INGENIA Nix series, NIX-5/170-C-Q, NIX-10/48-C-Q, NIX-10/48-C-C, NIX-10/48-E-C Product Manual
...
INGENIA-CAT S.L.
8-14 MARIE CURIE, ADVANCED INDUSTRY PARK
08042 BARCELONA
Nix Product Manual
For the most up to date information visit the online manual.
Edition 01/22/2019
1 Table of Contents
1 Table of Contents 2
2 General Information 5
2.1 Manual revision history ...................................................................................................................................... 5
2.2 Disclaimers and limitations of liability .............................................................................................................. 5
2.3 Contact ................................................................................................................................................................ 5
3 Safety Information 7
3.1 About this manual............................................................................................................................................... 7
3.2 Warnings.............................................................................................................................................................. 7
3.3 Precautions ......................................................................................................................................................... 7
4 Product Description 8
4.1 Nix part numbering............................................................................................................................................. 8
4.2 Specifications.................................................................................................................................................... 10
4.3 Hardware revisions ........................................................................................................................................... 13
4.4 Power and current ratings................................................................................................................................ 14
4.4.1 Power losses calculation (heat dissipation).................................................................................................... 15
4.4.2 Current ratings .................................................................................................................................................. 16
4.4.3 Dynamic application (non-constant current).................................................................................................. 18
4.4.4 System temperature......................................................................................................................................... 19
4.4.5 Improving heat dissipation with a heatsink .................................................................................................... 20
4.5 Architecture....................................................................................................................................................... 20
5 Connectors Guide 22
5.1 Connectors position and pinout of Nix with onboard connectors (NIX-x/xx-y-C) ......................................... 22
5.1.1 Supply and shunt connector ............................................................................................................................ 23
5.1.2 Motor connector ............................................................................................................................................... 24
5.1.3 Micro-Match connectors mating ...................................................................................................................... 26
Ribbon cable ..................................................................................................................................................... 26
Multi-core crimpedcable.................................................................................................................................. 27
5.1.4 Feedback connector ......................................................................................................................................... 29
5.1.5 Absolute encoder connector ............................................................................................................................ 31
5.1.6 I/O connector.................................................................................................................................................... 33
5.1.7 USB connector.................................................................................................................................................. 35
5.1.8 CAN connector.................................................................................................................................................. 37
Cleverly wiring CAN buses from standard DB9 connectors ............................................................................ 38
5.1.9 RS485 interface connector .............................................................................................................................. 39
5.2 Connectors position and pinout of Nix with gold plated pin headers (NIX-x/xx-y-P).................................... 41
5.2.1 Integrating the Nix with pin headers on a PCB................................................................................................ 45
Dimensions........................................................................................................................................................ 45
Mating connectors ............................................................................................................................................ 47
5.3 Nix with Quick Connectors Board (NIX-x/xx-y-Q) ............................................................................................ 48
5.4 Connectors position and pinout of Nix with EtherCAT (NIX-x/xx-E-z)............................................................ 50
5.4.1 EtherCAT connectors ....................................................................................................................................... 51
6 Signalling LEDs 52
6.1 Power and operation signalling LEDs.............................................................................................................. 52
6.2 CAN signalling LEDs .......................................................................................................................................... 53
6.3 EtherCAT signalling LEDs.................................................................................................................................. 54
7 Wiring and Connections 56
7.1 Protective earth ................................................................................................................................................ 56
7.2 Power supply..................................................................................................................................................... 58
7.2.1 Power supply requirements ............................................................................................................................. 59
Inrush current.................................................................................................................................................... 59
7.2.2 Power supply connection................................................................................................................................. 60
7.2.3 Battery connection ........................................................................................................................................... 61
7.2.4 Connection of multiple drives with the same power supply .......................................................................... 62
7.2.5 Power supply wiring recommendations.......................................................................................................... 63
Wire section....................................................................................................................................................... 63
Wire ferrules ...................................................................................................................................................... 63
Wire length ........................................................................................................................................................ 63
7.3 Motor and shunt braking resistor..................................................................................................................... 63
7.3.1 AC and DC brushless motors ............................................................................................................................ 63
7.3.2 DC motors and voice coils actuators ............................................................................................................... 65
7.3.3 Motor wiring recommendations ...................................................................................................................... 66
Wire section ...................................................................................................................................................... 66
Wire ferrules ...................................................................................................................................................... 66
Motor choke ...................................................................................................................................................... 67
Wire length ........................................................................................................................................................ 67
7.3.4 Shunt braking resistor ...................................................................................................................................... 67
7.4 Feedback connections...................................................................................................................................... 69
7.4.1 Digital Halls interface........................................................................................................................................ 69
7.4.2 Analog Halls interface....................................................................................................................................... 71
7.4.3 Digital Incremental Encoder............................................................................................................................. 73
Digital encoders with single ended 24 V outputs ............................................................................................ 75
Digital encoders with differential 24 V outputs............................................................................................... 76
Encoder broken wire detection........................................................................................................................ 76
7.4.4 Analog encoder (Sin-Cos encoder) interface................................................................................................... 76
7.4.5 Absolute encoder interface .............................................................................................................................. 79
7.4.6 Digital input feedback - PWM encoder............................................................................................................. 80
7.4.7 Analog input feedback...................................................................................................................................... 82
Potentiometer................................................................................................................................................... 82
DC tachometer .................................................................................................................................................. 83
7.4.8 Feedback wiring recommendations ................................................................................................................ 84
Recommendations for applications witch close feedback and motor lines ................................................. 84
7.5 I/O connections................................................................................................................................................. 84
7.5.1 General purpose single ended digital inputs interface (GPI1, GPI2).............................................................. 85
7.5.2 High-speed digital inputs interface(HS_GPI1, HS_GPI2) ............................................................................... 87
7.5.3 Analog inputs interface (AN_IN1, AN_IN2)....................................................................................................... 92
7.5.4 Digital outputs interface (GPO1, GPO2)........................................................................................................... 94
Wiring of 5V loads.............................................................................................................................................. 96
Wiring of 24V loads............................................................................................................................................ 96
7.5.5 Motor brake output (GPO1, GPO2)................................................................................................................... 98
7.5.6 Torque off input (custom purchase order) ...................................................................................................... 99
7.6 Command sources .......................................................................................................................................... 100
7.6.1 Network communication interface................................................................................................................ 101
7.6.2 Standalone ...................................................................................................................................................... 101
7.6.3 Analog input .................................................................................................................................................... 101
7.6.4 Step and direction........................................................................................................................................... 102
7.6.5 PWM command ............................................................................................................................................... 103
Single input mode........................................................................................................................................... 103
Dual input mode ............................................................................................................................................. 104
7.6.6 Encoder following or electronic gearing........................................................................................................ 105
7.7 Communications............................................................................................................................................. 106
7.7.1 USB interface................................................................................................................................................... 107
USB powered drive ......................................................................................................................................... 107
USB wiring recommendations ....................................................................................................................... 107
7.7.2 RS485 interface ............................................................................................................................................... 108
Multi-point connection using daisy chain ..................................................................................................... 109
7.7.3 CANopen interface.......................................................................................................................................... 111
CAN interface for PC........................................................................................................................................ 113
CAN wiring recommendations ....................................................................................................................... 113
7.7.4 EtherCAT interface.......................................................................................................................................... 114
8 Dimensions and Assembly 116
8.1 NIX-x/xx-y-C (Nix with onboard connectors) ................................................................................................. 116
8.2 NIX-x/xx-y-P (Nix with gold plated pin headers)............................................................................................ 117
8.3 NIX-x/xx-y-Q (Nix with Quick connectors board)........................................................................................... 118
8.4 NIX-x/xx-E-C (Nix with EtherCAT) ................................................................................................................... 119
8.5 Assembly Instructions..................................................................................................................................... 120
8.5.1 Heatsinks......................................................................................................................................................... 120
8.5.2 Thermal interface material............................................................................................................................. 121
9 Software 123
9.1 Configuration .................................................................................................................................................. 123
9.2 Applications..................................................................................................................................................... 123
9.3 Arduino ............................................................................................................................................................ 123
10 Service 124
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2 General Information
2.1 Manual revision history
Revision Release Date Changes PDF
v1 December 2015 Preliminary draft. --
v2 February 2016 Manual public release. Download
v3 April 2016 Added EtherCAT information. Structure improvements. Download
v4 November 2016 Minor improvements. Download
v5 February 2017 Aesthetics and structure improvements. Wiring information
improved.
v6 May 2017 Improved PDF export format. Download
v7 January 2019 Fixed broken images links Download
For the most up to date information use the online Nix Product Manual. The PDF manual is generated only after
major changes.
Please refer toproduct hardware revisionspage for information on previous hardware revisions and changes.
Download
2.2 Disclaimers and limitations of liability
The information contained within this document contains proprietary information belonging toINGENIA-CAT S.L..
Such information is supplied solely for the purpose of assisting users of the product in its installation.
INGENIA-CAT S.L.rejects all liability for errors or omissions in the information or the product or in other
documents mentioned in this document.
The text and graphics included in this document are for the purpose of illustration and reference only. The
specifications on which they are based are subject to change without notice.
This document may contain technical or other types of inaccuracies.The information contained within this
document is subject to change without notice and should not be construed as a commitment byINGENIA-CAT
S.L..INGENIA-CAT S.L.assumes no responsibility for any errors that may appear in this document.
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.
2.3 Contact
INGENIA-CAT, S.L.
C/ Avila 124, 2-B
08018 Barcelona
SPAIN
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Telephone: +34 932 917 682
E-mail: hello@ingeniamc.com
Web site: www.ingeniamc.com
Nix Product Manual|Safety Information
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3 Safety Information
3.1 About this manual
Read carefully this chapter to raise your awareness of potential risks and hazards when working with the Nix Servo
Drive.
To ensure maximum safety in operating the Nix 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 Nix Servo Drive, as well
as other hardware that may be connected to it. Please read this chapter carefully before starting the installation
process.Please also make sure all system components are properly grounded.
3.2 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 Nix Servo Drive while the power supply is on.
• Disconnect the Nix 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.
3.3 Precautions
The following statements should be considered to avoid serious injury to those individuals performing the
procedures and/or damage to the equipment:
• The Nix 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.
• When connecting the Nix Servo Drive to an approvedpower 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 Nix Servo Drive, check that all safety precautions have been followed, as well as the
installation procedures.
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4 Product Description
The Nix DigitalServo Drive is an ultra-compact solution providing top performance, advanced networking and built
in safety, as well as a fully featured motion controller. The NIX can control multiple motor types and supports
almost any feedback sensor including absolute serial encoders.
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, the small form factor, 100ºC
operation temperature and conduction cooling plate makes it a valid OEM for critical-size applications.
The Nix 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 EMI and efficiency.Nix
Digital
Nix Servo Drive is provided with several general purpose inputs and outputsdesigned for 5 V TTL logic but tolerant
up to 24 V 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.
4.1 Nix part numbering
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Ordering part number Status Image
NIX-10/48-C-Q
NIX-5/170-C-Q
NIX-10/48-C-C
NIX-5/170-C-C
NIX-10/48-E-C
NIX-5/170-E-C
ACTIVE
ON DEMAND
ACTIVE
ACTIVE
ACTIVE
ACTIVE
NIX-10/48-C-P
NIX-5/170-C-P
ON DEMAND
ON DEMAND
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4.2 Specifications
Electrical and power specifications
Part number → NIX-10/48-x-x NIX-5/170-x-x
Power supply
voltage
Transient peak
voltage
Logic supply
voltage
10 VDC to 48 V
65 V
10 VDC to 48 V
DC
If logic supply is not
connected, the board is
powered from power supply
with a bypass diode.
