INGENIA Jupiter JUP-20/80, Jupiter JUP-15/130, Jupiter JUP-40/80, Jupiter JUP-30/130 Installation Manual

Installation Guide

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Author: INGENIA MOTION CONTROL

Report i033-01-Jupiter Servo Drive 09-Sep-2015 17:31 http://doc.ingeniamc.com/display/JUP/Installation+Guide

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Table of Contents

1 Contents ________________________________________________________________________________________________________________________ 7

1.1 Safety Information ____________________________________________________________________________________________________________ 7

1.2 Product Description ___________________________________________________________________________________________________________ 7

1.3 Installation __________________________________________________________________________________________________________________ 7

1.4 Wiring and Connections _______________________________________________________________________________________________________ 7

1.5 Dimensions _________________________________________________________________________________________________________________ 8 2 Revision History __________________________________________________________________________________________________________________ 9 3 Preliminary notes ________________________________________________________________________________________________________________ 10 4 Disclaimers and limitations of liability ________________________________________________________________________________________________ 11 5 Safety Information _______________________________________________________________________________________________________________ 12

5.1 Warnings __________________________________________________________________________________________________________________ 12

5.2 Precautions ________________________________________________________________________________________________________________ 12 6 Product Description ______________________________________________________________________________________________________________ 14

6.1 Specifications ______________________________________________________________________________________________________________ 15

6.2 Power ratings ______________________________________________________________________________________________________________ 19

6.3 Jupiter power specifications ___________________________________________________________________________________________________ 21

6.3.1 Jupiter without cold plate _______________________________________________________________________________________________ 23

6.3.2 Jupiter with cold plate, choosing appropriate heatsink ________________________________________________________________________ 26

6.3.3 Dynamic applications with non constant current _____________________________________________________________________________ 29

6.4 Architecture ________________________________________________________________________________________________________________ 30

6.5 Hardware revisions __________________________________________________________________________________________________________ 32

6.6 Specifications ______________________________________________________________________________________________________________ 33

6.7 Power and current ratings _____________________________________________________________________________________________________ 38

6.7.1 Jupiter power specifications _____________________________________________________________________________________________ 39

6.8 Architecture ________________________________________________________________________________________________________________ 49

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6.9 Hardware revisions __________________________________________________________________________________________________________ 51 7 Installation _____________________________________________________________________________________________________________________ 53

7.1 Installing the USB Driver ______________________________________________________________________________________________________ 53

7.1.1 Windows 8 Installation _________________________________________________________________________________________________ 55

7.2 Connectors position and pinout _________________________________________________________________________________________________ 57

7.2.1 CAN interface connector _______________________________________________________________________________________________ 60

7.2.2 Feedbacks connector __________________________________________________________________________________________________ 61

7.2.3 Absolute encoder connector ____________________________________________________________________________________________ 63

7.2.4 I/O connector ________________________________________________________________________________________________________ 64

7.2.5 RS232 interface connector _____________________________________________________________________________________________ 66

7.2.6 Supply and shunt connector ____________________________________________________________________________________________ 67

7.2.7 Supply, shunt and motor connector _______________________________________________________________________________________ 68

7.2.8 Motor connector ______________________________________________________________________________________________________ 69

7.2.9 STO connector _______________________________________________________________________________________________________ 70

7.2.10 Motor safety connector ________________________________________________________________________________________________ 71

7.2.11 USB connector ______________________________________________________________________________________________________ 71

7.2.12 CAN interface connector ______________________________________________________________________________________________ 73

7.2.13 Feedbacks connector _________________________________________________________________________________________________ 74

7.2.14 Absolute encoder connector ___________________________________________________________________________________________ 76

7.2.15 IO connector ________________________________________________________________________________________________________ 77

7.2.16 RS232 interface connector ____________________________________________________________________________________________ 79

7.2.17 Supply and shunt connector ___________________________________________________________________________________________ 80

7.2.18 High current connector ________________________________________________________________________________________________ 81

7.2.19 Motor connector _____________________________________________________________________________________________________ 82

7.2.20 STO connector ______________________________________________________________________________________________________ 82

7.2.21 Motor safety connector ________________________________________________________________________________________________ 83

7.2.22 USB connector ______________________________________________________________________________________________________ 84

7.3 Mating connectors ___________________________________________________________________________________________________________ 85

7.3.1 CAN interface mating connector _________________________________________________________________________________________ 85

7.3.2 Feedbacks mating connectors ___________________________________________________________________________________________ 87

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7.3.3 Absolute encoder mating connectors ______________________________________________________________________________________ 88

7.3.4 I/O mating connectors _________________________________________________________________________________________________ 89

7.3.5 RS232 mating connectors ______________________________________________________________________________________________ 91

7.3.6 Supply and shunt mating connector _______________________________________________________________________________________ 92

7.3.7 Motor mating connector ________________________________________________________________________________________________ 93

7.3.8 STO mating connector _________________________________________________________________________________________________ 94

7.3.9 Motor safety mating connector ___________________________________________________________________________________________ 95

7.3.10 USB mating connector ________________________________________________________________________________________________ 96

7.4 Signalling LEDs _____________________________________________________________________________________________________________ 96

7.4.1 Power and motor signalling LEDs ________________________________________________________________________________________ 98

7.4.2 CAN signalling LEDs __________________________________________________________________________________________________ 98

8 Wiring and Connections __________________________________________________________________________________________________________ 101

8.1 Power supply wiring ________________________________________________________________________________________________________ 101

8.1.1 Contents ___________________________________________________________________________________________________________ 101

8.1.2 Recommended power supply connection _________________________________________________________________________________ 102

8.1.3 Simplified battery supply connection _____________________________________________________________________________________ 105

8.1.4 Connection of multiple drivers __________________________________________________________________________________________ 106

8.1.5 Power supply wiring recommendations ___________________________________________________________________________________ 107

8.1.6 Recommended power supply connection _________________________________________________________________________________ 110

8.1.7 Simplified battery supply connection _____________________________________________________________________________________ 112

8.1.8 Connection of multiple drivers __________________________________________________________________________________________ 114

8.1.9 Power supply wiring recommendations ___________________________________________________________________________________ 115

8.2 Motor output wiring _________________________________________________________________________________________________________ 118

8.2.1 AC and DC Brushless motors __________________________________________________________________________________________ 119

8.2.2 DC motors and voice coil actuators ______________________________________________________________________________________ 120

8.2.3 Stepper motors ______________________________________________________________________________________________________ 121

8.2.4 External Shunt resistor ________________________________________________________________________________________________ 122

8.2.5 MOTOR WIRING RECOMMENDATIONS _________________________________________________________________________________ 135

8.2.6 AC and DC Brushless motors __________________________________________________________________________________________ 138

8.2.7 DC motors and voice coil actuators ______________________________________________________________________________________ 139

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8.2.8 Stepper motors ______________________________________________________________________________________________________ 140

8.2.9 External Shunt resistor ________________________________________________________________________________________________ 141

8.2.10 Safe Torque Off connection ___________________________________________________________________________________________ 145

8.2.11 Motor safety systems connection _______________________________________________________________________________________ 147

8.2.12 Motor wiring recommendations ________________________________________________________________________________________ 152

