Product Description

Denali Safe NET

Functional Safety certified pluggable servo drive with EtherCAT communication.

DEN-S-NET-E

IN DESIGN

8 V_DC

60 V_DC

8 V_DC ~ 48 V_DC SELV

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

5 µF ± 30%

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

• 5V ± 3% V_DC , 3.3 ± 3% V_DC , and V_{magn_ct}

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

  • V_{magn_ct} can be 3.3 V ± 3% or 1.8 V ± 3% (maximum failure voltage 25 V)

• 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%.

During an overvoltage fault, system could become non-operational, but safety function is maintained.

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 70 ºC. 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

99.3% @ 20 kHz
98.5% @ 50 kHz
92.5% @ 100 kHz
78.1% @ 200 kHz

_{These values assume a Sinusoidal commutation and no load connected.}

1.43 W typ.

See details and conditions in Thermal and Power Specifications below

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.

Check Safe Feedback section.

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)

Magnetic and capacitive connections supported

• 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

• 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)

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.}

SIL3

PLe, Cat. 3

≤ 25 ms

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

• Safety over EtherCAT (FSoE) - ETG.5100 V1.2.0

• Safe Input

≤ 50 ms

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 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

IEC 60068-2

-20 ºC to +70 ºC

-20 ºC to +60 ºC

-40 ºC to +100 ºC

< 2000 m above sea level.

10 Hz to 150 Hz, 1 g

±5g Half-sine 30 msec 

Pollution degree 2 with an IP54 enclosure installation.

II

up to 93%, non-condensing at 60 ºC

up to 93%, non-condensing at 60 ºC

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.

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

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.}

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 (Configurable up to Drive limits):

  • DC bus over-voltage

  • DC bus under-voltage

  • Drive over-temperature

  • Drive under-temperature

  • Motor over-temperature (requires external sensor)

  • Current overload (I²t).

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

The configurable protections are configurable up to the drive limits. In any case when the limits are reached, the drive is completely switched off with the current reduced to 0.

• Motion Control protections:

  • Halls sequence / combination error

  • Limit switches

  • Velocity / Position following error

  • Velocity / Position out of limits

An overcurrent device in series (i.e. fuse or similar) is needed with a rating of maximum x3 of the max current of the motor on the system and a minimum voltage rating of 60V

Consider Vbus overshoots and reinjections to dimension the protection accordingly.

CANopen over EtherCAT (CoE)

File over EtherCAT (FoE)

Ethernet over EtherCAT (EoE)

Failsafe over EtherCAT (FSoE)

Magnetic and capacitive connections supported

33 mm x 17.6 mm x 9.5 mm

7 g

• CE Marking (Certification pending)

• LVD: Low voltage directive (2014/35/EU) (Certification pending)

• EMC: Electromagnetic Compatibility Directive (2014/30/EU) (Certification pending) 

• Safety: Machinery Directive (2006/42/EC) (Certification pending)

• RoHS 3: Restriction of Hazardous Substances Directive (2011/65/UE + 2015/863/EU) (Certification pending)

• IEC 61800-3:2017 (Certification pending)

• IEC 61000-6-2:2016 (Certification pending)

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

See section Functional Safety Specifications

IEC 60068-2:

• EN 60068-2-1:2007 - Test A: Cold

• EN 60068-2-2:2007 - Test B: Dry heat

• EN 60068-2-78:2013 - Test Cab: Damp heat, steady-state

• EN 60068-2-6:2008 - Test Fc

• EN 60068-2-27:2009 - Shock

8 V

< 1.4 W

_{The measurement includes:}

• _{0.018 W corresponding to 5V}

• _{1.23 W corresponding to 3.3 V}

• _{0.11 W corresponding to Vmagn_ct = 1.8V}

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

0.007 W

0.01 W

0.03 W

0.07 W

48 V

0.13 W

0.32 W

0.63 W

1.25 W

60 V

0.19 W

0.46 W

0.92 W

1.83 W

20 kHz

20 kHz

20 kHz

50 kHz

50 kHz

25 kHz

100 kHz

50 kHz

25 kHz

200kHz

50 kHz

25 kHz