Page 1 NEPTUNE Product Manual Edition 05/29/2017 For the most up to date information visit the online manual. INGENIA-CAT S.L. 8-14 MARIE CURIE, ADVANCED INDUSTRY PARK 08042 BARCELONA...
Page 2: Table Of Contents
Cleverly wiring CAN buses from standard DB9 connectors ................35 5.1.8 RS232 interface connector ..........................36 Connectors position and pinout of Neptune with gold plated pin headers (NEP-x/xx-y-P) ......38 5.2.1 Integrating the Neptune with pin headers on a PCB..................41 5.2.1.1...
Page 3 Protective earth ............................... 51 Power supply..............................54 7.2.1 Power supply requirements ..........................54 7.2.2 Power supply connection ..........................55 7.2.3 Battery supply connection ..........................55 7.2.4 Connection of multiple drives with the same power supply ................. 56 7.2.5 Power supply wiring recommendations......................57 7.2.5.1 Wire section ..............................
Page 4 NEP-x/xx-y-S (Neptune with onboard connectors) ..................109 NEP-x/xx-y-P (Neptune with gold plated pin headers) ................110 NEP-x/xx-E-S (Neptune with onboard connectors and EtherCAT) .............. 111 NEP-x/xx-y-P (Neptune with gold plated pin headers and EtherCAT) ............112 Software Configuration ..............................114 Applications..............................
Page 5: General Information
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: Contact
This document may contain technical or other types of inaccuracies.The information contained within this document is subject to change without notice and should not be construed as a commitment by INGENIA-CAT S.L.. INGENIA-CAT S.L. assumes no responsibility for any errors that may appear in this document.
Page 7: Safety Information
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 8: Product Description
In addition its ultra-low PWM deadtime (<10 ns) provides great control stability in velocity and position applications. Neptune Servo Drive is provided with several general purpose inputs and outputs for with 5V TTL levels and tolerant to 24 V PLC. They are fully protected against short circuits and overvoltage and can be interfaced in industrial environments.
Page 9: Specifications
NEPTUNE Product Manual | Product Description Ordering part number Status Image ACTIVE NEP-2/48-S-S ACTIVE NEP-2/48-C-S ACTIVE NEP-2/48-S-P PENDING ACTIVE NEP-2/48-C-P ACTIVE NEP-2/48-E-S ACTIVE NEP-2/48-E-P 4.2 Specifications Electrical and power specifications Part number → NEP-2/48-y-S NEP-2/48-y-P Power supply voltage to 48 V Transient peak voltage...
Page 10 NEPTUNE Product Manual | Product Description Maximum phase peak current (2 s) Current sense range ± 6.3 A Current sense resolution 12.28 mA/count Shunt braking transistor Cold plate Power connectors Pluggable terminal block Pin header 2.54 mm pitch, 2.54 mm pitch 5.84 mm length Standby power consumption 1 W (max).
Page 11 NEPTUNE Product Manual | Product Description Supported target sources • Network communication – USB • Network communication – CANopen • Network communication – RS-232 • Network communication – EtherCAT • Standalone (execution from Internal EEPROM memory) • Analog input (±10 V or 0 to 5 V) •...
Page 12: Hardware Revisions
NEPTUNE Product Manual | Product Description Motor brake Motor brake output through GPO1 or GPO2. Up to 24 V and 1 A. Communications µUSB (2.0) connector. The board can be supplied from USB for configuration purposes but will not power the motor. Serial RS-232 non-isolated. CANopen Available. Non-isolated. 120Ω termination not included on board.
Page 13: Power And Current Ratings
 Some parts of the Neptune exceed 100ºC when operating, especially at high load levels. Do not touch the Neptune when operating and wait at least 5 minutes after turn off to allow a safe cool down. Following figure shows the basic power flow and losses in a servo drive system.
