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
Triton Core	TRI-7/48-C-P	ON DEMAND
	TRI-4/48-C-P	OBSOLETE
	TRI-1/48-C-P	OBSOLETE
	TRI-7/48-E-P	OBSOLETE
	TRI-4/48-E-P	OBSOLETE
	TRI-1/48-E-P	OBSOLETE
Triton Go	TRI-7/48-C-C	ON DEMAND
	TRI-4/48-C-C	OBSOLETE
	TRI-1/48-C-C	OBSOLETE
	TRI-7/48-E-C	OBSOLETE
	TRI-4/48-E-C	OBSOLETE
	TRI-1/48-E-C	OBSOLETE

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
Nominal power supply voltage	+8 V_DC to +48 V_DC
Maximum continuous power supply voltage	50 V_DC
Transient peak voltage	65 V_DC @ 100 ms
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 A_RMS	3.33 A_RMS(with heatsink)	5.6 A_RMS (with heatsink)
Nominal phase continuous current (DC mode)	1 A_DC	5 A_DC(with heatsink)	6.3 A_DC(with heatsink)
Maximum phase peak current	1 A_DC(continuous)	5 A_DC (continuous, with heatsink)	8.5 A_DC (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 1.27 mm pin-to-pin pitch and 2.54 mm row-to-row separation.
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) It is recommended to install the SSI only firmware variant if absolute encoder SSI is used for commutation.
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: 1 x non-isolated Torque OFF dedicated digital input. 3.3 V levels, 5.5 V tolerant 6 x push-push LED outputs. See Signalling LEDs and Operational characteristics sections for more details. 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
V_BUS(CONT), V_LOGIC(CONT)	V_BUS or V_LOGIC to GND_P in continuous mode	-0.3	54	V
V_BUS(TRANS) ,V_LOGIC(TRANS)	V_BUS or V_LOGIC to GND_P in transient mode	-0.3	65	V
V_USB	USB_SUPPLY to GND_D	-0.3	5.5	V
V_PE(GND)	PE to GND_P	-250	250	V
V_PE(BUS)	PE to V_BUS	-250	250	V
V_3.3VPINS	3.3 V tolerant signal pins to GND_D *¹	-0.3	3.5	V
V_5VPINS	5 V tolerant signal pins to GND_D *²	-5.5	5.5	V
V_ECAT(LED)	LED_ECAT_LINKx to GND_D	-0.5	6.5	V
V_ECAT(BUS)	PHY0_x or PHY1_x to GND_D	-0.5	3.7	V
V_GND	GND_P to GND_D *³	0	0	V
I_PH(MAX)	Phase current short-circuit protection threshold *⁴	-13	13	A
T_OTP	Power stage built-in Over-Temperature Protection (Hardware) *⁵	—	150	ºC
T_STORAGE	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 T_A = 25 ºC, V_BUS = 48 V, f_SW = 20 kHz, 1.2 ºC/W heatsink attached, unless otherwise noted.