8.3 Feedback connections ______________________________________________________________________________________________________ 155

8.3.1 Position feedback interfaces ___________________________________________________________________________________________ 156

8.3.2 Velocity feedback interfaces ___________________________________________________________________________________________ 210

8.3.3 Feedback wiring recommendations ______________________________________________________________________________________ 213

8.4 IO connections ____________________________________________________________________________________________________________ 214

8.4.1 Contents ___________________________________________________________________________________________________________ 214

8.4.2 Low-speed (LS) single ended digital inputs interface ________________________________________________________________________ 215

8.4.3 High-speed (HS) digital inputs interface __________________________________________________________________________________ 218

8.4.4 Analog inputs interface _______________________________________________________________________________________________ 224

8.4.5 Digital outputs interface _______________________________________________________________________________________________ 229

8.4.6 Low-Speed (LS) single ended digital inputs interface ________________________________________________________________________ 235

8.4.7 High-Speed (HS) digital inputs interface __________________________________________________________________________________ 239

8.4.8 Analog inputs interface _______________________________________________________________________________________________ 245

8.4.9 Digital outputs interface _______________________________________________________________________________________________ 250

8.5 Command sources _________________________________________________________________________________________________________ 256

8.5.1 CONTENTS ________________________________________________________________________________________________________ 257

8.5.2 Network interface ____________________________________________________________________________________________________ 258

8.5.3 Standalone _________________________________________________________________________________________________________ 258

8.5.4 Analog input ________________________________________________________________________________________________________ 259

8.5.5 Step and direction ___________________________________________________________________________________________________ 260

8.5.6 PWM command _____________________________________________________________________________________________________ 262

8.5.7 Encoder following or Electronig gearing __________________________________________________________________________________ 267

8.5.8 Network interface ____________________________________________________________________________________________________ 269

8.5.9 Standalone _________________________________________________________________________________________________________ 270

8.5.10 Analog input _______________________________________________________________________________________________________ 270

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8.5.11 Step and direction (Pulse and direction) _________________________________________________________________________________ 272

8.5.12 PWM command ____________________________________________________________________________________________________ 274

8.5.13 Encoder following or electronic gearing __________________________________________________________________________________ 279

8.6 Communications ___________________________________________________________________________________________________________ 281

8.6.1 CAN interface _______________________________________________________________________________________________________ 282

8.6.2 USB interface _______________________________________________________________________________________________________ 285

8.6.3 RS232 interface _____________________________________________________________________________________________________ 286

8.6.4 RS485 interface _____________________________________________________________________________________________________ 291

9 Dimensions ___________________________________________________________________________________________________________________ 295

9.1 JUP-20/80 ________________________________________________________________________________________________________________ 295

9.2 JUP-50/80 ________________________________________________________________________________________________________________ 299

9.3 JUP-15/130 _______________________________________________________________________________________________________________ 301

9.4 JUP-35/130 _______________________________________________________________________________________________________________ 303

9.5 EtherCAT version __________________________________________________________________________________________________________ 305

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1 Contents

1.1 Safety Information

1.2 Product Description

Specifications Power and current ratings Architecture Hardware revisions

1.3 Installation

Installing the USB Driver Connectors position and pinout Mating connectors Signalling LEDs

1.4 Wiring and Connections

Power supply wiring Motor output wiring Feedback connections IO connections

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Command sources Communications

1.5 Dimensions

Installation Guide

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2 Revision History

Revision Release Date Changes

1.0 May 2015 Private preliminary draft. Not for public use.

2.0 September 2015 First public manual.

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3 Preliminary notes

A PDF version of this manual is available in the section.Downloads

Please refer to page for information on previous hardware revisions and changes.product hardware revisions

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4 Disclaimers and limitations of liability

Except in cases specifically indicated in other agreements and , this product and its documentation are provided "as is", with no warranties or INGENIA-CAT conditions of any type, whether express or implied, including, but not limited to the implied warranties or conditions of merchantability, fitness for a particular purpose or non-infringement.

INGENIA-CAT rejects all liability for errors or omissions in the information or the product or in other documents mentioned in this document.

INGENIA-CAT shall in no event be liable for any incidental, accidental, indirect or consequential damages (including but not limited to those resulting from: (1) dependency of equipment presented, (2) costs or substituting goods, (3) impossibility of use, loss of profit or data, (4) delays or interruptions to business operations (5) and any other theoretical liability that may arise as a consequence of the use or performance of information, irrespective of whether has been INGENIA-CAT notified that said damage may occur.

Some countries do not allow the limitation or exclusion of liability for accidental or consequential damages, meaning that the limits or exclusions stated above may not be valid in some cases.

This document may contain technical or other types of inaccuracies. This information changes periodically.

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5 Safety Information

Read carefully this chapter to raise your awareness of potential risks and hazards when working with the Jupiter Servo Drive.

To ensure maximum safety in operating the Jupiter Servo Drive, it is essential to follow the procedures included in this guide. This information is provided to protect users and their working area when using the Jupiter Servo Drive, as well as other hardware that may be connected to it. Please read this chapter carefully before starting the installation process.

5.1 Warnings

The following statements should be considered to avoid serious injury to those individuals performing the procedures and/or damage to the equipment:

To prevent the formation of electric arcs, as well as dangers to personnel and electrical contacts, never connect/disconnect the Jupiter Servo Drive while the power supply is on. Disconnect the Jupiter Servo Drive from all power sources before proceeding with any possible wiring change. After turning off the power and disconnecting the equipment power source, wait at least 10 seconds before touching any parts of the controller that are electrically charged or hot.

5.2 Precautions

The following statements should be considered to avoid serious injury to those individuals performing the procedures and/or damage to the equipment:

The Jupiter Servo Drive components temperature may exceed 100 ºC during operation.

Some components become electrically charged during and after operation. Expect voltages > 100 V that could be lethal.

The power supply connected to this controller should comply with the parameters specified in this document.

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When connecting the Jupiter Servo Drive to an approved power source, do so through a line that is separate from any possible dangerous voltages, using the necessary insulation in accordance with safety standards.

High-performance motion control equipment can move rapidly with very high forces. Unexpected motion may occur especially during product commissioning. Keep clear of any operational machinery and never touch them while they are working.

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 Jupiter Servo Drive, check that all safety precautions have been followed, as well as the installation procedures.

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6 Product Description

CONTENTS

Specifications Power ratings Jupiter power specifications

Jupiter without cold plate Jupiter with cold plate, choosing appropriate heatsink Dynamic applications with non constant current

Easy approach (quadratic mean of current)

Dynamic model Architecture Hardware revisions

Jupiter is a high performance closed loop servo drive controller suitable for DC brushed, voice coils, brushless and stepper motors.

Its incredibly compact design includes multiple communication ports, enabling thus a wide choice of interfacing methods. Its extended voltage operating range allows its use in several applications, and the small footprint and the needless of an external heatsink allow the controller to be a valid OEM for critical-size applications.

The Jupiter Digital Servo Drive has been designed with efficiency in mind. It incorporates cutting-edge MOSFET technology as well as optimized control algorithms to provide the perfect trade-off between EMIs and efficiency.