NIX-10/48 double supply
For double supplying the
NIX-10/48, logic supply
voltage must be
higher than or equal to
power supply voltage.
DC
10 VDC to 170 V
200 V
10 VDC to 48 V
DC
Two different supplies are needed for
this version.
Note that logic supply voltage <
power supply voltage.
Do not connect them together at
voltages > 48 V.
DC
Logic supply
power
Internal DC bus
capacitance
Minimum motor
inductance
Nominal phase
continuous
current
Maximum phase
peak current
Current sense
range
5 W (considering I/O and feedback supplies)
88 µF 13 µF
200 µH
10 A
RMS
20 A
RMS
(5 s)
10 A
± 29 A ± 19 A
5 A
RMS
RMS
(5 s)
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Current sense
resolution
56.65 mA/count 37.39 mA/count
Shunt braking
transistor
Cold plate High heat transfer black anodized aluminum
Power connectors
Standby power
consumption
Efficiency >97% at the rated power and current
Motion control
core
Supported motor
types
Shunt braking transistor on board.
16 A maximum current. Dimensioning
a Shunt Resistor for Regenerative
Braking
Pluggable terminal block 3.5 mm pitch / Pin header 3.5 mm pitch
Motion control specifications
Ingenia E-Core with EMCL2.
• Rotary brushless (trapezoidal and sinusoidal)
• Linear brushless (trapezoidal and sinusoidal)
• DC brushed
• Rotary voice coil
• Linear voice coil
Shunt braking transistor on board.
5 A maximum current.
1.5 W (max)
Power stage PWM
frequency
Current sensing
Sensors for
commutation
(brushless
motors)
20 kHz (default)
80 kHz (alternative PWM frequency, configurable)
The default value of the PWM frequency has changed from 40 kHz to 20 kHz to
reduce electro-magnetic interferences (EMI).
On phases A, B and C using 4 terminal shunt resistors.
Accuracy is ± 1% full scale.
10 bit ADC resolution.
• Digital Halls (Trapezoidal)
• Analog Halls (Sinusoidal / Trapezoidal)
• Quad. Incremental encoder (Sinusoidal / Trapezoidal)
• PWM encoder (Sinusoidal / Trapezoidal)
• Analog potentiometer (Sinusoidal / Trapezoidal)
• Sin-Cos encoder (Sinusoidal / Trapezoidal)
• Absolute encoder SSI (Sinusoidal / Trapezoidal)
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Sensors
supported for
servo loops
• Digital Halls
• Analog Halls
• Quad. Incremental encoder
• PWM encoder
• Analog potentiometer
• Sin-Cos encoder
• Absolute encoder
• DC tachometer
Supported target
sources
Inputs and
outputs
Protections • User configurable:
• Network communication – USB
• Network communication – CANopen
• Network communication – RS485/RS422
• Network communication – EtherCAT
• 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/outputs and protections
• 2 x non isolated single ended digital inputs. GPI1, GPI2 (5 V TTL logic, 24 V tolerant).
• 2 x non isolated high speed differential digital inputs. HS_GPI1, HS_GPI2 (5 V logic,
24 V tolerant).
• 1 x (±10 V) differential analog input (12 bits). AN_IN2. (24 V tolerant).
• 1 x 0 V... 5 V single ended analog input (12 bits). AN_IN1. (24 V tolerant).
• 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).
• Bus over-voltage
• Bus under-voltage
• Over-temperature
• Under-temperature
• Over-current
• Overload (I2t)
• Short-circuit protections:
• Phase-DC bus
• Phase-phase
• Phase-GND
• Mechanical limits for homing functions.
• Hall sequence/combination error.
• ESD protections in all inputs, outputs, feedbacks and communications.
• EMI protections (noise filters) in all inputs, outputs and feedbacks.
• Inverse polarity supply protection (bidirectional).
• High power transient voltage suppressor for short braking (600 W peak TVS diode).
• Encoder broken wire detector (for differential quadrature encoders only).
Motor brake
Motor brake output through GPO1 or GPO2. Up to 24 V and 1 A.
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Communications
USB µUSB (2.0) connector. The board can be supplied from USB for configuration purposes
but will not power the motor.
Serial RS485 full-duplex (compatible with RS422), non-isolated. 120 Ω termination on the RX
line (v 1.1.0) and on the TX line (v 1.2.0).
CANopen Available. Non-isolated. Includes jumper to enable 120 Ω termination.
CiA-301,CiA-305 andCiA-402 compliant.
EtherCAT Available.
Environmental and mechanical specifications
Ambient air
temperature
Maximum
humidity
Dimensions
Weight (exc.
mating
connectors)
• -40 ºC to +50 ºC full current (Operating). If the Nix is mounted on a heatsink plate
the range can be extended up to 85ºC heatsink temperature.
• +50 ºC to +100 ºC current derating (operating)
• -40 ºC to +125 ºC (storage)
5% - 85% (non-condensing)
75 x 60 x 14 mm
86 g
4.3 Hardware revisions
Hardware revision* Description and changes
1.0.0
November 2015
First product demo.
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Hardware revision* Description and changes
1.1.0
January 2016
1.2.0
January 2017
First product release. Changes from previous version:
• DC bus transient voltage suppressor changed to improve MOSFET protection
against overvoltage
• Logic supply TVS placed before the polarity inversion protection diode to protect
against potential negative surges
• EtherCAT board is powered from V_LOGIC instead of DC bus.
• Logo and silkscreen improvements.
• Signalling LEDs flipped to improve better visibility.
• CAN termination resistor jumper placed in right angle.
• Added a ±10 V option for the 0 ~ 5 V analog input (optional).
• Power supply and shunt connector changed to 4 position terminal, including
LOGIC_SUP pin.
• Motor connector changed to 3 position terminal, eliminating PE pin.
• Modification on component footprints to improve manufacturing reliability.
Changes from previous version:
• Logic supply TVS changed for better surge tolerance.
• Measuring range of single ended analog input has been improved.
• Default PWM frequency has been changed to 20 kHz.
• Modification of MOSFET driver for minimizing EMI.
• NIX-5/170 power supply TVS changed for power losses reduction.
• Termination resistor added on TX line of RS485.
• Modification of connectors footprints to improve manufacturing reliability.
• Jumper for CAN port enabling is now provided with Nix.
Identifying the hardware revision
Hardware revision is screen printed on the board.
4.4 Power and current ratings
Nix is capable of providing the nominal current from -25ºC to 50ºC ambient air temperature without the need of
any additional heatsink or forced cooling system. From 50ºC to 100ºC of ambient temperature a current derating
is needed.If the Nix is mounted on a heatsink plate the range before derating can be extended up to 85ºC.
Excessive power losses lead to over temperature that will be detected and cause a the drive to turn off.The system
temperature is available inE-Core registersand is measured near the power stage.The temperature parameter that
can be accessed from USB 2.0, CAN or RS485 serial interface does not indicate the air temperature.Above 105ºC
the Nix 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.
Drive safety is always ensured by its protections. However, power losses and temperature limit the
allowable motor current.
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Some parts of the Nix exceed 105ºC when operating, especially at high load levels.
Do not touch the Nix when operating and wait at least 5 minutes after turn off to allow a safe cool down.
Following figure shows the basic power flow and losses in a servo drive system.
4.4.1 Power losses calculation (heat dissipation)
Operation of the Nix 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.
• NIX product number: 170 V variant NIX-5/170 hasdifferent power transistors compared to the 48 V variants.
The 170 V variant have greater power losses for a given motor current. Different charts are provided for each
variant, see below.
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. This
increases conduction losses on the reverse polarity protection circuitry.
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4.4.2 Current ratings
Power losses cause the drive to increase its temperature according to:
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 (TP< 110ºC). The
threshold temperature where the current derating should start depends on the DC bus voltage and the Nix part
number.
The thermal impedance typical value is shown above, however its exact value will vary according to:
• Air flow around the drive.
• Position (vertical allows natural convection).
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Parameter ValueUnits Notes
Maximum power stage
temperature
Thermal resistance from power
stage to air
Maximum power dissipation
without heatsink
Thermal resistance from power
stage to heatsink
Temperature stabilization time 600 s
110 ºC Measured on the power stage (not the heatsink) and
3.8 ºC/W Without additional heatsink. Natural convection and
16 W At TA 50ºC
1.58 ºC/W Thermal resistance between cold plate and heatsink
accessible via register
radiation cooling.
not considered
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Current derating
The current derating graph is only 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. Current derating is only a recommendation and is
not performed automatically by the drive.
4.4.3 Dynamic application (non-constant current)
The Nix has a great thermal inertia that allows storing heat during short power pulses (exceeding nominal current)
without overpassing the maximum temperature. This allows achieving high peak current ratings without need of
additional heatsink.
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For most systems where the cycle time is shorter than 3 Ï„ (thermal time constant) the equivalent current can be
calculated as thequadratic mean of the current during the full cycle. The load cycle can be simplified as different
constant currents during some times:
Where:
Tis the full cycle period.
I1is the current during t
I2is the current during t
Inis the current during t
1
2
n
4.4.4 System temperature
Next thermal image shows an example of the heat distribution in a NIX-10/48-y-z. This test has been performed
without cold plate at maximum load and air temperaturein a 3 phase application.
The drive is getting hot even at 0 current!
This is normal. Nix 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.
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4.4.5 Improving heat dissipation with a heatsink
A heatsink may be needed to extend the current range at high temperatures.When using high efficiency heatsinks
or in enclosed spaces the equation can be simplified as follows.
Assembly recommendations for best heat dissipation
• Always allow natural air convection by ensuring ≥ 10 mm air space around the drive.
• Place the Nix in vertical position.
• Use a good thermal interface material to improve the heat dissipation when using heatsink. See
Dimensions and Assembly for details.
• If housed, use a good thermal conductivity material such as black anodized aluminum. Placing the
drive 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.
4.5 Architecture
Following figure shows a simplified hardware architecture of the Nix. Links provide direct access to relevant pages.
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Nix Product Manual|Connectors Guide
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5 Connectors Guide
This chapter details the Nix Servo Drive connectors and pinout. Four Nix variants are detailed:
• Nix with onboard connectors (NIX-x/xx-y-C).
• Nix with gold plated pin headers (NIX-x/xx-y-P).
• Nix with Quick Connector Board (NIX-x/xx-y-Q).
• Nix with EtherCAT interface (NIX-x/xx-E-z).
5.1 Connectors position and pinout of Nix with onboard connectors (NIX-x/xx-y-C)
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5.1.1 Supply and shunt connector
P1 Connector
4 position 3.5 mm pitch pluggable terminal block. FCI 20020110-C041A01LF
Pin Signal
1 LOGIC_SUP Logic supply input (only for NIX-5/170-y-z)
2 GND Ground connection
Function
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3 SHUNT_OUT Shunt braking transistor output
4 POW_SUP Power supply input
Mating
Description
Part number
Distributor codes Digi-Key 20020004-C041B01LF-ND
Notes
• SeePower supplyfor power wiring information
• For details on shunt operation seeMotor 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
Previous versions compatibility
Supply and shunt connector has changed from version 1.0.0B of the Nix Servo Drive. Version 1.0.0B
connector was a 3 position pluggable terminal block with the following pinout.