Input supply

Parameter		Conditions / Comments	MIN	TYP	MAX	UNIT
V_BUS	Power supply voltage range	Supply to power systems through pin V_BUS	8	—	48	V
V_LOGIC	Logic supply voltage range	Supply to logic systems through pin V_LOGIC	8	—	48	V
V_USB	USB supply voltage range	Supply to logic systems through pin	4.5	—	5.5	V
I_USB(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
C_BUS	Internal DC bus capacitance		16	20	24	µF
P_STB(CAN)	Standby power consumption (TRI-x/48-C-P)	Power stage disabled	—	—	1.5	W
P_STB(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
V_5V	+5V_D output voltage		4.75	5	5.25	V
V_3.3V	+3.3V_D output voltage		3.23	3.3	3.37	V
V_3.3VREF	+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
I_5V	+5V_D output current *¹		0	—	200	mA
I_3.3V	+3.3V_D output current *¹		0	—	50	mA
I_3.3VREF	+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
I_DC(TRI-1)	Continuous phase current in DC mode (TRI-1/48-y-P)	no heatsink required. Limited by ADC range.	-1	—	1	A_DC
I_TRA(TRI-1)	Continuous phase current in Trapezoidal mode (TRI-1/48-y-P)	no heatsink required. Limited by ADC range.	—	—	0.67	A_RMS
I_SIN(TRI-1)	Continuous phase current in Sinusoidal mode (TRI-1/48-y-P)	no heatsink required. Limited by ADC range.	—	—	0.71	A_RMS
I_DC(TRI-4)	Continuous phase current in DC mode (TRI-4/48-y-P)	Limited by ADC range.	-5	—	5	A_DC
I_TRA(TRI-4)	Continuous phase current in Trapezoidal mode (TRI-4/48-y-P)	Limited by ADC range.	—	—	3.33	A_RMS
I_SIN(TRI-4)	Continuous phase current in Sinusoidal mode (TRI-4/48-y-P)	Limited by ADC range.	—	—	3.54	A_RMS
I_DC(TRI-7)	Continuous phase current in DC mode (TRI-7/48-y-P)		-6.3	—	6.3	A_DC
I_TRA(TRI-7)	Continuous phase current in Trapezoidal mode (TRI-7/48-y-P)		—	—	5.6	A_RMS
I_SIN(TRI-7)	Continuous phase current in Sinusoidal mode (TRI-7/48-y-P)		—	—	5.6	A_RMS
I_PK(TRI-1)	Peak phase current (TRI-1/48-y-P)	Peak time = continuous. No heatsink required. Limited by ADC range.	-1	—	1	A_DC
I_PK(TRI-4)	Peak phase current (TRI-4/48-y-P)	Peak time = continuous. Limited by ADC range.	-5	—	5	A_DC
I_PK(TRI-7)	Peak phase current (TRI-7/48-y-P)	Peak time = 5 s	-8.5	—	8.5	A_DC
η_NOM	Efficiency	Phase current = 7 A_RMS	—	—	97	%

System monitoring

Parameter		MIN	TYP	MAX	UNIT
I_RANGE(TRI-1)	Phase current sensing range (TRI-1/48-y-P)	-1.02	—	1.02	A
I_RANGE(TRI-4)	Phase current sensing range (TRI-4/48-y-P)	-5.1	—	5.1	A
I_RANGE(TRI-7)	Phase current sensing range (TRI-7/48-y-P)	-12.7	—	12.7	A
I_SENSE(TRI-1)	Phase current sensing sensitivity (TRI-1/48-y-P)	—	1.99	—	mA/count
I_SENSE(TRI-4)	Phase current sensing sensitivity (TRI-4/48-y-P)	—	9.96	—	mA/count
I_SENSE(TRI-7)	Phase current sensing sensitivity (TRI-7/48-y-P)	—	24.8	—	mA/count
I_ERR	Phase current sensing tolerance (all part numbers)	—	±1	±2	%
V_MON	DC bus voltage reading range	0	—	73.6	V
V_ERR	DC bus voltage reading tolerance	—	±1	±3	%
T_ERR	Board temperature reading tolerance	—	—	±5	%