Jupiter Servo Drive is provided with several general purpose inputs and outputs designed for 5V TTL logic but tolerant up to 24V and fully rugged. By using these inputs and outputs it is possible to implement alarm signals, connect digital sensors, activate external devices (LEDs, actuators, solenoids, etc.). Some of the digital and analog inputs can also be used as command / target sources.

Jupiter includes many protections to ensure its safe operation and easy integration.

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6.1 Specifications

Each Ingenia Digital Servo Drive has a separate datasheet that contains important information on the options and productspecific features available with that particular drive. The datasheet is to be used in conjunction with this manual for system design and installation.

Variant JUP-20/80 JUP-40/80 JUP-15/130 JUP-30/130

Power supply voltage 10 V to 80 V

DC DC

10 V to 130 V

DC

Transient peak voltage 95 V 145 V

Logic supply voltage 10 V to 95 V

DC DC

(If not connected, logic supply is bypassed from power

supply)

10 V to 95 V

DC DC

(Note that the logic supply voltage < power supply voltage. Do not connect them together at

voltages > 95 V)

Internal DC bus capacitance 600 µF 450 µF

Maximum phase peak current 40 A

RMS

(5 s) 80 A

RMS

(5 s) 30 A

RMS

(5 s) 70 A

RMS

(5 s)

Maximum phase continuous current

20 A

RMS

40 A

RMS

15 A

RMS

35 A

RMS

Standby power consumption 1.5 W (max)

Efficiency > 97% at the rated power and current

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Supported motor types

Rotary or linear brushless (trapezoidal and sinusoidal) DC brush Voice coil 2 phases bipolar stepper 3 phases stepper

Power stage PWM frequency 20 kHz (default)

40 kHz (high PWM frequency, )configurable

Current sensing On phases A, B and C using 4 terminal shunt resistors.

Accuracy is ± 1% full scale.

10 bit ADC resolution.

Sensors for commutation

(brushless motors)

Digital halls (Trapezoidal) Analog halls (Sinusoidal / Trapezoidal) Quad. Incremental encoder (Sinusoidal / Trapezoidal) PWM encoder (Sinusoidal / Trapezoidal) Analog potentiometer (Sinusoidal / Trapezoidal)

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Sensors supported for servo loops

DC tachometer Digital halls Analog halls Quad. Incremental encode PWM encoder Analog potentiometer Sin-Cos encoder Absolute encoder

Supported target sources

Network communication – (µUSB connector)USB Network communication – (Isolated, self-supplied, CiA-301, CiA-303, CiA-305, CiA-306 and CiA-402 compliant)CANopen Network communication – (Isolated, self-supplied, single or daisy chain). on demand.RS-485 RS-232 Network communication – EtherCAT (CoE)(Option)

Standalone (execution from Internal EEPROM memory) Analog input (±10 V or 0 V to 5 V) Step and Direction (Pulse and direction) PWM command Encoder follower / Electronic Gearing

Inputs and outputs

2 x non isolated single ended digital inputs. GDI1, GDI2 (5V logic, 24V tolerant) 2 x non isolated high speed differential digital inputs. HS_GPI1 Pulse, HS_GPI2 Direction (5V logic, 24V tolerant) 1 x (±10 V) differential analog input (12 bits). AN_IN2. 1 x 0 V... 5 V single ended analog input (12 bits). AN_IN1. 2 x Open open drain digital outputs with a weak pull-up to 5 V. (1 A short-circuit and over-current rugged)

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Protections

User configurable:

Bus over-voltage Bus under-voltage Over temperature Under temperature Over current

Overload (I t)

2

Short-circuit protections:

Phase-DC bus

Phase-phase Mechanical limits for homing functions Hall sequence/combination error ESD & EMI protections: ESD protections are available in all inputs, outputs and communications. All inputs, outputs, feedbacks include noise filters. Inverse polarity supply protection (bidirectional) High power transient voltage suppressor for short braking: A TVS diode (600 W peak) protects the circuitry from the voltage transients events Encoder broken wire (for differential quadrature encoders only).

Ambient air temperature

-40 ºC to +50 ºC full current (operating) +50 ºC to +100 ºC current derating (operating)

-50 ºC to -40ºC and 100ºC to +125 ºC (non-operating)

Maximum humidity 5% - 85% (non-condensing)

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Dimensions 100 mm x 100 mm

x 26 mm

(no plate)

120 mm x 101 mm

x 28.1 mm

(with plate)

100 mm x 100 mm

x 28 mm

(no plate)

120 mm x 102 mm

x 30.1 mm

(plate)

Weight (exc. mating connectors)

109 g - 114 g -

Variant JUP-20/80 JUP-40/80 JUP-15/130 JUP-30/130

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6.2 Power ratings

To determine which is suited for an application and choose a heatsink (if needed) the power losses must be known.Jupiter variant

Excessive power losses lead to over temperature that will be detected and cause a the driver to turn off. The system temperature is available in and EMCL registers is measured near the power stage in different points for best reliability. The temperature parameter that can be accessed from USB 2.0, CAN or serial interface does not indicate the air temperature. Above 110ºC the Jupiter automatically turns off the power stage and stay in fault state avoiding any damage to the drive. A Fault LED will be activated and cannot be reseted unless temperature decreases.

Driver safety is always ensured by its protections. However, power losses and temperature limit the allowable motor current.

Future will allow an automatic current foldback based on temperature. This means the current will be reduced before an versions of firmware overtemperature occurs. Stay tuned for upgrades!

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Some parts of the Jupiter exceed 110ºC when operating, especially at high load levels.

and wait at least 5 minutes after turn off to allow a safe cool down.Do not touch the Jupiter when operating

Following figure shows the basic power flow and losses in a servo drive system.

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6.3 Jupiter power specifications

Value Notes

Maximum overtemperature fault 110ºC Measured on the power stage (not the heatsink)

Thermal impedance from power stage to air no cold plate / no heatsink 5.2 K/W

with cold plate / no heatsink 3.6 K/W

Maximum power dissipation without heatsink no cold plate / no heatsink 11.5 W At T 50ºC

A

with cold plate / no heatsink 16.7 W

Thermal resistance from power stage to heatsink (cold plate version) 3.6 K/W

Thermal time constant 3000 s?? Temperature stabilization is found after ~ 3 τ

Power losses calculation (heat dissipation)

Operation of the Jupiter causes power losses that should be transferred to the surrounding environment as heat. Heat dissipation depends on various parameters. Principally:

Motor RMS current: positive correlation. DC bus voltage: positive correlation. Jupiter variant: JUP20/130 and /130 variants have different power transistors with higher losses for the same current as the 80V variants. Different JUP35 charts are provided for each variant.

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. Motor speed. Faster motor speeds result in higher overall power loss since the input current is greater.

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Graph 1: power loses versus motor current at different voltages for Jupiter 80V

Graph 2: power loses versus motor current at different voltages for Jupiter 130V

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6.3.1 Jupiter without cold plate

Without cold plate, the board itself is the heatsink. Power losses cause the driver to increase its temperature following the this formula:

T < 110ºC for safe operation.

P

The thermal impedance typical value is shown above, hower its exact value will vary according to:

Air flow around the driver. Position (vertical allows natural convection).