Pin Name Description
Pluggable terminal block, 4 positions 3.5 mm pitch
FCI 20020004-C041B01LF
Mouser 649-220004-C041B01LF
1 GND
2 SHUNT_OUT Shunt braking transistor output
3 POW_SUP Power supply input
For Nix version 1.0.0B, the the Supply and shunt mating connector is the Motor mating connector (3
position).
For further information see Hardware revisions.
Ground connection
5.1.2 Motor connector
P2 Connector
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3 position 3.5 mm pitch pluggable terminal block. FCI 20020110-C031A01LF
Pin Signal
1 PH_A Motor phase A (Positive for DC and voice coils)
2 PH_B Motor phase B (Negative for DC and voice coils)
3 PH_C Motor phase C (Do not connect for DC and voice coils)
Mating
Description
Part number
Distributor codes Farnell 1788432
Notes
Function
Pluggable terminal block, 3 positions 3.5 mm pitch
FCI 20020004-C031B01LF
Digi-Key 20020004-C031B01LF-ND
Mouser 649-220004-C031B01LF
• 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
• For wiring information, seemotor and shunt braking resistor wiring section.
Previous versions compatibility
Motor connector has changed from version 1.0.0B of the Nix Servo Drive. Version 1.0.0B connector was a 4
position pluggable terminal block with the following pinout.
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Pin Name Description
1 PH_A
2 PH_B Motor phase B connection (Negative for DC and voice coils)
3 PH_C Motor phase C connection (Do not connected in DC motors and voice coils)
4 PE Protective Earth connection
For Nix version 1.0.0B, the the Motor mating connector is the Supply and shunt mating connector (4
position).
For further information see Hardware revisions.
Motor phase A connection (Positive for DC and voice coils)
5.1.3 Micro-Match connectors mating
Most Nix Servo Drive signal connections are based in TE Micro-Match connectors. Two different wiring options can
be usedribbon cableandmulti-core crimped cable.
Ribbon cable
Ribbon cable mating
Description
Image
Cable
Use 0.5 mm² (24 AWG) flat cable.
TE Micro-Match Male-on-Wire 1.27 mm pitch
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Easy wiring
Ribbon cable is the easiest and lowest cost option.
For some applications, the fastest and reliable option is connecting the flat cable directly to the sensor, feedback
or IO pins by means of a heat shrink solder sleeve.
Wiring accessory: wire to wire solder sleeve
Description Wire to Wire Solder Sleeve Heat shrinkable. Can be used to reliably connect flat
Micro-Match wires to specific sensor, feedback or other thin wires.
Image
TE B-155-9001
Distributor code Digi-Key A104848-ND
Multi-core crimpedcable
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
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Image
Part number
Distributor codes Farnell 1291807
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.
Clean wiring
Crimped single cables makes wiring cleaner and is a preferred option for volume applications.
Mechanical fixation for non-connected pins
Main mechanical subjection is provided by the fastening of male and female electrical pins. In order to
increase mechanical subjection in applications where not all the pins are connected, it is important to put
crimp terminals also in the pins without cable.
TE Connectivity 1-338097-1
Digi-Key A99491CT-ND
Mouser 571-1-338097-1
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5.1.4 Feedback connector
P3 Connector
Right-angled 12 pin 1.27 mm pitch TE Micro-Match 1-338070-2 connector.
Pin Signal
1 +5V_OUT +5V 200mA max supply for feedbacks (shared with absolute encoder and I/O
2 GND Ground connection
3 ENC_A+ / SIN+ Single ended digital encoder: A input
4 ENC_A- / SIN- Differential Encoder: A- input
5 ENC_B+ /
COS+
6 ENC_B- / COS- Differential Encoder: B- input
7 ENC_Z+ /
REF+
Function
connectors)
Differential digital encoder: A+ input
Sin-Cos encoder: Sin+ input
Sin-Cos encoder: Sin- input
Single ended digital encoder: B input
Differential digital encoder: B+ input
Sin-Cos encoder: Cos+ input
Sin-Cos encoder: Cos- input
Single ended digital encoder: Index input
Differential digital encoder: Index+ input
Sin-Cos encoder: Reference+ input
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8 ENC_Z- / REF- Differential Encoder: Index- input
Sin-Cos encoder: Reference- input
9 GND Ground connection
10 HALL_1 Hall sensor input 1 (analog and digital)
11 HALL_2 Hall sensor input 2 (analog and digital)
12 HALL_3 Hall sensor input 3 (analog and digital)
Notes
• Polarization hole on PCB indicates pin 1 and ensures correct cable position.
• SeeFeedback connectionsfor further information about different feedbacks wiring.
• Nix connectors includelocking latches that provide audible click during mating and ensure assembly
robustness
I/O Starter Kit and Cable Kit
Feedback connector pinout is shared with Jupiter, Hydra, Pluto and Neptune servo drives, which
allows using the IO starter kitand Pluto Cable Kit.
Ribbon cable mating
Description
Part number
Distributor codes Farnell 149093
Cable
Part number
Distributor codes Farnell 1369751
Notes
• For further information seePluto cable Kit - Feedbacks.
TE Micro-Match Male-on-Wire 1.27 mm pitch 12 position
TE Conectivity 8-215083-2
Digi-Key A99460CT-ND
Mouser 571-8-215083-2
3M 3302/16 300SF
Digi-Key MC16M-300-ND
Mouser 517-C3302/16SF
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Multi-core crimped cable mating
Description
Part number
Distributor codes Digi-Key A99497-ND
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.
TE Micro-Match housing connector 1.27 mm pitch 12 position
TE Connectivity 1-338095-2
Mouser 571-1-338095-2
5.1.5 Absolute encoder connector
P4 Connector
Right-angled 6 pinTE Micro-Match 338070-6 connector.
Pin Signal
1 +5V_OUT
2 GND Ground connection
3 CLK+ Absolute encoder CLK positive signal output
4 CLK-
Function
+5V 200mA max supply for absolute encoder (shared with feedback and I/O connector)
Absolute encoder CLK negative signal output
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5 DATA+
Absolute encoder DATA positive signal input
6 DATA-
Absolute encoder DATA negative signal input
Notes
• Polarization hole on PCB indicates pin 1 and ensures correct mating connector position.
• See Feedback connectionsfor further information about the absolute encoder wiring.
• Nix connectors includelocking latches that provide audible click during mating and ensure assembly
robustness
Ribbon cable mating
Description
Part number
TE Micro-Match Male-on-Wire 1.27 mm pitch 6 position
TE Connectivity 215083-6
Distributor codes Digi-Key A99463CT-ND
Mouser 571-7-215083-6
Cable
Part number
3M HF365/06SF
Distributor codes Farnell 1859550
Digi-Key MD06R-100-ND
Mouser 517-HF365/06SF
Multi-core crimped cable mating
Description
Part number
TE Micro-Match housing connector 1.27 mm pitch 16 position
TE Connectivity 338095-6
Distributor codes Digi-Key A99415-ND
Mouser 571-338095-8
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable.
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5.1.6 I/O connector
P5 Connector
Right-angled 16 pin 1.27 mm pitch TE Micro-Match 1-338070-6 connector.
Pin Signal
1 HS_GPI2+ / DIR+ High speed digital differential input 2+
2 HS_GPI2- / DIR- High speed digital differential input 2-
3 GND Ground
4 GPO2 Digital output 2 (open collector with weak pull-up to 5 V)
5 GPO1 Digital output 1 (open collector with weak pull-up to 5 V)
6 GND Ground
7 HS_GPI1+ / PULSE+ / PWM+ High speed digital differential input 1+
Function
Command source: Direction+ input
Command source: Direction- input
Command source: Pulse+ input
Feedback: PWM+ input
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8 HS_GPI1- / PULSE- / PWM- High speed digital differential input 1-
Command source: Pulse- input
Feedback: 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 GPI2 General purpose single ended digital input 2
(Could be torque off input on request)
15 GPI1 General purpose single ended digital input
16 +5V_OUT +5V 200mA max output (shared with feedback and absolute encoder
connector)
Notes
• Polarization hole on PCB indicates pin 1 and ensures correct cable position.
• SeeI/O connectionsfor further information about different I/O wiring.
• Nix connectors includelocking latches that provide audible click during mating and ensure assembly
robustness
I/O Starter Kit and Cable Kit
I/O connector pinout is shared with Jupiter, Hydra, Pluto and Neptune servo drives, which allows using
the IO starter kitand Pluto Cable Kit.
Ribbon cable mating
Description
Part number
TE Micro-Match Male-on-Wire 1.27 mm pitch 16 position
TE Connectivity 8-215083-6
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Distributor codes Farnell149147
Digi-KeyA99458CT-ND
Mouser571-8-215083-6
Cable
Part number
Distributor codes Farnell 1369751
Notes
• For further information seePluto cable Kit - General purpose I/O.
Multi-core crimped cable mating
Description
Part number
Distributor codes Digi-KeyA99495-ND
Cable
TE Micro-Match housing connector 1.27 mm pitch 16 position
TE Connectivity 1-338095-6
Mouser571-1-338095-6
3M 3302/16 300SF
Digi-Key MC16M-300-ND
Mouser 517-C3302/16SF
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.
5.1.7 USB connector
P6 Connector
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5 pin horizontal micro-USB connector Amphenol FCI 10118193
Pin Signal
Function
1 USB_SUPPLY USB +5 V supply input. Used to power logiccircuits when no external power
supply is available.
2 USB_D- USB Data- line
3 USB_D+ USB Data+ line
4 NC Not connected
5 GND Ground
SHIELD NC Connector metallic shield, NOT CONNECTED.
Notes
• Micro-USB connection allows easy access to the drive configuration usingMotion Labor downloadinglatest
firmware revision.
• Shorter USB cables are preferred whenever possible for minimal EMI.
• Avoid applying excessive mechanical stress to the USB connector.
• Please seeCommunicationspage 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 codes Farnell 1617586
Digi-Key WM17146-ND
Mouser 538-68784-0002
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5.1.8 CAN connector
P7 Connector
Right-angled 4 pinTE Micro-Match 338070-4 connector.
Pin Signal
1 CAN_GND CAN ground (isolated from Nix power GND)
2 CAN_L CAN bus line dominant low
3 CAN_H CAN bus line dominant high
4 CAN_GND CAN ground (isolated from Nix power GND)
Notes
• Polarization hole on PCB indicates pin 1 and ensures correct mating connector position.
• SeeCommunicationsfor further information about CAN wiring.
• Nix connectors includelocking latches that provide audible click during mating and ensure assembly
robustness
Ribbon cable mating
Description
Part number
TE Micro-Match Male-on-Wire 1.27 mm pitch 4 position
TE Connectivity 215083-4
Function
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Distributor codes Farnell 2399655
Digi-Key A107032TR-ND
Mouser 571-215083-4
Cable
Part number
Distributor codes Farnell 2396432
Notes
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.
3M HF365/04SF
Digi-Key MD04R-100-ND
Mouser 517-HF365/04SF
Cleverly wiring CAN buses from standard DB9 connectors
The Nix 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:
Nix Micro-Match DB9 standard to ribbon cable
1 (CAN_GND) 6 (CAN_GND)
2 (CAN_L) 2 (CAN_L)
3 (CAN_H) 7 (CAN_H)
4 (CAN_GND) 3 (CAN_GND)
Multi-core crimped cable mating
Description
TE Micro-Match housing connector 1.27 mm pitch 16 position
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Part number
Distributor codes Farnell 2420421
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) twisted pair with 120 Ω differential impedance.
