INGENIA Jupiter JUP-20/80 User manual
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Installation Guide
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Author: INGENIA MOTION CONTROL
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i033-01-Jupiter Servo Drive
09-Sep-2015 17:31
http://doc.ingeniamc.com/display/JUP/Installation+Guide
Installation Guide
INGENIA MOTION CONTROL Confidential and proprietary information.
Unauthorized Copies Prohibited.
Page of 2 307
Table of Contents
1 Contents ________________________________________________________________________________________________________________________ 7
1.1 Safety Information ____________________________________________________________________________________________________________ 7
1.2 Product Description ___________________________________________________________________________________________________________ 7
1.3 Installation __________________________________________________________________________________________________________________ 7
1.4 Wiring and Connections _______________________________________________________________________________________________________ 7
1.5 Dimensions _________________________________________________________________________________________________________________ 8
2 Revision History __________________________________________________________________________________________________________________ 9
3 Preliminary notes ________________________________________________________________________________________________________________ 10
4 Disclaimers and limitations of liability ________________________________________________________________________________________________ 11
5 Safety Information _______________________________________________________________________________________________________________ 12
5.1 Warnings __________________________________________________________________________________________________________________ 12
5.2 Precautions ________________________________________________________________________________________________________________ 12
6 Product Description ______________________________________________________________________________________________________________ 14
6.1 Specifications ______________________________________________________________________________________________________________ 15
6.2 Power ratings ______________________________________________________________________________________________________________ 19
6.3 Jupiter power specifications ___________________________________________________________________________________________________ 21
6.3.1 Jupiter without cold plate _______________________________________________________________________________________________ 23
6.3.2 Jupiter with cold plate, choosing appropriate heatsink ________________________________________________________________________ 26
6.3.3 Dynamic applications with non constant current _____________________________________________________________________________ 29
6.4 Architecture ________________________________________________________________________________________________________________ 30
6.5 Hardware revisions __________________________________________________________________________________________________________ 32
6.6 Specifications ______________________________________________________________________________________________________________ 33
6.7 Power and current ratings _____________________________________________________________________________________________________ 38
6.7.1 Jupiter power specifications _____________________________________________________________________________________________ 39
6.8 Architecture ________________________________________________________________________________________________________________ 49
Installation Guide
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6.9 Hardware revisions __________________________________________________________________________________________________________ 51
7 Installation _____________________________________________________________________________________________________________________ 53
7.1 Installing the USB Driver ______________________________________________________________________________________________________ 53
7.1.1 Windows 8 Installation _________________________________________________________________________________________________ 55
7.2 Connectors position and pinout _________________________________________________________________________________________________ 57
7.2.1 CAN interface connector _______________________________________________________________________________________________ 60
7.2.2 Feedbacks connector __________________________________________________________________________________________________ 61
7.2.3 Absolute encoder connector ____________________________________________________________________________________________ 63
7.2.4 I/O connector ________________________________________________________________________________________________________ 64
7.2.5 RS232 interface connector _____________________________________________________________________________________________ 66
7.2.6 Supply and shunt connector ____________________________________________________________________________________________ 67
7.2.7 Supply, shunt and motor connector _______________________________________________________________________________________ 68
7.2.8 Motor connector ______________________________________________________________________________________________________ 69
7.2.9 STO connector _______________________________________________________________________________________________________ 70
7.2.10 Motor safety connector ________________________________________________________________________________________________ 71
7.2.11 USB connector ______________________________________________________________________________________________________ 71
7.2.12 CAN interface connector ______________________________________________________________________________________________ 73
7.2.13 Feedbacks connector _________________________________________________________________________________________________ 74
7.2.14 Absolute encoder connector ___________________________________________________________________________________________ 76
7.2.15 IO connector ________________________________________________________________________________________________________ 77
7.2.16 RS232 interface connector ____________________________________________________________________________________________ 79
7.2.17 Supply and shunt connector ___________________________________________________________________________________________ 80
7.2.18 High current connector ________________________________________________________________________________________________ 81
7.2.19 Motor connector _____________________________________________________________________________________________________ 82
7.2.20 STO connector ______________________________________________________________________________________________________ 82
7.2.21 Motor safety connector ________________________________________________________________________________________________ 83
7.2.22 USB connector ______________________________________________________________________________________________________ 84
7.3 Mating connectors ___________________________________________________________________________________________________________ 85
7.3.1 CAN interface mating connector _________________________________________________________________________________________ 85
7.3.2 Feedbacks mating connectors ___________________________________________________________________________________________ 87
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7.3.3 Absolute encoder mating connectors ______________________________________________________________________________________ 88
7.3.4 I/O mating connectors _________________________________________________________________________________________________ 89
7.3.5 RS232 mating connectors ______________________________________________________________________________________________ 91
7.3.6 Supply and shunt mating connector _______________________________________________________________________________________ 92
7.3.7 Motor mating connector ________________________________________________________________________________________________ 93
7.3.8 STO mating connector _________________________________________________________________________________________________ 94
7.3.9 Motor safety mating connector ___________________________________________________________________________________________ 95
7.3.10 USB mating connector ________________________________________________________________________________________________ 96
7.4 Signalling LEDs _____________________________________________________________________________________________________________ 96
7.4.1 Power and motor signalling LEDs ________________________________________________________________________________________ 98
7.4.2 CAN signalling LEDs __________________________________________________________________________________________________ 98
8 Wiring and Connections __________________________________________________________________________________________________________ 101