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Graph 3: Maximum current ratings NO heatsink. Various Vbus voltages. 80V variant.

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Graph 4: Maximum current ratings NO heatsink. Various Vbus voltages. 130V variant.

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Current derating

The current derating graph is indicative and is based on thermal tests performed in a climatic room where there was enough room for natural air convection. Each application may reach different ratings depending on the installation, ventilation or housing.

6.3.2 Jupiter with cold plate, choosing appropriate heatsink

If power dissipation is < 17 W. No heatsink is needed.

When using high efficiency heatsinks or in enclosed spaces the equation can be simplified as follows.

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Assembly recommendations for best heat dissipation

Always allow natural air convection by ensuring ≥ 10 mm air space around the drive. Place the Jupiter in vertical position. If housed, use a good thermal conductivity material such as black anodized aluminum. Placing the driver in a small plastic package will definitively reduce its temperature range. 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.

TYPICALLY The jupiter without cold plate is suitable when power dissipation is < 13 W. This indicates that the maximum current it can withstand at 50 ºC is 20 A at 80 V bus voltage.

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The driver is getting hot even at 0 current!

This is normal. Jupiter power stage includes high power MOSFET transistors which have parasitic capacitances. Switching them fast means charging and discharging those capacitors thousands of times per second which results in power losses and temperature increase even at 0 current!

Recommendation: when motor is off, exit motor enable mode which will switch off the power stage.

6.3.3 Dynamic applications with non constant current

The Jupiter has a big thermal inertia that allows storing heat during short current pulses (exceeding nominal current) without causing an over temperature.

This allows achieving high peak current ratings without need of additional heatsink.

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Easy approach (quadratic mean of current)

For most systems where the cycle time is shorter than 3 τ (thermal time constant) the current can be calculated as the quadratic mean of the current during the full cycle.

The load cycle can be simplified as different constant currents during some times:

T: Full cycle period.

I : Current during t1

1

I : Current during t2

2

I : Current during tn

n

Dynamic model

For systems with a time > than 3 τ the dynamic model should be used.

Instead of considering thermal resistances you should consider the thermal impedance. The Jupiter model can be simplified as a 2nd order.

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6.4 Architecture

Following figure shows a simplified hardware architecture of the Jupiter. Links provide direct access to relevant pages.

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6.5 Hardware revisions

Hardware revision*

Description and changes

1.0.1B

May 2015

First product demo.

Installation Guide

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1.0.1R

September 2015

First product release. Changes from previous version:

High speed inputs were "high" by default - changed default to "low" [ ]JUP-29 RS485 should be the default communication interface [ ]JUP-78 Change current sense gain to 20 for low current and to 13.7 for high current variants [ ]JUP-44 Reduced USB connector protrusion on board edge [ ]JUP-34 Reduce switching losses, set default PWM frequency 20 kHz [ ]JUP-72 Improve HW overcurrent noise immunity to prevent unwanted short-detections [ ] [ ]JUP-41 JUP-49 Reduce noise generated by the power stage [ ] [ ] [ ]JUP-48 JUP-71 JUP-66 Adjusted STO LED brightness [ ]JUP-39 Improved USB connection ruggedness and reliability at high motor current [ ] [ ] [ ]JUP-51 JUP-57 JUP-63 Improve CAN communication performance at high current / voltage [ ]JUP-58 Silkscreen improvements for clarity and aesthetics [ ] [ ] [ ] [ ]JUP-35 JUP-37 JUP-80 JUP-86 Include a protection against overvoltage for the main internal power supply DC/DC [ ]JUP-74 Manufacturing improvements [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [JUP-23 JUP-28 JUP-52 JUP-67 JUP-68 JUP-69 JUP-22 JUP-25 JUP-27 JUP-30 JUP-45 JUP-

] [ ] [ ]47 JUP-54 JUP-84

Add new INGENIA Logo [ ]JUP-85

*Hardware revision is screen printed on the board.

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6.6 Specifications

Each Ingenia Digital Servo Drive has a separate datasheet that contains important information on the options and productspecific features available with that particular drive. The datasheet is to be used in conjunction with this manual for system design and installation.

Variant JUP-20/80 JUP-40/80 JUP-15/130 JUP-30/130

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Power supply voltage 10 V to 80 V

DC DC

10 V to 130 V

DC

Transient peak voltage 95 V 145 V

Logic supply voltage 10 V to 95 V

DC DC

(If not connected, logic supply is bypassed from power

supply)

10 V to 95 V

DC DC

(Note that the logic supply voltage < power supply voltage. Do not connect them together at

voltages > 95 V)

Internal DC bus capacitance 600 µF 450 µF

Maximum phase peak current 40 A

RMS

(5 s) 80 A

RMS

(5 s) 30 A

RMS

(5 s) 70 A

RMS

(5 s)

Maximum phase continuous current

20 A

RMS

40 A

RMS

15 A

RMS

35 A

RMS

Standby power consumption 1.5 W (max)

Efficiency > 97% at the rated power and current

Supported motor types

Rotary or linear brushless (trapezoidal and sinusoidal) DC brush Voice coil 2 phases bipolar stepper 3 phases stepper

Power stage PWM frequency 20 kHz (default)

40 kHz (high PWM frequency, )configurable

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Current sensing On phases A, B and C using 4 terminal shunt resistors.

Accuracy is ± 1% full scale.

10 bit ADC resolution.

Sensors for commutation

(brushless motors)

Digital halls (Trapezoidal) Analog halls (Sinusoidal / Trapezoidal) Quad. Incremental encoder (Sinusoidal / Trapezoidal) PWM encoder (Sinusoidal / Trapezoidal) Analog potentiometer (Sinusoidal / Trapezoidal)

Sensors supported for servo loops

DC tachometer Digital halls Analog halls Quad. Incremental encode PWM encoder Analog potentiometer Sin-Cos encoder Absolute encoder

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Supported target sources

Network communication – (µUSB connector)USB Network communication – (Isolated, self-supplied, CiA-301, CiA-303, CiA-305, CiA-306 and CiA-402 compliant)CANopen Network communication – (Isolated, self-supplied, single or daisy chain). on demand.RS-485 RS-232 Network communication – EtherCAT (CoE)(Option)

Standalone (execution from Internal EEPROM memory) Analog input (±10 V or 0 V to 5 V) Step and Direction (Pulse and direction) PWM command Encoder follower / Electronic Gearing

Inputs and outputs

2 x non isolated single ended digital inputs. GDI1, GDI2 (5V logic, 24V tolerant) 2 x non isolated high speed differential digital inputs. HS_GPI1 Pulse, HS_GPI2 Direction (5V logic, 24V tolerant) 1 x (±10 V) differential analog input (12 bits). AN_IN2. 1 x 0 V... 5 V single ended analog input (12 bits). AN_IN1. 2 x Open open drain digital outputs with a weak pull-up to 5 V. (1 A short-circuit and over-current rugged)

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Protections

User configurable:

Bus over-voltage

Bus under-voltage

Over temperature

Under temperature

Over current

Overload (I t)

2

Short-circuit protections:

Phase-DC bus

Phase-phase Mechanical limits for homing functions Hall sequence/combination error ESD & EMI protections: ESD protections are available in all inputs, outputs and communications. All inputs, outputs, feedbacks include noise filters. Inverse polarity supply protection (bidirectional) High power transient voltage suppressor for short braking: A TVS diode (600 W peak) protects the circuitry from the voltage transients events Encoder broken wire (for differential quadrature encoders only).

