Denali Safe EVAL - Product Description

Denali Safe EVAL is a mid-power, highly integrated, ready-to-use digital servo drive. The drive includes all the required interface electronics and connectors and can be easily configured with free software MotionLab 3.

Denali Safe EVAL is designated as an evaluation product and is strictly for evaluation purposes for the Denali Safe NET drive. It is not approved for final application or production use.

Denali Safe EVAL is enabled with EtherCAT communications.

Main features:

Ultra-small footprint
Functional Safety: STO, SS1, FSoE; SIL3 and PLe certified
48 V_DC, 5 A continuous
Up to 99% efficiency
Up to 50 kHz current loop, 25 kHz servo loops
20 kHz ~ 200 kHz PWM frequency
16 bit ADC current sensing
Supports Digital Halls, Quadrature Incremental encoder, Absolute BiSS-C encoder
Up to 4 simultaneous feedback sources
Full voltage, current, and temperature protections
Capable of controlling low inductance motors

Part Numbering

Product	Ordering part number	Status	Image
Denali EVAL	DEN-S-EVAL-E	PRODUCTION

General Label Identification

Specifications

Electrical and Power Specifications

Minimum absolute power supply voltage	8 V_DC
Maximum absolute power supply voltage	60 V_DC
Recommended power supply voltage	8 V_DC ~ 48 V_DC This voltage range ensures a safety margin including power supply tolerances and regulation during acceleration and braking.
Internal drive DC bus capacitance	19.7 µF _{Note that DEN-XCR uses ceramic capacitors. The capacitance value varies with DC bias and temperature.}
Boot-up time	4 s
Minimum shutdown time	500 ms
Maximum continuous phase current	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.
Maximum peak phase current	10 A @ 1 sec Notice that peak current could be limited by an automatic current derating algorithm.
Maximum continuous output power	> 250 W How the output power is calculated.

Motion Control Specifications

Supported motor types	Rotary brushless (SVPWM and Trapezoidal)
Power stage PWM frequency (configurable)	20 kHz, 50 kHz (default), 100 kHz, 200 kHz
Current sensing	3 phase, shunt-based current sensing. 16 bit ADC resolution. Accuracy is ±2% full scale.
Current sense resolution	0.505 mA/counts
Current sense range	± 16.5 Apk (full range)
Maximum Current loop frequency	50 kHz _{Check the}_{Power Stage & Control loops relationship}_{section below.}
Maximum servo loops frequency (position, velocity & commutation)	25 kHz _{Check the}_{Power Stage & Control loops relationship}_{section below.}
Feedbacks	Digital Halls (Single-ended) Quadrature / Incremental encoder (RS-422 or Single-ended) Absolute Encoder (BISS-C BP3) (RS-422 or Single-ended): up to 2 at the same time The following feedback protocols are supported and can be used outside of the Functional Safety certification (Phase 2): SSI
Supported target sources	Network communication: EtherCAT with Safety over EtherCAT (FSoE)
EtherCAT	CANopen over EtherCAT (CoE) File over EtherCAT (FoE) Ethernet over EtherCAT (EoE) Failsafe over EtherCAT (FSoE)
Control modes	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

Functional Safety Specifications

Denali Safe EVAL is designated as an evaluation product and is strictly for evaluation purposes for the Denali Safe NET drive. It is not approved for final application or production use.

The section below shows the Function Safety Specifications of Denali Safe NET.