Page 14: Dynamic Application (Non-Constant Current)
4.4.2 Dynamic application (non-constant current) The Neptune 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.
Page 15: System Temperature
2 is the current during t 4.4.3 System temperature Next thermal image shows an example of the heat distribution in a the Neptune. The test has been performed at maximum load and air temperature with a 3 phase application. ...
Page 16 • Avoid touching any live part such as capacitors with the heatsink. • This a delicate process, do it with the drive totally unpowered and contact Ingenia engineers for further assistance Following are a small heatsink and a recommended thermal interface material for the Neptune. Manufacturer Datasheet Picture Wakefield Solutions...
Page 17: 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. 4.5 Architecture Following figure shows a simplified hardware architecture of the Neptune. http://www.digikey.es/product-search/en?keywords=BER246-ND%20 http://media.digikey.com/pdf/Data%20Sheets/Bergquist%20PDFs/BP100_660B_Appl.pdf INGENIA | 05/29/2017...
Page 18 NEPTUNE Product Manual | Product Description INGENIA | 05/29/2017...
Page 19: Connectors Guide
NEPTUNE Product Manual | Connectors Guide 5 Connectors Guide This chapter details the Neptune Servo Drive connectors and pinout. Three Neptune options are detailed: • Neptune with TE Micro-Match for signal & screw terminal block for power (NEP-x/xx-y-S) (see page 19) •...
Page 20 NEPTUNE Product Manual | Connectors Guide INGENIA | 05/29/2017...
Page 21: Supply And Motor Connector
NEPTUNE Product Manual | Connectors Guide 5.1.1 Supply and motor connector P1 Connector 5 positon 2.54 mm pitch screw terminal block. TE Connectivity 282834-5 Signal Function PH_A Motor phase A (Positive for DC and voice coils) PH_B Motor phase B (Negative for DC and voice coils)
Page 22: Micro-Match Connectors Mating
• Note that overall diameter of insulated crimp terminals exceeds the connector pitch. Therefore it is not recommended to use more than 3 crimped terminals. 5.1.2 Micro-Match connectors mating Most Neptune 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...
Page 23: Multi-Core Crimped Cable
NEPTUNE Product Manual | Connectors Guide Image Cable Use 0.5 mm² (24 AWG) flat cable.  Easy wiring Ribbon cable is the easiest and lowest cost option. Multi-core crimped cable 5.1.3 Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch Image INGENIA | 05/29/2017...
Page 24 NEPTUNE Product Manual | Connectors Guide Crimp terminals Description Crimp terminal, male, 20-24 AWG Image Part number TE Connectivity 1-338097-1 Distributor codes Farnell 1291807 Digi-Key A99491CT-ND Mouser 571-1-338097-1 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.  Clean wiring Crimped single cables makes wiring cleaner and is a preferred option for volume applications.
Page 25: Feedback Connector
NEPTUNE Product Manual | Connectors Guide 5.1.4 Feedback connector P2 Connector 12 pin 1.27 mm pitch TE Micro-Match 1-338068-2 connector. Signal Function +5V_OUT +5V 200mA max supply for feedbacks (shared with I/O connector) Ground connection ENC_A+ Single ended digital encoder: A input...
Page 26 • See Feedback connections for further information about different feedbacks wiring. (see page 62) • Neptune connectors include locking latches that provide audible click during mating and ensure assembly robustness  I/O Starter Kit and Cable Kit Feedback connector pinout is shared with...
Page 27 NEPTUNE Product Manual | Connectors Guide 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 . Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch 12 position...
Page 28: I/O Connector
NEPTUNE Product Manual | Connectors Guide 5.1.5 I/O connector P3 Connector 16 pin 1.27 mm pitch TE Micro-Match 1-338068-6 connector. Function Signal HS_GPI2+ / DIR+ High speed digital differential input 2+ Command source: Direction+ input HS_GPI2- / DIR- High speed digital differential input 2-...
