MotionLab Documentation Home... -
Page 21: Mating Connectors
For multi-core crimped cable Some applications require single cables with crimp terminals. This makes the wiring cleaner and is a preferred option for volume applications. Neptune connectors include locking latches that provide audible click during mating and ensure assembly robustness. -
Page 22: Feedbacks Mating Connectors
Product Manual Cleverly wiring CAN buses from standard DB9 connectors The Neptune CAN pinout allows an easy connection to the standard DB9 connector 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... -
Page 23: I/O Mating Connectors
Multi-core crimped cable Some applications require single cables with crimp terminals. This makes the wiring cleaner and is a preferred option for volume applications. Neptune connectors include locking latches that provide audible click during mating and ensure assembly robustness. ... -
Page 24: Rs232 Mating Connectors
A99491CT-ND 571-1-338097-1 Suggested cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG). USB mating connector USB 2.0 A to micro-B (as used in mobile phones chargers) are valid for interfacing the Neptune. Following are suggested part numbers. Connector Manufacturer Manufacturer... -
Page 25: Pinout
Product Manual Pinout Pin numbers and a detailed pinout description are shown below. Note that this pinout shows the board the opposite side of the connectors. Name Description +SUP Positive power supply input Negative power supply input (Ground) PH_C Motor phase C connection (not connected in DC motors) 25/90... - Page 26 Product Manual PH_B Motor phase B connection (- in DC motors) PH_A Motor phase A connection (+ in DC motors) HS_GPI2+ / DIR+ High speed digital differential input 2+ Command source: Direction+ input HS_GPI2- / DIR- High speed digital differential input 2- Command source: Direction- input Ground GPO2...
- Page 27 Product Manual Common (internally connected to driver GND) RS232 receive data (should be connected to master TX) RS232 transmit data (should be connected to master RX) Common (internally connected to driver GND) RET_TX Daisy chain TX return line, connected to pin 1 CAN ground (connected to circuit ground) CAN_L CAN bus line dominant low...
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Page 28: Integrating The Neptune Pin Header Variant On A Pcb
Digital Halls: C input Integrating the Neptune pin header variant on a PCB The Neptune pin header version is designed to be soldered or plugged on a PCB. Footprint The picture below shows the Neptune dimensions and holes from the bottom point of view. -
Page 29: Recommended Mating Connectors
Product Manual Recommended pin header trough hole pad diameter: 0.9 mm (varies depending on the chosen pin receptacle) Avoid placing high components under the board. They can interfere with the Neptune (for more details see Dimensions Routing the PCB Please follow this recommendations: traces should always be as short as possible to minimize potential EMI issues. -
Page 30: Ethercat Variant Pinout
2.5 mm width Gold flash Sullins PPPC081LFBN- S7041-ND 8-way pin 2 (Feedback receptacle connector) 8.5 mm height 2.5 mm width Gold flash EtherCAT variant pinout Next figure show Neptune Servo Drive EtherCAT variant. Connector functionalities and pinouts are described next. 30/90... -
Page 31: Ethercat Input And Output Connector
Product Manual EtherCAT input and output connector Neptune EtherCAT variant includes 2 RJ45 ports for the EtherCAT communication, the input connector (PORT 1) and the output connector (PORT 2). The pinout is shown below. EtherCAT input (PORT 1) Name Description... -
Page 32: Wiring And Connections
Product Manual RX_D- Receive Data- line Not connected GND_CHASSIS Connected to the connector chassis Wiring and Connections 32/90... -
Page 33: Power Supply Wiring
Product Manual Wiring and Connections Once the Neptune Servo Drive is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the drive. Next pages show detailed connection suggestions. -
Page 34: Simplified Battery Supply Connection
Next figure shows a simplified wiring diagram for the Neptune power supply from a battery. 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 Neptune current ratings. -
Page 35: Power Supply Wiring Recommendations
Product Manual Power supply wiring recommendations Wire section The minimum wire section is determined by the current consumption and the allowed voltage drop across the conductor. It is preferred to use wide section stranded wires to reduce impedance, power losses and ease the assembly. -
Page 36: Motor Output Wiring
Product Manual Wire length The distance between the Neptune Servo Drive and the power supply should be minimized when possible. Short power cables are preferred. For best immunity use twisted cables for the DC power supply. Disconnection of the drive Disconnection process recommendations There are no critical instructions for disconnecting the Pluto. -
Page 37: Dc Motors And Voice Coil Actuators
The Neptune Servo Drive is capable of controlling 4 wire bipolar stepper motors. The connection diagram is shown in next figure. Note that stepper phases A- and B- are connected together to Neptune PH_C output. The connection between the two phases should be made as close as possible to the driver. The current ratings specified in figure are divided by 2 using this configuration since phase C shares the current of two phases. -
Page 38: Motor Wiring Recommendations
The parasitic capacitance between motor wires should not exceed 10 nF. If very long cables (> 100 meters) are used, this condition may not be met. In this case, add series inductors between the Neptune outputs and the cable. The inductors must be magnetically shielded, and must be rated for the motor surge current. -
Page 39: Feedback Connections
0.25 mm (24 AWG) Motor choke Neptune Servo Drive has an onboard ferrite bead in each phase output to minimize its electromagnetic emissions (Z = 100 Ω @ 100 MHz). However, in applications where electromagnetic compatibility is a concern or that must comply with the EMC standards, the use of an external common mode ferrite bead is necessary. - Page 40 Product Manual The encoder signals are read as pulses that the Neptune uses to keep track of the motor's speed, position and direction of rotation. Channel A and channel B signals should have a phase shift of 90 degrees. Based on the speed and on the order in which these pulses are received from the encoder, the drive can deduce the motor velocity and physical location.
