Product Description

The Triton Core Servo Drive is an ultra-compact solution designed to be integrated in a motherboard or backplane as a component. It provides top performance, advanced networking and built-in safety, as well as a fully featured motion controller. The Triton can control multiple motor types and supports almost any feedback sensor including absolute serial encoders.

Its incredibly compact design includes multiple communication ports carrying CANopen protocol, and thus enabling a wide choice of interfacing methods. Its small form factor, its capability to operate up to 110 ºC and the bunch of features that come packed with it makes Triton a valid OEM for critical-size applications.

The Triton Servo Drive has been designed with efficiency in mind. It incorporates cutting-edge MOSFET technology as well as optimised control algorithms to provide the perfect trade-off between EMI and performance. 

Triton Servo Drive is provided with several general purpose inputs and outputs designed for 3.3 V TTL logic. By using these inputs and outputs it is possible to implement alarm signals, connect digital sensors, activate external devices (LEDs, actuators, solenoids, etc.). Some of the digital and analog inputs can also be used as command / target sources.

Triton part numbering

TritonCorePartNumber

Product Ordering part number Status Image
Triton Core TRI-7/48-C-P ACTIVE
TRI-4/48-C-P ACTIVE
TRI-1/48-C-P ACTIVE
TRI-7/48-E-P ACTIVE
TRI-4/48-E-P ACTIVE
TRI-1/48-E-P ACTIVE
Triton Go TRI-7/48-C-C ACTIVE
TRI-4/48-C-C ACTIVE
TRI-1/48-C-C ACTIVE
TRI-7/48-E-C ACTIVE
TRI-4/48-E-C ACTIVE
TRI-1/48-E-C ACTIVE

Specifications

A list of features of the Triton Core Servo Drive is shown next. For further details, please check the Operational characteristics section below.

Electrical and power specifications

Part number → TRI-1/48-y-P TRI-4/48-y-P TRI-7/48-y-P

Power supply voltage

+8 VDC to +48 VDC

Transient peak voltage 65 VDC
Internal DC bus capacitance 20 µF
Minimum motor inductance

200 µH
(Triton still can control motors with lower inductances. Check the Knowledge Base from Ingenia)

Nominal phase continuous current (BLDC mode)

0.67 ARMS

3.33 ARMS
(with heatsink)

5.6 ARMS
(with heatsink)

Nominal phase continuous current (DC mode)

1 ADC

5 ADC
(with heatsink)

6.3 ADC
(with heatsink)

Maximum phase peak current

1 ADC
(continuous)

5 ADC 
(continuous, with heatsink)

8.5 ADC 
(5 s, with heatsink)

Current sense range ± 1.02 A ± 5.10 A ± 12.7 A
Current sense resolution 1.99 mA/count 9.96 mA/count 24.8 mA/count
Shunt braking transistor Output for external shunt braking transistor activation.
Cold plate 1.5 mm aluminum sheet 6082-T6.
Power connectors Pin headers mm pitch
Standby power consumption

≤ 2.5 W (EtherCAT version TRI-x/48-E-P)

≤ 1.5 W (CAN version TRI-x/48-C-P)

Efficiency

>96% at the rated power and current

Motion control specifications

Part number → TRI-1/48-y-P TRI-4/48-y-P TRI-7/48-y-P
Motion control core Ingenia E-Core with EMCL2.

Supported motor types

  • Rotary brushless (trapezoidal and sinusoidal)
  • Linear brushless (trapezoidal and sinusoidal)
  • DC brushed
  • Rotary voice coil
  • Linear voice coil

Power stage PWM frequency

20 kHz (default)

80 kHz  (alternative PWM frequency, configurable)

Current sensing

Precision current sense on phases A, B.

(Phase C is generated digitally)

Accuracy is ± 1% full scale.

10 bit ADC resolution.