Page 29 NEPTUNE Product Manual | Connectors Guide Ground HS_GPI1+ / PULSE+ / High speed digital differential input 1+ PWM+ Command source: Pulse+ input Feedback: PWM+ input HS_GPI1- / PULSE- / High speed digital differential input 1- PWM- Command source: Pulse- input Feedback: PWM- input ...
Page 30 • See I/O connections for further information about different I/O wiring. (see page 75) • Neptune connectors include locking latches that provide audible click during mating and ensure assembly robustness  I/O Starter Kit and Cable Kit I/O connector pinout is shared with...
Page 31: Usb Connector
NEPTUNE Product Manual | Connectors Guide Notes • For further information see Pluto cable Kit - General purpose I/O . Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch 16 position Part number TE Connectivity 1-338095-6 Distributor codes Digi-Key A99495-ND...
Page 32 NEPTUNE Product Manual | Connectors Guide Function Signal USB_SUPPLY USB +5 V supply input. Used to power logic circuits when no external power supply is available. USB_D- USB Data- line USB_D+ USB Data+ line Not connected Ground SHIELD Connector metallic shield, NOT CONNECTED.
Page 33: Can Connector
NEPTUNE Product Manual | Connectors Guide Distributor Farnell 1617586 codes Digi-Key WM17146-ND Mouser 538-68784-0002 5.1.7 CAN connector P5 Connector pin TE Micro-Match 338068-4 connector. Function Signal CAN_GND CAN ground (connected to circuit ground) CAN_L CAN bus line dominant low http://es.farnell.com/molex/68784-0002/cable-ass-usb-a-to-micro-usb-b/dp/1617586 http://www.digikey.es/product-search/en?KeyWords=WM17146-ND&WT.z_header=search_go http://www.mouser.es/ProductDetail/Molex/51110-1056/?qs= %2fha2pyFaduiMjkvwWmWuOZy0mFhuCLeDSv3wJ9%2f1J325nRN%2fRFKKgQ%3d%3dhttp://www.mouser.es/ ProductDetail/Molex/68784-0002/?qs=%2fha2pyFadujzzmc7Hrcjf2BglrT%2fRSoijj4vkovWYfZ89xZu3tlJQg%3d%3d http://www.te.com/catalog/pn/en/338068-4...
Page 34 • See C ommunications for further information about CAN wiring. (see page 98) • Neptune connectors include locking latches that provide audible click during mating and ensure assembly robustness Ribbon cable mating Description TE Micro-Match Male-on-Wire 1.27 mm pitch 4 position Part number...
Page 35: Cleverly Wiring Can Buses From Standard Db9 Connectors
 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.
Page 36: Rs232 Interface Connector
NEPTUNE Product Manual | Connectors Guide 4 (CAN_GND) 3 (CAN_GND) 5.1.8 RS232 interface connector P6 Connector pin TE Micro-Match 338068-6 connector. Function Signal Internally connected to pin 6. Used only to simplify daisy chain wiring. RETURN_TX Common (internally connected to drive GND) RS232 receive data (should be connected to master TX)
Page 37 • See C ommunications for further information about RS232 wiring. (see page 98) • Neptune connectors include locking latches that provide audible click during mating and ensure assembly robustness Ribbon cable mating Description TE Micro-Match Male-on-Wire 1.27 mm pitch 6 position Part number...
Page 38: Connectors Position And Pinout Of Neptune With Gold Plated Pin Headers (Nep-X/Xx-Y-P)
NEPTUNE Product Manual | Connectors Guide Distributor codes Digi-Key A99416-ND Mouser 571-338095-6 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable. 5.2 Connectors position and pinout of Neptune with gold plated pin headers (NEP-x/xx-y-P) https://octopart.com/click/track?country=ES&ct=offers&ppid=40938375&sid=459&sig=05906fc&vpid=34191768 https://octopart.com/click/track?country=ES&ct=offers&ppid=40938375&sid=2401&sig=0e7a94f&vpid=215113096 INGENIA | 05/29/2017...