Ambient air temperature

-40 ºC to +50 ºC full current (operating) +50 ºC to +100 ºC current derating (operating)

-50 ºC to -40ºC and 100ºC to +125 ºC (non-operating)

Maximum humidity 5% - 85% (non-condensing)

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Dimensions 100 mm x 100 mm

x 26 mm

(no plate)

120 mm x 101 mm

x 28.1 mm

(with plate)

100 mm x 100 mm

x 28 mm

(no plate)

120 mm x 102 mm

x 30.1 mm

(plate)

Weight (exc. mating connectors)

109 g - 114 g -

Variant JUP-20/80 JUP-40/80 JUP-15/130 JUP-30/130

6.7 Power and current ratings

To determine which is suited for an application and choose a heatsink (if needed) the power losses must be known.Jupiter variant

Excessive power losses lead to over temperature that will be detected and cause a the driver to turn off. The system temperature is available in and EMCL registers is measured near the power stage in different points for best reliability. The temperature parameter that can be accessed from USB 2.0, CAN or serial interface does not indicate the air temperature. Above 110ºC the Jupiter automatically turns off the power stage and stay in fault state avoiding any damage to the drive. A Fault LED will be activated and cannot be reseted unless temperature decreases.

Driver safety is always ensured by its protections. However, power losses and temperature limit the allowable motor current.

Future will allow an automatic current foldback based on temperature. This means the current will be reduced before an versions of firmware overtemperature occurs. Stay tuned for upgrades!

Some parts of the Jupiter exceed 110ºC when operating, especially at high load levels.

and wait at least 5 minutes after turn off to allow a safe cool down.Do not touch the Jupiter when operating

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Following figure shows the basic power flow and losses in a servo drive system.

6.7.1 Jupiter power specifications

Value Notes

Maximum overtemperature fault 110ºC Measured on the power stage (not the heatsink)

Thermal impedance from power stage to air no cold plate / no heatsink 5.2 K/W

with cold plate / no heatsink 3.6 K/W

Maximum power dissipation without heatsink no cold plate / no heatsink 11.5 W At T 50ºC

A

with cold plate / no heatsink 16.7 W

Thermal resistance from power stage to heatsink (cold plate version) 3.6 K/W

Thermal time constant 3000 s?? Temperature stabilization is found after ~ 3 τ

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Power losses calculation (heat dissipation)

Operation of the Jupiter causes power losses that should be transferred to the surrounding environment as heat. Heat dissipation depends on various parameters. Principally:

Motor RMS current: positive correlation. DC bus voltage: positive correlation. Jupiter variant: JUP20/130 and /130 variants have different power transistors with higher losses for the same current as the 80V variants. Different JUP35 charts are provided for each variant.

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. Motor speed. Faster motor speeds result in higher overall power loss since the input current is greater.

Graph 1: power loses versus motor current at different voltages for Jupiter 80V

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Graph 2: power loses versus motor current at different voltages for Jupiter 130V

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Jupiter without cold plate

Without cold plate, the board itself is the heatsink. Power losses cause the driver to increase its temperature following the this formula:

T < 110ºC for safe operation.

P

The thermal impedance typical value is shown above, hower its exact value will vary according to:

Air flow around the driver. Position (vertical allows natural convection).

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Graph 3: Maximum current ratings NO heatsink. Various Vbus voltages. 80V variant.

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Graph 4: Maximum current ratings NO heatsink. Various Vbus voltages. 130V variant.

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Current derating

The current derating graph is indicative and is based on thermal tests performed in a climatic room where there was enough room for natural air convection. Each application may reach different ratings depending on the installation, ventilation or housing.

Jupiter with cold plate, choosing appropriate heatsink

If power dissipation is < 17 W. No heatsink is needed.

When using high efficiency heatsinks or in enclosed spaces the equation can be simplified as follows.

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Assembly recommendations for best heat dissipation

Always allow natural air convection by ensuring ≥ 10 mm air space around the drive. Place the Jupiter in vertical position. If housed, use a good thermal conductivity material such as black anodized aluminum. Placing the driver in a small plastic package will definitively reduce its temperature range. 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.

TYPICALLY The jupiter without cold plate is suitable when power dissipation is < 13 W. This indicates that the maximum current it can withstand at 50 ºC is 20 A at 80 V bus voltage.

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The driver is getting hot even at 0 current!

This is normal. Jupiter power stage includes high power MOSFET transistors which have parasitic capacitances. Switching them fast means charging and discharging those capacitors thousands of times per second which results in power losses and temperature increase even at 0 current!

Recommendation: when motor is off, exit motor enable mode which will switch off the power stage.

Dynamic applications with non constant current

The Jupiter has a big thermal inertia that allows storing heat during short current pulses (exceeding nominal current) without causing an over temperature.

This allows achieving high peak current ratings without need of additional heatsink.

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Easy approach (quadratic mean of current)

For most systems where the cycle time is shorter than 3 τ (thermal time constant) the current can be calculated as the quadratic mean of the current during the full cycle.

The load cycle can be simplified as different constant currents during some times:

T: Full cycle period.

I : Current during t1

1

I : Current during t2

2

I : Current during tn

n

Dynamic model

For systems with a time > than 3 τ the dynamic model should be used.

Instead of considering thermal resistances you should consider the thermal impedance. The Jupiter model can be simplified as a 2nd order.

6.8 Architecture

Following figure shows a simplified hardware architecture of the Jupiter. Links provide direct access to relevant pages.

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6.9 Hardware revisions

Hardware revision*

Description and changes

1.0.1B

May 2015

First product demo.

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1.0.1R

September 2015

First product release. Changes from previous version:

High speed inputs were "high" by default - changed default to "low" [ ]JUP-29 RS485 should be the default communication interface [ ]JUP-78 Change current sense gain to 20 for low current and to 13.7 for high current variants [ ]JUP-44 Reduced USB connector protrusion on board edge [ ]JUP-34 Reduce switching losses, set default PWM frequency 20 kHz [ ]JUP-72 Improve HW overcurrent noise immunity to prevent unwanted short-detections [ ] [ ]JUP-41 JUP-49 Reduce noise generated by the power stage [ ] [ ] [ ]JUP-48 JUP-71 JUP-66 Adjusted STO LED brightness [ ]JUP-39 Improved USB connection ruggedness and reliability at high motor current [ ] [ ] [ ]JUP-51 JUP-57 JUP-63 Improve CAN communication performance at high current / voltage [ ]JUP-58 Silkscreen improvements for clarity and aesthetics [ ] [ ] [ ] [ ]JUP-35 JUP-37 JUP-80 JUP-86 Include a protection against overvoltage for the main internal power supply DC/DC [ ]JUP-74 Manufacturing improvements [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [JUP-23 JUP-28 JUP-52 JUP-67 JUP-68 JUP-69 JUP-22 JUP-25 JUP-27 JUP-30 JUP-45 JUP-

] [ ] [ ]47 JUP-54 JUP-84

Add new INGENIA Logo [ ]JUP-85

*Hardware revision is screen printed on the board.