Sensors for commutation

(brushless motors)

  • Digital Halls (Trapezoidal)
  • Analog Halls (Sinusoidal / Trapezoidal)
  • Quad. Incremental encoder (Sinusoidal / Trapezoidal)
  • PWM encoder (Sinusoidal / Trapezoidal)
  • Analog potentiometer (Sinusoidal / Trapezoidal)
  • Sin-Cos encoder (Sinusoidal / Trapezoidal)
  • Absolute encoder SSI (over SPI) (Sinusoidal / Trapezoidal)
Sensors for servo loops
  • Digital Halls 
  • Analog Halls 
  • Quad. Incremental encoder
  • PWM encoder 
  • Analog potentiometer 
  • Sin-Cos encoder
  • Absolute encoder SSI (over SPI) 
  • DC tachometer

Supported target sources

  • Network communication – USB
  • Network communication – CANopen
  • Network communication – UART (3.3 V levels)
  • Network communication – EtherCAT
  • Standalone (execution from internal EEPROM memory)
  • Analog inputs
  • Step and Direction (Pulse and Direction)
  • PWM command
  • Encoder Following / Electronic Gearing

Inputs/outputs and protections

Part number → TRI-1/48-y-P TRI-4/48-y-P TRI-7/48-y-P
Inputs and outputs

General purpose:

  • 4 x non-isolated single-ended digital inputs. 3.3 V levels, 5.5 V tolerant
  • 2 x non-isolated high speed differential digital inputs. 3.3 V levels, 5.5 V tolerant
  • 2 x single-ended analog inputs. 12 bits, 0 V to 3.3 V range, 5.5 V tolerant
  • 5 x push-pull digital outputs. 3.3 V levels, 5.5 V tolerant.

Dedicated:

Output supplies:

  • 1 x 5 V output supply for powering external circuitry (up to 200 mA)
  • 1 x 3.3 V output supply for powering external circuitry (up to 50 mA)

Protections

  • User configurable:
    • DC bus over-voltage
    • DC bus under-voltage
    • Drive over-temperature
    • Drive under-temperature
    • Over-current
    • Overload (I2t)
  • Short-circuit protections: 
    • Phase to DC bus
    • Phase to phase
    • Phase to GND
  • Mechanical limits for homing functions
  • Hall sequence/combination error
  • Encoder broken wire input (for use along external circuitry)
  • ESD protections in all inputs, outputs, feedbacks and communications
  • EMI protections (noise filters) in all inputs and feedbacks
  • High power transient voltage suppressor for short braking (600 W peak TVS diode)
  • Can drive an external power braking resistor in case of re-injection by means of an external switched element.
Motor brake Motor brake output (by means of an external switched element) through digital outputs.

Communications

Part number → TRI-x/48-C-P TRI-x/48-E-P
USB USB 2.0. The board can be supplied from USB for configuration purposes but will not power the motor.
Serial UART (3.3 V levels, by default: 115200 bps, 8 data bits, no parity, 1 stop bit, no flux control)
CANopen

Available at 3.3 V levels, non-isolated. RX and TX pins shall be connected to external CAN transceiver (default baud rate is 1 Mbps).

CiA-301, CiA-303, CiA-305, CiA-306 and CiA-402 compliant. 

-
EtherCAT -

Available (magnetics are not included)

Environmental and mechanical specifications

Part number →

TRI-x/48-C-P TRI-x/48-E-P
Cold plate temperature
  • -40 ºC to +85 ºC full current (with appropriate heatsink)
  • +85 ºC to +110 ºC derated current
Maximum humidity 5% - 85% non-condensing
Horizontal dimensions 43 mm x 43 mm
Body height 8.64 mm
Pin length 7.24 mm
Weight 22 g 26

Hardware revisions 

Hardware revision

Individual board references

Description and changes

1.0.0

August 2016

i039-01H1-1.0.0

i039-01H2-1.0.0

First product release.

1.1.0

November 2016

i039-01H1-1.1.0

i039-01H2-1.0.0

Changed product current range naming (current resolution and range is exactly the same as before)

  • TRI-0.5/48 becomes TRI-1/48
  • TRI-2/48 becomes TRI-4/48
  • TRI-8/48 becomes TRI-7/48

Features added:

  • Analog Halls feedback
  • Analog (Sin-Cos) encoder feedback

Identifying the hardware revision

Hardware revision is screen printed on the board. 