Page 39 NEPTUNE Product Manual | Connectors Guide  Bottom-side pinout Note that the pinout diagram shows the board from the opposite side of the connectors (bottom side of Neptune). Name Description Name Description POW_S Positive power supply input RETU Daisy chain TX return line,...
Page 40 NEPTUNE Product Manual | Connectors Guide HS_GPI2- High speed digital differential CAN_G CAN ground (connected to / DIR- input 2- circuit ground) Command source: Direction- input CAN_L CAN bus line dominant low Ground CAN_H CAN bus line dominant high GPO2 Digital output 2 (open...
Page 41: Integrating The Neptune With Pin Headers On A Pcb
5.2.1 Integrating the Neptune with pin headers on a PCB The Neptune pin header version is designed to be soldered or plugged on a PCB. Dimensions The picture below shows the Neptune dimensions and holes from the bottom point of view. ...
Page 42 NEPTUNE Product Manual | Connectors Guide  Footprint notes • Pinout is shown from the bottom side because Neptune with pin headers is mounted upside down. • 3.20 mm diameter holes are mechanical fixing holes • Pin header pitch: 2.54 mm •...
Page 43: Mating Connectors
NEPTUNE Product Manual | Connectors Guide  Routing the PCB • The traces should always be as short as possible to minimize potential EMI issues. • Take due care with signal returns and GND routing, especially for high speed signals and analog inputs. • Do NOT use a general ground plane as this could cause unwanted ground loops.
Page 44: Connectors Position And Pinout Of Neptune With Ethercat (Nep-X/Xx-E-Z)
Digi-Key S7036- receptacle PPPC031LFBN-RC 8.5 mm height 2.5 mm width Gold flash  Gold-finish mating To avoid connection reliability problems, connectors with gold finish are recommended 5.3 Connectors position and pinout of Neptune with EtherCAT (NEP-x/xx-E-z) http://www.digikey.es/product-search/en?KeyWords=PPPC021LFBN-RC&WT.z_header=search_go http://www.digikey.es/product-detail/en/PPPC031LFBN-RC/S7036-ND/810175 INGENIA | 05/29/2017...
Page 45: Ethercat Connectors
NEPTUNE Product Manual | Connectors Guide 5.3.1 EtherCAT connectors P7-P8 Connectors Dual RJ45 connector Magjack Wurth 7499021125 http://katalog.we-online.de/pbs/datasheet/7499021125.pdf INGENIA | 05/29/2017...
Page 46 NEPTUNE Product Manual | Connectors Guide Function Signal TX_D+ Transmit Data+ line TX_D- Transmit Data- line RX_D+ 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 •...
Page 47: Signalling Leds
• Supply and operation: 2 LEDs next to the CAN and USB connectors. • CANopen communication: 2 LEDs next to the CAN and USB connectors. Neptune with EtherCAT includes 3 more LEDs for the EtherCAT fieldbus status. 6.1 Power and operation signalling LEDs Two LEDs situated next to the CAN and USB connectors indicate the supply and operation status.
Page 48 NEPTUNE Product Manual | Signalling LEDs ERROR LED Concept Description state* No error Device is in working condition. Single flash Warning limit At least one of the error counters of the CAN controller has reached or reached exceeded the warning level (too many error frames).
Page 49: Ethercat Signalling Leds
Single flash Local error OPERATIONAL Double flash Watchdog timeout Application controller failure For high severity errors inside the Neptune Servo Drive, an special LED state has been developed: Status Signalling RUN LED state ERROR LED state Internal error...
Page 50 NEPTUNE Product Manual | Signalling LEDs LINK LED Slave state Port closed Flickering Port opened (activity on port) Port opened (no activity on port) INGENIA | 05/29/2017...
Page 51: Wiring And Connections
EMI reduction. Neptune Servo drive does not have PE terminals. However, for reducing EMI problems power GND can be used as PE.