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1.

2.

7 Installation

The Jupiter Servo Drive must be installed in an appropriate environment in order to guarantee its safe operation.

Next table shows recommended environmental specifications:

Feature Value

Ambient operating temperature -25˚C to 100 ˚C

Storage temperature -50 ˚C to 125 ˚C

Maximum relative humidity 85% non-condensing

Operating area atmosphere No flammable gases or vapours permitted

Use Indoor use only

Installing the USB Driver Connectors position and pinout Mating connectors Signalling LEDs

7.1 Installing the USB Driver

Before you connect your Jupiter Servo Drive to a computer running Microsoft Windows, you should install its drivers:

Download the for USB driver Win XP, VISTA, W7 and W8. Open the .ZIP archive and extract the files in a folder.

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3.

4.

Connect a USB cable to the Jupiter Servo Drive.

The first time you connect a Jupiter Servo Drive, Windows will ask you for the necessary drivers.

Select 'Browse my computer for driver software'. Choose the folder where you saved them before.

If this window does not show up automatically, go directly to the to install the driver manually. Right click the Ingenia USB Controller Device Manager and select "Update Driver Software".

After installing the drivers, if you go to your computer’s and expand the “Ports (COM & LPT)” list, you should see the Ingenia USB driver installed:Device Manager

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1.

You must have a USB cable connected to the Jupiter Servo Drive and have the power supply switched on, otherwise the drivers will not show up in the Device Manager screen.

7.1.1 Windows 8 Installation

“A digitally signed driver is required” and “The driver installation failed” are a few of the error prompts you may have come across when attempting to install the drivers on Windows 8.

Follow these steps to install the USB driver.

Bring up the , and click Charms Bar Settings

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2.

3.

Then, go to , and scroll to the bottom of the page, click the button under the section. General Restart Now Advanced Startup

The computer will reboot: Go to > > and click . Troubleshoot Advanced Options Startup Settings Restart

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4.

5.

The PC will now restart, and upon startup you will be given different options to chose from. Hit 7 on your keyboard to boot into Windows 8 with the driver

. signature check disabled

You should now be able to install the USB driver.

Download USB Driver

7.2 Connectors position and pinout

Contents

CAN interface connector Feedbacks connector Absolute encoder connector I/O connector RS232 interface connector Supply and shunt connector Supply, shunt and motor connector Motor connector STO connector Motor safety connector

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USB connector

Next figures show Jupiter Servo Drive connectors. Connector functionalities and pinouts are described in detail in the next subchapters.

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7.2.1 CAN interface connector

The connector is a 4 pin TE Micro-MaTch connector. Part number . Polarization hole on PCB indicates pin 1 and ensures correct mating CAN interface 338068-4 connector position.

Pin numbers and pinout are shown below.

Pin Name Description

1 CAN_GND CAN ground (connected to circuit ground)

2 CANL CAN bus line dominant low

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3 CANH CAN bus line dominant high

4 CAN_GND CAN ground (connected to circuit ground)

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7.2.2 Feedbacks connector

Jupiter has a 12 pin TE Micro-MaTch connector for motor feedbacks. Part number . Polarization hole on PCB indicates pin 1 and ensures correct TE 1-338068-2 cable position. See for more information about different feedbacks wiring.Feedback connections

Pin numbers and connector's pinout are shown below.

Pin Name Description

1 +5V_OUT 5 V @ 250mA supply for feedbacks

2 GND Ground connection

3 ENC_A+ / SIN+ Single ended digital encoder: A input

Differential digital encoder: A+ input Sin-Cos encoder: Sin+ input

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4 ENC_A- / SIN- Differential Encoder: A- input

Sin-Cos encoder: Sin- input

5 ENC_B+ / COS+ Single ended digital encoder: B input

Differential digital encoder: B+ input Sin-Cos encoder: Cos+ input

6 ENC_B- / COS- Differential Encoder: B- input

Sin-Cos encoder: Cos- input

7 ENC_Z+ / REF+ Single ended digital encoder: Index input

Differential digital encoder: Index+ input Sin-Cos encoder: Reference+ input

8 ENC_Z- / REF- Differential Encoder: Index- input

Sin-Cos encoder: Reference- input

9 GND Ground connection

10 HALL_1 Analog Halls: A input

Digital Halls: A input

11 HALL_2 Analog Halls: B input

Digital Halls: B input

12 HALL_3 Analog Halls: C input

Digital Halls: C input

The connector pinout is identical as in Pluto Servo drive. See: .Cable Kit Manual

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Feedback connector pinout is shared with and servo drives, which allows using the with Jupiter.Pluto Neptune IO starter kit

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7.2.3 Absolute encoder connector

The Absolute encoder connector is a 6 pin TE Micro-MaTch connector. Part number . Polarization hole on PCB indicates pin 1 and ensures correct cable 338068-6 position.

Pin numbers and connector pinout are shown below:

Pin Name Description

1 +5V_OUT +5 V @ 250 mA supply

2 GND Ground connection

3 CLK+ Absolute encoder CLK positive signal input

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4 CLK- Absolute encoder CLK negative signal input

5 DATA+ Absolute encoder DATA positive signal input

6 DATA- Absolute encoder DATA negative signal input

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7.2.4 I/O connector

Jupiter has a 16 pin TE Micro-MaTch connector for inputs and outputs. Part number . See and for wiring 1-338068-6 Potentiometer PWM encoder interface information. Polarization hole on PCB indicates pin 1 and ensures correct cable position.

Pin numbers and connector's pinout are shown below.

Pin Name Description

1 HS_GPI2+ / DIR+ High speed digital differential input 2+

Command source: Direction+ input

2 HS_GPI2- / DIR- High speed digital differential input 2-

Command source: Direction- input

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3 GND Ground

4 GPO2 Digital output 2

5 GPO1 Digital output 1

6 GND Ground

7 HS_GPI1+ / PULSE+ / PWM+ High speed digital differential input 1+

Command source: Pulse+ input Feedbacks: PWM+ input

8 HS_GPI1- / PULSE- / PWM- High speed digital differential input 1-

Command source: Pulse- input Feedbacks: PWM- input

9 GND Ground

10 AN_IN1 Single ended analog input 1

11 AN_IN2- Differential analog inverting input 2

Single ended analog input 2 ground

12 AN_IN2+ Differential analog non inverting input 2

Single ended analog input 2

13 GND Ground

14 LS_GPI2 Low speed digital single ended input 2

(Could be safe torque off input on request, please contact us)

15 LS_GPI1 Low speed digital single ended input 1

16 +5V_EXT +5V 200mA max output (shared with feedback connector)

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The connector pinout is identical as in Pluto Servo drive. See: .Cable Kit Manual

I/O connector pinout is shared with and servo drives, which allows using the with Jupiter.Pluto Neptune IO starter kit

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7.2.5 RS232 interface connector

The connector is a 6 pin TE Micro-MaTch connector. Part number . Polarization hole on PCB indicates pin 1 and ensures correct cable RS232 interface 338068-6 position.

