Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for INGENIA HYD-4/48-S
Summary of Contents for INGENIA HYD-4/48-S
- Page 1 Hydra Servo Drive Product Manual Version: Date: 03-Mar-2017...
-
Page 2: Table Of Contents
Table of Contents General Information ............3 Manual revision history . -
Page 3: General Information
6.3.3 Shunt braking resistor ............36 Feedback connections . -
Page 4: Manual Revision History
Such information is supplied solely for the purpose of assisting users of the product in its installation. INGENIA-CAT S.L. rejects all liability for errors or omissions in the information or the product or in other documents mentioned in this document. -
Page 5: About This Manual
Do not make any connections to any internal circuitry. Only connections to designated connectors are allowed. All service and maintenance must be performed by qualified personnel. Before turning on the Hydra Servo Drive, check that all safety precautions have been followed, as well as the installation procedures. 3 Product Description INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 6: Hydra Part Numbering
HYD-8/48-y Power supply voltage 12 V to 48 V Transient peak voltage 60 V Logic supply voltage Not needed, supplied from Power supply voltage Internal DC bus 112 µF capacitance Minimum motor 300 µH inductance INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 7 2 x Open open drain digital outputs with a weak pull-up to 5 V. (24 V tolerant and 1 A short-circuit and over-current rugged). 1 x 5 V output supply for powering external circuitry (up to 200 mA). INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 8: Hardware Revisions
60 mm x 70 mm x 15.7 mm Weight (exc. mating 35 g connectors) 3.3 Hardware revisions Hardware revision* Description and changes 1.0.0 First product release. Identifying the hardware revision Hardware revision is screen printed on the board. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 9: Power And Current Ratings
Motor RMS current: positive correlation. DC bus voltage: positive correlation. Other less relevant parameters affect also the power loss but are not considered in the graphs: Air temperature, higher power semiconductor temperatures reduce their efficiency. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 10: Current Ratings
Power losses have a positive correlation with the motor RMS current. For this reason, when the ambient temperature rises, the output current must be limited to avoid an excessive drive temperature (T < 110ºC). The threshold temperature where the current derating should start depends on the DC bus voltage. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 11: Dynamic Application (Non-Constant Current)
3.4.4 System temperature Next thermal image shows an example of the heat distribution in a HYD-8/48-y. The test has been performed at maximum load and air temperature. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 12: Architecture
Recommendation: when motor is off, exit motor enable mode which will switch off the power stage. 3.5 Architecture Following figure shows a simplified hardware architecture of the Hydra Servo Drive. Links provide direct access to relevant pages. 4 Connectors Guide INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 13: Connectors Position And Pinout
Hydra Servo Drive | Product Manual 4 Connectors Guide 4.1 Connectors position and pinout The Hydra Servo Drive presents the following connectors and pinout: INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 14 Hydra Servo Drive | Product Manual INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 15: Supply And Shunt Connector
For details on shunt operation see Motor and shunt braking resistor Dimension the wiring according to the application current ratings. Higher section is always preferred to minimize resistance and wire self-heating. Recommended wire section is 0.5 mm² ~ 1.5 mm². INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 16: Motor Connector
4.4 Micro-Match connectors mating Most Hydra Servo Drive signal connections are based in TE Micro-Match connectors. Two different wiring options can be used ribbon cable multi-core crimped cable INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 17: Ribbon Cable
Ribbon cable is the easiest and lowest cost option. 4.4.2 Multi-core crimped cable Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch Image Crimp terminals Description Crimp terminal, male, 20-24 AWG Image Part number TE Connectivity 1-338097-1 INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 18: Feedback Connector
Ground connection ENC_A+ Single ended digital encoder: A input Differential digital encoder: A+ input ENC_A- Differential Encoder: A- input ENC_B+ Single ended digital encoder: B input Differential digital encoder: B+ input ENC_B- Differential Encoder: B- input INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 19 Multi-core crimped cable mating Description TE Micro-Match housing connector 1.27 mm pitch 12 position Part number TE Connectivity 1-338095-2 Distributor codes Digi-Key A99497-ND Mouser 571-1-338095-2 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 20: I/O Connector
AN_IN2+ Differential analog non inverting input 2 Single ended analog input 2 Ground GPI2 General purpose single ended digital input 2 (Could be Torque Off under request) GPI1 General purpose single ended digital input 1 INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 21 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 Mouser 571-1-338095-6 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 22: Usb Connector
