Product Description

Denali NET EtherCAT

Pluggable servo drive with with EtherCAT communication.

DEN-NET-E

PRODUCTION

Denali NET CANopen

Pluggable servo drive with with CANopen communication.

DEN-NET-C

PRODUCTION

5 V_DC

60 V_DC

6 V_DC ~ 48 V_DC

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

5.5 µF ± 30%

Note that DEN-NET uses ceramic capacitors. The capacitance value varies with DC bias and temperature.

5 V_DC , 3.3 V_DC and V_{magn_ct}

• It is required the additional supply of V_{magn_ct} (supply for the magnetics center tap, MAGNETICS_CT pin).

  • V_{magn_ct} can be 3.3 V or 1.8 V (reduces power consumption by 100 mW). 

• Power sequencing

  • 3.3 V should be powered up before or together with 5V

  • V_{magn_ct} should be powered after 3.3 V (Delay < 100 ms)

• Power up ramps should be between 20 mV/µs and 100 mV/µs

• The maximum allowed tolerances for logic supplies is ± 3%.

4 s

500 ms

3.3 V ± 0.2%, 10 mA source / sink capability

5 A

5 A can be obtained working at 48 V with an appropriate dissipation to keep the product plate under 85 ºC. On higher temperatures an automatic current derating will be applied to protect the system. See Thermal and Power Specifications below and Installation for further details.

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

10 A @ 1 sec

Notice that peak current could be limited by an automatic current derating algorithm.

> 250 W

How to calculate the output power of a Servo Drive

TBD

99.3% @ 20 kHz

98.5% @ 50 kHz

92.5% @ 100 kHz

78.1% @ 200 kHz

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

• 1.3 W typ. for EtherCAT version (DEN-NET-E)

• 1.1 W typ. for CANopen version (DEN-NET-C)

See details and conditions in Thermal and Power Specifications 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

0.505 mA/counts

± 16.5 Apk (full range)

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 

• 2x Absolute Encoder:

  • BiSS-C (up to 2 in daisy chain topology or simultaneously)

  • SSI (up to 2 simultaneous)

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

Not all the existing absolute encoders are supported. Contact a representative for further information.

Network communication (EtherCAT / CANopen)

• Cyclic Synchronous Position

• Cyclic Synchronous Velocity

• Cyclic Synchronous Torque

• Cyclic Synchronous Current

• Profile Position (trapezoidal & s-curves)

• Profile Velocity

• Interpolated Position (P, PT, PVT)

• Homing

2x 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

2x 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.

1x 0.3 V ~ 3 V, unbuffered analog output.

Dedicated 3.3 V digital output for Fault Signal status.

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.}

2x dedicated, non-isolated STO digital inputs (3.3 V and 5 V tolerant).

1x dedicated, 3.3 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.

• Hardcoded / hardwired Drive protections:

  • Automatic current derating on voltage, current and temperature

  • Short-circuit Phase to DC bus

  • Short-circuit Phase to GND

  • Short-circuit Phase to Phase

• Configurable protections:

  • DC bus over-voltage

  • DC bus under-voltage

  • Drive over-temperature

  • Drive under-temperature

  • Motor over-temperature (requires external sensor)

  • Current overload (I²t). Configurable up to Drive limits

  • Voltage mode over-current (with a closed current loop, protection effectiveness depends on the PID).

• Motion Control protections:

  • Halls sequence / combination error

  • Limit switches

  • Position following error

  • Velocity / Position out of limits

CANopen over EtherCAT (CoE)

File over EtherCAT (FoE)

Ethernet over EtherCAT (EoE)

Magnetic and capacitive connections supported

CiA-301, CiA-303, CiA-305, CiA-306 and CiA-402 (4.0) compliant.

125 kbps to 1 Mbps (default). Non-isolated. Termination resistor not included. 

_{Note: Ethernet port 1 can be used to configure the drive}

IEC 60068-2 (pending certification)

-20 ºC to 70 ºC

Check the Current Derating section below.

-20 ºC to 60 ºC

< 2000 m above sea level

10 Hz to 150 Hz, 1 g

±5g Half-sine 30 msec 

±5g Half-sine 30 msec

up to 93%, non-condensing at 60ºC

up to 93%, non-condensing at 60ºC

> 600.000 h 

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

33 mm x 17.6 mm x 6 mm

3.86 g

CE Marking

• 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)

• EN 61800-3:2018 Category C3

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

Safe Torque Off (STO) - Certification pending

• EN 61800-5-2:2017 : SIL3

• EN IEC 62061:2021 : SIL3

• EN ISO 13849-1:2015 : PLe Cat. 3

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

D

22 Sep 2022 

First commercial version

7 V

< 1.3 W

_{The measurement includes:}

• _{0.063 W corresponding to 5V}

• _{1.01 W corresponding to 3.3 V}

• _{0.22 W corresponding to Vmagn_ct = 1.8V}

_{The measurements DO NOT include 100 mW corresponding to ethernet magnetics, not included in the Denali NET.}

< 1.1 W

_{The measurement includes:}

• _{0.063 W corresponding to 5V}

• _{0.9 W corresponding to 3.3 V}

• _{0.135 W corresponding to Vmagn_ct = 1.8V}

0.006 W

0.015 W

0.028 W

0.055 W

24 V

0.050 W

0.115 W

0.223 W

0.436 W

48 V

0.16 W

0.36 W

0.69 W

1.35 W

20 kHz

20 kHz

20 kHz

50 kHz

50 kHz

25 kHz

100 kHz

50 kHz

25 kHz

200kHz

50 kHz

25 kHz