Pin numbers and connector pinout are shown below:

Pin Name Description

1 RETURN_TX Daisy chain TX return line, connected to pin 6

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2 GND Common (internally connected to driver GND)

3 RX RS232 receive data (should be connected to master TX)

4 TX RS232 transmit data (should be connected to master RX)

5 GND Common (internally connected to driver GND)

6 RETURN_TX Daisy chain TX return line, connected to pin 1

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7.2.6 Supply and shunt connector

For the Jupiter versions JUP-20/80 and JUP-15/130 the Supply and shunt connector is a 5 pin Wurth Electronics connector. Part number . See 691313710005

for power wiring information. Pin numbers and connectors pinout are shown below.Power supply wiring

Pin Name Description

1 SHUNT_OUT Shunt output

2 POW_SUP Power supply input

3 GND Ground connection

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4 LOGIC_SUP Logic supply input

5 PE Protective Earth

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7.2.7 Supply, shunt and motor connector

For the Jupiter versions JUP-50/80 and JUP-35/130 the and the is a 8 pin Phoenix connector. Part number . Supply and shunt connector Motor connector 1713927 See and for power and motor wiring information. Pin numbers and connectors pinout are shown below.Power supply wiring Motor wiring

Pin Name Description

1 PH_A Motor phase A connection (+ in DC motors)

2 PH_B Motor phase B connection (- in DC motors)

3 PH_C Motor phase C connection (not connected in DC motors)

4 SHUNT_OUT Shunt output

5 POW_SUP Power supply input

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6 GND Ground connection

7 LOGIC_SUP Logic supply input

8 PE Protective Earth

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7.2.8 Motor connector

For the Jupiter versions JUP-20/80 and JUP-15/130 the Motor connector is a 4 pin Wurth Electronics connector. Part number . See 691313710004 Motor wiring

for motor wiring information. Pin numbers and connectors pinout are shown below.recommendations

Pin Name Description

1 PH_A Motor phase A connection (+ in DC motors)

2 PH_B Motor phase B connection (- in DC motors)

3 PH_C Motor phase C connection (not connected in DC motors)

4 PE Protective Earth connection

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7.2.9 STO connector

The Safe Torque Off (STO) connector is a 6 pin Phoenix connector. Part number . A notch in the connector indicates pin 1 and ensures correct mating 1881480 connector position. Pin numbers and pinout are shown below.

Pin Name Description

1 STO1+ STO1 positive input

2 STO1- STO1 negative input

3 STO2+ STO2 positive input

4 STO2- STO2 negative input

5 STO_SUP Positive supply for STO

6 GND Negative supply for STO

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7.2.10 Motor safety connector

The Motor safety connector is a 4 pin Phoenix connector. Part number . A notch in the connector indicates pin 1 and ensures correct mating connector 1881464 position. Pin numbers and pinout are shown below.

Pin Name Description

1 EXT_TEMP External temperature sensor input

2 GND Ground connection

3 BRAKE- Brake negative output

4 BRAKE+ Brake positive output

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7.2.11 USB connector

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Neptune includes a 5 pin micro-USB connector for USB interface. This allows easy access to the driver configuration using or downloading MotionLab firmware

. Please see page for further information.upgrades USB interface

Pin numbers and standard pinout are shown below:

Pin Name Description

1 USB_SUPPLY USB +5 V supply input. Used to power logic circuits when no external power supply is available.

2 USB D- USB Data- line

3 USB D+ USB Data+ line

4 - Not connected

5 GND Ground

SHIELD NC Not Connected (Connector metallic shield)

USB drivers

Please install the USB drivers before connecting the Neptune, see .Installing USB driver on Windows 8/8.1

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7.2.12 CAN interface connector

The connector is a 4 pin TE Micro-MaTch connector. Part number . Polarization hole on PCB indicates pin 1 and ensures correct mating CAN interface 338068-4 connector position.

Pin numbers and pinout are shown below.

Pin Name Description

1 CAN_GND CAN ground (connected to circuit ground)

2 CANL CAN bus line dominant low

3 CANH CAN bus line dominant high

4 CAN_GND CAN ground (connected to circuit ground)

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7.2.13 Feedbacks connector

Jupiter has a 12 pin TE Micro-MaTch connector for motor feedbacks. Part number . Polarization hole on PCB indicates pin 1 and ensures correct TE 1-338068-2 cable position. See for more information about different feedbacks wiring.Feedback connections

Pin numbers and connector's pinout are shown below.

Pin Name Description

1 +5V_OUT 5 V @ 250mA supply for feedbacks

2 GND Ground connection

3 ENC_A+ / SIN+ Single ended digital encoder: A input

Differential digital encoder: A+ input Sin-Cos encoder: Sin+ input

4 ENC_A- / SIN- Differential Encoder: A- input

Sin-Cos encoder: Sin- input

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5 ENC_B+ / COS+ Single ended digital encoder: B input

Differential digital encoder: B+ input Sin-Cos encoder: Cos+ input

6 ENC_B- / COS- Differential Encoder: B- input

Sin-Cos encoder: Cos- input

7 ENC_Z+ / REF+ Single ended digital encoder: Index input

Differential digital encoder: Index+ input Sin-Cos encoder: Reference+ input

8 ENC_Z- / REF- Differential Encoder: Index- input

Sin-Cos encoder: Reference- input

9 GND Ground connection

10 HALL_1 Analog Halls: A input

Digital Halls: A input

11 HALL_2 Analog Halls: B input

Digital Halls: B input

12 HALL_3 Analog Halls: C input

Digital Halls: C input

The connector pinout is identical as in Pluto Servo drive. See: .Cable Kit Manual

Feedback connector pinout is shared with and servo drives, which allows using the with Jupiter.Pluto Neptune IO starter kit

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7.2.14 Absolute encoder connector

The Absolute encoder connector is a 6 pin TE Micro-MaTch connector. Part number . Polarization hole on PCB indicates pin 1 and ensures correct cable 338068-6 position.

Pin numbers and connector pinout are shown below:

Pin Name Description

1 +5V_OUT +5 V @ 250 mA supply

2 GND Ground connection

3 CLK+ Absolute encoder CLK positive signal input

4 CLK- Absolute encoder CLK negative signal input

5 DATA+ Absolute encoder DATA positive signal input

6 DATA- Absolute encoder DATA negative signal input

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7.2.15 IO connector

Jupiter has a 16 pin TE Micro-MaTch connector for inputs and outputs. Part number . See and for wiring 1-338068-6 Potentiometer PWM encoder interface information. Polarization hole on PCB indicates pin 1 and ensures correct cable position.

Pin numbers and connector's pinout are shown below.

