INGENIA TITAN GO Product Manual
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INGENIA TITAN GO Product Manual

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TITAN GO Product Manual
Edition  2022-07-14 08:35:14
For the most up to date information visit the online manual.
INGENIA-CAT S.L.
C/ ÁVILA 124, 2ºB
08018 BARCELONA

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  • Page 1 TITAN GO Product Manual Edition  2022-07-14 08:35:14 For the most up to date information visit the online manual. INGENIA-CAT S.L. C/ ÁVILA 124, 2ºB 08018 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.............................. 6 Warnings................................6 Precautions ................................ 6 Product Description Titan part numbering............................7 Hardware revisions ............................
  • Page 3 7.1.1 Reducing EMI susceptibility..........................45 7.1.2 Earth plane reference ............................45 Power supply..............................48 7.2.1 Power supply requirements ..........................48 7.2.2 Power supply connection ..........................48 7.2.3 Battery supply connection ..........................49 7.2.4 Dual supply connection ........................... 50 7.2.5 Connection of multiple drives with the same power supply ................. 51 7.2.6 Power supply wiring recommendations......................
  • Page 4 Fully independent STO channels ........................98 7.9.2 STO status feedback output ..........................98 7.9.3 STO abnormal operation ..........................99 Dimensions and assembly Titan Go Dimensions............................102 Assembly Instructions............................ 103 8.2.1 Heatsinks or cooling plates ........................... 104 8.2.2 Thermal interface material..........................104 8.2.3...

  • 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: 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 a 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 Specifications A list of features of the Titan Go Servo Drive is shown next.  Electrical and power specifications Part number → TTN-150/200 TTN-100/400 Power supply voltage 10 V to 200 V 10 V to 400 V...
  • Page 9 TITAN GO Product Manual | Product Description Inrush current < 10 A at connection. Titan includes a 2 kΩ DC bus capacitor precharge resistor that limits the inrush. No need for external capacitor precharge circuits or relays. Cold plate 7 mm aluminum plate 6082-T6.
  • Page 10 TITAN GO Product Manual | Product Description • DC tachometer • Resolver • Sin/Cos encoder (from version 1.2.0) Supported target sources • Network communication – USB (for configuration or in-house updates, USB is not recommended for operation in field as it is a weak interface in high power - high noise environments) •...
  • Page 11 TITAN GO Product Manual | Product Description • Mechanical limits for homing functions • Hall sequence/combination error • ESD protections in all inputs, outputs, feedbacks and communications • EMI protections (noise filters) in all inputs, outputs and feedbacks • Can drive an external power braking resistor in case of re-injection Safe Torque Off 2 x STO inputs, 24 V isolated inputs (work from 15 V to 30 V).

  • Page 12: Hardware Revisions

    TITAN GO Product Manual | Product Description Heat dissipation The maximum heat dissipation is 4 kW. Provide a heatsink according to environment temperature and power rating. Heat dissipation is affected mainly by the phase current and voltage. In order to achieve the maximum power ratings, excellent heat transfer is needed between the cold plate and a heatsink.

  • Page 13: Power And Current Ratings

    USB 2.0, CAN or RS485 serial interface and does not indicate the air temperature, but the temperature of the PCB. Above 110 ºC the Titan Go automatically turns off the power stage and stays in fault state avoiding any damage to the drive. The Fault LED will be activated and latched until the temperature decreases below this threshold.

  • Page 14: Power Losses Calculation (Heat Dissipation)

    Some parts of the Titan Go can exceed 125 ºC during operation, especially at high load levels. Do not touch the Titan Go during operation and wait at least 5 minutes after turn off to allow a safe cool down.

  • Page 15: Current Ratings

    TITAN GO Product Manual | Product Description 4.3.2 Current ratings Power losses cause the drive to increase its temperature according to: As power losses have a positive correlation with the motor RMS current, when the ambient temperature rises, the output current must be limited to avoid an excessive drive temperature (T <...