- Page 41 The Neptune Servo Drive has one differential quadrature encoder interface, with optional index signal input. Index is a single pulse per revolution signal that can be used to know absolute positions. Next table illustrates digital encoder inputs main features.
- Page 42 Product Manual Next figures illustrate how to connect a differential and a single ended encoder to the Neptune Servo Drive. Refer to Feedback wiring recommendations for more information about connections and wires. Connection diagram for digital differential encoders. 42/90...
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Page 43: Digital Halls Interface
Product Manual Connection diagram for digital single ended encoders. Encoder wiring must be electrically isolated from motor, AC power and all other power wiring. 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. - Page 44 Digital halls can be used for commutation, position and velocity control. Resolution using these sensors is much lower than using encoder. Neptune can use single ended Hall sensors to drive the motor with trapezoidal commutation, but not with sinusoidal commutation.
- Page 45 The 1 kΩ pull-up resistors are disconnected when Analog-halls input is selected to prevent the analog data corruption. Next figure shows the circuit model of the digital Halls inputs. Next figure illustrates how to connect the digital halls to the Neptune Servo Drive. Refer to Feedback wiring recommendations for more information about connections and wires.
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Page 46: Analog Halls Interface
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. Neptune analog halls inputs main features are shown in next table:... -
Page 47: Analog Input Feedback - Potentiometer
Analog input feedback - Potentiometer The Neptune can use an analog signal as position and velocity feedback element. In this case, rotor position or velocity is calculated depending on the voltage level of one analog input. There are 2 analog inputs with different input voltage range. - Page 48 10 kHz for input 1 50 kHz for input 2 Input impedance >10 kΩ Next table shows the Neptune Servo Drive analog inputs voltage range. Input Max. differential voltage (Analog In+) – (Analog In-) Analog input 1 0 V to + 5 V...
- Page 49 Product Manual Next figure shows the circuit model for the analog input 1: Next figures illustrate how to connect an analog source to the Neptune Servo Drive analog input 2 (for differential and single ended sources). Refer to Feedback wiring recommendations for more information about connections and wires.
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Page 50: Pwm Encoder Interface
Product Manual Next figure illustrates how to connect an analog single ended source to the Neptune Servo Drive analog input 1. Refer to Feedback wiring recommendations for more information about connections and wires. The following picture shows how to connect a potentiometer as a position sensor using analog input 1: Analog feedback wiring should be physically isolated from motor, AC power and all other power wiring. - Page 51 Product Manual For this feedback interface the high speed digital input 1 is used (HS_GPI1). Next table summarizes main features of this input: Specification Value for 5 V input Number of inputs Type of input ESD protected. Differential ESD capability IEC 61000-4-2 (ESD) ±...
- Page 52 Product Manual Next figure illustrates how to connect a PWM encoder to the Neptune Servo Drive: Single ended PWM encoders can also be connected to Neptune Servo Drive. Next figure shows how to do 52/90...
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Page 53: Dc Tachometer
DC tachometer The Neptune Servo Drive can use a DC tachometer signal as velocity feedback element. Tachometer provides an analog signal whose voltage level is proportional to the rotor speed. There are two analog inputs with different input voltage range. Any of them can be used as velocity feedback input, and can be selected via software depending on the voltage range of the feedback element and its kind of output (single ended or differential). -
Page 54: Feedback Wiring Recommendations
5 V supply and GND. Keep the ground connection between an encoder and the Neptune Servo Drive even if the encoder supply is not provided by the drive. In very noisy environments, connect the cable shield to the connector shield only at one side. -
Page 55: Io Connections
9. If the signal source output voltage is larger than +/-10 V, use a 3-resistor differential divider, located near the servo drive connector. IO connections The Neptune Servo Drive provides various inputs and output pins for parameter observation and drive configuration options. - Page 56 I/Os must be the same. Otherwise inputs or outputs may be damaged. Three-wire sensors can also be connected to Neptune Servo Drive LS inputs. Next figures illustrate how to do it for PNP and NPN 3 wire sensors (LS_GPI1 can also be used).
