NIX Product Manual Edition 05/29/2017 For the most up to date information visit the online manual. INGENIA-CAT S.L. 8-14 MARIE CURIE, ADVANCED INDUSTRY PARK 08042 BARCELONA 1 Table of Contents 1 Table of Contents 2 2 General Information 5 2.1 Manual revision history ..................................................................................................................................... 5 2.2 Disclaimers and limitations of liability ............................................................................................................. 5 2.3 Contact ............................................................................................................................................................... 6 3 Safety Information 7 3.1 About this manual.............................................................................................................................................. 7 3.2 Warnings............................................................................................................................................................. 7 3.3 Precautions ........................................................................................................................................................ 7 4 Product Description 8 4.1 Nix part numbering............................................................................................................................................ 8 4.2 Specifications................................................................................................................................................... 10 4.3 Hardware revisions .......................................................................................................................................... 14 4.4 Power and current ratings............................................................................................................................... 14 4.4.1 Power losses calculation (heat dissipation)................................................................................................... 15 4.4.2 Current ratings ................................................................................................................................................. 16 4.4.3 Dynamic application (non-constant current)................................................................................................. 18 4.4.4 System temperature ........................................................................................................................................ 18 4.4.5 Improving heat dissipation with a heatsink ................................................................................................... 19 4.5 Architecture...................................................................................................................................................... 20 5 Connectors Guide 22 5.1 Connectors position and pinout of Nix with onboard connectors (NIX-x/xx-y-C) ........................................ 22 5.1.1 Supply and shunt connector ........................................................................................................................... 24 5.1.2 Motor connector............................................................................................................................................... 26 5.1.3 Micro-Match connectors mating ..................................................................................................................... 28 5.1.3.1 Ribbon cable .................................................................................................................................................... 28 5.1.3.2 Multi-core crimped cable................................................................................................................................. 28 5.1.4 Feedback connector ........................................................................................................................................ 30 5.1.5 Absolute encoder connector ........................................................................................................................... 34 5.1.6 I/O connector ................................................................................................................................................... 37 5.1.7 USB connector ................................................................................................................................................. 41 5.1.8 CAN connector ................................................................................................................................................. 43 5.1.8.1 Cleverly wiring CAN buses from standard DB9 connectors ........................................................................... 45 5.1.9 RS485 interface connector ............................................................................................................................. 47 5.2 Connectors position and pinout of Nix with gold plated pin headers (NIX-x/xx-y-P)................................... 49 5.2.1 Integrating the Nix with pin headers on a PCB............................................................................................... 53 5.2.1.1 Dimensions....................................................................................................................................................... 53 5.2.1.2 Mating connectors ........................................................................................................................................... 55 5.3 Nix with Quick Connectors Board (NIX-x/xx-y-Q) ........................................................................................... 56 5.4 Connectors position and pinout of Nix with EtherCAT (NIX-x/xx-E-z)........................................................... 59 5.4.1 EtherCAT connectors ...................................................................................................................................... 61 6 Signalling LEDs 62 6.1 Power and operation signalling LEDs ............................................................................................................. 62 6.2 CAN signalling LEDs ......................................................................................................................................... 63 6.3 EtherCAT signalling LEDs................................................................................................................................. 64 7 Wiring and Connections 66 7.1 Protective earth ............................................................................................................................................... 66 7.2 Power supply.................................................................................................................................................... 69 7.2.1 Power supply requirements ............................................................................................................................ 69 7.2.2 Power supply connection................................................................................................................................ 70 7.2.3 Battery connection .......................................................................................................................................... 72 7.2.4 Connection of multiple drives with the same power supply ......................................................................... 73 7.2.5 Power supply wiring recommendations......................................................................................................... 73 7.2.5.1 Wire section...................................................................................................................................................... 73 7.2.5.2 Wire ferrules ..................................................................................................................................................... 74 7.2.5.3 Wire length ....................................................................................................................................................... 74 7.3 Motor and shunt braking resistor.................................................................................................................... 74 7.3.1 AC and DC brushless motors ........................................................................................................................... 74 7.3.2 DC motors and voice coils actuators .............................................................................................................. 76 7.3.3 Motor wiring recommendations ..................................................................................................................... 77 7.3.3.1 Wire section ..................................................................................................................................................... 77 7.3.3.2 Wire ferrules ..................................................................................................................................................... 77 7.3.3.3 Motor choke ..................................................................................................................................................... 78 7.3.3.4 Wire length ....................................................................................................................................................... 78 7.3.4 Shunt braking resistor ....................................................................................................................................