  • Page 16: Maximizing Heat Dissipation With A Heatsink

    TITAN GO Product Manual | Product Description Parameter Valu Unit Notes Temperature stabilization With 0.1 ºC/W heatsink attached. Considering 90 % of the time maximum temperature. This graphic shows the maximum current with respect to ambient temperature, also assuming a 0.1 ºC/W heatsink attached.

  • Page 17: Architecture

    Temperature range can be increased by providing forced cooling with a fan. Always ensure electrical isolation between live parts and the heatsink. 4.4 Architecture This diagram represents the main hardware elements of Titan Go, and how they relate to each other. INGENIA | 2022-07-14 08:35:14...

  • Page 18: Power Stage And Supply Architecture

    TITAN GO Product Manual | Product Description 4.4.1 Power stage and supply architecture The following drawing shows the architecture of the power stage and its main components. Also, it clarifies how the internal power supplies are wired. For simplicity, power transistors are shown as switches.
  • Page 19 TITAN GO Product Manual | Product Description INGENIA | 2022-07-14 08:35:14...

  • Page 20: Connectors Guide

    TITAN GO Product Manual | Connectors Guide 5 Connectors Guide This chapter details the Titan Go Servo Drive connectors and pinout. 5.1 Supply, shunt and motor terminals Power terminals INGENIA | 2022-07-14 08:35:14...
  • Page 21 TITAN GO Product Manual | Connectors Guide 1 to 6: M8 female terminal, 27 mm pitch. ERNI 225872. 7 to 10: M3 torx screw terminal. PE holes: 9 mm diameter. Signal Function Screw size 1  PH_C Motor phase C (Do not connect for DC and voice coils)

  • Page 22: 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 23: 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 24: 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 25 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 26: 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 27 TITAN GO Product Manual | Connectors Guide 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-) CAN_L...
  • Page 28 TITAN GO Product Manual | Connectors Guide RS485_TX+ RS485 transmit data + (should be connected to master RX+) RS485_TX- RS485 transmit data - (should be connected to master RX-) GND_ISO Ground for the isolated connector GPO1 General purpose digital output GPI1 General purpose single ended digital input 1 AN_IN- Differential ±10 V analog inverting input...

  • Page 29: P3: Safe Torque Off Connector

    • 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 (SIL 3 compliant).  P3 connector 6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex...

  • Page 30: P4: Digital Halls And Motor Temperature Connector

    TITAN GO Product Manual | Connectors Guide STO_COLLECTOR Safe Torque Off Feedback output signalling optocoupler collector Notes • In case you are not using STO functionality it must be bypassed. Connect STO_COMMON to GND of connector P1. Connect both STO1 and STO2 to 24V_OUT of connector P1.
  • Page 31 TITAN GO Product Manual | Connectors Guide HALL_3 Digital Hall 3 sensor input +5V_OUT 5 V 50 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. MOT_TEMP1 Motor temperature sensor connection (connect the other terminal to pin 8).

  • Page 32: P5: Usb Connector

    TITAN GO Product Manual | Connectors Guide Part number Molex 43025-0800 Distributor code Digi-Key WM1786-ND / Mouser 538-43025-0800 / Farnell 672919 Notes • See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables. 5.8 P5: USB connector P5 connector 5 pin vertical mini-USB connector.

  • Page 33: P6: Encoder Connector

    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 Distributor code Digi-Key WM17493-ND / Mouser 538-88732-8602 / Farnell 1221071 5.9 P6: Encoder connector...
  • Page 34 TITAN GO Product Manual | Connectors Guide 10 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex. Signal Function for incremental encoder Function for analog encoder (Sin Cos) 1,3,8 GND_D Logic ground. QEA/SIN_P Quadrature A positive input Sin positive input QEB/COS_P...

  • Page 35: P7: Resolver

    TITAN GO Product Manual | Connectors Guide QEZ/REF_N Index negative input Reference negative input Notes • Depending on the configuration by software, some pins can be inputs or outputs. Please, configure the encoder as incremental before doing connecting it to prevent signal collision between clock (output) and A...
  • Page 36 TITAN GO Product Manual | Connectors Guide 6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex. Signal Function for incremental encoder EXC+ Excitation positive COS+ Cosine positive SIN+ Sine positive EXC- Excitation negative COS- Cosine negative SIN- Sine negative Notes •...