TE Connectivity 338095-4
Mouser 571-338095-4
5.1.9 RS485 interface connector
P8 Connector
Right-angled 8 pin TE Micro-Match 338070-8 connector.
Pin Signal
1 GND Common (internally connected to drive GND)
2 GND
3 RX+ RS485 receive data + (should be connected to master TX+)
4 RX-
5 GND
Function
Common (internally connected to drive GND)
RS485 receive data - (should be connected to master TX-)
Common (internally connected to drive GND)
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6 GND
Common (internally connected to drive GND)
7 TX+ RS485 transmit data + (should be connected to master RX+)
8 TX- RS485 transmit data - (should be connected to master RX-)
Notes
• Polarization hole on PCB indicates pin 1 and ensures correct mating connector position.
• SeeCommunicationsfor further information about RS485 wiring.
• Nix connectors includelocking latches that provide audible click during mating and ensure assembly
robustness
Ribbon cable mating
Description
Part number
TE Micro-Match Male-on-Wire 1.27 mm pitch 8 position
TE Connectivity 215083-8
Distributor codes Farnell 149184
Digi-Key A99462CT-ND
Mouser 215083-8
Cable
Part number
3M HF365/06SF
Distributor codes Farnell 1859550
Digi-Key MD06R-100-ND
Mouser 517-HF365/06SF
Multi-core crimped cable mating
Description
TE Micro-Match housing connector 1.27 mm pitch 8 position
Part number
TE Connectivity 338095-8
Distributor codes Digi-Key A99415-ND
Mouser 571-338095-8
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable.
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5.2 Connectors position and pinout of Nix with gold plated pin headers (NIX-x/xx-y-P)
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Top-side pinout
Note that the pinout diagram shows the board from the connector-side.
Pin Name Description
P1 POW_SUP Positive power supply input
P2 SHUNT_OUT Shunt braking transistor output
P3 GND Negative power supply input (Ground)
P4 LOGIC_SUP Positive logic supply input (only forNIX-5/170-y-z)
P5 PH_C Motor phase C (Do not connect for DC and voice coils)
P6 PH_B Motor phase B (Negative for DC and voice coils)
P7 PH_A Motor phase A (Positive for DC and voice coils)
I1 HS_GPI2+ / DIR+ High speed digital differential input 2+
Command source: Direction+ input
I2 HS_GPI2- / DIR- High speed digital differential input 2-
I3 GND Ground connection
I4 GPO2 Digital output 2 (open collector with weak pull-up to 5 V)
I5 GPO1 Digital output 1 (open collector with weak pull-up to 5 V)
I6 GND Ground connection
I7 HS_GPI1+ / PULSE+ /
PWM+
Command source: Direction- input
High speed digital differential input 1+
Command source: Pulse+ input
Feedback: PWM+ input
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I8 HS_GPI1- / PULSE- / PWM- High speed digital differential input 1-
Command source: Pulse- input
Feedback: PWM- input
I9 GND Ground connection
I10 AN_IN1 Single ended analog input 1
I11 AN_IN2- Differential analog inverting input 2
Single ended analog input 2 ground
I12 AN_IN2+ Differential analog non inverting input 2
Single ended analog input 2
I13 GND Ground connection
I14 GPI2 General purpose single ended digital input 2
(Could be torque off input on request)
I15 GPI1 General purpose single ended digital input 1
I16 +5V_OUT +5V 200mA max output (shared with feedback connector and absolute
encoder connector)
A1 +5V_OUT +5V 200mA max output (shared with feedback connector and I/O
connector)
A2 GND Ground connection
A3 CLK+ Absolute encoder CLK positive signal output
A4 CLK- Absolute encoder CLK negative signal output
A5 DATA+ Absolute encoder DATA positive signal input
A6 DATA- Absolute encoder DATA negative signal input
Pin Name Description
R1 GND Ground connection
R2 GND
R3 RX+
Ground connection
RS485 receive data + (should be connected to master TX+)
R4 RX-
RS485 receive data - (should be connected to master TX-)
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R5 GND
Ground connection
R6 GND Ground connection
R7 TX+ RS485 transmit data + (should be connected to master RX+)
R8 TX- RS485 transmit data - (should be connected to master RX-)
C1 CAN_GND CAN ground(isolated from Nix power GND)
C2 CAN_L CAN bus line dominant low
C3 CAN_H CAN bus line dominant high
C4 CAN_GND CAN ground(isolated from Nix power GND)
F1 +5V_OUT +5V 200mA max output (shared with I/O and absolute encoder connectors)
F2 GND Ground connection
F3 ENC_A+/SIN+ Single ended digital encoder: A input
Differential digital encoder: A+ input
Sin-Cos encoder: Sin+ input
F4 ENC_A-/SIN- Differential Encoder: A- input
Sin-Cos encoder: Sin- input
F5 ENC_B+/COS+ Single ended digital encoder: B input
Differential digital encoder: B+ input
Sin-Cos encoder: Cos+ input
F6 ENC_B-/COS- Differential Encoder: B- input
Sin-Cos encoder: Cos- input
F7 ENC_Z+/REF+ Single ended digital encoder: Index input
Differential digital encoder: Index+ input
Sin-Cos encoder: Reference+ input
F8 ENC_Z-/REF- Differential Encoder: Index- input
Sin-Cos encoder: Reference- input
F9 GND Ground connection
F10 HALL_1 Hall sensor input 1 (analog and digital)
F11 HALL_2 Hall sensor input 2 (analog and digital)
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F12 HALL_3 Hall sensor input 3 (analog and digital)
5.2.1 Integrating the Nix with pin headers on a PCB
The Nix pin header version is designed to be soldered or plugged on a PCB.
Ingenia connector board
Ingenia provides a terminal block connector board, with open-source PCB design, which can be used as a
reference.
Dimensions
The picture below shows the Nix dimensions and holes from the connector header point of view.
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Footprint notes
• 3.20 mm diameter holes are mechanical fixing holes
• Pin header pitch: 2.54 mm for signal and 3.5 mm for power pins.
• Recommended pin header trough hole diameter: 0.9 mm (varies depending on the chosen pin
receptacle)
• Recommended power pins through hole diameter: 1.6 mm.
• Avoid placing high components under the board. Check mechanical interference with the Nix (for
more details seeDimensions and Assembly).
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Routing the PCB
• Thetraces should always be as short as possibleto minimize potential EMI issues.
• Take due care withsignal returnsand GND routing, especially for high speed signals and analog
inputs.
• Do NOT use a general ground planeas this could cause unwanted ground loops.
• Thewidth of the tracesshould be according to the current carrying capacity. For motor and supply
traces use generous thick traces.
• Spacing of the traceson external layers is crucial to guarantee safety. Recommended spacing for
power and motor lines should exceed 0.4 mm (1.5 mm recommended).
• Keep power and signal traces separated.
Mating connectors
If instead of soldering, a pluggable PCB is needed, following mating connectors are suggested.
Connector Description Part number Image Distributor
code
Supply, shunt
and motor
Feedback
Absolute
encoder
I/O
Power pin
receptacle.
Gold plated.
8-way pin
receptacle
8.5 mm height
2.5 mm width
Gold flash
3-way pin
receptacle
8.5 mm height
2.5 mm width
Gold flash
6-way pin
receptacle
Milli-Max
3044-0-15-15-23-27-040
Sullins PPPC081LFBNRC
Sullins PPPC031LFBNRC
Sullins PPPC061LFBNRC
Digi-Key
ED1198-ND
Digi-Key
S7041-ND
Digi-Key
S7036-ND
Digi-Key
S7039-ND
Quanti
ty
7
2
2
2
8.5 mm height
2.5 mm width
Gold flash
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Connector Description Part number Image Distributor
code
Quanti
ty
CAN
RS485
2-way pin
receptacle
8.5 mm height
2.5 mm width
Gold flash
4-way pin
receptacle
8.5 mm height
2.5 mm width
Gold flash
Sullins PPPC021LFBNRC
Sullins PPPC041LFBNRC
Digi-Key
S7035-ND
Digi-Key
S7037-ND
5.3 Nix with Quick Connectors Board (NIX-x/xx-y-Q)
The Nix Servo Drive with pin headers can be ordered with the Quick Connector Board:
• Easy connection with motor, feedbacks, I/O and communications, without need of mating connectors.
• No extra crimping tools are needed to start using the Nix Servo Drive (only ascrewdriverto plug the
cables).
• The Quick Connector Board has spring type connectors from Phoenix and Weidmuller for easy and fast
prototyping and testing.
• Supply and motor cables can be connected or directly soldered.
• Simple user interface with clearlabeling.
• SeeDimensionsto check the total size of the assembly.
2
2
Wire gauges
Recommendedconductor cross section:
• Power and motor cables: 0.5 mm2~ 1.5 mm2(20 ~ 16 AWG).
• Signal wires: 0.2 mm2~ 0.5 mm2(26 ~ 20 AWG).
Open-source design
The Quick Connector Board is an open-source design and can be used as reference.
The3DPDF, theSTEPmodel and thePCB outputsof the Quick connector board are available for download
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As can be seen, the pinout is clearly labeled in the Quick Connector Board:
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5.4 Connectors position and pinout of Nix with EtherCAT (NIX-x/xx-E-z)
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5.4.1 EtherCAT connectors
P9-P10 Connectors
Dual RJ45 connector Magjack Wurth 7499021125
Pin Signal
1 TX_D+ Transmit Data+ line
2 TX_D- Transmit Data- line
3 RX_D+ Receive Data+ line
4 +2V5 2.5 V generated internally
5 +2V5 2.5 V generated internally
6 RX_D- Receive Data- line
7 NC Not connected
8 GND_CHASSIS Connected to the connector chassis
Notes
• Pinout is the same for Input (PORT 1) and output (PORT 2) connectors
Function
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6 Signalling LEDs
Nix Servo Drive provides information through 5 signalling LEDs:
• Supply and operation: 3 LEDs next to the RS485 connector.
• CANopen communication: 2 LEDs next to the CAN connector.
Nix with EtherCAT includes 3 more LEDs for the EtherCAT fieldbus status.
6.1 Power and operation signalling LEDs
Three LEDs situated next to the RS485 connector indicate the supply and operation status. Next table shows the
meaning of each LED:
LED Colour Meaning
POWER Green LED is on when internal power supply is working.
FAULT Red LED is on when afault or errorhas occurred.
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LED Colour Meaning
SHUNT Orange LED is turned on with the shunt braking resistor is activated, indicating that
maximum user voltage has been exceeded and power is being dissipated.
6.2 CAN signalling LEDs
Two LEDs besides the CAN connector provide information about the CANopen communication status, according to
CiA 303-3 recommendations.The red LED isERROR LEDand green one isRUN LED.
ERROR LED indicates the status of the CAN physical layer and errors due to missed CAN messages (sync, guard or
heartbeat). Nexttable the meaning of the ERROR LED states:
ERROR LED
State*
Off No error Device is in working condition.
Single flash Warning limit
Double flash Error control
Triple flash Sync error The sync message has not been received within the configured
On Bus off The CAN controller is bus off.