Page 52 • 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 Neptune 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 53 NEPTUNE Product Manual | Wiring and Connections If a simplified wiring is required, the following shielding priority can be applied: 1. Shield the motor cables, which are the main high-frequency noise source. 2. Shield the feedback signals, which are sensitive signals usually coming from the motor housing.
Page 54: Power Supply
NEPTUNE Product Manual | Wiring and Connections 7.2 Power supply The Neptune Servo Drive is supplied from the Supply and motor connector, using the same terminal for logic and power supply (9 V to 48 V ). An internal DC/DC converter provides circuits with appropriate voltages as well as a regulated 5 V output voltage to supply feedback sensors and I/O.
Page 55: Power Supply Connection
48/T recommended for Neptune, 300 W 7.2.2 Power supply connection Neptune logic and power supply are provided through the same terminal. All Neptune versions support an input voltage of +9 V to +48 V.  Twisted cables Twisted power supply cables are preferred to reduce electromagnetic emissions and increase immunity.
Page 56: Connection Of Multiple Drives With The Same Power Supply
Motor braking current Motor braking can cause reverse current sense and charge the battery. Always ensure that the battery can accept this charge current which will be within the Neptune current ratings. 7.2.4 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...
Page 57: Power Supply Wiring Recommendations
0.25 mm (24 AWG) Wire length • The distance between the Neptune 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. • For best immunity use twisted and shielded 2-wire cables for the DC power supply. This becomes crucial in long cable applications.
Page 58: Motor
NEPTUNE Product Manual | Wiring and Connections • Avoid running supply wires in parallel with other wires for long distances, especially feedback and signal wires. 7.3 Motor 7.3.1 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 59: Dc Motors And Voice Coil Actuators
NEPTUNE Product Manual | Wiring and Connections  Proper three-phase motor choke wiring 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.
Page 60: Motor Wiring Recommendations
The minimum wire section is determined by the motor current. It is preferred to use wide section stranded wires to reduce impedance, power losses and ease the assembly. Insulator size should not exceed 5 mm (connector pitch). Following table indicates recommended section for the Neptune Servo Drive: Connection...
Page 61: Wire Ferrules
(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 choke is necessary. Some choke wiring recommendations are: •...
Page 62: Wire Length
• Analog input for DC tachometer (see page 73) Neptune also provides a 5V, 200 mA outputs for feedbacks supply. This output is overload and short circuit protected. 7.4.1 Digital Halls interface The Hall sensors are Hall effect devices that are built into the motor to detect the position of the rotor magnetic field.
Page 63 Digital halls signals example (120º option) Digital halls can be used for commutation, position and velocity control. Resolution using these sensors is much lower than using encoders. Neptune can use single ended Hall sensors to drive the motor with trapezoidal commutation, but not with sinusoidal commutation. ...
Page 64 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. 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. ...
Page 65: 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 66 NEPTUNE Product Manual | Wiring and Connections Sampling frequency 10 ksps Voltage range 0 ~ 5 V (10 bits) Maximum voltage range -0.3 ~ 5.3 V Input impedance > 24 kΩ Next figure illustrates the circuit model for one of the linear Halls inputs. An active Sallen-Key low pass filter provides immunity to motor and feedback noise.
Page 67: Digital Incremental Encoder
Digital encoders are especially useful in applications where low-speed smoothness is the objective. The Neptune Servo Drive has one differential digital encoder interface, with optional index signal input. Index signal (Z) is a single pulse per revolution signal that can be used to know absolute positions. Next table illustrates digital encoder inputs main features. ...
Page 68 NEPTUNE Product Manual | Wiring and Connections Specification Value Type of inputs Non-isolated Differential or single ended ESD protected Number of inputs 3 (A, B and Index) ESD capability IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact) IEC 61000-4-4 (EFT) 40 A (5/50 ns)
Page 69 NEPTUNE Product Manual | Wiring and Connections 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 (see page 74) wires. INGENIA | 05/29/2017...