  • Page 37: P8: Absolute Encoder

    TITAN GO Product Manual | Connectors Guide 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 38 TITAN GO Product Manual | Connectors Guide GND_D Logic ground. CLK+ Clock positive signal output GND_D Logic ground. DIN+ Data positive signal input Not connected +5V_OUT 5 V 200 mA regulated and short-circuit protected power supply for the encoder CLK- Clock negative signal output GND_D Logic ground.

  • Page 39: Signalling Leds

    TITAN GO Product Manual | Signalling LEDs 6 Signalling LEDs Titan Go Servo Drive provides information through 6 signaling 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 40: Power And Operation Signalling Leds

    TITAN GO Product Manual | Signalling LEDs 6.1 Power and operation signalling LEDs Three LEDs placed below the Titan Go GO logo indicate the supply and operation status. INGENIA | 2022-07-14 08:35:14...

  • Page 41: Can Signalling Leds

    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 42: Resolver Status Leds

    TITAN GO Product Manual | Signalling LEDs LED state*  Concept Description 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: * Possible LED states...

  • Page 43: Adjusting The Resolver

    With the motor disabled check the position read by the resolver. Rotate the motor and ensure that it's position is well read. Use Ingenia Motion Lab scope with position actual value register being monitored. If 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 44: Wiring And Connections

    7 Wiring and Connections Proper wiring, and especially grounding and shielding, are essential for ensuring safe, immune and optimal servo performance of Titan Go Servo Drive. Please be sure to follow this detailed recommendations on connection and check the technical details of each interface.

  • Page 45: Protective Earth

    TITAN GO Product Manual | Wiring and Connections 7.1 Protective earth Connection of Titan Go Servo Drive and motor housing to Protective Earth (PE) is required for safety reasons. Electrical faults can electrically charge the housing of the motor or cabinet, increasing the risk of electrical shocks.
  • Page 46 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 Titan Go Servo Drive standoffs.  • For achieving low impedance connections, use wires that are short, thick, multistrand cables or preferably conductive planes. PE wire section should be, at least, the same as power supply cables.
  • Page 47 TITAN GO Product Manual | Wiring and Connections Description Image Part number Cable Clamp Aluminum 31.75 mm Essentra components AL20 Cable Clamp with Bolt Type Stainless Steel 76 Panduit Corp PCD7B INGENIA | 2022-07-14 08:35:14...

  • Page 48: Power Supply

    Twisted power supply cables are preferred to reduce electromagnetic emissions and increase immunity. The following picture show the Titan Go supply wiring diagram using a single power supply. The logic supply is internally generated. Note that the minimum power supply voltage is 65 V if single supply is used.

  • Page 49: Battery Supply Connection

    7.2.3 Battery supply connection Next figure shows a simplified wiring diagram for the Titan Go Servo Drive supplied from a battery. The logic supply is internally generated. Note that the minimum power supply voltage is 60 V if single supply is used.

  • Page 50: Dual Supply Connection

    In some cases it could be needed to supply the logic sepparated from the power. In that cases, the AUX_SUP connector can be used. Next figure shows a simplified wiring diagram for the Titan Go Servo Drive with dual supply.

  • Page 51: Connection Of Multiple Drives With The Same Power Supply

    TITAN GO Product Manual | Wiring and Connections  Maximum power supply voltage Please, note that the maximum power supply voltage is different for each version of the Titan Go: * Up to 200 V for TTN-xx/200-C-C * Up to 400 V for TTN-xx/400-C-C Do not supply a higher voltage, as the Titan Go could be damaged.

  • Page 52: Power Supply Wiring Recommendations

    In case of using buss bars please take care not to exceed the terminal torque. 7.2.6.2 Wire length • The distance between the Titan Go Servo Drive and the power supply should be minimized when possible. Short cables are preferred since they reduce power losses as well as electromagnetic emissions and immunity.