RUN LED indicates the status of the CANopen network state machine. Nexttable shows the meaning of the RUN
LEDstates:
RUN LED State* Concept Description
Concept Description
At least one of the error counters of the CAN controller has reached or
reached
event
exceeded the warning level (too many error frames).
A guard event (NMT-slave or NMT-master) or a heartbeat event
(heartbeat consumer) has occurred.
communication cycle period time out.
Off Off The device is switched off
Blinking Pre-operational The device is in state PREOPERATIONAL
Single flash Stopped The device is in state STOPPED
On Operational The device is in state OPERATIONAL
*See a detailed description of the states in the next table:
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*Possible LED States Description
ON The LED is always on
OFF The LED is always off
Single flash One short flash (~200 ms) followed by a long off phase (~1000 ms)
Double flash Sequence of 2 short flashes (~200 ms), separated by an off phase (~200 ms). The
sequence is finished by a long off phase (~1000 ms)
Triple flash Sequence of 3 short flashes (~200 ms), separated by an off phase (~200 ms). The
sequence is finished by a long off phase (~1000 ms)
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%.
6.3 EtherCAT signalling LEDs
The Nix Servo Drive with EtherCAT fieldbus includes 3 more LEDs to indicate communication status according
toEtherCATspecification.
The EtherCAT bicolor green/redLED indicates the EtherCAT state machine status. The green LED is theRUN LED,
and the red LED is theERROR LED.Nexttable shows their states meaning:
RUN LED State EtherCAT slave status
Off INIT Off No error
Blinking PRE-OPERATIONAL Blinking Invalid configuration
Single Flash SAFE-OPERATIONAL Single flash Local error
On OPERATIONAL Double flash Watchdog timeout
On Application controller failure
For high severity errors inside the Nix Servo Drive, an special LED state has been developed:
ERROR LED State EtherCAT slave status
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Status Signalling RUN LED state ERROR LED state
Internal error Interleaved blink Blinking (Initial status: OFF) Blinking (Initial status: ON)
The frequency of the blinking is different than the used for communication and is product dependent.
The other two LEDs are situated in the EtherCAT connector. Each connector has two LEDs, but only the yellow LED
is used. The LINK LEDindicates the state of the EtherCAT physical link activity:
LINK LED
Off Port closed
Flickering Port opened (activity on port)
On Port opened (no activity on port)
Slave State
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7 Wiring and Connections
Proper wiring, andespecially grounding and shielding,are essential for ensuring safe, immune and optimal servo
performance of Nix Servo Drive. Next pages show detailed connection recommendation as well as technical details
of each interface.
• Protective earth
• Power supply
• Motor and shunt braking resistor
• Feedback connections
• I/O connections
• Command sources
• Communications
7.1 Protective earth
Connection of Nix Servo Drive and motor housing to Protective Earth (PE)is required forsafety
reasons.Electrical faults can electrically charge the housing of the motor or cabinet, increasing the risk of electrical
shocks. A proper connection to PE derives the charge to Earth, activating the installation safety systems
(differential protections) and protecting the users.
Moreover, a proper connection to PEpreventsmany of the noise problems that occur operating a servo drive.
Reducing EMI susceptibility
Connecting the drivePE terminalsand cold plate screwsto your system Earth and to the motor
housing solves many noise and EMI problems.The PE drive terminals are decoupled to power ground
through a safety capacitor. This provides a low impedance preferential path for coupled common mode
noises that otherwise would be coupled to sensitive electronics like the encoders.Agood grounding of
the drive to the earth of the power supply is also essential for a EMI reduction.
Nix Servo Drive provides the following earth/ground connection points, which are internally connected
anddecoupled to power ground:
• Plated holes for standoffs.
A diagram of the recommended Earth wiring is shown following.
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Earth plane reference
While some systems will not have a "real Earth" connection, use your machine chassis, the metallic
structure of the device or a good grounding conductive plane as your reference earth.
Some considerations for a proper earth connection are detailed next:
• Switching noise can be coupled to the earth through the housing of the motor. This high-frequency noise
creates common mode current loop between driveand motor. Although the motor housing is connected to
earth through the system chassis, its electrical connection may have a relatively high impedance and
present a big loop. For this reason is essential to reduce the common mode current return path impedance
and its loop area.
• For reducing the return path impedance,motor frame should be directly wiredto drive PE
terminals.
• PE wiring should be as close as possible to power cables, reducing current loop.
• Power supply is another source of switching noise. The neutral of the grid transformer or the housing of our
power supply may also be connected to earth. For reducing noise and EMI, similar considerations should be
taken.
• Directly wire power supply PE to drivePE.
• PE wiring should be as close as possible to power supply cables.
• In order to avoid ground loops, it is a good practice to have acentral earth connection point (or bus)for all
the electronics of the same bench. 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 driveon a metallic conductive surfaceconnected to earth.
Usegood quality plated screwsthat won’t oxidize or lose conductivity during the expected
lifetime.Note that the PE terminal is internally connected with the Nix Servo Drive standoffs.
• For achieving low impedance connections, use wires that areshort, thick, multistrand cablesor
preferablyconductive planes.PE wire section should be, at least, the same as power supply cables.
Alwaysminimize PE connection length.
For an even better EMI immunity,use shielded or armored cableswith isolating jacket,connecting the shield to PE
with a cable clamp.
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If a simplified wiring is required, the following shielding priority can be applied:
1. Shield the motor cables, which are the main high-frequency noise source.
2. Shield the feedback signals, which are sensitive signals usually coming from the motor housing.
3. Shield I/O signals and communication cables.
Theclamp has to be selected according to the shielded cable diameter,ensuring a good support and
connectionbetween the cable shield and the clamp. Following examples are only suggested for conceptual
purpose:
Description Image Part number
Cable Clamp, P-Type Silver Fastener 0.625" (15.88 mm) Keystone Electronics 8107
Cable Clamp, P-Type Silver Fastener 0.187" (4.75 mm) Keystone Electronics 8100
Cable Clamp, Saddle Type Stainless Steel 20 mm RS Pro 471-1300
7.2 Power supply
The Nix Servo Drive is supplied from theSupply and shunt connector, and has separated supply inputs for the
logic and the power stage (only required for NIX-5/170-y-z).An internal DC/DC converter provides circuits with
appropriate voltages as well as a regulated 5 V output voltage to supply feedback sensors and I/O.
The Nix can be powered from USB for configuration purposes without the need of an external power supply. An
internal switch automatically chooses the power source prioritizing the external supply.Please notethatmotor will
not be powered from USB and some functionalities could be limited by the USB port current.
USB Powered Nix
When the Nix is powered from USB, it is not capable of driving a motor, but communications, feedbacks
and IOs are fully functional.
Disconnection recommendations
There are no critical instructions for disconnecting the Nix. Just some recommendations:
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• The board could be hot during < 1 min after disconnection.
• Preferably do not disconnect the supply while having a motor in motion.
• If working with Motion Lab with USB connection, preferably disconnect the drive from the
application before disconnecting. This prevents COM port corruption.
7.2.1 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 Nix power supply are:
• The voltage should be the targeted for the motor. This means up to 48 V for the NIX-x/48 and up to 170 V
for the NIX-5/170.Make sure that the voltage rating of the power supply does not exceed the voltage rating
of the motor, otherwise it could be damaged.
• The current should be the one able to provide the phase peak current of the application.This means up to
10 A for the NIX-5/xxand up to 20 A for the NIX-10/48.Make sure that the current rating for the power
supply is at least as high as the motor.
• The voltage and current range can be decreased due to the motor requirements.
Although the logic supply accepts a wide voltage range, a power supply of 24 V and 5 W is recommended for the
NIX-5/170-y-z.
Further information on how to dimension a power supply for the Ingenia drives can be foundhere.
Following are shown different power supply examples:
Manufac
turer
CUI Inc. VSK-
TDK
Lambda
TDK
Lambda
Part
Number
S5-24UA-
PFE500F4
8
PFE1000F
48
Inrush current
Rated
Voltage (V)
24 230 mA Enclosed linear power supply for
T
48 10.5 Switching closed frame power
48 21 Switching closed frame power
Rated
Current (A)
Image Description
all Nix part numbers logic supply.
supply recommended for
NIX-5/48, 500 W
supply recommended for
NIX-10/48, 1000 W
During power up a short duration high current peak is needed to charge the drive internal DC bus capacitors (see
specification page to know the value of the capacitors), this is called inrush current. This current will only be limited
by the power supply, the wiring and connectors resistance, the drive reverse polarity protection resistance (~ 65
mΩ) and the bus capacitance equivalent series resistance (ESR ~ 5 mΩ).
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Since power supplies have a power-up ramp (or soft start) this typically does not represent a problem at all.
However in systems with many axis in parallel or when the DC supply is controlled by a relay, an inrush current limit
circuit is strongly suggested, otherwise, the peak can cause unnecessary stress to the power supply and electronics
that could reduce its lifespan. There are 2 common ways to solve this.
• Use a passive Inrush Current Limiter (ICL). Which is a negative temperature coefficient (NTC) resistor
showing a high resistance at startup that limits the peak and then drops down during operation. This option
provides the lowest cost and simplicity but will become hot during operation and reduce system energy
efficiency. Choose according to your system current ratings and power supply capacity.
• Use an active precharge relay circuit. By having a current limit resistor between power supply that will limit
the inrush and then bypass it with a electromechanical or solid state relay. Some relays include an on-delay
function. An alternative is to activate the relay from the driver after power up, by using a macro and a GPO
to control the relay.
7.2.2 Power supply connection
Nix logic and power supplies are provided through two different pins, LOGIC_SUP and POW_SUP. Therefore, the
logic circuitry and the power stage can be powered from different power supplies.
• Nix versions NIX-10/48 and NIX-15/48 support+10 V to +48 V in both inputs.If logic supply is not connected,
the logic is powered from power supply with a bypass diode.
• Nix version NIX-5/170supports +10 V to +48 V in the LOGIC_SUP input, and +10 V to +170 V in the POW_SUP
input. In the 170V version the bypass diode from DC bus is not mounted.
NIX-10/48 and NIX-15/48 double supply
For double supplying the NIX-10/48 and NIX-15/48, logic supply voltage must be higher than or equal to
power supply voltage.
Twisted cables
Twisted power supply cables are preferred to reduce electromagnetic emissions and increase immunity.
The following picture shows the Nix versions NIX-10/48 andNIX-15/48supply wiring diagram.
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The following picture shows the Nix versionNIX-5/170supply wiring diagram.
Isolated power supplies
For safety reasons, it is important to use power supplies with full galvanic isolation.
7.2.3 Battery connection
Next figure shows a simplified wiring diagram for the NIX-10/48 and NIX-15/48 versions supplied from a battery.
Next figure shows a simplified wiring diagram for the NIX-5/170 supplied from a battery.
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Motor braking current
Motor braking can cause reverse current sense and charge the battery.
Always ensure that the battery can accept this charge current which will be within the Nix current ratings.
7.2.4 Connection of multiple drives with the same power supply
Whendifferent servo drivesare connected to the same power supply,connect them instar topologyfor
reducing cable impedance and common mode coupled noise. That is, connect each drive to the common supply
using separate wires for positive and return.
