Denali Safe EVAL - Product Description

Denali EVAL

DEN-S-EVAL-E

PRODUCTION

8 V_DC

60 V_DC

8 V_DC ~ 48 V_DC

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

19.7 µF

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

4 s

500 ms

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 the output power is calculated.

Rotary brushless (SVPWM and Trapezoidal)

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 BP3)

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

The following feedback protocols are supported and can be used outside of the Functional Safety certification:

• EnDAT 2.2

• SSI

Network communication: EtherCAT with Safety over EtherCAT (FSoE)

• CANopen over EtherCAT (CoE)

• File over EtherCAT (FoE)

• Ethernet over EtherCAT (EoE)

• Failsafe over EtherCAT (FSoE)

• 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

Combination code → MotionLab selection

Main feedback sensor

Redundant feedback sensor

FBC0 → No feedback

-

-

FBC1 → Primary absolute and secondary absolute

BISS-C BP3 - Port 1

BISS-C BP3 - Port 2

FBC2 → Primary absolute and incremental encoder

BISS-C BP3 - Port 1

QEI

FBC3 → Secondary absolute and halls

BISS-C BP3 - Port 2

Digital Halls 

FBC4 → Incremental encoder and halls

QEI

Digital Halls 

2x non-isolated single-ended digital inputs - 3.3 V logic level & 5 V compatible. 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, short-circuit protected. Can be configured as:

• General purpose

• Operation enabled event flag

• External shunt braking resistor driving signal

• Health flag

2x ±11 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 buffered analog output:

• Max. current: 1 mA (Output resistance ~ 55 Ω).

• Short-circuit protected

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

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

• 1 x Redundant Safe Input. Non-Isolated. Logic level (3.3 V and 5 V tolerant). Active-low.

1x dedicated, 3.3 V, 12-bit, single-ended analog input for motor temperature (1.65 kΩ pull-up to 3.3 V included).

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

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

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

20 kHz

20 kHz

20 kHz

50 kHz

50 kHz

25 kHz

100 kHz

50 kHz

25 kHz

200 kHz

50 kHz

25 kHz