Page 70: Termination Resistors
NEPTUNE Product Manual | Wiring and Connections Termination resistors The Neptune does not have termination resistors on board. In a noisy environment it is recommended to add 120Ω termination resistors between the positive and the negative lines of the differential signals of the encoder.
Page 71: Digital Input Feedback - Pwm Encoder
PWM encoders can be used. Further specifications about the PWM input can be found in I/O connection section (see page 75) Next figure illustrates PWM feedback input for different rotor positions: Next figures illustrates how to connect differential and single ended PWM encoders to the Neptune Servo Drive: INGENIA | 05/29/2017...
Page 72: Analog Input Feedback
Neptune Servo Drive can also use analog feedback systems connected through the I/O connector. From the voltage level of one analog input, the position or velocity of the rotor can be calculated. The Neptune have 2 analog inputs that can be used for feedback input, each one with a different input range. The input used as feedback can be selected by software. Further specifications about the analog inputs input can be found...
Page 73: Potentiometer
NEPTUNE Product Manual | Wiring and Connections Potentiometer 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: ...
Page 74: Dc Tachometer
Any induced disturbance in the wire will have the same magnitude and result in error cancellation. • Connect the Neptune and encoder GND signals even if the encoder supply is not provided by the drive. • Connection between Neptune PE and the motor metallic housing is essential to provide a low impedance path and minimize noise coupling to the feedback.
Page 75: Recommendations For Applications Witch Close Feedback And Motor Lines
C0G. For further information contact Ingenia engineers for support 7.5 I/O connections The Neptune Servo Drive provides various inputs and output terminals for parameter observation and drive control options. These inputs can also be used for some feedback purposes (see Feedback connections (see page The input and output pins are summarized below: •...
Page 76: General Purpose Single Ended Digital Inputs Interface (Gpi1, Gpi2)
NEPTUNE Product Manual | Wiring and Connections 7.5.1 General purpose single ended digital inputs interface (GPI1, GPI2) The general purpose non-isolated digital inputs are ready for 5 V levels, but are 24 V tolerant. Next table show their electrical specifications. Specification Value...
Page 77  Non-isolated I/O 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. Neptune 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.
Page 78: 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 Neptune high-speed inputs are default high-level (ON). When no signal or load connected, the board will detect a logic high. Specification Value...
Page 79 NEPTUNE Product Manual | Wiring and Connections 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 80  Non-isolated I/O 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. Next figures illustrate how to connect high-speed differential and single ended signals to HS_GPI1 (same wiring can be used for HS_GPI2).
Page 81 NEPTUNE Product Manual | Wiring and Connections Neptune 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. ...
Page 82 NEPTUNE Product Manual | Wiring and Connections  HS_GPI pull-up and pull-down resistors Pull-up and pull-down resistors ensure the desired logic state when the sensor (transistor or relay) is in off-state. NPN pull-up resistor value must be chosen in order to ensure a positive value in the differential receiver while consuming low current.
Page 83: Analog Inputs Interface (An_In1, An_In2)
7.5.3 Analog inputs interface (AN_IN1, AN_IN2) Neptune Servo Drive has two 12-bit analog inputs, a single ended one (AN_IN1) and a differential one (AN_IN2). Each one of them has a different input voltage range. Next table summarizes the main features of the analog...
Page 84 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. Next figure illustrates how to connect an analog single ended source to the Neptune Servo Drive analog input 1. INGENIA | 05/29/2017...
Page 85 NEPTUNE Product Manual | Wiring and Connections 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 | 05/29/2017...
Page 86: Digital Outputs Interface (Gpo1, Gpo2)
7.5.4 Digital outputs interface (GPO1, GPO2) Neptune 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...
Page 87: Wiring Of 5V Loads
 Non-isolated I/O 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. Wiring of 5V loads Loads that require 5V as high-level voltage can be connected directly to the digital output.