Absolute maximum ratings

The following information represent the environmental and electrical limits of Triton Core. Notice this does not represent an operational conditions limit, but a limit before permanent damage or destruction. References to pin names and pin group names can be found in the Pinout section.

Over operating free-air temperature range unless otherwise noted.

Parameter MIN MAX UNIT
VBUS(CONT) , VLOGIC(CONT) V_BUS or V_LOGIC to GND_P in continuous mode -0.3 54 V
VBUS(TRANS) ,VLOGIC(TRANS) V_BUS or V_LOGIC to GND_P in transient mode -0.3 65 V
VUSB USB_SUPPLY to GND_D -0.3 5.5
V
VPE(GND) PE to GND_P -250 250 V
VPE(BUS) PE to V_BUS -250 250 V
V3.3VPINS

3.3 V tolerant signal pins to GND_D *1

-0.3 3.5 V
V5VPINS 5 V tolerant signal pins to GND_D *2 -5.5 5.5 V
VECAT(LED) LED_ECAT_LINKx to GND_D -0.5 6.5 V
VECAT(BUS) PHY0_x or PHY1_x to GND_D -0.5 3.7 V
VGND GND_P to GND_D *3 0 0 V
IPH(MAX) Phase current short-circuit protection threshold *4 -13 13 A
TOTP Power stage built-in Over-Temperature Protection (Hardware) *5 150 ºC
TSTORAGE Maximum storage temperature -40 125 ºC

Note 1: +3.3V_D, +3.3V_REF_OUT, ABS_ENCODER_x, #ABS_ENCODER_CS, USB_DATAx, SHUNT_DRIVE_OUT, UART_x, CAN_TTL_x

Note 2: +5V_D, INPUT_x, HS_INPUT_x, ANALOG_IN_x, ENCODER_x, OUTPUT_x, LED_x, #BROKEN_WIRE_IN, #TORQUE_OFF_IN, MOTOR_TEMP_IN, HALL_x

Note 3: GND_P and GND_D are internally connected on a single point. Please keep these nets separated on the interface board to prevent noise problems. 

Note 4: Absolute maximum current for all part numbers

Note 5: Absolute maximum junction temperature

Operational characteristics

The following information represent the recommended operation limits of Triton Core, among which its response will remain between known boundaries. References to pin names and pin group names can be found in the Pinout section.

For all the following characteristics TA = 25 ºC, VBUS = 48 V, fSW = 20 kHz, 1.2 ºC/W heatsink attached, unless otherwise noted.

Input supply

Parameter Conditions / Comments

MIN

TYP MAX UNIT
VBUS Power supply voltage range Supply to power systems through pin V_BUS 8 48 V
VLOGIC Logic supply voltage range Supply to logic systems through pin V_LOGIC 8 48 V
VUSB USB supply voltage range Supply to logic systems through pin 4.5 5.5 V
IUSB(CAN) USB supply current (TRI-x/48-C-P)

USB_SUPPLY = 5 V

Note that the ECAT version cannot be powered by USB only.


300
500
mA
 
CBUS Internal DC bus capacitance   16 20 24 µF
PSTB(CAN) Standby power consumption (TRI-x/48-C-P) Power stage disabled 1.5 W
PSTB(ECAT) Standby power consumption (TRI-x/48-E-P) Power stage disabled 2.5 W

Output supplies and voltage reference

Parameter Conditions / Comments MIN TYP MAX UNIT
V5V +5V_D output voltage   4.75  5 5.25 V
V3.3V +3.3V_D output voltage   3.23 3.3 3.37 V
V3.3VREF +3.3V_REF_OUT output voltage

Specified at full temperature range /

Typical error at 25ºC is ±0.2%.

 3.28
3.3
 3.32
V
I5V +5V_D output current *1    0   200 mA
I3.3V +3.3V_D output current *1    0   50 mA
I3.3VREF +3.3V_REF_OUT output current *1    0   10 mA

Note 1: Can withstand continuous short-circuit. Rearms after cool down time < 10 s. 

