INGENIA Titan GO, TTN-200/400, TTN-50/800, TTN-200/200, TTN-100/400 Product Manual

INGENIA-CAT S.L.

8-14 MARIE CURIE, ADVANCED INDUSTRY PARK

08042 BARCELONA

TITAN GO Product Manual

Edition 08/09/2017

For the most up to date information visit the online manual.

1 Table of Contents

1 Table of Contents 2

2 General Information 4

2.1 Manual revision history ..................................................................................................................................... 4

2.2 Disclaimers and limitations of liability ............................................................................................................. 4

2.3 Contact ............................................................................................................................................................... 4

3 Safety Information 6

3.1 About this manual.............................................................................................................................................. 6

3.2 Warnings............................................................................................................................................................. 6

3.3 Precautions ........................................................................................................................................................ 6

4 Product Description 7

4.1 Specifications..................................................................................................................................................... 7

4.2 Hardware revisions ..........................................................................................................................................11

5 Connectors Guide 13

5.1 Supply, shunt and motor terminals ................................................................................................................14

5.2 Ring terminals and screws............................................................................................................................... 15

5.3 Micro Fit 3.0 connectors mating...................................................................................................................... 16

5.4 P1: Aux supply connector ................................................................................................................................ 17

5.5 P2: Communications and IOs connector ........................................................................................................19

5.6 P3: Safe torque off connector.......................................................................................................................... 21

5.7 P4: Digital halls and motor temperature connector ......................................................................................23

5.8 P5: USB connector ........................................................................................................................................... 25

5.9 P6: Encoder connector .................................................................................................................................... 27

5.10 P7: Resolver...................................................................................................................................................... 28

6 Signalling LEDs 30

6.1 Power and operation signalling LEDs............................................................................................................. 31

6.2 CAN signalling LEDs ......................................................................................................................................... 32

6.3 Resolver status LEDs........................................................................................................................................ 33

6.3.1 Resolver LEDs ..................................................................................................................................................33

6.3.2 Adjusting the resolver...................................................................................................................................... 34

6.3.2.1 Resolver Gain ................................................................................................................................................... 34

6.3.2.2 Configuring the resolver ..................................................................................................................................34

7 Dimensions and assembly 36

7.1 Titan Go Dimensions........................................................................................................................................ 36

7.2 Assembly Instructions...................................................................................................................................... 37

7.2.1 Thermal interface material.............................................................................................................................. 38

7.2.2 Screw assembly................................................................................................................................................ 38

8 Application Software 40

8.1 Configuration ................................................................................................................................................... 40

8.2 Applications...................................................................................................................................................... 40

8.3 Arduino .............................................................................................................................................................40

9 Service 41

TITAN GO Product Manual|General Information

INGENIA |08/09/2017 4

1 http://doc.ingeniamc.com/download/attachments/64586310/TITAN%20GO%20Product%20Manual%20v1.pdf?

api=v2&modificationDate=1501410388834&version=1

2 General Information

2.1 Manual revision history

RevisionRelease

Date

Changes PDF

v1 May 2017 Preliminary draft. All the information in this version could

change without notice.

TITAN GO Product
Manual v1.pdf

1

v2b August

2017

Beta release of the manual. May contain inaccuracies and
has missing parts:

Wiring guide, power ratings and updated mechanical
drawings.

-

For the most up to date information use the onlineProduct Manual. The PDF manual is generated only after major
changes.

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

2.2 Disclaimers and limitations of liability

The information contained within this document contains proprietary information belonging toINGENIA-CAT S.L..
Such information is supplied solely for the purpose of assisting users of the product in its installation.

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

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 byINGENIA-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.
8-14 Marie Curie
Advanced Industry Park
08042 Barcelona
Spain

TITAN GO Product Manual|General Information

INGENIA |08/09/2017 5

2 mailto:[e-mail]
3 http://www.ingeniamc.com/

Telephone: [phone]

E-mail:[e-mail]

2

Web site:www.ingeniamc.com

3

TITAN GO Product Manual|Safety Information

INGENIA |08/09/2017 6

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 Titan
Servo Drive.

To ensure maximum safety in operating the Titan 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 Titan Servo Drive, as
well as other hardware that may be connected to it. Please read this chapter carefully before starting the

installation process.

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:

• The Titan Go has noenclosure and has high voltage live parts. Take precautions before commissioning or

touching it. Direct contact with live parts can cause serious injury or death. 

• To prevent the formation of electric arcs, as well as dangers to personnel and electrical contacts, never

connect/disconnect the Titan Servo Drive while the power supply is on.

• Disconnect the Titan 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 30 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 Titan Servo Drive components temperature may exceed 150 ºC during operation.

• Some components become electrically charged during and after operation.

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

document.

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

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

• Do not make any connections to any internal circuitry. Only connections to designated connectors are
allowed.

• All service and maintenance must be performed by qualified personnel.