Avoid applying excessive mechanical stress to the USB connector. Please see Communications page for further information Mating Description USB Shielded I/O Cable Assembly, USB A-to-Micro-USB B, 1.50m Length, Black, Lead-Free Image Part number Molex 68784-0002 Distributor Farnell 1617586 codes Digi-Key WM17146-ND Mouser 538-68784-0002 INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 23: Can Connector
TE Micro-Match Male-on-Wire 1.27 mm pitch 4 position Part number TE Connectivity 215083-4 Distributor codes Farnell 2399655 Digi-Key A107032TR-ND Mouser 571-215083-4 Cable Part number 3M HF365/04SF Distributor codes Farnell 2396432 Digi-Key MD04R-100-ND Mouser 517-HF365/04SF Notes INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 24: Cleverly Wiring Can Buses From Standard Db9 Connectors
TE Connectivity 338095-4 Distributor codes Farnell 2420421 Mouser 571-338095-4 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) twisted pair with 120 Ω differential impedance. 4.9 RS485 interface connector P7 Connector 6 pin TE Micro-Match 338068-6 connector. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 25: Signalling Leds
Description TE Micro-Match housing connector 1.27 mm pitch 6 position Part number TE Connectivity 338095-6 Distributor codes Digi-Key A99416-ND Mouser 571-338095-6 Cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable. 5 Signalling LEDs INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 26: Power And Operation Signalling Leds
Three LEDs situated next to the DSP, between the USB and RS485 connectors, indicate the supply and operation status. Next table shows the meaning of each LED: Colour Meaning POWER Green LED is on when internal power supply is working. FAULT LED is on when a fault or error has occurred. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 27: Can Signalling Leds
Blinking On and off with a frequency of ~2.5 Hz: ON for ~200 ms followed by off for ~200 ms. Note that the specified timings can vary in up to ±20%. 6 Wiring and Connections INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 28: Protective Earth
Hydra Servo Drive provides the following earth/ground connection points, which are internally connected and decoupled to power ground: PE terminal in the Motor connector. Plated holes for standoffs. A diagram of the recommended Earth wiring is shown following. INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 29 If multiple drives are supplied from the same power supply or supply PE to drive PE connection is not practical (not enough connection terminals) connect all PE terminals in a central connection bus. Whenever possible, mount the Ingenia drive on a metallic conductive surface connected to earth. Use good quality plated screws that won’t oxidize or lose conductivity during the expected lifetime.
-
Page 30: Power Supply
This prevents COM port corruption. 6.2.1 Power supply requirements The choice of a power supply is mainly determined by voltage and current ratings of the power supply. Main requirements of the Hydra power supply are: INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 31: Power Supply Connection
The voltage and current range can be decreased due to the motor requirements. Further information on how to dimension a power supply for the Ingenia drives can be found here Following are shown different power supply examples:... -
Page 32: Battery Supply Connection
That is, connect each drive to the common supply using separate wires for positive and return. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 33: Power Supply Wiring Recommendations
For best immunity use twisted and shielded 2-wire cables for the DC power supply. This becomes crucial in long cable applications. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 34: Motor And Shunt Braking Resistor
While using a separate choke for each phase could also work, the EMI reduction would be much lower than passing all the phases through the same choke. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 35: Motor Wiring Recommendations
Only 2 or 3 turns of the motor cables to the choke are recommended for best performance. Doing more than 3 turns reduces choke effectiveness, as capacitive coupling between wires would bypass the choke effect. PE conductor should NOT pass through the choke. Avoid contact of the toroid core with a grounding point. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 36: Shunt Braking Resistor
Wire section should be, at least, like the motor wires. Shunt resistor connections should be as short as possible to reduce parasitic inductances. Shunt resistor calculation tool Additional information on shunt braking resistor sizing and a calculation tool can be found here INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 37: Feedback Connections
Channel A and channel B signals should have a phase shift of 90 degrees, indicating the rotation direction. Based on the pulses frequency, the drive can calculate the motor velocity and position. Example of single ended digital encoder inputs Example of digital differential encoder signals INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 38 The Hydra digital encoder input includes a 120 Ω termination resistor with split topology. This topology consists in two 60 Ω resistors in series with the middle point decoupled to GND with a 10 nF capacitor. Next figure shows the circuit model of the digital encoder inputs. INGENIA | ingeniamc.com/support | 03-Mar-2017...