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7.2.5 Power supply wiring recommendations
Wire section
The minimum wire section is determined by the current consumption and the allowed voltage drop across the
conductor. It is preferred to usewide section stranded wiresto reduce impedance, power losses and ease the
assembly. Insulator size should not exceed3.5 mm (connector pitch). Following table indicates recommended
section forthe Nix Servo Drive:
Connection Minimum wire size Maximum wire size
Stranded wire (preferred)
Solid wire
0.5 mm2 (20 AWG) 1.5 mm2 (16 AWG)
0.5 mm2 (20 AWG) 1.5 mm2 (16 AWG)
Wire ferrules
Forlow power applications, it is recommended to use wire ferrules to prevent cable damage or wrong contacts.
Forhigher power applications, direct cable connection is recommended, since it provides lower contact
resistance.Due to the connector's size, the maximum allowed ferrule size is 0.5mm2. Ensure the insulator does not
exceed 3.5 mm (connector pitch). Following table indicates recommended wire ferrules forthe Nix Servo Drive:
Manufacturer Part number Image Description
Phoenix Contact
TE Connectivity
3201369 8 mm pin length,
0.5 mm2 (20 AWG)
966067-1 6 mm pin legth,
0.5 mm2 (20 AWG)
Wire length
• The distance between the Nix Servo Drive and the power supplyshould be minimized when possible.Short
cables are preferred since they reduce power losses as well as electromagnetic emissions and immunity.
• For best immunity use twisted and shielded 2-wire cables for the DC power supply. This becomes crucial in
long cable applications.
• Avoid running supply wires in parallel with other wires for long distances, especially feedback and signal
wires.
7.3 Motor and shunt braking resistor
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7.3.1 AC and DC brushless motors
Brushless motors should be connected to phase A, B and C terminals.The connection diagram is shown in next
figure.
Note that some manufacturers may use different phase name conventions (see Table below).
Phase name Alphabetic Numeric UVW
PH_A A 1 U
PH_B B 2 V
PH_C C 3 W
Common-mode choke
In order to minimize EMI that can affect sensitive signals, the use of amotor chokeis recommended. The
objective of the motor choke is to block the common mode current to the motor and cables. 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.
Proper three-phase motor choke wiring
In order to minimize the capacitive coupling of the motor wires, and therefore cancelling the effect of the
common mode rejection effect, the choke has to be properly wired.
• An excessive number of turns causes a high capacitive coupling. Only 2 or 3 turns per motor phase
are recommended.
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• For reducing the coupling between phases, space the phases 120º apart. Start each phase wire in
the same rotating direction, wrapping all phases clockwise or anticlockwise. This will add the
common mode flux and increase its impedance.
7.3.2 DC motors and voice coils actuators
DC motors and voice coil actuators are connected to phase A and phase B terminals. Phase C terminal is left
unconnected.The connection diagram is shown in next figure.
Common-mode choke
In order to minimize EMI that can affect sensitive signals, the use of amotor chokeis recommended. The
objective of the motor choke is to block the common mode current to the motor and cables. 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.
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Proper DC motor choke wiring
In order to minimize the capacitive coupling of the motor wires, and therefore cancelling the effect of the
common mode rejection effect, the choke has to be properly wired.
• An excessive number of turns causes a high capacitive coupling. Only 2 or 3 turns per motor phase
are recommended.
• For reducing the coupling between positive and negative, space them 180º apart. Start positive
and negative wire in the same rotating direction, wrapping both phases clockwise or
anticlockwise. This will add the common mode flux and increase its impedance.
7.3.3 Motor wiring recommendations
Wire section
The minimum wire section is determined by the motor current. It is preferred to usewide section stranded
wiresto reduce impedance, power losses and ease the assembly.Insulator size should not exceed 5 mm
(connector pitch). Following table indicates recommended section for the Nix Servo Drive:
Connection Minimum wire size Maximum wire size
Stranded wire (preferred)
Solid wire
0.5 mm2(20 AWG) 1.5 mm2(16 AWG)
0.5 mm2(20 AWG) 1.5 mm2(16 AWG)
Wire ferrules
Forlow power applications, it is recommended to use wire ferrules to prevent cable damage or wrong contacts.
Forhigher power applications, direct cable connection is recommended, since it provides lower contact
resistance.Due to the connector's size, the maximum allowed ferrule size is 0.5mm2. Ensure the insulator does not
exceed 3.5 mm (connector pitch). Following table indicates recommended wire ferrules forthe Nix Servo Drive:
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Manufacturer Part number Image Description
WAGO
WAGO
216-201
216-224
0.5 mm2 (20 AWG)
1.5 mm2 (16 AWG)
Motor choke
In applications where electromagnetic compatibility is a concern or that must comply with the EMC standards, the
use of an external common mode choke is necessary. Some choke wiring recommendations are:
• Place the choke as close to the driveas possible.
• Make sure the chosen chokedoes not saturate at the maximum operating phase current. If this happens,
the choke temperature would increase rapidly.
• Only 2 or 3 turns of the motor cablesto 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 NOTpass through the choke.
• Avoid contact of the toroid core with a groundingpoint.
Next table shows a choke that fits the Nix Servo Drive specifications and has a great performance at low
frequencies.
Type Manufacturer Reference
Low frequency ferrite Laird Technologies
LFB360230-300
Wire length
• The distance between the Nix Servo Drive and the motorshould be minimized when possible.Short cables
are preferred since they reduce power losses as well as electromagnetic emissions and immunity.
• Avoid running motor wires in parallel with other wires for long distances, especially feedback and signal
wires.
• The parasitic capacitance between motor wires should not exceed 10 nF. If very long cables (> 100 meters)
are used, this value may be higher. In this case, add series inductors between the Nix outputs and the cable.
The inductors must be magnetically shielded, and must be rated for the motor surge current. Typical values
are around 100 μH.
7.3.4 Shunt braking resistor
While decelerating a motor (abrupt motion brakes or reversals), the mechanical energy is converted into electrical
energy by the motor. This energy is regenerated into the power supply and could lead to an increase of the supply
voltage. Toabsorb this energy theNix incorporates a shunt transistor to connect an external braking resistor.
Wiring recommendations of the shunt braking resistor:
• The external braking resistor should be connected between SHUNT_OUT and POW_SUP terminals of the
NixSupply and shunt connector.
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• It is strongly recommended to use an external fuse to limit the maximum power dissipation according to the
chosen shunt 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.
Hot surfaces
Be careful, shunt resistor may have hot surfaces during operation.
Configuration of the shunt
The shunt transistor can be configured using parameters in the register 0x2103 - Shunt configuration.
When the supply voltage reaches the maximum voltage indicated in register 0x2101 - Drive bus voltage, the
shunt transistor is activated.
As a recommendation, set the DC bus voltage limit above the maximum expected DC supply voltage + 5%.
When using batteries set the DC bus voltage limit below the maximum charge voltage. This will allow
regenerative braking and protect the battery against overcharging.
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7.4 Feedback connections
The Nix Servo Drive has afeedback connectorandanabsolute encoder connectordedicated to the following
feedback options:
• Digital Halls
• Analog Halls
• Quad. Incremental encoder
• Analog encoder (Sin-Cos encoder)
• Absolute encoder
Additional feedback connections can be found onI/O connector:
• PWM encoder
• Analog input for potentiometer
• Analog input for DC tachometer
Nix also provides a 5V, 200 mA outputs for feedbacks supply. This output is overload and short circuit protected.
7.4.1 Digital Halls interface
The Hall sensors are Hall effect devices that are built into the motor to detect the position of the rotor magnetic
field. Usually, motors include 3 hall sensors, spaced 120º apart. Using these 3 signals, the drive is capable to detect
the position, direction and velocity of the rotor. Next figures show examples of digital halls signals.
Digital halls signals example
Digital halls can be used for commutation, position and velocity control. Resolution using these sensors is much
lower than using encoders. Nix can use single ended Hall sensors to drive the motor with trapezoidal
commutation, but not with sinusoidal commutation.
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This interface accepts 0-5 V level input signals. Inputs are pulled up to 5 V, so industry standard open collector and
logic output hall effect sensors can be connected. Next table summarizes digital halls inputs main features:
Specification Value
Type of inputs Non-isolated
Single ended with pull-up and low pass filter
ESD protected
Number of inputs 3
ESD capability IEC 61000-4-2 (ESD) ±15 kV (air), ±8 kV (contact)
IEC 61000-4-4 (EFT) 40 A (5/50 ns)
Voltage range 0 ~ 5 V
Maximum voltage range -0.5 ~ 5.5 V
Maximum recommended working
frequency
1st order filter cutting frequency (-3dB) 160 kHz
Sampling frequency 10 ksps
Type of sensors Open collector
Pull-up resistor value 1 kΩ (The pull-up is activated only when the drive is configured to
Digital and analog Halls
Digital halls input pins are shared with Analog Halls interface pins.
The 1 kΩ pull-up resistors are disconnected when Analog-halls input is selected to prevent analog data
corruption.
Nextfigure shows the circuit model of the digital Halls inputs.
1 kHz
Logic output
Push-pull output
use digital hall sensors)
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Nextfigure illustrates how to connect the digital halls to the Nix Servo Drive.Refer toFeedback wiring
recommendationsfor more information about connections and wires.
Velocity control with Halls
Due to inherent low resolution of motor mounted Hall sensors, they are not recommended for velocity
feedback in low speed applications.
7.4.2 Analog Halls interface
The Nix Servo Drive can operate with analog Hall sensors (also known as linear halls) as feedback option. Signals
provided by these sensors are typically 5 V peak-to-peak sinusoidal signals, with 2.5 V offset and a phase shift of 120
degrees. These sensors can be used for a fine positioning of the rotor. Nix analog halls inputs main features are
shown in next table:
Specification Value
Type of inputs Non-isolated
Number of inputs 3
Single ended analog filtered
ESD protected
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Specification Value
ESD capability IEC 61000-4-2 (ESD) ±15 kV (air), ±8 kV (contact)
IEC 61000-4-4 (EFT) 40 A (5/50 ns)
Maximum recommended working frequency 1 kHz
2nd order filter cutting frequency 11.9 kHz
Sampling frequency 10 ksps
Voltage range 0 ~ 5 V (10 bits)
Maximum voltage range -0.3 ~ 5.3 V
Input impedance > 24 kΩ
Nextfigure illustrates the circuit model for one of the linear Halls inputs. An active Sallen-Key low pass filter
provides immunity to motor and feedback noise. Note that analog halls pins are shared withDigital Halls interface,
to avoid any signal distortion, when analog halls interface is selected, the 1 kΩ pull-up is disconnected
automatically.
Nextfigure shows how to connect the linear Halls to the Nix Servo Drive. Refer to Feedback wiring
recommendationsfor more information about connections and wires.
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7.4.3 Digital Incremental Encoder
Nix can use single ended or differential digital incremental encoder inputs (also known as quadrature incremental
encoders) for velocity and/or position control, as well as commutation sensor.The encoder provides incremental
position feedback that can be extrapolated into precise velocity or position information. Using high resolution
encoders allows Nix Servo Drive to use sinusoidal commutation.
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
High precision applications
High resolution motor mounted encoders allows excellent velocity and position control at all speeds.
Encoder feedback should be used for applications requiring precise and accurate velocity and position
control. Digital encoders are especially useful in applications where low-speed smoothness is the
objective.
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The Nix Servo Drive has one differential digital encoder interface, with optional index signal input. Index signal (Z) is
a single pulse per revolution signal that can be used to know absolute positions.Next table illustrates digital
encoder inputs main features.