• Before turning on the Titan Servo Drive, check that all safety precautions have been followed, as well as the

installation procedures.

TITAN GO Product Manual|Product Description

INGENIA |08/09/2017 7

4 Product Description

The Titan Go Servo Drive is an high power density solution providing top performance, advanced networking and
built-in hardware and firmware based safety, as well as a fully featured motion controller. It can control multiple

motor types and supports almost any feedback sensor including absolute serial encoders and resolvers.

Its design includes multiple communication ports as CANopen, RS-485, USB all of them isolated.

The Titan Go Servo Drive has been designed with efficiency in mind. It incorporates cutting-edge power
semiconductor technology as well as optimized control algorithms to provide the perfect trade-off between
electromagnetic emissions and performance.

4.1 Specifications

A list of features of the Titan Go Servo Drive is shown next.

Electrical and power specifications

Part number → TTN-200/200 TTN-100/400 TTN-200/400 TTN-50/800

(preliminary)

Power supply
voltage

10 VDC to 200 V

DC

10 VDC to 400 V

DC

10 VDC to 400
V

DC

10 VDC to 800 V

DC

Auxiliary logic
supply input
voltage range

10 VDC to 65 V

DC

This logic supply input is optional when the main power supply exceeds 60 VDC. An
internal DC/DC converter that works from 60 VDC to 850 VDC bus will power the Titan
without need of auxiliary input.

Note: For hardware version 1.0.0 the logic supply input must always be provided.

Transient peak
voltage

220 V

DC

450 V

DC

450 V

DC

850 V

DC

Internal DC bus
capacitance

63 µF 63 µF 314 µF -

Minimum motor
inductance

50 µH 50 µH 50 µH -

Nominal phase
continuous
current (BLDC
mode)

200 A

RMS

(with heatsink)

100 A

RMS

(with heatsink)

200 A

RMS

(with heatsink)

50 A

RMS

(with heatsink)

Nominal phase
continuous
current (DC
mode)

200 A

DC

140 A

DC

200 A

DC

70 A

DC

TITAN GO Product Manual|Product Description

INGENIA |08/09/2017 8

4 http://doc.ingeniamc.com/display/EMCL/0x2020+-+Enable+alternative+frequency+PWM

Maximum phase
peak current

300 A

DC

250 A

DC

300 A

DC

100 A

DC

Current sense
range

± 457 A

Current sense
resolution

893 mA/count

Shunt braking
transistor

Low side shunt braking transistor on board. 100 A continuous braking current capacity.

Inrush current < 10 A at connection. Titan includes a 2 kΩ DC bus capacitor precharge resistor that

limits the inrush. No need for external capacitor precharge circuits or relays.

Cold plate 7 mm aluminum plate 6082-T6.

Power connectors Power ring terminals with M8 screws and washers included.

Maximum absolute screw torque is 9 Nm.

Do not exceed 9 Nm in any axis to the power connectors, take care with bus bars and
thick motor cables.

Standby power
consumption

≤ 12 W

Efficiency >97% at the rated power and current.

Note that the 400V 100A version is more efficient at low load, while the 200 A version is
efficient at high load.

Motion control specifications

Supported motor
types

• Rotary brushless (trapezoidal and sinusoidal)

• Linear brushless (trapezoidal and sinusoidal)

• DC brushed

• Rotary voice coil

• Linear voice coil

Power stage PWM
frequency

20 kHz (default)
10 kHz (alternative low loss PWM frequency, configurable4)

Current sensing Isolated current sense on phases A, B and C.

Accuracy is ± 3% full scale. 10 bit ADC resolution.

TITAN GO Product Manual|Product Description

INGENIA |08/09/2017 9

Sensors for
commutation

(brushless
motors)

• Digital Halls (Trapezoidal)

• Digital Quadrature encoder (Sinusoidal / Trapezoidal)

• PWM encoder (Sinusoidal / Trapezoidal)

• Analog potentiometer (Sinusoidal / Trapezoidal)

• Resolver (Sinusoidal)

Sensors for servo
loops

• Digital Halls

• Digital Quadrature encoder

• Absolute encoder (SSI)

• PWM encoder

• Analog potentiometer

• DC tachometer

• Resolver

Supported target
sources

• Network communication – USB(for configuration or in-house updates, USB is not
recommended for operation in field as it is a weak interface in high power - high
noise environments)

• Network communication – CANopen

• Network communication – RS-485

• Standalone (execution from internal EEPROM memory)

• Analog inputs

• Step and Direction (Pulse and Direction)

• PWM command

• Encoder Following / Electronic Gearing

Resolver
specifications

• Excitation voltage: Pure sine wave 12.2 V

rms

17.3 V

p-p

• Excitation frequency: 10 kHz

• Resolver gain: 1:0.5 default. Any other on demand. Contact Ingenia.