Output stage

Parameter Conditions / Comments MIN TYP MAX UNIT
IDC(TRI-1) Continuous phase current in DC mode (TRI-1/48-y-P) no heatsink required. Limited by ADC range. -1 —  1 ADC
ITRA(TRI-1) Continuous phase current in Trapezoidal mode (TRI-1/48-y-P) no heatsink required. Limited by ADC range.  —  — 0.67 ARMS
ISIN(TRI-1) Continuous phase current in Sinusoidal mode (TRI-1/48-y-P) no heatsink required. Limited by ADC range.  —  — 0.71 ARMS
IDC(TRI-4) Continuous phase current in DC mode (TRI-4/48-y-P) Limited by ADC range. -5  — 5 ADC
ITRA(TRI-4) Continuous phase current in Trapezoidal mode (TRI-4/48-y-P) Limited by ADC range.  —  — 3.33 ARMS
ISIN(TRI-4) Continuous phase current in Sinusoidal mode (TRI-4/48-y-P) Limited by ADC range.  —  — 3.54 ARMS
IDC(TRI-7) Continuous phase current in DC mode (TRI-7/48-y-P)   -6.3  — 6.3 ADC
ITRA(TRI-7) Continuous phase current in Trapezoidal mode (TRI-7/48-y-P)      — 5.6 ARMS
ISIN(TRI-7) Continuous phase current in Sinusoidal mode (TRI-7/48-y-P)       5.6 ARMS
IPK(TRI-1) Peak phase current (TRI-1/48-y-P)

Peak time = continuous.

No heatsink required. Limited by ADC range.

-1


1
ADC
IPK(TRI-4) Peak phase current (TRI-4/48-y-P) Peak time = continuous. Limited by ADC range. -5   5 ADC
IPK(TRI-7) Peak phase current (TRI-7/48-y-P) Peak time = 5 s -8.5   8.5 ADC
ηNOM Efficiency Phase current = 7 ARMS     97 %

System monitoring

Parameter Conditions / Comments MIN TYP MAX UNIT
IRANGE(TRI-1) Phase current sensing range (TRI-1/48-y-P)   -1.02   1.02 A
IRANGE(TRI-4) Phase current sensing range (TRI-4/48-y-P)   -5.1   5.1 A
IRANGE(TRI-7) Phase current sensing range (TRI-7/48-y-P)   -12.7   12.7 A
ISENSE(TRI-1) Phase current sensing sensitivity (TRI-1/48-y-P)     1.99   mA/count
ISENSE(TRI-4) Phase current sensing sensitivity (TRI-4/48-y-P)     9.96   mA/count
ISENSE(TRI-7) Phase current sensing sensitivity (TRI-7/48-y-P)     24.8   mA/count
IERR Phase current sensing tolerance (all part numbers)    
 ±1
 
±2
%
VMON DC bus voltage reading range   0   73.6 V
VERR DC bus voltage reading tolerance       ±1 ±3 %
TERR Board temperature reading tolerance         ±5 %

Protections

Parameter Conditions / Comments MIN TYP MAX UNIT
VUSER User-configurable over / under voltage protection limits   6 65 V
TUSER User-configurable over / under temperature protection limits Board temperature -40 110 ºC
VESD(AIR) Air discharge ESD protection voltage rating on all pins *1 As in IEC 61000-4-2 Standard    ±30 kV
VESD(CONTACT) Contact discharge ESD protection voltage rating on all pins *1 As in IEC 61000-4-2 Standard    ±30 kV
PESD(POWER) Power and Logic supplies ESD protection peak pulse power *2 TA = 25 ºC, 10/1000 µs waveform    600 W
PESD(SIGNAL) All signal pins ESD protection peak pulse power *3 TA = 25 ºC, 8/20μs waveform   

130
W

Note 1: Except CAN_TTL_x (Air and Contact discharge = ±8 kV) and PHY0_x or PHY1_x (Air discharge = ±16 kV, Contact discharge = ±10 kV), as per IEC 61000-4-2 Standard. Also, Power and Logic supplies use unidirectional ESD protections (Air and Contact discharge = +30 kV).