- Page 39 Hydra Servo Drive includes a broken wire detection circuit. The circuit is based on 3 EX-OR gates that will generate an error if the encoder is disconnected or a wire is broken. This system only works for differential encoders. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 40: Feedback Wiring Recommendations
Preferably use resistors with low 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 | ingeniamc.com/support | 03-Mar-2017... -
Page 41: I/O Connections
0 < Vin < 1 V Input impedance 30 kΩ 1st order filter cutting frequency (-3 dB) 100 kHz Sampling rate 1 ksps Max delay 2 μs General purpose inputs electrical equivalent circuit is the following: INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 42 Hydra Servo Drive general purpose inputs can be used for connecting three-wire sensors. Next figures illustrate the connection of PNP and NPN three-wire sensors in input GPI2 (Same wiring can be used for GPI1). Pin 16 (+5V_OUT) can be used as a supply source. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 43: High-Speed Digital Inputs Interface (Hs_Gpi1, Hs_Gpi2)
Low level input voltage (HS_GPI+ - HS_GPI-) < -600 mV Maximum working input voltage ±24 V Maximum recommended frequency 10 MHz Sampling rate 20 Msps Total rising delay 65 ns Total falling delay 55 ns INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 44 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). INGENIA | ingeniamc.com/support | 03-Mar-2017...
- Page 45 Hydra Servo Drive high-speed digital inputs can be used for connecting three-wire sensors. Next figures illustrate the connection of PNP and NPN three-wire sensors in input HS_GPI2 (Same wiring can be used for HS_GPI1). Pin 16 (+5V_OUT) can be used as a supply source. INGENIA | ingeniamc.com/support | 03-Mar-2017...
- Page 46 For a sensor supply of 5 V, 1 kΩ is recommended. For a sensor supply of 24 V, 47 kΩ is recommended. The connection of a NPN three-wire sensor with a noise filter is shown in the next figure. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 47: Analog Inputs Interface (An_In1, An_In2)
1st order filter cutting frequency (-3dB) 4.5 kHz 4.8 kHz Sampling rate (max) 10 ksps Next figure shows the circuit model for the analog input 1: Next figure shows the circuit model for the analog input 2: INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 48 Next figure illustrates how to connect an analog single ended source to the Hydra Servo Drive analog input 1. Next figure shows how to interface differential and single ended voltage sources to the differential analog input 2. The differential analog input is typically used as a command source or feedback signal. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 49: Digital Outputs Interface (Gpo1, Gpo2)
ESD protected. Overload, short circuit and over-temperature 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) INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 50 Wiring of 5V outputs Loads that require 5V as high-level voltage can be connected directly to the digital output. A wiring example for GPO2 is shown in the next figure (same wiring could be used for GPO1). INGENIA | ingeniamc.com/support | 03-Mar-2017...