• Expected sine and cosine input peak voltage: 3.9V

p-p

± 20%

• Input differential resistance ~ 24 kΩ

Inputs/outputs and protections

General purpose
Inputs and

outputs

• 5 x isolated single-ended digital inputs. GPI1, GPI2, GPI3, HS_GPI1, HS_GPI2 (5 V TTL
logic)

• 1 x isolated (±10 V) differential analog input (12 bits). AN_IN1

• 1 x isolated digital output. GPO1 (3.3V logic)

Dedicated Inputs
and outputs

• 2 x isolated Safe Torque Off inputs.

• 1 x isolated Safe Torque Off status feedback optocoupler output.

• 1 x motor temperature sensing input

Output Supplies • 1 x 5 V output supply for powering external circuitry (up to 200 mA). Short circuit

protected, ±2% tolerance.

• 1 x 24 V output supply for external circuitry such as fans, relays or STO (up to 400
mA). ±25% unregulated tolerance. Not short-circuit protected.

TITAN GO Product Manual|Product Description

INGENIA |08/09/2017 10

Protections • User configurable:

• DC bus over-voltage

• DC bus under-voltage

• Drive over-temperature

• Drive under-temperature

• Over-current

• Overload (I2t)

• Short-circuit protections:

• Phase to SUP+

• Phase to SUP-

• Phase to phase

• Phase to Earth

• Mechanical limits for homing functions

• Hall sequence/combination error

• ESD protections in all inputs, outputs, feedbacks and communications

• EMI protections (noise filters) in all inputs, outputs and feedbacks

• Can drive an external power braking resistor in case of re-injection

Safe Torque Off 2x STO inputs, 24 V isolated inputs (work from 15 V to 30 V). Redundant topology with

self-test features. Ready for SIL3 reliability level but not certified.

1x STO feedback indication output for external self-verification circuit.

Minimum pulse width for Safe Torque Off activation (and power stage shutdown): 14 ms

Minimum pulse width for STO feedback reaction: 1 ms.

Pulses < 1 ms can be used for safety PLCs but will be ignored. Pulses between 14 ms and
1 ms can be used for self test.

Motor Brake Not available.

Communications

USB MiniUSB (2.0) vertical connector. Fully isolated 2.5 kV

RMS

1 min.

Serial RS-485 full-duplex (compatible with RS-422) isolated 2.5 kV

RMS

.

Default 115200 bps, 8 data bits, no parity, 1 stop bit, no flux control.

120 Ω terminations for TX and RX included on board with DIP switches.

TX+ and RX+ biased to +5 V with 4.7 kΩ. TX- and RX- biased to GND with 4.7 kΩ.

CANopen CANopen compliant with isolation (self powered, no need for external supply). 1 Mbps

max (default).

120 Ω termination included on board with a DIP switch. CiA-301, CiA-303, CiA-305,

CiA-306 and CiA-402 compliant.

EtherCAT -

TITAN GO Product Manual|Product Description

INGENIA |08/09/2017 11

Environmental and mechanical specifications

Part number → TTN-200/200 TTN-100/400 TTN-200/400 TTN-50/800

(preliminary)

Cold plate
temperature

• -40ºC to +90ºC full current (with appropriate heatsink)

• +90ºC to 110ºC derated current

Heat dissipation Maximum heat dissipation is 4 kW. Provide a heatsink according to environment

temperature and power rating. Heat dissipation is affected mainly by the phase current
and voltage.

In order to achieve the maximum power ratings, excellent power transfer is needed
between the cold plate and a heatsink.

Maximum
humidity

5% - 85% (non-condensing). Titan can be supplied with conformal coating.

Horizontal
dimensions

206 x 172 mm

Maximum height 55 mm

Weight (exc.
mating
connectors)

1878 grams

4.2

Hardware revisions

Hardware

revision

Individual board

references

Description and changes

1.0.0

May 2017

i047-01H1-1.0.0

i047-01H2-1.0.0

i047-01H3-1.0.0

First product beta release.

TITAN GO Product Manual|Product Description

INGENIA |08/09/2017 12

1.1.0

September
2017

i047-01H1-1.1.0

i047-01H2-1.1.0

i047-01H3-1.1.0

First product release. Changes from previous version:

• Modifications on the aluminum cooling plate, reduction of 1 mm
thickness and added extra PCB support area for better vibration and
thermal performance.

• Added 2.5 kV isolation to USB ports. The drive is no longer powered
from USB but communication reliability is greatly enhanced.

• Change high voltage notification LED to blue for better visibility.

• Enabled the main DC/DC converter that is powered from the DC bus.

Auxiliary 24V power supply input becomes optional.

• Improved protections for the 24V output supply.

• Added 24V bus monitoring.

• Added motor temperature sensing input.

• Added pre-biasing resistors 4.7 kΩ to the RS485 lines. Pull up to 5 V for

positive GND for negative.

• Modified HALLs circuit with galvanic isolation.

• Manufacturing PCA improvements.

• Added mechanical stress relief slots on power board.