  • Page 53: Logic Power Supply

    TITAN GO Product Manual | Wiring and Connections Manufacturer Part Number Image Description Littelfuse L70S200.V 200 A, 650 V fast-blow fuse. Can be directly screwed to Titan M8 terminals. Eaton Bussmann FWH-200B 200 A, 500 V fuse. Can be directly screwed to Titan M8 terminals.

  • Page 54: Dc Bus Bulk Capacitance

    DC link terminals on the back of the Titan. Since this drive includes automatic precharge circuits, there is no need for additional and bulky relays or precharge resistors.  For the Titan voltage and power ratings, Ingenia recommends metallized polypropylene film capacitors (MKP), as they provide the best trade-off of capacitance, ripple current and long term reliability. ...
  • Page 55 TITAN GO Product Manual | Wiring and Connections Manufact Part number Capacitanc Rate Photo Dimensi Comments urer Volta echnology Cornell 947D421K901BDMS 420 μF Diameter Good Dubilier 90.0 mm capacitance / Electronic x 88.0 price. Height s (CDE) exceeds the (height) Titan. Recommended for 800 V version.
  • Page 56 TITAN GO Product Manual | Wiring and Connections INGENIA | 2022-07-14 08:35:14...

  • Page 57: Motor And Shunt Braking Resistor

    TITAN GO Product Manual | Wiring and Connections 7.4 Motor and shunt braking resistor 7.4.1 AC and DC brushless motors Brushless motors should be connected to phase A, B and C terminals. Note that some manufacturers may use different phase name conventions (see Table below).

  • Page 58: Dc Motors And Voice Coils Actuators

    TITAN GO Product Manual | Wiring and Connections • For reducing the coupling between phases, space the phases 120º 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.

  • Page 59: Motor Wiring Recommendations

    TITAN GO Product Manual | Wiring and Connections • An excessive number of turns causes a high capacitive coupling. Only 2 or 3 turns per motor phase are recommended. • For reducing the coupling between positive and negative, space them 180º apart. Start positive and negative wire in the same rotating direction, wrapping both phases clockwise or anticlockwise.

  • Page 60: Wire Length

    TITAN GO Product Manual | Wiring and Connections Next table shows a choke that fits the Titan Go Servo Drive specifications and has a great performance at low frequencies. Type Manufacturer Reference Ferrite toroid Magnetics ZJ49740TC Ferrite toroid Magnetics ZJ49740TC 7.4.3.3 Wire length •...
  • Page 61 TITAN GO Product Manual | Wiring and Connections  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...

  • Page 62: Feedback Connections

    Digital halls can be used for commutation, position and velocity control. Resolution using these sensors is much lower than using encoders. Titan Go can use single ended Hall sensors to drive the motor with trapezoidal commutation, but not with sinusoidal commutation. ...
  • Page 63 TITAN GO Product Manual | Wiring and Connections This interface accepts 0-5 V level input signals. Inputs are pulled up to 5 V, so industry standard open collector and logic output hall effect sensors can be connected. Next table summarizes digital halls inputs main features: ...

  • Page 64: Digital Incremental Encoder

    7.5.2 Digital Incremental Encoder Titan Go can use differential digital incremental encoder inputs (also known as quadrature incremental encoders) for velocity and/or position control, as well as commutation sensor. The encoder provides incremental position feedback that can be extrapolated into precise velocity or position information. Using high resolution encoders allows Titan Go Servo Drive to use sinusoidal commutation.
  • Page 65 Digital encoders are especially useful in applications where low-speed smoothness is the objective. The Titan Go Servo Drive has one differential digital encoder interface, with optional index signal input. Index (Z) is a single pulse per revolution signal that indicates an absolute position. Next table lists digital encoder inputs main features. ...