- Page 51 Loads that require 24V as high-level voltage can also be interfaced with GPO. For this option, an external power supply is needed. The load can be connected with a pull-up to 24V or directly switched with the GPO. Next figures show two example connections to GPO2 (same wiring could be used for GPO1). INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 52: Motor Brake Output (Gpo1, Gpo2)
(i.e. falling suspended loads). Hydra 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). Further specifications can be found in Digital outputs interface INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 53: Torque Off Input (Custom Purchase Order)
GPI2 input reads a logic low state (0 V < V < 1 V) by defect, so the input must be connected to a logic high level (4 V < V < 24 V) to activate the power stage. Next figures show two examples of connection of the torque off input, a self- supplied option and an external supplied option. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 54: Command Sources
Analog inputs, step and direction, PWM command and encoder follower / electronic gearing are interfaced through general purpose inputs. Next table illustrates which variables can be controlled with each command source: Command source Target variable INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 55: Network Communication Interface
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). INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 56: Step And Direction
Direction input. Refer to I/O Connections for further specifications about high-speed digital inputs. Next figures illustrate how to connect a single ended and differential step and direction command source to the Hydra Servo Drive. INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 57: Pwm Command
100% duty corresponds to the maximum position, velocity or torque in the opposite direction. Examples of single input mode PWM command in differential and single ended connections are shown in the next figures. INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 58 High speed digital input 2 (HS_GPI2) for PWM Command General purpose digital input 1 (GPI1) for Direction. Examples of dual input mode PWM command in differential and single ended connections are shown in the next figures. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 59: Encoder Following Or Electronic Gearing
(HS_GPI). Encoder channel A must be connected to high speed digital input 1, and channel B to high speed digital input 2. Connection examples for the differential and single ended master encoders are shown in the next figures: INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 60: Communications
6.7.1 USB interface Hydra Servo Drive supports Universal Serial Bus (USB), a standard interface for connecting peripheral devices to a host computer. The following table shows main USB interface specifications: INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 61: Rs485 Interface
Main specifications of Hydra RS485 interface are shown in the next table: Specification Details Interface Full duplex Non-isolated Self-supplied (no need for external supply) Communication distance Up to 1200 m Baud rate 100 kbps to 10 Mbps Daisy chain Supported INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 62 Daisy chain connection is a multi-point network topology based on connecting multiple terminals in a ring. The wiring consists on connecting the TX terminals of each device to the RX terminals of the next device. An example of daisy chain wiring of multiple Hydra is shown in the next figure. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 63: Canopen Interface
Area Network) bus. Hydra CAN interface is isolated, and self-supplied. Main physical specifications are shown in the next table: Specification Details Interface Non-isolated Self-supplied (no need for external supply) Baud rate From 125 kbps to 1 Mbps (default value) Maximum number of nodes Common mode voltage Up to 48 V INGENIA | ingeniamc.com/support | 03-Mar-2017... - Page 64 120 Ω on board (mount jumper to enable the termination) Drive ID When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, CANopen network may hang. An example of CAN wiring is shown in the next figure. INGENIA | ingeniamc.com/support | 03-Mar-2017...
- Page 65 Some recommended CAN transceivers are shown below: Manufact Part Number Image Description urer Lawicel CANUSB USB to CAN single channel interface with 9-pin D- SUB CAN connector. Enables simple connection to CAN networks through COM port. INGENIA | ingeniamc.com/support | 03-Mar-2017...
-
Page 66: Dimensions
. Connect the cable shield to protective earth at both ends. Ensure that the cable shield is connected to the connector shield, as connection to host protective earth is usually soldered inside the connector. 7 Dimensions INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 67: Software
M3 standoff mounting to the drive plate and to allow mounting the EtherCAT Daughter Board and the IO Starter Kit. These holes are plated and connected to protective earth (PE). 3D models can be downloaded here Next figure shows mechanical dimensions in . Tolerances ≤ ±0.2 mm. 8 Software INGENIA | ingeniamc.com/support | 03-Mar-2017... -
Page 68: Configuration
Hydra Servo Drive | Product Manual 8 Software 8.1 Configuration To connect, configure, tune your motor or upgrade the firmware of the Hydra, install Ingenia Motion Lab suite . The software package includes USB drivers. Keep the firmware updated Before configuring your drive for a new application make sure you have upgraded to the latest firmware revision.
Need help?
Do you have a question about the HYD-4/48-S and is the answer not in the manual?
Questions and answers