• Added electrical creepage slots on control board.

• Modified version TTN-200/400 with IGBTs to improve performance at

high load.

• Improved creepage distances on the power stage.

• Changed PCB finish to unify black aspect on all boards and increase

radiation heat dissipation at high altitude.

• Modified PCB design for with IPC class 3/A. High reliability aerospace
requirements.

• Changed shunt recirculation diode.

• Modified STO circuit for SIL3 compliance. Increased minimum pulse

time to 20 ms to allow self-test functions.

• Improve thermal performance of some internal power supplies.

• Solved CAN hardware blocking bug.

• Increased DC bus capacitance on all variants.

Identifying the hardware revision

Hardware revision is screen printed on the board.



TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 13

5 Connectors Guide

This chapter details the Titan Go Servo Driveconnectors and pinout.

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 14

5 http://www.erni.com/en/products/show/product/225872/

5.1 Supply, shunt and motor terminals

Power terminals

M8 female terminal, 27 mm pitch. ERNI 2258725.

Pin Signal Function Screw

size

1 PH_C Motor phase C (Do not connect for DC and voice coils) M8

2 PH_B Motor phase B (Negative for DC and voice coils)

3 PH_A Motor phase a (Positive for DC and voice coils)

4 SHUNT_OUTShunt braking transistor output

(Shunt braking resistor should be connected between +POW_SUP and
SHUNT_OUT)

5 GND_P Power ground connection (Isolated from logic GND and Protective Earth)

6 POW_SUP Power supply positive

7, 9 DC_BUS- Internal DC bus negative. Internally connected to GND_P but not intended

as power supply terminal. Used for additional DC link capacitance.

M3

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 15

8, 10 DC_BUS+ Internal DC bus positive. Not intended as power supply terminal. Used for

additional DC link capacitance.

Titan includes an internal capacitor soft precharge circuit, removing the
need for external precharge relays.

Plate PE Protective Earth. The assembly screws must be used as earthing

connectors.

M8

Notes

• 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 20 mm² ~ 33.5 mm²

• Never exceed the 9 Nm screw limit for the power connectors as this could cause permanent damage.

• The torque generated by the cables or bus bars must never exceed 9 Nm in any axis. Take care to fasten the

cables or bus bars to prevent unnecessary forces.

5.2 Ring terminals and screws

Due to the high current ratings, ring terminals and screws are needed for the power terrminals. Following are
shown the recommended part numbers.

Extra capacitance

It is recommended to add extra capacitance to the main DC supply. The Titan Go has minimal DC bus
capacitance that is enough to filter high frequency currents and is enough for battery powered
applications. However it could not be enough in some cases and could damage the power supply by
demanding excessive current ripple. Add at least a total capacitance of 10 µF/ A (motor phase RMS) to
avoid stressing the power supply and minimize EMI problems. Use good quality DC link metalized polymer
film capacitors with low ESR (suggested polypropylene).



TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 16

M8 screw Assembly

Description M8 allen screw, 12 mm

length

The following picture shows the correct order of
the mechanical elements and extra comments for
the assembly.

Part number RS-Pro232-8322

Distributor codes RS 232-8322

Crinkle washer

Description M8 stainless steel crinkle

washer

Part number Duratool D00829

Distributor codes Farnell 1614006

Ring terminal

Description M8 insulated ring

terminal, 2 AWG cable

Part number Molex 0190710285

Distributor codes Digi-Key WM13727-ND

Mouser 538-19071-0285

Brass washer

Description M8 brass washer

Part number RS-Pro 483-2637

Distributor codes RS 483-2637

5.3 Micro Fit 3.0 connectors mating

All Titan Go Servo Drive signal and communication connections are based in MolexMicro-Fit™ 3 mm pitch
connectors. Multi-core crimped cables can be used for wiring inputs, outputs, feedbacks and communications.

Multi-core crimped cable mating

Description Molex Micro-Fit™ Receptacle Housing,3.00mm Pitch.

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 17

6 https://www.digikey.com/products/en/cable-assemblies/jumper-wires-pre-crimped-leads/453?

k=430300001&k=&pkeyword=430300001&pv77=64&FV=ffe001c5&mnonly=0&newproducts=0&ColumnSort=0&page=1&quantity
=0&ptm=0&fid=0&pageSize=25

Multi-core crimped cable mating

Image

Crimp terminals

Description Micro-Fit™ Crimp Terminal, Female, Tin, Lead free

Image

Part number Molex 43030-0001

Distributor codes Farnell1462526 / Digi-KeyWM1837CT-ND / Mouser538-43030-0001-CT

Pre-assembled wires

Description 20-24 AWG pre-crimped jumper cable (50.8 mm).

Note: there are many lengths and colors available atDigi-Key6.

Image

5.4 P1: Aux supply connector

Titan GO is self supplied from the DC bus using an internal DC/DC converter that starts at 60 V and works up to 850
V.