Page 88: Wiring Of 24V Loads
NEPTUNE Product Manual | Wiring and Connections Wiring of 24V 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). ...
Page 89 NEPTUNE Product Manual | Wiring and Connections  Interfacing inductive loads The switching of inductive loads (like relays or motor brakes) can cause inductive kicking, that is a sudden voltage rise when the current through the inductor is falls to zero. In order to avoid this voltage rise, it is recommended to place a diode in anti-parallel with the load (known as freewheeling...
Page 90: Motor Brake Output (Gpo1, Gpo2)
Electromechanical brakes are needed in critical applications where the disconnection of the motor or a lack of electric braking could be dangerous or harmful (i.e. falling suspended loads). Neptune Servo Drive can use the digital outputs (GPO1 and GPO2) as a brake output. This output consists on an open drain MOSFET (1 A and 24 V).
Page 91: Command Sources
7.6 Command sources The target or command sources are used for setting a reference for position, velocity or torque controllers. Neptune Servo Drive supports the following command sources: • Network communication interface (USB, CANOpen, RS-232 or EtherCAT) (see page 92) •...
Page 92: Network Communication Interface
Lab suite, the user can configure and 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 any external command source. Programs or macros composed with Motion Lab suite allow to configure position, velocity or torque targets and to interface with general purpose inputs and outputs.
Page 93: Step And Direction
NEPTUNE Product Manual | Wiring and Connections A common application of the analog command source is the use of joysticks (or other kinds of potentiometers) for controlling the position or velocity of a system. As application examples, the following figures show how to connect a potentiometer to the single ended analog input (AN_IN1) and a dual track potentiometer to the differential analog input (AN_IN2).
Page 94 HS_GPI2 is used for Direction input. Refer to I/O Connections for further specifications about high- (see page 75) speed digital inputs. Next figures illustrate how to connect a single ended and differential step and direction command source to the Neptune Servo Drive. INGENIA | 05/29/2017...
Page 95: Pwm Command
NEPTUNE Product Manual | Wiring and Connections 7.6.5 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 Connections...
Page 96: Dual Input Mode
NEPTUNE Product Manual | Wiring and Connections 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 97: 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 Neptune 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 98: Communications
NEPTUNE Product Manual | Wiring and Connections 7.7 Communications The Neptune Servo Drive provides the following network communication interfaces for configuration and operation: • (see page 99) • Serial interface - RS232 (see page 99) • CANopen (see page 103) • EtherCAT (see page 107) INGENIA | 05/29/2017...
Page 99: Usb 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 100: Rs232 Interface
Daisy chain Supported  RS232 application RS232 interface is only recommended for configuration purposes. For noisy environments, CANopen interface is strongly recommended. Next figure illustrates how to connect Neptune Servo Drive with a host in a point to point configuration. INGENIA | 05/29/2017...
Page 101: Multi-Point Connection Using Daisy Chain
NEPTUNE Product Manual | Wiring and Connections  Multi-point connection Neptune Servo Drive RS232 interface allow multi-point connection using daisy chain connection. Multiple drive connection with daisy chain must be configured using Ingenia Motion Lab suite. For allowing multi-point communication each servo drive must be allocated a unique node ID, and daisy chain option must be enabled.
Page 102  Daisy chain clever wiring with flat cable The Neptune Servo Drive RS232 connector allows to implement a daisy chain using 6 way 1.27 pitch flat ribbon cable. This solution highly simplifies the wiring. The use of RETURN_TX pin simplifies the wiring and maximizes EMI immunity due to minimum ground loop and close returns for TX and RX.
Page 103: Rs232 Wiring Recommendations
Following are some wiring recommendations. • Use 3-wire shielded cable with the shield connected to Neptune Servo Drive end. Do not use the shield as GND. The ground wire must be included inside the shield, like the RX and TX signals.