Specification Value
Type of inputs Non-isolated
Differential or single ended
ESD protected
Number of inputs 3 (A, B and Index)
ESD capability IEC 61000-4-2 (ESD) ±15 kV (air), ±8 kV (contact)
IEC 61000-4-4 (EFT) 40 A (5/50 ns)
Nominal voltage range 0 ~ 5 V
Maximum voltage range
-0.5 ~ 5.5 V
Maximum recommended working frequency 10 MHz (differential)
1st order filter cutting frequency (-3 dB) 6.6 MHz
Maximum readable pulse frequency 30 MHz
Termination resistor 120 Ω (between ENC_x+ and ENC_x-)
Bias resistors
ENC_x+ (positive input) 1 kΩ to 5 V
ENC_x- (negative input) 1 kΩ to 2.5 V (equivalent)
For encoder signal reception, an analog differential line receiver with an hysteresis comparator is used. The high
signals (ENC_A+, ENC_B+ and ENC_Z+) are pulled up to +5 V, and the low signals (ENC_A-, ENC_B- and ENC_Z-) are
biased to 2.5 V. This arrangement let the user to connect either differential output encoders or single ended
encoders (both open collector and totem pole).
The encoder interface also accepts an RS-422 differential quadrature line driver signal in the range of 0 V to 5 V, up
to 10 MHz. When single ended encoder is connected, only high signals (ENC_A+, ENC_B+ and ENC_Z+) must be
used.
Nextfigures illustrate how to connect a differential and a single ended encoder to the Nix Servo Drive.Refer
toFeedback wiring recommendationsfor more information about connections and wires.
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Nextfigure shows the circuit model of the digital encoder inputs.
Digital encoders with single ended 24 V outputs
Nix Servo Drive can also interface single ended digital encoders with output voltages higher than 5 V, for instance
24 V PLC level encoder. With the use of series connected limiting resistors, Nix is able to read encoder counts
correctly while the inputs are correctly protected.
It is recommended to use a 4.7 kΩ 1/4 W resistor in series with the ENC_X- (inverting) input and leave the ENC_X+
floating.
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Digital encoders with differential 24 V outputs
To interface with 24 V push-pull style differential encoders, it is recommended to connect 4.7 kΩ 1/4 W resistors in
series between the encoder signals and the corresponding drive inputs.
This ensures a correct differential signal reading as well as limiting currents to safe levels. Note that this additional
resistance may limit the maximum encoder frequency to approximately 1 MHz by making a low pass filter with the
100 pF input capacitance.
Encoder broken wire detection
Nix Servo Drive includes a broken wire detection circuit. The circuit is based on 3 EX-OR gates that will generate
anerrorif the encoder is disconnected or a wire is broken.This systemonly works for differential encoders.
Encoder without Index (Z) line
To avoid a broken wire fault when the differential encoder has no index (Z) line, connect the negative pin
(ENC_Z-) to GND (this ensures the XOR result = 1) or configure the encoder as single ended in MotionLab.
7.4.4 Analog encoder (Sin-Cos encoder) interface
The Nix Servo Drive can use analog encoder (also known as Sin-Cos encoder) as position and velocity feedback
element. This sensor providea pair of quadrature sine and cosine signals as the motor moves, which frequency
depends on the motor speed. The signals may be generated by optical or magnetic means. For noise immunity the
signals are typically transmitted differentially from the encoder to the sensor interface electronics.
Pin Signal description Signal example
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Pin Signal description Signal example
SIN+ Sine wave with 2.5 V offset and 0.5 Vpp
SIN- Same as SIN+, but with 180º phase shift
COS+ Cosine with 2.5 V offset and 0.5 Vpp
COS- Same as COS+, but with 180º phase shift
REF+ One sine half wave per revolution as index pulse
REF- Same as REF+, but with 180º phase shift
Sin-Cos calibration
Analog encoder signals are not always perfect sine and cosines. For this reason, Nix includes sin-cos
calibration and adjustment parameters. For further information see the E-Core registers for Sin-Cos
encoder configuration.
An automatic calibration based on Lissajous curves is included in MotionLab, which allows an easy
feedback adjustment.
Next table summarizes analog encoder inputs main features.
Specification Value
Type of inputs Differential analog input (switching to digital automatically at high
speed)
ESD protected
Number of inputs 3 (SIN, COS, REF)
ESD capability IEC 61000-4-2 (ESD) ±15 kV (air), ±8 kV (contact)
IEC 61000-4-4 (EFT) 40 A (5/50 ns)
Typical voltage range 2.25 ~ 2.75 V
Maximum voltage range -0.5 ~ 5.5 V
Maximum recommended working
frequency
1 kHz used as analog encoder
10 MHz used as digital encoder
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Specification Value
1st order filter cutting frequency
6.6 MHz
(-3 dB)
Sampling rate (analog) 10 ksps
Maximum readable pulse
30 MHz
frequency (digital)
Input impedance 120 Ω resistive differential
100 pF capacitive
1 kΩ to GND
Resolution 10 bits
Next figure shows how to connect a Sin-Cos encoder to Nix Servo Drive.Refer toFeedback wiring
recommendationsfor more information about connections and wires.
For differential Sin-Cos encoders with peak to peak voltage exceeding 1 Vpp it is recommended to use a series
resistor on ENC_X+ and ENC_X- pins. The value of that resistor should be chosen to attenuate the voltage at the
input around 1 Vpp ± 20%. Use the following formula to determine the resistor that must be placed on each
input.Rin = 50 · ( Vinpp - 1 V). Example: for 3 Vpp Sin-Cos, the resistance in series with each pin should be Rin = 50
· (3 - 1) = 100 Ω.
If no REF (Or Zero index) signal is available leave the ENC_Z- and ENC_Z+ pins floating.
For single ended analog Sin-Cos encoders. Connect the encoder signals to the ENC_x+ (positive) inputs.
• If the average of the sine and cosine is2.5 V±0.1 V.ENC_x- inputs should be left floating.
• If the average is different to2.5 V±0.1 V.connect all the ENC_X- inputs to the average value. Some encoders
provide this output and name (confusingly) Vref. The value of the average must be between 0.6 V and 4.4 V.
Circuit model for each differential channel (A, B, REF) is shown in the next figure.
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7.4.5 Absolute encoder interface
The Nix has anAbsolute encoder connectorthat can be used as position and velocity feedback element.This sensor
generates digital data that represent the encoder actual position. From the position information, speed and
direction of motion is calculated. The position is not lost even if the encoder is powered down, this means it is not
necessary to move to a reference position as with incremental type encoders.
Next table shows the absolute encoder inputs electrical specifications.
Specification Value
Type of inputs Non-isolated
Differential
ESD protected
ESD capability IEC 61000-4-2 (ESD) ±12 kV (air), ±12 kV (contact)
IEC 61000-4-4 (EFT) ±4 kV
Number of inputs 2 (CLK and DATA)
Nominal voltage range 0 ~5 V
Maximum voltage range -13 ~16.5 V
Maximum readable frequency (SSI) 1 kHz
Termination 120 Ω on data line
Next Figure shows how to connect an Absolute encoder to Nix Servo Drive.Refer toFeedback wiring
recommendationsfor more information about connections and wires.
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Circuit model for the absolute encoder receiver channels is shown in the next figure.
7.4.6 Digital input feedback - PWM encoder
Nix Servo Drivecan also use a PWM encoder connected through theI/O connectoras a feedback element. A PWM
encoder provides a Pulse Width Modulated (PWM) signal with a duty cycle proportional to the angle (position) of
the rotor.This feedback can be interfaced through the high-speed digital input 1 (HS_GPI1). Both differential and
single-ended PWM encoders can be used. Further specifications about the PWM input can be found inI/O
connection section.
Nextfigure illustrates PWM feedback input for different rotor positions:
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Nextfigure illustrates how to connect a differential PWM encoder to theNix Servo Drive:
Single ended operation
In order to use the high-speed digital input in single ended mode, connect the negative terminal
(HS_GPIx-) to 2.5 V. This voltage can be achieved with a voltage divider from +5V_OUT.
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For a 24 V input, the negative terminal (HS_GPIx-) can be connected to 5 V (+5V_OUT).
Nextfigure illustrates how to connect a single ended PWM encoder to the Nix Servo Drive:
Refer toFeedback wiring recommendations for more information about connections and wires.
7.4.7 Analog input feedback
Nix Servo Drivecan also use analog feedback systems connected through theI/O connector. From the voltage level
of one analog input, the position or velocity of the rotor can be calculated. The Nix have 2 analog inputs that can be
used for feedback input, each one with a different input range. The input used as feedback can be selected by
software.Further specifications about the analog inputs input can be found inI/O connection section.
Refer toFeedback wiring recommendationsfor more information about connections and wires.
Potentiometer
A typical analog sensor used for position feedback is a potentiometer. This sensor provides a voltage proportional
to the rotor position.
The following picture shows how to connect a potentiometer as a position sensor using analog input 1:
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Recommended potentiometer resistance
Potentiometers with high values of resistance (> 10 kΩ) can result in non linear behavior due to its the
drive parallel input resistors. High resistance values also reduce the signal to noise ratio, making it easier
to have disturbances and reducing the quality of the measure.
However, a very small value of resistance may also consume too much power and cause self heating
(which causes additional variations on resistance).
Therefore, use the smallest value of resistance that:
• Does not exceed 1/2 of the potentiometer power rating (to allow safety margin and prevent self
heating).
• Does not exceed the +5V_OUT current capacity.
Typically 1 kΩ to 10 kΩ will be preferred.
DC tachometer
The Nix Servo Drive can use a DC tachometer for velocity feedback through theI/O connector.a DC tachometer
provides an analog signal whose voltage level is proportional to the rotor speed.
Next figure illustrates how to connect a DC tachometer with differential output to the Nix Servo Drive.
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7.4.8 Feedback wiring recommendations
Signal distortion and electrical noise is a common problem in feedback signals. These problems can result in a
bad position or velocity calculation for both digital feedbacks (gain or loss of counts) and analog feedbacks (wrong
voltage levels).To minimize these problems somewiring recommendationsare shown:
• Use differential signalswhenever is possible. That is, connect both positive and negative signals of
differential feedback sensors.Use a twisted pair for each differential group of signalsand another
twisted pair for the +5 V supply and GND. Twisted-pairs help in elimination of noise because disturbances
induced in twisted pairs
• Twisted-pairs help in elimination of noise due to electromagnetic fields by twisting the two signal leads at
regular intervals. Any induced disturbance in the wire will have the same magnitude and result in error
cancellation.
• Connect the Nix and encoder GND signalseven if the encoder supply is not provided by the drive.
• Connection between Nix PE and the motor metallic housing is essentialto provide a low impedance
path and minimize noise coupling to the feedback. For further information, seeProtective Earth wiring.
• For better noise immunity, use shielded cables,with the shield connected to PE only in the drive side.
Never use the shield as a conductor carrying a signal, for example as a ground line.
• It is essential tokeep feedback wiring as far as possible from motor,AC power and all other power wiring.
Recommendations for applications witch close feedback and motor lines
In some applications, like in the subsea market, where additional connectors and cables are a problem, the
feedback cannot be wired separately from the motor and power lines. This creates noise problems that could result
in hall sensors wrong commutation errors or encoder loss of counts. For these applications we recommend:
• Use a common modechokeon the motor phases. This single action can reduce common mode noise
drastically and will solve most problems. See recommended wiring inMotor and shunt braking resistor
wiring.