However, some applications require an independent auxiliary power supply to work with the power off. This can be
done with connector P1.

This connector also includes a +24 V output that can be used for fans, relays or for STO circuits.

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 18

P1 connector

4 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex

Pin Signal Function

1 GND_D Logic ground connection, isolated from GND_P

2 +24V_IN +24 V logic supply input (10 V to 60 V)

3 GND_D Logic ground connection, isolated from GND_P

4 +24V_OUT +24 V logic auxiliar supply output

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 19

Notes

• The internal logic supply can be monitored using the analog input 2.

P1 Mating

Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 4 Circuits.

Image

Part number Molex 43025-0400

Distributor code Digi-Key WM1784-ND / Mouser 538-43025-0400 / Farnell 672890

Notes

• See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

5.5 P2: Communications and IOs connector

Titan GO has an isolated connector for the communications and the inputs/outputs. It includes RS-485, CAN, 5x
Digital inputs, 1x Digital output and 1x Analog input.

MOLEX Micro-Fit connectors do not follow the typical pinout layout of other connectors such as pin
headers or ribbon connectors.

Pay close attention not to connect them in a wrong order.



TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 20

P2 connector

18 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header.

Pin Signal Function

1 RS485_RX+ RS485 receive data + (should be connected to master TX+)

2 RS485_RX- RS485 receive data - (should be connected to master TX-)

3 CAN_L CAN bus line dominant low

4 CAN_H CAN bus line dominant high

5 GND_ISO Ground for the isolated connector

6 AN_IN+ Differential ±10 V analog non inverting input

Single ended analog input

7 GPI2 General purpose single ended digital input 2

8 +5V_ISO 5 V 50 mA max

9 GND_ISO Ground for the isolated connector

10 RS485_TX+ RS485 transmit data + (should be connected to master RX+)

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 21

11 RS485_TX- RS485 transmit data - (should be connected to master RX-)

12 GND_ISO Ground for the isolated connector

13 GPO1 General purpose digital output

14 GPI1 General purpose single ended digital input 1

15 AN_IN- Differential ±10 V analog inverting input

Single ended analog input ground

16 HS_GPI1 High speed digital single ended input 1

Command source: Pulse input
Feedbacks: PWM input

17 GPI3 General purpose single ended digital input 3

18 HS_GPI2 High speed digital single ended input 2

Command source: Direction input

Notes

• GPO1 is 0 to +3.3 V, with a 330 Ω resistor in series for current limiting.

P2 Mating

Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 18 Circuits.

Image

Part number Molex 43025-0400

Distributor code Digi-Key WM2491-ND / Mouser 538-43025-1800 / Farnell 9961330

Notes

• See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

5.6 P3: Safe torque off connector

Titan GO has a Safe Torque Off interface (SIL3 compliant).

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 22

P3 connector

6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex

Pin Signal Function

1 STO1 Safe Torque Off input 1 (24 V levels)

2 STO2 Safe Torque Off input 2 (24 V levels)

3 STO_STATUS_EMITTER Safe Torque Off Feedback output signalling optocoupler

emitter

4 NC Not connected

5 STO_COMMON Safe Torque Off input common (optocoupler LEDs

cathode).

6 STO_COLLECTOR Safe Torque Off Feedback output signalling optocoupler

collector

Notes

• In case you are not using STO functionality it must be bypassed. Connect STO_COMMON to GND of
connector P1. Connect both STO1 and STO2 to 24V_OUT of connector P1.

• When STO is disconnected the power stage is totally disabled, including current sense amplifiers. It is not
possible to read motor phase current with this error active.

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 23

P3 Mating

Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 6 Circuits.

Image

Part number Molex 43025-0600

Distributor code Digi-Key WM1785-ND / Mouser 538-43025-0600 / Farnell 672907

Notes

• See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

5.7 P4: Digital halls and motor temperature connector

P4 connector

8 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 24

Pin Signal Function

1 HALL_1 Digital Hall 1 sensor input

2 HALL_2 Digital Hall 2 sensor input

3 HALL_3 Digital Hall 3 sensor input

4 +5V_OUT 5 V 200 mA max isolated output for halls

5, 6 GND_HALLS Halls only ground connection, isolated from GND_P and GND_D to maximize noise

immunity.

7 MOT_TEMP1 Motor temperature sensor connection (connect the other terminal to pin 8).

Includes a 30 kΩ pull-up to 3.3 V. The pin is connected to analog input 3.

8 MOT_TEMP2 Motor temperature sensor return, a 330 Ω connects this pin to digital GND.

Notes

P4 Mating

Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 8 Circuits.

Image

Part number Molex 43025-0800

Distributor code Digi-Key WM1786-ND / Mouser 538-43025-0800 / Farnell 672919

Notes

• See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 25

7 https://katalog.we-online.de/em/datasheet/651005136421.pdf

5.8 P5: USB connector

P5 connector

5 pin vertical mini-USB connector. Wurth Electronics 6510051364217.