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Page 57: High-Speed (Hs) Digital Inputs Interface
Product Manual Pull up resistor value must be chosen in order to ensure ≥ 4 V at the GPI pin considering the input 30 kΩ resistance. For Vcc 5 V, 1 kΩ is recommended. For 24 V 10 kΩ. High-Speed (HS) digital inputs interface The high-speed (HS) non-isolated digital inputs are ready for 5 V levels and tolerant to 24 V. - Page 58 Product Manual Specification Value ESD capability IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact) Input current 2 mA @ 5 V; 5 mA @ 15V High level input voltage (HS_GPI+ - HS_GPI-) > 150 mV Low level input voltage (HS_GPI+ - HS_GPI-) <...
- Page 59 Product Manual Neptune Inputs and outputs are not isolated. The ground of the Neptune Servo Drive and the ground of the devices connected to I/Os must be the same. Otherwise inputs or outputs may be damaged. For a high speed signal connection (such as...
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Page 60: Analog Inputs Interface
Product Manual Analog inputs interface Neptune Servo Drive has two 12-bit analog inputs with different input voltage ranges. Next table shows their main features: Specification Value Number of inputs Type of inputs Differential (input 2) Single ended (input 1) ESD protected. - Page 61 Product Manual Specification Value IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact) Analog input resolution 12 bits Input 2 differential voltage range ±10 V Input 1 voltage range 0 - 5 V Maximum working frequency 10 kHz Maximum voltage on any input pin for analog inputs 20 V (referred to GND)
- Page 62 Product Manual 62/90...
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Page 63: Digital Outputs Interface
To interface to a single ended (non-differential) voltage source, use analog input 1: Neptune Inputs and outputs are not isolated. The ground of the Neptune Servo Drive and the ground of the devices connected to I/Os must be shared. Otherwise inputs or outputs may be damaged due to excessive common mode voltage. - Page 64 Product Manual Specification Value Number of outputs Type of output ESD protected. Overload, short circuit and overtemperature protected with auto restart (self protected MOSFET) ESD capability IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact) Maximum supply output 30 V (5-24 V typical) Maximum sink/source current Source: low current @ 5 V: 5 mA...
- Page 65 Product Manual 5 V outputs Next figure illustrates how to connect a load to 5 V digital outputs (GPO1 can also be used). 24 V outputs If 24 V outputs are needed, an external power supply should be used. For this option, outputs may be connected as voltage or current outputs.
- Page 66 Next figure show how to connect an inductive load to Neptune outputs (GPO1 can also be used). Neptune Inputs and outputs are not isolated. The ground of the Neptune and the ground of the devices connected to I/Os must be the same. Otherwise inputs or outputs may be damaged.
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Page 67: Command Sources
Neptune Servo Drive is provided with an internal non volatile memory. Through the appropriate software tool, user can save instructions to this 1 Mb (128K x 8bit) EEPROM, allowing Neptune Servo Drive to work in standalone mode. In this mode, there is no need of an external command source. -
Page 68: Analog Input
(depending on input voltage range and type of output of the commander). Neptune Servo Drive provides two analog inputs, one +/-10 V differential input and one 0 to 5 V single ended input. Refer to Analog inputs interface for more details about analog inputs. -
Page 69: Step And Direction (Pulse And Direction)
General purpose high speed digital inputs are used here. HS_GPI1 is the Step input, and HS_GPI2 is the Direction input. Next figures illustrates how to connect a step and direction command source to the Neptune Servo Drive (for differential and single ended mode). Refer to Connectors ... -
Page 70: Pwm Command
Product Manual PWM command PWM input signal specification For this feedback interface the High Speed digital input 2 is used (HS_GPI2). Next table summarizes main features of this input: Specification Value Number of inputs Type of input ESD protected. Differential using RS422 receiver. ESD capability IEC 61000-4-2 (ESD) ±... - Page 71 Product Manual PWM encoder modes There are two different working modes for this command source: Single input mode In this mode, only one input signal is used. PWM command is a PWM signal whose duty cycle sets the target position, velocity or torque. For velocity mode, a duty cycle of 50% corresponds with 0 rpm.
- Page 72 Product Manual Dual input mode For this mode two signals are used. Direction signal sets the direction of rotation (for example "logic 0" for clockwise rotation and a "logic 1" for counter clockwise rotation). PWM command signal's duty cycle sets the target position, velocity or torque.