• Ensure the motor housing is well connected to protective earth and the system chassis (PE).
• If possible, minimize power supply voltage. This will also minimize the electromagnetic noise generated by
the motor switching.
• Add additional RC low pass filters on the feedback inputs. The filter should attenuate at a frequency above
the maximum speed signal to prevent loss of counts and signal distortion. 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 contactIngenia engineers for support.
7.5 I/O connections
TheNixServo Drive provides variousinputs and output terminalsfor parameter observation and drive control
options. These inputs can also be used for some feedback purposes (seeFeedback connections).
The input and output pins are summarized below:
• 2 x 5 V general purpose non-isolated single ended digital inputs (GPI1, GPI2).
• 2 x 5 V high-speed non-isolated differential digital inputs(HS_GPI1, HS_GPI2).
• 1 x 0~5 V single ended 12 bits analog input (AN_IN1).
• 1 x ±10 V differential 12 bits analog input(AN_IN2).
• 2 x 5 V non-isolated digital outputs (GPO1, GPO2).
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Motor brake input
Digital outputs (GPO1 and GPO2) can also be used as a motor brake output.
Alternative assembly options
Under a custom purchase order, Nix Servo Drive can be provided with some alternative I/O:
• 2 x ±10 V differential 12 bits analog inputs
• 2 x 0~5 V single ended 12 bits analog input
• Torque Off input
Wiring recommendations
Wiring recommendations for I/O signals are the same than for feedback signals. Detailed information
about good wiring practices can be found in Feedback wiring recommendations.
7.5.1 General purpose single ended digital inputs interface (GPI1, GPI2)
The general purpose non-isolated digital inputs are ready for 5 V levels, but are 24 V tolerant. Next table show their
electrical specifications.
Specification Value
Number of inputs 2 (GPI1, GPI2)
Type of input Single ended
ESD protected
Low-pass filtered
ESD capability IEC 61000-4-2 (ESD) ±15 kV (air), ±8 kV (contact)
Input current 0.17 mA @ 5 V; 1 mA @ 15 V
High level input voltage 4 V < Vin < 24 V
Low level input voltage 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
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General purpose inputs electrical equivalent circuit is the following:
Next figureshows an example of how to connect a switch to the GPI, using +5V_OUT (pin 16) pin as a supply
source.
Non-isolated I/O
Nix Inputs and outputs are not isolated.The ground of the Nix Servo Drive and the ground of the devices
connected to I/Os must be the same. Otherwise inputs or outputs may be damaged.
Nix 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.
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GPI Pull-up resistors
Pull-up resistorsensure the desired logic state when the sensor (transistor or relay) is in off-state.
NPN pull-up resistor value must be chosen in order to ensure ≥ 4 V at the GPI pin considering the 30
kΩ inputresistance. For a sensor supply of 5 V, 1 kΩ is recommended. For a sensor supply of 24 V, 10 kΩ
is recommended.
7.5.2 High-speed digital inputs interface(HS_GPI1, HS_GPI2)
The high-speed (HS) non-isolated digital inputs are ready for 5 V levelsbut are 24 V tolerant. Next table show their
electrical specifications.
Defect logic value
Nix high-speed inputs are default low-level (OFF). When no signal or load is connected, the board will
detect a logic low.
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Specification Value
Number of inputs 2 (HS_GPI1, HS_GPI2)
Type of input ESD protected
Differential and single ended
ESD capability IEC 61000-4-2 (ESD) ±15 kV (air), ±8 kV (contact)
Input current 2 mA @ 5 V; 5 mA @ 15V
High level input voltage (HS_GPI+ - HS_GPI-) > 150 mV
Low level input voltage (HS_GPI+ - HS_GPI-) < -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
Maximum common mode voltage (VCM) -7 V ≤ VCM ≤ 12 V
Next figure shows the circuit model for high-speed digital input. Input is composed of a 3-resistor differential
divider, with 10 kΩ resistors, resulting in a total input impedance of 30 kΩ. This bias resistors allow both single
ended and differential input operation.Noise immunity can be improved by reducing input impedance with a
termination resistor between HS_GPI+ and HS_GPI-.
High-speed digital inputs electrical equivalent circuit is the following:
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Non-isolated I/O
Nix Inputs and outputs are not isolated.The ground of the Nix Servo Drive and the ground of the devices
connected to I/Os must be the same. Otherwise inputs or outputs may be damaged.
Nextfigure illustrates how to connect high-speed differential signal to HS_GPI1(same wiring can be used for
HS_GPI2).
Single ended operation
In order to use the high-speed digital input in single ended mode, connect the negative terminal
(HS_GPIx-) to 2.5 V. This voltage can be achieved with a voltage divider from +5V_OUT.
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For a 24 V input, the negative terminal (HS_GPIx-) can be connected to 5 V (+5V_OUT).
The following figure shows how to connecthigh-speedsingle ended signalto HS_GPI2(same wiring can be used
for HS_GPI1).
Nix 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.
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HS_GPI pull-up resistors
Pull-up resistorsensure the desired logic state when the sensor (transistor or relay) is in off-state.
NPN pull-up resistor value must be chosen in order to ensurea positive value in the differential receiver
while consuming low current. 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.
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7.5.3 Analog inputs interface (AN_IN1, AN_IN2)
Nix Servo Drive has two 12-bit analog inputs, a single ended one (AN_IN1) and a differential one (AN_IN2). Each one
of them has a different input voltage range. Nexttable summarizes the main features of the analog inputs:
Specification Analog input 1 Analog input 2
Type of inputs Single ended
ESD protected
ESD capability ±4 kV (contact)
Analog input resolution 12 bits
Maximum operating voltage 0 ~ 5 V ±10 V
Maximum common mode voltage (Analog input 2) - ±10 V
Maximum voltage on any pin (referred to GND) 7 V 24 V
1st order filter cutting frequency (-3dB) 4.2 kHz 4.4 kHz
Sampling rate (max) 10 ksps
Nextfigure shows the circuit model for the analog input 1:
Differential
ESD protected
Nextfigure shows the circuit model for the analog input 2:
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Extending AN_IN1 voltage range
To get a 0 ~ 10 V input range in AN_IN1 input, place a 30 kΩ resistor in series with the input.
Non-isolated I/O
Nix Inputs and outputs are not isolated.The ground of the Nix Servo Drive and the ground of the devices
connected to I/Os must be the same. Otherwise inputs or outputs may be damaged.
Nextfigure illustrates how to connect an analog single ended source to the Nix 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.
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7.5.4 Digital outputs interface (GPO1, GPO2)
Nix Servo Drive has two digital non-isolated outputs. Digital outputs are based on an open drain MOSFET with a
weak pull-up to 5 V, and are 24 V tolerant and short-circuit protected. Next table shows their main features:
Specification Value
Number of outputs 2
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Specification Value
Type of output Open drain output with weak pull-up to 5 V
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)
Maximum sink/source
current
Source: low current @ 5 V: 5 mA
Sink: 500 mA @ 5 or 24 V
ON-OFF delay 124 μs @ 30 V and R
20 μs @ 5 V and R
OFF_ON delay 15μs @ 30 V and R
50 μs @ 5 V and R
Max working frequency 1 kHz
Next figure shows digital output circuit model.
load
= 100 kΩ
load
= 100 kΩ
load
= 100 kΩ
load
= 100 kΩ
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Non-isolated I/O
Nix Inputs and outputs are not isolated.The ground of the Nix Servo Drive and the ground of the devices
connected to I/Os must be the same. Otherwise inputs or outputs may be damaged.
Wiring of 5V loads
Loads that require 5V as high-level voltage can be connected directly to the digital output. A wiring example for
GPO2 is shown in the next figure (same wiring could be used for GPO1).
Wiring of 24V loads
Loads that require 24V as high-level voltage can also be interfaced with GPO. For this option, an external power
supply is needed. The load can be connected with a pull-up to 24V or directly switched with the GPO. Next figures
show two example connections to GPO2(same wiring could be used for GPO1).
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Interfacing inductive loads
The switching of inductive loads (like relays or motor brakes) can cause inductive kicking, that is a sudden
voltage rise when the current through the inductor is falls to zero. In order to avoid this voltage rise, it is
recommended to place a diodein anti-parallel with the load (known as freewheeling diode).
Standard rectifier diodes such as 1N4002 or 1N4934 are appropriate for the application.
An alternative to the freewheeling diode is to place a varistor or an RC snubber in parallel with the load.
An example of how to connect an inductive load to GPO2 is shown in the next figure(same wiring could be used for
GPO1).
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7.5.5 Motor brake output (GPO1, GPO2)
Electromechanical brakes are needed in critical applications where the disconnection of the motor or a lack of
electric braking could be dangerous or harmful (i.e. falling suspended loads). Nix Servo Drive can use the digital
outputs (GPO1 and GPO2) as abrake output. This output consists on an open drain MOSFET (1 A and 24 V). Further
specifications can be found inDigital outputs interface.
Motor brake operation
For brake operation of a GPO, this function has to be configured through Motion Lab.
The brake operation is usually configured for normally locked electromechanical brakes; that is, brakes
that by default block the movement of the motor shaft.For this reason,the switch is controlled with
inverted logic, being activated to allow the rotation of the shaft. This kind of brakes increase the safety
of the application, because in a drive power failure, the switch would be opened and therefore the brake
activated.
Next figure show how the typical connection using the main supply as brake power supply.
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Free-wheeling diode
It is recommended to use a freewheeling diode in anti-parallel with the brake to prevent inductive kicking
(voltage rise when current through the brake inductance falls to zero). Standard rectifier diodes such as
1N4002 or 1N4934 are appropriated for the application.
7.5.6 Torque off input (custom purchase order)
As assembly option (custom purchase order), the Nix Servo Drive can be provided with a torque off input. This
input is used to prevent motor torque in an emergency event while Nix remains connected to the power supply.
The torque off input can be implemented through inputGPI2. When a LOW level voltage is detected in this input,
the transistorsof the power stage are turned off and a STO fault is notified. During this state, no torque will be
applied to the motor no matter configuration, or state of a command source. This will slow down the motor
shaftuntil it stops under its own inertia and frictional forces.This input should not be confused with a digital input
configured as enable input, because enable input is firmware controlled and does not guarantee intrinsic safety as
it can be reconfigured by a user.
Not a Safe Torque Off
The torque off input is not a safety critical torque off input (Safe Torque Off). It should not be used for
safety critical applications.
GPI2 input reads a logic low state (0 V < Vin< 1 V)by defect, so the input must be connected to a logic high level (4 V
< Vin< 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.
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7.6 Command sources
The target or command sources are used for setting a reference for position, velocity or torque controllers. Nix
Servo Drive supports the following command sources:
• Network communication interface(USB, CANOpen, RS-485 or EtherCAT)
• Standalone
• Analog input(±10 V or 0 V to 5 V)
• Step and direction
• PWM command(single and dual input mode)
• Encoder follower / electronic gearing.
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
Network interface Position, velocity, torque
Standalone Position, velocity, torque
Analog input (+/- 10 V o 0 – 5 V) Position, velocity, torque
Step and direction Position
PWM command Position, velocity, torque
Encoder following / electronic gearing Position
Please, seeCommand sources section fromE-Coredocumentation for configuration details.
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