Pin Signal Function

1 USB_SUPPLY USB +5V. Does not supply the Titan.

2 USB_D+ USB Data+ line

3 USB_D- USB Data- line

4 NC Not connected

5 GND_USB USB GND, isolated from all other GNDs.

SHIELD NC Connector metallic shield, NOT CONNECTED.

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 26

8 http://ingeniamc.com/software#motionlab
9 http://doc.ingeniamc.com/display/I071QUICKSTART/Update+Drive+Firmware
10 http://doc.ingeniamc.com/display/TR/Communications

Notes

• Avoid applying excessive lateral forces to the USB connector.

• USB connection allows drive configuration usingMotion Lab8or downloadinglatest firmware revision9.

• Shorter USB cables are preferred whenever possible for minimal EMI.

• Please seeCommunications10page for further information.

• The Titan USB port is 100% isolated from the power.

P5 Mating

Description USB Shielded I/O Cable Assembly, USB A-to-Mini-USB B, 1 m Length, Black, Lead-Free.

Not included in the delivery of Titan Go.

Image

Part number Molex 43025-0800

Distributor code Digi-Key WM17493-ND / Mouser 538-88732-8602 / Farnell 1221071

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 27

5.9 P6: Encoder connector

P6 connector

10 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex.

Pin Signal Function for absolute encoder Function for incremental encoder

1,3,8 GND_D Logic ground.

2 CLK+/A+ Clock positive signal output Quadrature A positive input

4 DIN+/B+ Data positive signal input Quadrature B positive input

5 DOUT+/Z+ NC Index positive input

6 +5V_OUT 5 V 200 mA regulated and short-circuit protected power supply for the encoder

7 CLK-/A- Clock negative signal output Quadrature A negative input

9 DIN-/B- Data negative signal input Quadrature B negative input

10 DOUT-/Z- NC Index negative input

Notes

• Depending on the configuration by software, some pins can be inputs or outputs. Please, configure the
encoder as incremental before doing connecting it to prevent signal collision between clock (output) and A
signals (input)

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 28

P6 Mating

Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 10 Circuits.

Image

Part number Molex 43025-1000

Distributor code Digi-Key WM1787-ND / Mouser 538-43025-1000 / Farnell 672920

Notes

• See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

5.10 P7: Resolver

P7 connector

6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex.

Pin Signal Function for incremental encoder

1 EXC+ Excitation positive

2 COS+ Cosine positive

TITAN GO Product Manual|Connectors Guide

INGENIA |08/09/2017 29

3 SIN+ Sine positive

4 EXC- Excitation negative

5 COS- Cosine negative

6 SIN- Sine negative

Notes

• Attention, this connector is the same model as the STO.

• Titan standard option is for resolver with a transform ratio of 1:0.5. Other gains are possible on demand.

P7 Mating

Description 3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 6 Circuits.

Image

Part number Molex 43025-0600

Distributor code Digi-Key WM1785-ND / Mouser 538-43025-0600 / Farnell 672907

Notes

• See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

TITAN GO Product Manual|Signalling LEDs

INGENIA |08/09/2017 30

6 Signalling LEDs

Titan Go Servo Drive provides information through 6 signalling LEDs:

• Supply and operation: 2 LEDs below the TITAN GO logo.

• Shunt resistor activation: 1 LED below the TITAN GO logo.

• CANopen communication: 2 LEDsbelow the TITAN GO logo.

• High voltage: 1 LED near the AUX Supply connector.

• Resolver Status: 2 LEDs. Near the Resolver connector.

TITAN GO Product Manual|Signalling LEDs

INGENIA |08/09/2017 31

6.1 Power and operation signalling LEDs

Two LEDs placed below the TITAN GO logo indicate the supply and operation status.

TITAN GO Product Manual|Signalling LEDs

INGENIA |08/09/2017 32

11 http://doc.ingeniamc.com/display/EMCL/Error+management
12 http://www.can-cia.org/

LED Colour Meaning

POWER Green LED is on when internal power supply is working.

SHUNT Orange LED is turned on when the supply voltage is greater than the maximum voltage

configured
by the user. In this case the shunt braking transistor is connected.

This signal will only work if the braking resistor output is configured as active.

FAULT Red LED is on when an error event has occurred and the drive is trapped in theFault state.

Find more about the Fault state in theE-Core documentation11page.

6.2 CAN signalling LEDs

Two LEDs below the TITAN GO logo provide information about the CANopen communication status, according

toCiA 303-3 recommendations12.The red LED isERROR LEDand green one isRUN LED.

ERROR LED indicates the status of the CAN physical layer and errors due to missed CAN messages (sync, guard or

heartbeat). Nexttable the meaning of the ERROR LED states:

ERROR LEDstate* Concept Description

Off No error Device is in working condition.

Single flash Warning limit

reached

At least one of the error counters of the CAN controller has
reached or

exceededthe warning level (too many error frames).