  • Page 66: Absolute Encoder Interface

    The encoder interface accepts an RS-422 differential quadrature line driver signal in the range of 0 V to 5 V, up to 10 MHz.  Next figures illustrate how to connect a differential and a encoder to the Titan Go Servo Drive. Refer to Feedback wiring recommendations  for more information about connections and wires.
  • Page 67 1 kHz Termination 470 Ω Next Figure shows how to connect an Absolute encoder to Titan Go Servo Drive. Refer to Feedback wiring recommendations for more information about connections and wires.  Circuit model for the absolute encoder receiver channels is shown in the next figure.

  • Page 68: Analog Encoder (Sin-Cos Encoder) Interface

    7.5.4 Analog encoder (Sin-Cos encoder) interface The Titan Go 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 depends on the motor speed.
  • Page 69 TITAN GO Product Manual | Wiring and Connections Signal description Signal example REF+ One sine half wave per revolution as index pulse REF- Same as REF+, but with 180º phase shift  Sin-Cos calibration Analog encoder signals are not always perfect sine and cosines. For this reason, Titan includes sin-cos calibration and adjustment parameters.

  • Page 70: Resolver Interface

    7.5.5 Resolver interface The Titan Go has a Resolver connector that can be used as position and velocity feedback element, as well as commutation sensor. A resolver is an electromagnetic transducer that can be used in a wide variety of applications.
  • Page 71 *These values can be adjusted to the customer needs on demand. Please, notify the desired resolver specifications when ordering a Titan Go. The following picture shows how to connect the resolver to the Titan Go servo Drive: INGENIA | 2022-07-14 08:35:14...

  • Page 72: Resolver Gain

    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. 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 73: Digital Input Feedback - Pwm Encoder

    Next figure illustrates PWM feedback input for different rotor positions: Next figures illustrates how to connect differential and single ended PWM encoders to the Titan Go Servo Drive: Refer to Feedback wiring recommendations  for more information about connections and wires.

  • Page 74: Analog Input Feedback

    From the voltage level of one analog input, the position or velocity of the rotor can be calculated. The Titan Go have 1 differential analog input that can be used for feedback input, with a range of ±10 V. The input used as feedback can be selected by software.

  • Page 75: Feedback Wiring Recommendations

    TITAN GO Product Manual | Wiring and Connections Next figure illustrates how to connect a DC tachometer with differential output to the Titan Go Servo Drive. 7.5.8 Feedback wiring recommendations Signal distortion and electrical noise is a common problem in feedback signals. These problems can result in a bad position or velocity calculation for both digital feedbacks (gain or loss of counts) and analog feedbacks (wrong voltage levels).To minimize these problems some wiring recommendations are shown:...
  • Page 76 TITAN GO Product Manual | Wiring and Connections values to prevent distortion to the servo drive input circuit at low frequency (< 500 Ω). Use ceramic capacitors with good quality dielectric, like C0G.  For further information contact Ingenia engineers for support. INGENIA | 2022-07-14 08:35:14...

  • Page 77: I/O Connections

    2 x 5 V high-speed isolated single ended digital inputs (HS_GPI1, HS_GPI2). • 1 x ±10 V isolated differential 12 bits analog input (AN_IN1). • 1 x 3.3 V isolated digital output (GPO1). Apart from the general purpose inputs, Titan Go has a dedicated analog input for measuring the motor temperature.    Wiring recommendations Wiring recommendations for I/O signals are the same than for feedback signals.
  • Page 78 To get 24 V inputs compatibility, just place a resistor of ≈ 80 kΩ in series with the input. Titan Go 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 GPI1 (same wiring can be used for GPI2, GPI3 and HS_GPI1 and HS_GPI2).

  • Page 79: Analog Inputs Interface (An_In1)

    For a  sensor supply of 5 V, 1 kΩ is recommended. 7.6.2 Analog inputs interface (AN_IN1) Titan Go Servo Drive has one 12-bit analog input (AN_IN1), which is differential. Next table summarizes the main features of the analog input: INGENIA | 2022-07-14 08:35:14...
  • Page 80 TITAN GO Product Manual | Wiring and Connections Specification Analog input 1 Type of inputs Isolated. Differential. ESD protected ESD capability ± 8 kV (contact) Analog input resolution 12 bits Maximum operating voltage ±10 V Maximum common mode voltage (Analog input 2) ±10 V...

