Product Description

Capitan CORE

Pluggable servo drive with communication through proprietary Motion Control Bus protocol.

60 V_DC (continuous)

12 V_DC ~ 48 V_DC

_{This voltage range ensures a safety margin including power supply tolerances and regulation during acceleration and braking.}

17 µF

_{Note that CAP-CORE uses ceramic capacitors. The capacitance value varies with DC bias and temperature.}

4.9 V_DC ~ 5.1 V_DC

_{A minimum of 500 mA should be provided. Higher current may be needed depending on the feedbacks used.}

_{Rise time of the 5 V supply must be < 5 ms}

10 A

_{Typically, 10 A can be obtained working at 48 V, 50 kHz with an appropriate cooling to keep case temperature under 85 ºC. On higher temperatures an automatic current derating will be applied to protect the system. See Product Description#Thermal and Power Specifications below.}

_{For disambiguation on current definitions please see Disambiguation on current values and naming for Ingenia Drives.} 

20 A @ 1 sec

_{Notice that peak current could be limited by an automatic current derating algorithm. In order to get 20 A, case temperature should be kept below 60 ºC.}

• Without heatsink: 1 A @ 25 ºC
• With heatsink: 1 A @ 85 ºC

_{Notice that maximum current is dependent on temperature and heatsink attached. At higher temperature, the lower the current. For more information about heatsink applied, see Product Description#Thermal and Power Specifications below.}

_{A continuous use of disabled power stage as rectifier is not recommended for thermal limitations.}

_{How the output power is calculated in an Ingenia drive.}

Up to 99%

99.5% @ 20 kHz

98.9% @ 50 kHz

97.95% @ 100 kHz

96% @ 200 kHz

_{Note 1: these values assume a Sinusoidal commutation and no load connected.}

~ 1 W typ.

_{See details and conditions in the section below.}

• Rotary brushless (SVPWM and Trapezoidal)
• Rotary brushed (DC)

20 kHz, 50 kHz (default), 100 kHz, 200 kHz

3 phase, shunt-based current sensing. 16 bit ADC resolution. Accuracy is ±2% full scale

1.007 mA/counts

± 33 A

50 kHz

_{Check the Power Stage & Control loops relationship section below.}

25 kHz

_{Check the Power Stage & Control loops relationship section below.}

• Digital Halls
• Quadrature / Incremental encoder
• Absolute Encoder: up to 2 at the same time, combining any of the following:
  • BiSS-C (up to 2 in daisy chain topology)
  • SSI

All feedback inputs are single-ended, 3.3 V logic levels.

_{*Not all the existing absolute encoders are supported. Contact Ingenia for further information.}

• Cyclic Synchronous Position
• Cyclic Synchronous Velocity
• Cyclic Synchronous Current
• Profile Position (trapezoidal & s-curves)
• Profile Velocity
• Interpolated Position (P, PT, PVT)
• Homing

4x non-isolated single-ended digital inputs - 3.3 V logic level. Can be configured as:

• General purpose
• Positive or negative homing switch
• Positive or negative limit switch
• Quick stop input
• Halt input

4x non-isolated single-ended digital outputs - 3.3 V logic level, 3 mA max. sink / source current. Can be configured as:

• General purpose
• Operation enabled event flag
• External shunt braking resistor driving signal
• Health flag

2x ±3.3 V ,16-bit, differential analog inputs for load cells or torque sensors. Can be read by the Master to close a torque loop.

Configurable over any of the digital outputs (see above).

_{Enabling this function would require an external transistor or power driver.
The update rate of this output is synchronous to the servo loops frequency.}

Dedicated, PWM-capable, 3.3 V digital output for driving a mechanical brake. Turn-on and turn-off times are configurable.

_{Enabling this function would require an external transistor or power driver.}

1x dedicated, 5 V, 12-bit, single-ended analog input for measuring motor temperature.

NTC, PTC, RTD, linear voltage sensors , silicon-based sensors and thermal switches are supported.

Proprietary Motion Control Bus protocol based on SPI.

-20 ºC to +85 ºC

_{Check the Current Derating section below.}

-40 ºC to +100 ºC

> 650.000 h 

_{Based on FIDES method for Standard Life Profile at 40 °C average. Other scenarios available on demand.}

Basic insulation according to IEC 61800-5-1.

> 200 MΩ. Measured between PE (case) and GND_P and +SUP and phases.

_{Note: The drive includes 2 nF EMC capacitance between the power supply negative (GND_P) and the enclosure (PE).}

10.30 mm (including Mezzanine connector)

14.59 mm (including full length of the power pins)

CE Marking

• LVD: Low voltage directive (2014/35/EU)
• EMC: Electromagnetic Compatibility Directive (2014/30/EU) 
• Safety: Machinery Directive (2006/42/EC)
• RoHS 3: Restriction of Hazardous Substances Directive (2011/65/UE + 2015/863/EU)

• IEC 61800-3:2017
• IEC 61000-6-2:2016

• IEC/EN 61800-5-1: Adjustable speed electrical power drive systems - Safety requirements - Electrical, thermal and energy

Safe Torque Off (STO)

• IEC 61800-5-2:2016 : SIL3
• IEC 61508:2010 : SIL3
• EN ISO 13849-1:2015 : PLe Cat. 3

See Safety Manual - Safe Torque Off (STO) section for mandatory Integration Requirements.

IEC 60068-2:

• IEC 60068-2-1:2007: Test Ad, Cold
• IEC 60068-2-2:2007: Test Be, Dry Heat
• IEC 60068-2-38:2009: Test Z/AD, Composite temperature / humidity cyclic
• IEC 60068-2-78:2012: Test Cab, Damp heat, steady state
• IEC 60068-2-6:2007: Test Fc: Vibration (sinusoidal)
• IEC 60068-2-27:2008: Test Ea: Shock