Double flash Error control event A guard event (NMT-slave or NMT-master) or a heartbeat event

(heartbeatconsumer) has occurred.

Triple flash Sync error The sync message has not been received within the configured

communicationcycle period time out.

On Bus off The CAN controller is bus off.

RUN LED indicates the status of the CANopen network state machine. Nexttable shows the meaning of the RUN
LEDstates:

RUN LEDstate* Concept Description

Off Off The device is switched off

TITAN GO Product Manual|Signalling LEDs

INGENIA |08/09/2017 33

RUN LEDstate* Concept Description

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:

*Possible LED states Description

*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 Resolver status LEDs

6.3.1 Resolver LEDs

There are 2 LEDs close to the Resolver feedback connector. If the resolver is functioning correctly both LEDs should
be off. They turn on when there is a problem with the Resolver or the Resolver is disconnected.

LED Colour Meaning

LOT Orange Loss of Tracking. Indicates that it is not possible to follow the resolver angle.

DOS Blue Degradation Of Signal. Indicates that the resolver signal is not well received. Typically when

the resolver transformation ratio is not correct or noise is coupled to the lines.

TITAN GO Product Manual|Signalling LEDs

INGENIA |08/09/2017 34

13 http://ingeniamc.com/software

6.3.2 Adjusting the resolver

Resolver Gain

Titan default setting is for a resolver with a transform ratio of 1:0.5. The transform ratio can be adjusted at
Ingenia facilities.Please notify the desired resolver specifications when ordering a Titan.

The SIN and COS inputs expect a differential voltage (between positive and negative terminals) of 1.4 V

RMS

or 3.9

V

pk-pk.

However, in some cases it is possible to adjust the gain by adding a resistor in series with the SIN and COS

inputs. This will make a voltage divider with the input differential resistance of 26 kΩ. When the gain is correct, the
LOT and DOS LEDs are off.

Configuring the resolver

1. Configure that resolver is the position and or commutation sensor of the driver. UseIngenia Motion Lab

software13for the configuration. Use CANopen or USB for the purpose.

2. Withmotor disabledcheck the motor position read by the resolver. Rotate the motor and ensure that
position is well read. Use Ingenia Motion Lab scope with position actual value register being monitored.

3. If some of the orange or blue LEDs are on this means incorrect resolver gain or alignment. Check the correct
relative position between stator and rotor of the resolver. Use an oscilloscope to detect the amplitude of

sine and cosine (differential) and ensure asine wave with desired amplitude is observed (peak 3.9Vp-p of
sine and cosine at their maximum). Too much amplitude or too low causes a degradation of read signal

Trick: The gain can be changed by sliding the resolver rotor inwards or outwards relative to the stator. (Z
axis). This changes the reluctance and affects the transform ratio.

4. Enable the motor inopen loop vector mode, no current loop, no position or velocity loop. Set frequency
to 1 Hz or lower and start increasing the voltage gently. Use the motion window in motion lab. Observe that

the motor starts moving. Read motor actual current with the scope.

5. Check that the resolver position is well read. If reading errors appear only when the motor is on, this could
mean some noise being coupled to the resolver and degrading the signal. Wire the resolver as far as possible
from the power cables (to prevent noise coupling). Ensure a good thick and short cable connects the motor
housing and the driver PE (Earth) contact. Connecting the motor housing to PE creates a short impedance

path for coupled noise and therefore is not coupled to the resolver.

6. If the installation allows this connect the motor housing to the main supply negative (GND). Only do so if an
experienced electrician with perfect understanding of the installation and system knows that this is correct.

When no resolver is connected, orange and blue LEDs are on.



Resolvers with independent rotor and stator require fine positioning. Ensure perfect collinearity between
them and follow the resolver manufacturer instructions.

Both resolver LEDs (LOT and DOS) OFF indicate that the resolver is well positioned and wired.



TITAN GO Product Manual|Signalling LEDs

INGENIA |08/09/2017 35

7. When no error appear with motor turning and active (orange and blue leds always off). You can proceed and

configure commutation sensor. After that configure the control loops, starting with the current loop.

TITAN GO Product Manual|Dimensions and assembly

INGENIA |08/09/2017 36

7 Dimensions and assembly

The Titan Go Servo Drive have a206 mm x 172 mm footprint,55 mmheightand 4 x Ø 9 mm holes for
M8screwsmounting.

7.1 Titan Go Dimensions

Thermal dissipation required

To reach its power specifications, Titan Go must be mounted over a heatsink, and a thermal interface
material must be placed and compressed in between to ensure a good contact.



Preliminary data

Please, note that this drawings correspond to version 1.0.0 for the Titan. The version 1.1.0 has a height
increase of 4 mm from the drawings below.



TITAN GO Product Manual|Dimensions and assembly

INGENIA |08/09/2017 37

All dimensions are inmm. All tolerances≤ ±0.2 mm.