  • Page 81: Digital Outputs Interface (Gpo1)

    TITAN GO Product Manual | Wiring and Connections 7.6.3 Digital outputs interface (GPO1) Titan Go Servo Drive has one digital isolated output. This digital output is intended for signalling, as it is the output of a digital isolator. Specification Value Number of outputs Type of output Isolated.

  • Page 82: Motor Temperature Input (Motor_Temp)

    7.6.4 Motor temperature input (MOTOR_TEMP) The Titan Go has a dedicated analog input for measuring the motor temperature, which can be found in the Halls and motor temperature connector. The motor temperature input is connected to the internal analog input 3 and allows the connection of an external temperature sensor (PTC thermistor, bimetal, NTC) to measure the motor temperature.
  • Page 83 TITAN GO Product Manual | Wiring and Connections  Suggested PTC The suggested NTC thermistor value is a 100 kΩ nominal resistance (@ 25 ªC) as Vishay NTC (NTCALUG01A104F). Main specifications of the external temperature sensor input are shown in the next table:...

  • Page 84: Command Sources

    With the use of Ingenia MotionLab suite, the user can configure and save instructions to this 1 Mb (128K x 8bit) EEPROM, allowing Titan Go Servo Drive to work in standalone mode. In this mode, there is no need of any external command source.

  • Page 85: Analog Input

    7.7.3 Analog input Position, velocity or torque targets can also be controlled trough an analog signal. Any general purpose analog input can be used as command source. Titan Go Servo Drive has a differential 12-bit analog input with +/-10 V range (AN_IN1). Refer to I/O...

  • Page 86: Pwm Command

    TITAN GO Product Manual | Wiring and Connections 7.7.5 PWM command PWM command source sets a position, velocity or torque target from the duty cycle value of a PWM signal. PWM command has to be interfaced with the high-speed digital input 2 (HS_GPI2). Further details about this input can be seen in I/O...

  • Page 87: Dual Input Mode

    TITAN GO Product Manual | Wiring and Connections 7.7.5.2 Dual input mode Dual input mode uses two signal lines, a PWM signal whose 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"...

  • Page 88: 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 Titan Go 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 89 TITAN GO Product Manual | Wiring and Connections INGENIA | 2022-07-14 08:35:14...

  • Page 90: Communications

    Use shielded cable with the shield connected to PC end. Shield of mini USB connector is connected on Titan Go, but it is isolated from the rest of the drive.  • Do not rely on an earthed PC to provide the Titan Go Servo Drive earth connection. The drive must be earthed through a separate circuit. •...

  • Page 91: Rs485 Interface

    Baud rate 128 kbps to 460 kbps Daisy chain Supported Termination resistor 120 Ω termination resistor on RX channel Next figure illustrates how to connect Titan Go Servo Drive with a host in a point to point configuration. INGENIA | 2022-07-14 08:35:14...

  • Page 92: Multi-Point Connection Using Daisy Chain

    Titan Go Servo Drive includes TX and RX termination resistors on board. They can be activated/ deactivated with the switches available near the connector. Another 120 Ω termination resistor should be placed at the end of Titan Go TX line (RX of the host). Suggested termination resistor: Xicon 271-120-RC. 7.8.2.1 Multi-point connection using daisy chain Daisy chain connection is a multi-point network topology based on connecting multiple terminals in a ring.

  • Page 93: Canopen Interface

    TITAN GO Product Manual | Wiring and Connections 7.8.3 CANopen interface Titan Go Servo Drive provides access to the CANopen interface, a multi-terminal communication protocol based on CAN (Controller Area Network) bus. Titan Go CAN interface is isolated, and self-supplied. Main physical...
  • Page 94 The use of bus termination resistors (120 Ω between CAN_L and CAN_H), one at each end of the bus, is essential for correct operation of the CAN bus. Even with only one Titan Go connected, mount the termination resistor to ensure CAN bus operation. Do not use wirewound resistors, which are inductive.