8.1 Power supply wiring ________________________________________________________________________________________________________ 101
8.1.1 Contents ___________________________________________________________________________________________________________ 101
8.1.2 Recommended power supply connection _________________________________________________________________________________ 102
8.1.3 Simplified battery supply connection _____________________________________________________________________________________ 105
8.1.4 Connection of multiple drivers __________________________________________________________________________________________ 106
8.1.5 Power supply wiring recommendations ___________________________________________________________________________________ 107
8.1.6 Recommended power supply connection _________________________________________________________________________________ 110
8.1.7 Simplified battery supply connection _____________________________________________________________________________________ 112
8.1.8 Connection of multiple drivers __________________________________________________________________________________________ 114
8.1.9 Power supply wiring recommendations ___________________________________________________________________________________ 115
8.2 Motor output wiring _________________________________________________________________________________________________________ 118
8.2.1 AC and DC Brushless motors __________________________________________________________________________________________ 119
8.2.2 DC motors and voice coil actuators ______________________________________________________________________________________ 120
8.2.3 Stepper motors ______________________________________________________________________________________________________ 121
8.2.4 External Shunt resistor ________________________________________________________________________________________________ 122
8.2.5 MOTOR WIRING RECOMMENDATIONS _________________________________________________________________________________ 135
8.2.6 AC and DC Brushless motors __________________________________________________________________________________________ 138
8.2.7 DC motors and voice coil actuators ______________________________________________________________________________________ 139
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8.2.8 Stepper motors ______________________________________________________________________________________________________ 140
8.2.9 External Shunt resistor ________________________________________________________________________________________________ 141
8.2.10 Safe Torque Off connection ___________________________________________________________________________________________ 145
8.2.11 Motor safety systems connection _______________________________________________________________________________________ 147
8.2.12 Motor wiring recommendations ________________________________________________________________________________________ 152
8.3 Feedback connections ______________________________________________________________________________________________________ 155
8.3.1 Position feedback interfaces ___________________________________________________________________________________________ 156
8.3.2 Velocity feedback interfaces ___________________________________________________________________________________________ 210
8.3.3 Feedback wiring recommendations ______________________________________________________________________________________ 213
8.4 IO connections ____________________________________________________________________________________________________________ 214
8.4.1 Contents ___________________________________________________________________________________________________________ 214
8.4.2 Low-speed (LS) single ended digital inputs interface ________________________________________________________________________ 215
8.4.3 High-speed (HS) digital inputs interface __________________________________________________________________________________ 218
8.4.4 Analog inputs interface _______________________________________________________________________________________________ 224
8.4.5 Digital outputs interface _______________________________________________________________________________________________ 229
8.4.6 Low-Speed (LS) single ended digital inputs interface ________________________________________________________________________ 235
8.4.7 High-Speed (HS) digital inputs interface __________________________________________________________________________________ 239
8.4.8 Analog inputs interface _______________________________________________________________________________________________ 245
8.4.9 Digital outputs interface _______________________________________________________________________________________________ 250
8.5 Command sources _________________________________________________________________________________________________________ 256
8.5.1 CONTENTS ________________________________________________________________________________________________________ 257
8.5.2 Network interface ____________________________________________________________________________________________________ 258
8.5.3 Standalone _________________________________________________________________________________________________________ 258
8.5.4 Analog input ________________________________________________________________________________________________________ 259
8.5.5 Step and direction ___________________________________________________________________________________________________ 260
8.5.6 PWM command _____________________________________________________________________________________________________ 262
8.5.7 Encoder following or Electronig gearing __________________________________________________________________________________ 267
8.5.8 Network interface ____________________________________________________________________________________________________ 269
8.5.9 Standalone _________________________________________________________________________________________________________ 270
8.5.10 Analog input _______________________________________________________________________________________________________ 270
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8.5.11 Step and direction (Pulse and direction) _________________________________________________________________________________ 272
8.5.12 PWM command ____________________________________________________________________________________________________ 274
8.5.13 Encoder following or electronic gearing __________________________________________________________________________________ 279
8.6 Communications ___________________________________________________________________________________________________________ 281
8.6.1 CAN interface _______________________________________________________________________________________________________ 282
8.6.2 USB interface _______________________________________________________________________________________________________ 285
8.6.3 RS232 interface _____________________________________________________________________________________________________ 286
8.6.4 RS485 interface _____________________________________________________________________________________________________ 291
9 Dimensions ___________________________________________________________________________________________________________________ 295
9.1 JUP-20/80 ________________________________________________________________________________________________________________ 295
9.2 JUP-50/80 ________________________________________________________________________________________________________________ 299
9.3 JUP-15/130 _______________________________________________________________________________________________________________ 301
9.4 JUP-35/130 _______________________________________________________________________________________________________________ 303
9.5 EtherCAT version __________________________________________________________________________________________________________ 305
Installation Guide
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1 Contents
1.1 Safety Information
1.2 Product Description
Specifications
Power and current ratings
Architecture
Hardware revisions
1.3 Installation
Installing the USB Driver
Connectors position and pinout
Mating connectors
Signalling LEDs
1.4 Wiring and Connections
Power supply wiring
Motor output wiring
Feedback connections
IO connections
Installation Guide
INGENIA MOTION CONTROL Confidential and proprietary information.
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Page of 9 307
2 Revision History
Revision Release Date Changes
1.0 May 2015 Private preliminary draft. Not for public use.
2.0 September 2015 First public manual.
Installation Guide
INGENIA MOTION CONTROL Confidential and proprietary information.
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Page of 10 307
3 Preliminary notes
A PDF version of this manual is available in the section.Downloads
Please refer to page for information on previous hardware revisions and changes.product hardware revisions
This manual suits for next models
3
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