Pin Name Description

1 HS_GPI2+ / DIR+ High speed digital differential input 2+

Command source: Direction+ input

2 HS_GPI2- / DIR- High speed digital differential input 2-

Command source: Direction- input

3 GND Ground

4 GPO2 Digital output 2

5 GPO1 Digital output 1

6 GND Ground

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7 HS_GPI1+ / PULSE+ / PWM+ High speed digital differential input 1+

Command source: Pulse+ input Feedbacks: PWM+ input

8 HS_GPI1- / PULSE- / PWM- High speed digital differential input 1-

Command source: Pulse- input Feedbacks: PWM- input

9 GND Ground

10 AN_IN1 Single ended analog input 1

11 AN_IN2- Differential analog inverting input 2

Single ended analog input 2 ground

12 AN_IN2+ Differential analog non inverting input 2

Single ended analog input 2

13 GND Ground

14 LS_GPI2 Low speed digital single ended input 2

(Could be safe torque off input on request, please contact us)

15 LS_GPI1 Low speed digital single ended input 1

16 +5V_EXT +5V 200mA max output (shared with feedback connector)

The connector pinout is identical as in Pluto Servo drive. See: .Cable Kit Manual

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I/O connector pinout is shared with and servo drives, which allows using the with Jupiter.Pluto Neptune IO starter kit

7.2.16 RS232 interface connector

The connector is a 6 pin TE Micro-MaTch connector. Part number . Polarization hole on PCB indicates pin 1 and ensures correct cable RS232 interface 338068-6 position.

Pin numbers and connector pinout are shown below:

Pin Name Description

1 RETURN_TX Daisy chain TX return line, connected to pin 6

2 GND Common (internally connected to driver GND)

3 RX RS232 receive data (should be connected to master TX)

4 TX RS232 transmit data (should be connected to master RX)

5 GND Common (internally connected to driver GND)

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6 RETURN_TX Daisy chain TX return line, connected to pin 1

7.2.17 Supply and shunt connector

For the Jupiter versions JUP-20/80 and JUP-15/130 the Supply and shunt connector is a 5 pin Wurth Electronics connector. Part number . See 691313710005

for power wiring information. Pin numbers and connectors pinout are shown below.Power supply wiring

Pin Name Description

1 SHUNT_OUT Shunt output

2 POW_SUP Power supply input

3 GND Ground connection

4 LOGIC_SUP Logic supply input

5 PE Protective Earth

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7.2.18 High current connector

For the Jupiter versions JUP-50/80 and JUP-35/130 the and the is a 8 pin Phoenix connector. Part number . Supply and shunt connector Motor connector 1713927 See and for power and motor wiring information. Pin numbers and connectors pinout are shown below.Power supply wiring Motor wiring

Pin Name Description

1 PH_A Motor phase A connection (+ in DC motors)

2 PH_B Motor phase B connection (- in DC motors)

3 PH_C Motor phase C connection (not connected in DC motors)

4 SHUNT_OUT Shunt output

5 POW_SUP Power supply input

6 GND Ground connection

7 LOGIC_SUP Logic supply input

8 PE Protective Earth

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7.2.19 Motor connector

For the Jupiter versions JUP-20/80 and JUP-15/130 the Motor connector is a 4 pin Wurth Electronics connector. Part number . See 691313710004 Motor wiring

for motor wiring information. Pin numbers and connectors pinout are shown below.recommendations

Pin Name Description

1 PH_A Motor phase A connection (+ in DC motors)

2 PH_B Motor phase B connection (- in DC motors)

3 PH_C Motor phase C connection (not connected in DC motors)

4 PE Protective Earth connection

7.2.20 STO connector

The Safe Torque Off (STO) connector is a 6 pin Phoenix connector. Part number . A notch in the connector indicates pin 1 and ensures correct mating 1881480 connector position. Pin numbers and pinout are shown below.

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Pin Name Description

1 STO1+ STO1 positive input

2 STO1- STO1 negative input

3 STO2+ STO2 positive input

4 STO2- STO2 negative input

5 STO_SUP Positive supply for STO

6 GND Negative supply for STO

7.2.21 Motor safety connector

The Motor safety connector is a 4 pin Phoenix connector. Part number . A notch in the connector indicates pin 1 and ensures correct mating connector 1881464 position. Pin numbers and pinout are shown below.

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Pin Name Description

1 EXT_TEMP External temperature sensor input

2 GND Ground connection

3 BRAKE- Brake negative output

4 BRAKE+ Brake positive output

7.2.22 USB connector

Neptune includes a 5 pin micro-USB connector for USB interface. This allows easy access to the driver configuration using or downloading MotionLab firmware

. Please see page for further information.upgrades USB interface

Pin numbers and standard pinout are shown below:

Pin Name Description

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1 USB_SUPPLY USB +5 V supply input. Used to power logic circuits when no external power supply is available.

2 USB D- USB Data- line

3 USB D+ USB Data+ line

4 - Not connected

5 GND Ground

SHIELD NC Not Connected (Connector metallic shield)

USB drivers

Please install the USB drivers before connecting the Neptune, see .Installing USB driver on Windows 8/8.1

7.3 Mating connectors

7.3.1 CAN interface mating connector

For flat ribbon cable

The easiest and lowest cost option is using a flat ribbon cable with 1.27 mm pitch.

Manufacturer Manufacturer ID Farnell Digikey Mouser

Connector TE Connectivity 215083-4 2399655 A107032TR-ND 571-215083-4

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Suggested cable 3M HF365/04SF 2396432 MD04R-100-ND 517-HF365/04SF

Wire impendance

Typical flat ribbon cables with 1.27 mm pitch spacing have 90 Ω to 150 Ω differential impedance. For best CAN bus performance at high baud rates, the ribbon cable impedance should be ~120 Ω.

For multi-core crimped cable

Some applications require single cables with crimp terminals. This makes the wiring cleaner and is a preferred option for volume applications. Jupiter connectors include locking latches that provide audible click during mating and ensure assembly robustness.

Manufacturer Manufacturer ID Farnell Digikey Mouser

Connector TE Connectivity 338095-4 2420421 - 571-338095-4

Crimp terminals TE Connectivity 1-338097-1 1291807 A99491CT-ND 571-1-338097-1

Suggested cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) twisted pair with 120 Ω differential impedance.

Cleverly wiring CAN buses from standard DB9 connectors

The Jupiter CAN pinout allows an easy connection to the standard DB9 connector using a 4 way 1.27 pitch flat ribbon cable. Use a DB9 to ribbon connector like: H7MXH-0906M-ND or AMPHENOL L117DEFRA09S-ND. Corresponding pinouts:

Jupiter Micro-Match DB9 standard to ribbon cable

1 (GND) 6 (GND)

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2 (CANL) 2 (CANL)

3 (CANH) 7 (CANH)

4 (GND) 3 (GND)

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7.3.2 Feedbacks mating connectors

For ribbon cable

The easiest and lowest cost option is using a flat ribbon cable with 1.27 mm pitch. Please see .Pluto feedbacks cable

Manufacturer Manufacturer ID Farnell Digikey Mouser

Connector TE Connectivity 8-215083-2 149093 A99460CT-ND 571-8-215083-2

Suggested cable 3M 3302/16 300SF 1369751 MC16M-300-ND 517-C3302/16SF

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Multi-core crimped cable

Some applications require single cables with crimp terminals. This makes the wiring cleaner and is a preferred option for volume applications. Jupiter connectors include locking latches that provide audible click during mating and ensure assembly robustness.

Manufacturer Manufacturer ID Farnell Digikey Mouser

Connector TE Connectivity 1-338095-2 - A99497-ND 571-1-338095-2

Crimp terminals TE Connectivity 1-338097-1 1291807 A99491CT-ND 571-1-338097-1

Suggested cable Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.

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7.3.3 Absolute encoder mating connectors