Note 2: Power supply and Logic supply have independent ESD protections.

Note 3: Except pins in Note 1. Pins 3.3 V_D, USB_SUP rate 260 W and pin 5V_D rate 520 W, under the same conditions.

Inputs

Parameter Conditions / Comments MIN TYP MAX UNIT
VIH(3.3) High-level input voltage (3.3 V tolerant inputs) 

INPUT_x, HS_INPUT_x, #BROKEN_WIRE_IN, UART_RX, CAN_TTL_RX and ABS_ENCODER_SDI pins

2.5 V
VIL(3.3) Low-level input voltage (3.3 V tolerant inputs) 

INPUT_x, HS_INPUT_x, #BROKEN_WIRE_IN, UART_RX, CAN_TTL_RX and ABS_ENCODER_SDI pins

0.6 V
VIH(5) High-level input voltage (5 V tolerant inputs) 

HALL_x and #TORQUE_OFF_IN pins

3.6 V
VIL(5) Low-level input voltage (5 V tolerant inputs)

HALL_x and #TORQUE_OFF_IN pins

0.8 V
VIH(ECAT) High-level input voltage (EtherCAT interface) PHY0_RXDx and PHY1_RXDx pins 2 V
VIL(ECAT) Low-level input voltage (5 V tolerant inputs) PHY0_RXDx and PHY1_RXDx pins 0.8 V
VANALOG Analog inputs voltage range ANALOG_IN_x and MOTOR_TEMP_IN 0 3.3 V
BANALOG Analog inputs resolution ANALOG_IN_x and MOTOR_TEMP_IN 12 bit
RTERM Differential encoder termination resistor ENCODER_x+ to ENCODER_x- 220 Ω
IIN(3.3V) 3.3 V tolerant pins input current INPUT_x, HS_INPUT_x, #BROKEN_WIRE_IN, UART_RX, CAN_TTL_RX and ABS_ENCODER_SDI pins
-5

5
mA
IIN(5V) 5 V tolerant pins input current HALL_x and #TORQUE_OFF_IN pins
-3.2 3.2 mA

Outputs

Parameter Conditions / Comments MIN TYP MAX UNIT
VOH High-level voltage on output pins *1

IOUTPUT = 50 μA

2.3     V
VOL Low-level voltage on output pins *1

IOUTPUT = -50 μA

    0.5 V
IOUT(3.3V) Output current on 3.3 V tolerant pins *2   -5   5 mA
IOUT(5V) Output current on 5 V tolerant pins *3 
-2   2 mA
VOH(ECAT) High-level voltage on PHY0_TXDx and PHY1_TXDx pins   2.4
 
 
V
VOL(ECAT) Low-level voltage on PHY0_TXDx and PHY1_TXDx pins       0.4 V
VOH(ECAT_LED) High-level voltage on LED_ECAT_LINKx pins IECAT_LED = 50 μA 3.2     V
VOL(ECAT_LED) Low-level voltage on LED_ECAT_LINKx pins IECAT_LED = -50 μA     0.1 V
IECAT_LED LED_ECAT_LINKx pins output current   -8   8  mA

Note 1: Applies to pins OUTPUT_x, SHUNT_DRIVE_OUT, UART_TX, CAN_TTL_TX, #ABS_ENCODER_CS, ABS_ENCODER_SDO, ABS_ENCODER_SCK, LED_CAN_RUN / LED_ECAT_RUN, LED_CAN_ERROR / LED_ECAT_ERROR, LED_FAULT/#OK

Note 2: Applies to pins SHUNT_DRIVE_OUT, UART_TX, CAN_TTL_TX, ABS_ENCODER_x, #ABS_ENCODER_CS, USB_DATAx

Note 3: Applies to pins OUTPUT_x, LED_CAN_RUN / LED_ECAT_RUN, LED_CAN_ERROR / LED_ECAT_ERROR, LED_FAULT/#OK