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Page 73: Encoder Following Or Electronic Gearing
/slave configuration. The gearing ratio (input counts to output counts ratio) can be configured via software. Encoder Following is only a valid option when the Neptune Servo drive is operated in position mode. The auxiliary encoder signal input should be connected to high speed digital input pins. Master encoder... -
Page 74: Communications
High-speed (HS) digital inputs interface Communications The Neptune Servo Drive provides different network communication interfaces for configuration and operation. All the interfaces can be used to connect any of the supplied software applications or a custom application built with the supplied libraries for the controller. For ease of setup and diagnostics of CAN communication, USB and CANopen can be used simultaneously. - Page 75 Product Manual Bus termination resistors (120 Ω between CANL and CANH at both ends of the bus) is essential for correct operation of the CAN bus (mainly for long distances and high baud rates). When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, CANopen network may hang.
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Page 76: Rs232 Interface
Supported, easy way connection (see RS232 wiring guide below) RS-232 interface is recommended just for configuration purposes. CANopen option is strongly recommended, mostly in noisy environments. Next figure illustrates how to connect Neptune Servo Drive with a host in a point to point configuration. . 76/90... - Page 77 Serial commanding configuration details. If daisy chain is not configured in any of the drives, all the boards in the chain will be unconnected! Next figure shows how to connect several Neptune Servo Drives in a daisy chain configuration. 77/90...
- Page 78 GND. The ground wire must be included inside the shield, like the RxD and TxD signals. Do not rely on an earthed PC to provide the Neptune Servo Drive earth connection. The drive must be earthed through a separate circuit. Most communication problems are caused by the lack of such connection.
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Page 79: Usb Interface
RS-232 Daisy chain clever wiring tip The Neptune Servo Drive RS232 connector allows an easy daisy chain using a 6 way 1.27 pitch flat ribbon cable. Using this topology, EMC is maximized due to minimum ground loop and close returns for TX and RX . -
Page 80: Ethercat Interface
Use shielded cable with the shield connected to PC end. Shield of micro USB connector is not connected on Neptune. Do not rely on an earthed PC to provide the Neptune Servo Drive earth connection. The drive must be earthed through a separate circuit. -
Page 81: Power And Motor Signalling Leds
Product Manual Signalling LEDs Neptune Servo Drive has 4 signalling LEDs near the CAN interface connector and USB connector. Power and motor signalling LEDs Next table shows the meaning of each motor and power LED. Colour Meaning POWER Green LED is on when internal power supply is working. -
Page 82: Ethercat Signalling Leds
(~1000 ms) Blinking On and off with a frequency of ~2.5 Hz: ON for ~200 ms followed by off for ~200 ms. EtherCAT signalling LEDs The EtherCAT variant of the Neptune has 3 LEDs to indicate the board status. 82/90... -
Page 83: Ethercat Status Led
Product Manual EtherCAT status LED The EtherCAT Plug-in Board has a bicolor GREEN LED. The Green LED is the RUN LED , and the Red LED is the ERROR LED Next table shows the EtherCAT LEDs truth table, which indicates the status of the EtherCAT state machine. RUN LED Slave State ... -
Page 84: Before You Begin
Once the power supply is on, the POWER LED will switch on. If the POWER LED is not on, please check the wiring. After a few seconds the CAN LED will start blinking. Connect the USB cable to your PC and wait for Windows to recognize the Ingenia USB driver. 84/90... -
Page 85: Updating Your Drive Firmware
Product Manual Open MotionLab from the Programs menu. Once MotionLab has loaded it will automatically detect the connected drives. If no drives are visible click on Scan Again or check you drive wiring. Updating your drive Firmware Before configuring your drive for a new application make sure you have upgraded your drive to the latest firmware revision. -
Page 86: Configuring Your Drive
Product Manual Once MotionLab detects your drive click on Update FW Browse and select the Firmware and click on Update Firmware Click OK to proceed. When updating the firmware all configurations will be lost. If you have already configured your drive make sure to save the configuration before updating the drive. If this method fails please contact support. -
Page 87: Standard Version
Standard version Neptune Standard version has a 40 mm x 40 mm footprint and a maximum 14.7 mm height. The driver is provided with 2 x Ø 3.2 mm holes for M3 standoff mounting as well as 2 x 3.2 mm slots. -
Page 88: Pin Header Version
Pin header version Neptune Pin header version has a 40 mm x 40 mm footprint and a maximum 13 mm height. The driver is provided with pin header connectors to allow the user to mount the Neptune in a custom board. See header version for the pinout and the recommended hole pattern and footprint. -
Page 89: Ethercat Version
EtherCAT version Neptune EtherCAT version has a 60 mm x 60 mm footprint and a maximum 33.6 mm height. The driver is provided with 4 x M3 standoff. 2 RJ45 connectors allow the user to use EtherCAT as a communication protocol. - Page 90 Product Manual 90/90...
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