7.2 Assembly Instructions

The assembly of the plate to a cooling surface is essential to achieve desired performance. Due to the dimensions of
the plate, it is essential that the thermal pad is thick and soft enough to compensate the flexing during assembly.
Thermal grease is not recommended. Next are some thermal interface materials suitable for the Titan.

TITAN GO Product Manual|Dimensions and assembly

INGENIA |08/09/2017 38

7.2.1 Thermal interface material

Manufacturer Part Number and

description

Thickness
before
compression

Thermal
conductivit
y

Estimated thermal
resistance plate to
heatsink

Laird
Technologies

A15896-02

TFLEX 7209X9"

0.50 mm 5.0 W/m·K 0.003 K/W

Laird
Technologies

A15896-04

TFLEX 740 9X9

1.00 mm 5.0 W/m·K 0.005 K/W

Bergquist GPHC5.0-0.020-02-08160.51 mm 5.0 W/m·K 0.003 K/W

Bergquist GPHC5.0-0.040-02-08161.02 mm 5.0 W/m·K 0.005 K/W

t-Global
Technology

H48-6A-320-320-0.5-1A0.50 mm 4.0 W/m·K 0.004 K/W

t-Global
Technology

H48-6A-320-320-1.0-1
A

Adhesive one side

1.02 mm 4.0 W/m·K 0.006 K/W

7.2.2

Screw assembly

Screw the plate evenly. Apply a torque that guarantees pressure on all the surface and does not bend the aluminum
plate. Recommended screw size is M8. Use stainless steel good quality screws. The maximum screw torque is 9 Nm.
Higher torque will not result in better heat transfer as the plate would bend and pressure would not be well

applied.

Spring washers are a must in order to guarantee long term pressure.

M8 screw

Description M8 allen screw, 20 mm length

TITAN GO Product Manual|Dimensions and assembly

INGENIA |08/09/2017 39

14 http://es.farnell.com/duratool/d00829/crinkle-washer-s-s-m8/dp/1614006?CMP=GRHB-OCTOPART

Image

Part number RS-Pro 232-8344

Distributor codes RS232-8344

Crinkle washer

Description M8 stainless steel crinkle washer

Image

Part number Duratool D00829

Distributor codes

Farnell1614006

14

TITAN GO Product Manual|Application Software

INGENIA |08/09/2017 40

15 http://ingeniamc.com/software#motionlab
16 http://ingeniamc.com/software#mclib
17 http://doc.ingeniamc.com/display/TR/Connectors+Guide
18 http://ingeniamc.com/software#ardulib

8 Application Software

8.1 Configuration

To connect, configure, tune your motor or upgrade the firmware of the Titan Go, install IngeniaMotion

Lab15suite.The software package includes USB drivers.

8.2 Applications

If you want to make your own application to communicate with the Titan Goand develop standalone or multiaxis
systemsyou can use the multi-platform libraryMCLIB16.

8.3 Arduino

To start an Arduino based project easily,connect using the serialRS485 port17of the Titan Goand use our Arduino
LibraryArdulib18.

Keep the firmware updated

Before configuring your drive for a new application make sure you have upgraded to the latest firmware
revision.



INGENIA-CAT S.L.

8-14 MARIE CURIE, ADVANCED
INDUSTRY PARK

08042 BARCELONA

9 Service

We are committed to quality customer service. In order to serve in the most effective way, please open a ticket on
our service desk at www.ingeniamc.com/supportor contact your local sales representative for assistance.

If you are unaware of your local sales representative, please contact the Customer Support.

Spain

INGENIA

HEADQUARTERS www.ingeniamc.com [e-mail]
France A2V www.a2v.fr [e-mail]
Germany MACCON GMBH www.maccon.de [e-mail]
India MPAGS www.mapgs.com [e-mail]
Israel MEDITAL www.medital.co.il [e-mail]
Italy SERVOTECNICA SPA www.servotecnica.com [e-mail]
Norway ELECTRO DRIVES AS www.electro-drives.no [e-mail]

Portugal

MECÂNICA

MORDERNA www.mecmod.com/pt [e-mail]
Russia AVI SOLUTIONS www.avi-solutions.com [e-mail]
Singapore I-MOTION www.imotionasia.com [e-mail]
South Korea SERVOSTAR www.servostar.co.kr [e-mail]
South Korea ALLTEK www.alltek.co.kr [e-mail]

Spain

MECANICA

MORDERNA www.mecmod.com/es [e-mail]
Spain GIZATECH www.gizatech.eu/ [e-mail]

Switzerland

ANTRIMON MOTION

AG www.antrimon.com [e-mail]
Turkey FEMSAN www.femsan.com [e-mail]
United

Kingdom

MOTION CONTROL

PRODUCTS www.motioncontrolproducts.com [e-mail]
United States NAMPRO www.namproinc.com [e-mail]
United States GROUP SIX www.grp6.com [e-mail]