Page 104 NEPTUNE Product Manual | Wiring and Connections Maximum number of nodes Common mode voltage Up to 48 V Termination resistor Not included on board  Drive ID When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, CANopen network may hang.
Page 105 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 Neptune connected, mount the termination resistor to ensure CAN bus operation. Do not use wirewound resistors, which are inductive.
Page 106: Can Interface For Pc
CAN interface for PC Ingenia Motion Lab suite is able to communicate with the Neptune Servo Drive through CANopen interface. For this purpose, a CAN transceiver for PC is required. Motion Lab is compatible with the following CAN transceivers: Kvaser, Peak-System, IXXAT, Vector and Lawicel. Please, install the drivers you can find on the manufacturer web sites before, plugging any transceiver to the USB port.
Page 107: Can Wiring Recommendations
7.7.4 EtherCAT interface Neptune Servo Drive with EtherCAT (NEP-x/xx-E-z) variant provides access to the EtherCAT fieldbus system. EtherCAT is an isolated bus suitable for hard and soft real-time requirements in automation technology, test and measurement and many other applications. ...
Page 108 NEPTUNE Product Manual | Wiring and Connections INGENIA | 05/29/2017...
Page 109: Dimensions
8.1 NEP-x/xx-y-S (Neptune with onboard connectors) Neptune Servo Drive version NEP-x/xx-y-S has a 40 mm x 40 mm footprint and a maximum 14.7 mm height. The drive is provided with 2 x Ø 3.2 mm holes for M3 standoff mounting as well as 2 x 3.2 mm slots. Although 2 mounting holes could be sufficient in some cases, it is strongly recommended to use the 4 fixation points to provide better stability. 3D models can be downloaded...
Page 110: Nep-X/Xx-Y-P (Neptune With Gold Plated Pin Headers)
Neptune Servo Drive version NEP-x/xx-y-P has a 40 mm x 40 mm footprint and a maximum 13 mm height. The drive is provided with pin header connectors to allow the user to mount the Neptune in a custom board. 3D models can be downloaded here...
Page 111: Nep-X/Xx-E-S (Neptune With Onboard Connectors And Ethercat)
8.3 NEP-x/xx-E-S (Neptune with onboard connectors and EtherCAT) Neptune Servo Drive version NEP-x/xx-E-S has a 60 mm x 60 mm footprint and a maximum 33.6 mm height. The drive is provided with 3 x M3 standoff of 6 mm to allow a proper mounting. 3D models can be downloaded here...
Page 112: Nep-X/Xx-Y-P (Neptune With Gold Plated Pin Headers And Ethercat)
8.4 NEP-x/xx-y-P (Neptune with gold plated pin headers and EtherCAT) Neptune Servo Drive version NEP-x/xx-y-S has a 60 mm x 60 mm footprint and a maximum 30 mm height. The drive is provided with 3 x M3 standoff of 6 mm to allow a proper mounting. 3D models can be downloaded here...
Page 113 NEPTUNE Product Manual | Dimensions INGENIA | 05/29/2017...
Page 114: Software
Before configuring your drive for a new application make sure you have upgraded to the latest firmware revision. 9.2 Applications If you want to make your own application to communicate with the Neptune and develop standalone or multiaxis systems, you can use the multi-platform library MCLIB 9.3 Arduino...
Page 115 GIZATECH www.gizatech.eu/ comercial@milexia.es ANTRIMON MOTION Switzerland www.antrimon.com motion@antrimon.com Turkey FEMSAN www.femsan.com melike@femsan.com United MOTION CONTROL Kingdom PRODUCTS www.motioncontrolproducts.com info@motioncontrolproducts.com United States NAMPRO www.namproinc.com sales@namproinc.com United States GROUP SIX www.grp6.com ingenia@grp6.com INGENIA-CAT S.L. 8-14 MARIE CURIE, ADVANCED INDUSTRY PARK 08042 BARCELONA...

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