Product Description

	DEN-S-NET-E Safe Communication (already implemented)	DEN-S-NET-E Safe Motion (future release)
Safety functions	Fail-safe over EtherCAT (FSoE) Safe Torque Off (STO) Safe Stop 1 time controlled (SS1-t) Safe Input (SI)	Fail-safe over EtherCAT (FSoE) Safe Torque Off (STO) Safe Stop 1 time controlled (SS1-t) Safe Input (SI) Safe Stop 1 ramp monitored (SS1-r) Safe Stop 2 time controlled (SS2-t) Safe Stop 2 ramp monitored (SS2-r) Safe Operating Stop (SOS) Safe Acceleration Range (SAR) Safely-limited speed (SLS) Safe Speed Range (SSR) Safely-limited Position (SLP) Safely-limited Increment (SLI) Safe Direction (SDI) Safe Velocity (SV) Safe Position (SP)
Safe Feedback	Not Supported	Safe Feedback with the combination of 2 individual encoders: Digital Halls QEI Absolute Encoder - BISS-C BP3 _See_{Safe Feedback Combinations (DEN-S-NET Safe Motion - future release)}_{for further details.}
Safety Integrity Level (SIL) according to IEC 61508:2010	SIL3
Performance Level (PL) according to ISO 13849-1:2015	PLe, Cat. 3
Safety Function Reaction Time	≤ 25 ms
Safe inputs	1 x Redundant Safe Input. Non-Isolated. Logic level (3.3 V and 5 V tolerant). Active-low.
Command Source	Safety over EtherCAT (FSoE) - ETG.5100 V1.2.0 Safe Input
FSoE cycle time	≤ 50 ms
Standards compliance	Targeted standards (certification pending): EN 61800-5-2:2017 EN IEC 62061:2021 EN 61508:2010 EN ISO 13849-1:2015 EN 61784-3:2021

Safe Feedback Combinations (DEN-NET-E Safe Motion - future release)

Denali Safe EVAL is designated as an evaluation product and is strictly for evaluation purposes for the Denali Safe NET drive. It is not approved for final application or production use.

The section below is relevant to the future implementation of the Denali Safe NET drive offering Safe Motion features.

Denali Safe NET can provide advanced Safe Motion functions by using two individual non-certified encoders:

Feedback Combination		DEN-S-NET-E Safe Communication (already implemented)	DEN-S-NET-E Safe Motion (future release)
Safe Feedback 1	Safe Feedback 2	Safety Functions allowed
-	-	STO, SS1-t and SI	STO, SS1-t and SI
BISS-C BP3 - Port 1	BISS-C BP3 - Port 2	N/A	STO, SS1-t and SI Safe Velocity Functions: SS1-r, SAR, SLS, SSR, SDI, SV Safe Position Functions: SS2-r, SS2-t, SOS, SLP, SLI, SP
BISS-C BP3 - Port 1	QEI	N/A	STO, SS1-t and SI Safe Velocity Functions: SS1-r, SAR, SLS, SSR, SDI, SV Safe Position Functions: SS2-r, SS2-t, SOS, SLP, SLI, SP
Digital Halls	BISS-C BP3 - Port 2	N/A	STO, SS1-t and SI Safe Velocity Functions: SS1-r, SAR, SLS, SSR, SDI, SV Safe Position Functions: SS2-r, SS2-t, SOS, SLP, SLI, SP
Digital Halls	QEI	N/A	STO, SS1-t and SI Safe Velocity Functions: SS1-r, SAR, SLS, SSR, SDI, SV Safe Position Functions: SS2-r, SS2-t, SOS, SLP, SLI, SP

Inputs/Outputs and Protections

General purpose inputs and outputs	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
Shunt braking resistor output	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.}
Safe Inputs	1 x Redundant Safe Input. Non-Isolated. Logic level (3.3 V and 5 V tolerant). Active-low.
Motor temperature input	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.
Protections	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

Compliance

EC Directives	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)
Electromagnetic Compatibility (EMC) Standards	EN 61800-3:2018 Category C3
Product Safety Standard	IEC/EN 61800-5-1: Adjustable speed electrical power drive systems - Safety requirements - Electrical, thermal and energy
Environmental Test methods	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

Power Stage & Control loops relationship

The power stage PWM frequency can be adjusted in 4 different frequencies. Each frequency has an associated rate for the control loops, as specified in the following table.

Power stage PWM frequency	Current loop frequency	Servo loops frequency (position, velocity, commutation & shunt)
20 kHz	20 kHz	20 kHz
50 kHz	50 kHz	25 kHz
100 kHz	50 kHz	25 kHz
200 kHz	50 kHz	25 kHz