  • Page 95: Can Interface For Pc

    TITAN GO Product Manual | Wiring and Connections Titan Go Servo Drive includes a termination resistor on board. It can be activated/deactivated with the switch available near the connector. 7.8.3.1 CAN interface for PC The Ingenia MotionLab suite is able to communicate with the Titan Go Servo Drive through CANopen interface. For this purpose, a CAN transceiver for PC is required. Motion Lab is compatible with the following CAN transceivers:...

  • Page 96: Can Wiring Recommendations

    TITAN GO Product Manual | Wiring and Connections Manufact Part Number Image Description urer IXXAT USB-to-CAN V2 • USB to CAN dual channel interface. Professional • High-speed CAN channels in two separate RJ-45 connectors. • Cable adapter to 9-pin D-SUB CAN. Vector VN1630 •...

  • Page 97: Safe Torque Off (Sto)

    The following diagram shows a simplified schematic of the STO circuit. The Titan Go STO have been designed to be compliant with Safety Integrity Level 3 (SIL 3) according to IEC 61800-5-2. In order to fulfill the requirements, the STO reliability has been increased by means of the following charateristics: •...

  • Page 98: Fully Independent Sto Channels

    TITAN GO Product Manual | Wiring and Connections 7.9.1 Fully independent STO channels The power stage logic is supplied by two cascaded MOSFET transistors. Each transistor is activated by an independent isolated STO input. The design guarantees that a single failure will not accidentally activate the power stage. ...

  • Page 99: Sto Abnormal Operation

    TITAN GO Product Manual | Wiring and Connections 7.9.3 STO abnormal operation Abnormal operation of the STO is when only one of the channels is energised. In case that only one channel is energised for more than 1.6 s, a dangerous failure in the system is considered and the STO is activated in latching mode.
  • Page 100 TITAN GO Product Manual | Wiring and Connections Mode Status Power Drive function stage inpu inpu state Norm STO ACTIVE Disable Drive cannot start or provide power to the motor. (No torque STO trip reported to the DSP and to STO_FB. This is...
  • Page 101 TITAN GO Product Manual | Wiring and Connections INGENIA | 2022-07-14 08:35:14...

  • Page 102: Dimensions And Assembly

    TITAN GO Product Manual | Dimensions and assembly 8 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 103: Assembly Instructions

    TITAN GO Product Manual | Dimensions and assembly All dimensions are in mm.  All tolerances ≤ ±0.2 mm. 8.2 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 104: Heatsinks Or Cooling Plates

    TITAN GO Product Manual | Dimensions and assembly 8.2.1 Heatsinks or cooling plates In order to choose the cooling needs of the Titan, please see the thermal calculations in Product Description page.  Given the power ratings of the Titan, typically passive cooling heatsinks will not be enough  for continouous operation.

  • Page 105: Screw Assembly

    TITAN GO Product Manual | Dimensions and assembly Manufacturer Part Number and Thickness Thermal Estimated thermal description before conductivity resistance plate to compression heatsink Bergquist GPHC5.0-0.020-02-081 0.51 mm 5.0 W/m·K 0.003 K/W Bergquist GPHC5.0-0.040-02-081 1.02 mm 5.0 W/m·K 0.005 K/W t-Global H48-6A-320-320-0.5-1A 0.50 mm...
  • Page 106 TITAN GO Product Manual | Dimensions and assembly Description M8 stainless steel crinkle washer Image Part number Duratool D00829 Distributor codes Farnell 1614006 INGENIA | 2022-07-14 08:35:14...

  • Page 107: 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 108: Service

    We are committed to quality customer service. In order to serve in the most effective way, please open a ticket on our service desk at www.ingeniamc.com/support or contact your local sales representative for assistance. INGENIA-CAT S.L. C/ ÁVILA 124, 2ºB 08018 BARCELONA...

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