Motion

Parameter Conditions / Comments MIN TYP MAX UNIT
fSW Default power stage switching frequency     20   kHz
fSW(RANGE) Power stage switching frequency configurable range *1   20   80 kHz
fTORQUE Torque loop refresh frequency     10   kHz
fSERVO Position / velocity loops refresh frequency     1   kHz
fERR Frequency tolerance Over operating temperature range  
 
±150
ppm
DMAX Maximum DC Bus utilisation (duty)     95   %

Note 1: Switching frequencies different from default are provided only under demand.

Equivalent circuits

Equivalent circuit Function Associated pins fC (-3dB) Max. sample rate
TritonDigitalInputs Digital inputs. INPUT_x
 
80 kHz 
 
 
1 ksps 
 
TritonHighSpeedDigitalInputs High speed digital Inputs. HS_INPUT_x - 20 Msps
TritonAnalogInputs Analog inputs. ANALOG_IN_x 8 kHz 10 ksps
TritonAbsoluteEncoderCS  Absolute encoder (SPI) chip select.  #ABS_ENCODER_CS  -  -
TritonDigitalHalls Digital hall inputs *1 HALL_x 159 kHz 10 ksps
TritonAnalogHalls Analog hall inputs *1

HALL_x

10 kHz 10 ksps
TritonMotorTemperatureInput Motor temperature input *2 MOTOR_TEMP_IN 0.8 kHz 10 ksps
TritonTorqueOffInput Torque Off input. #TORQUE_OFF_IN - -
TritonEncoderBrokenWireInput

Encoder broken wire protection input.

#BROKEN_WIRE_IN - 1 ksps
TritonDigitalAnalogEncoder Analog and digital encoder inputs. *3 ENCODER_x

6 MHz

(Firmware glitch filter up to 30 MHz)

10 ksps
Equivalent circuit Function Associated pins   Max. baud rate
TritonUARTCAN UART and CAN interface.

UART_RX

UART_TX

CAN_TTL_RX

- 1 Mbps
TritonCANTx CAN transmitter line. CAN_TTL_TX - 1 Mbps
TritonECAT EtherCAT interface.

PHY0_x and PHY1_x

LED_ECAT_LINKx

-

100 Mbps

(PHY0_x and PHY1_x)

TritonAbsencSPI Absolute encoder (SPI) interface.

ABS_ENCODER_SDI

ABS_ENCODER_SDO

ABS_ENCODER_SCK

-

2 Mbps

(SSI encoder max. 1 kHz)

TritonUSBElectrical

USB interface. Includes ESD protections.

USB_DATA+

USB_DATA-

- 12 Mbps
Equivalent circuit Function Associated pins - Max. output frequency
TritonDigitalLEDout  Digital & LED outputs. Active high at 3.3V.

OUTPUT_x

LED_CAN_RUN / LED_ECAT_RUN

LED_CAN_ERROR / LED_ECAT_ERROR

LED_FAULT/#OK

-

1 kHz

(only OUTPUT_x pins)

TritonShuntControlOut Shunt braking transistor output. Use a logic level power MOSFET to connect an external braking resistor *4

SHUNT_DRIVE_OUT

-

20 kHz

Note 1: Digital halls and Analog halls share the same input pins. The pull-up resistor is only enabled when Digital halls are selected as feedback source.

Note 2: The 967.7 Ω pull-up resistor can be set to 30 kΩ to improve sensing a PTC thermistor of a higher nominal resistance. Contact Ingenia Support for more info.

Note 3: Analog and Digital encoder share the same input pins. In any case, differential encoders use both positive and negative terminals, while single-ended encoders only use the positive terminal. See the Pinout section for more information.

Note 4: It is recommended to set the braking resistor PWM duty to 100 %. In this case, the switching frequency depends on the characteristics of the re-injection or braking action itself.

Architecture

This diagram represent the main hardware elements of Triton Core, and how they relate to each other.

TritonCoreArchitectureDiagram