Protections

Parameter		Conditions / Comments	MIN	TYP	MAX	UNIT
V_USER	User-configurable over / under voltage protection limits		6	—	65	V
T_USER	User-configurable over / under temperature protection limits	Board temperature	-40	—	110	ºC
V_ESD(AIR)	Air discharge ESD protection voltage rating on all pins *¹	As in IEC 61000-4-2 Standard	—	—	±30	kV
V_ESD(CONTACT)	Contact discharge ESD protection voltage rating on all pins *¹	As in IEC 61000-4-2 Standard	—	—	±30	kV
P_ESD(POWER)	Power and Logic supplies ESD protection peak pulse power *²	T_A= 25 ºC, 10/1000 µs waveform	—	—	600	W
P_ESD(SIGNAL)	All signal pins ESD protection peak pulse power *³	T_A= 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
V_IH(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
V_IL(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
V_IH(5)	High-level input voltage (5 V tolerant inputs)	HALL_x and #TORQUE_OFF_IN pins	3.6	—	—	V
V_IL(5)	Low-level input voltage (5 V tolerant inputs)	HALL_x and #TORQUE_OFF_IN pins	—	—	0.8	V
V_IH(ECAT)	High-level input voltage (EtherCAT interface)	PHY0_RXDx and PHY1_RXDx pins	2	—	—	V
V_IL(ECAT)	Low-level input voltage (5 V tolerant inputs)	PHY0_RXDx and PHY1_RXDx pins	—	—	0.8	V
V_ANALOG	Analog inputs voltage range	ANALOG_IN_x and MOTOR_TEMP_IN	0	—	3.3	V
B_ANALOG	Analog inputs resolution	ANALOG_IN_x and MOTOR_TEMP_IN	—	12	—	bit
R_TERM	Differential encoder termination resistor	ENCODER_x+ to ENCODER_x-	—	220	—	Ω
I_IN(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
I_IN(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
V_OH	High-level voltage on output pins *¹	I_OUTPUT = 50 μA	2.3	—	—	V
V_OL	Low-level voltage on output pins *¹	I_OUTPUT = -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
V_OH(ECAT)	High-level voltage on PHY0_TXDx and PHY1_TXDx pins		2.4	—	—	V
V_OL(ECAT)	Low-level voltage on PHY0_TXDx and PHY1_TXDx pins		—	—	0.4	V
V_{OH(ECAT_LED)}	High-level voltage on LED_ECAT_LINKx pins	I_{ECAT_LED}= 50 μA	3.2	—	—	V
V_{OL(ECAT_LED)}	Low-level voltage on LED_ECAT_LINKx pins	I_{ECAT_LED}= -50 μA	—	—	0.1	V
I_{ECAT_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
f_SW	Default power stage switching frequency		—	20	—	kHz
f_SW(RANGE)	Power stage switching frequency configurable range *¹		20	—	80	kHz
f_TORQUE	Torque loop refresh frequency		—	10	—	kHz
f_SERVO	Position / velocity loops refresh frequency		—	1	—	kHz
f_ERR	Frequency tolerance	Over operating temperature range	—	—	±150	ppm
D_MAX	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	f_C(-3dB)	Max. sample rate
	Digital inputs.	INPUT_x	80 kHz	1 ksps
	High speed digital Inputs.	HS_INPUT_x	-	20 Msps
	Analog inputs.	ANALOG_IN_x	8 kHz	10 ksps
	Absolute encoder (SPI) chip select.	#ABS_ENCODER_CS	-	-
	Digital hall inputs *¹	HALL_x	159 kHz	10 ksps
	Analog hall inputs *¹	HALL_x	10 kHz	10 ksps
	Motor temperature input *²	MOTOR_TEMP_IN	0.8 kHz	10 ksps
	Torque Off input.	#TORQUE_OFF_IN	-	-
	Encoder broken wire protection input.	#BROKEN_WIRE_IN	-	1 ksps
	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
	UART and CAN interface.	UART_RX UART_TX CAN_TTL_RX	-	1 Mbps
	CAN transmitter line.	CAN_TTL_TX	-	1 Mbps
	EtherCAT interface.	PHY0_x and PHY1_x LED_ECAT_LINKx	-	100 Mbps (PHY0_x and PHY1_x)
	Absolute encoder (SPI) interface.	ABS_ENCODER_SDI ABS_ENCODER_SDO ABS_ENCODER_SCK	-	2 Mbps (SSI encoder max. 1 kHz)
	USB interface. Includes ESD protections.	USB_DATA+ USB_DATA-	-	12 Mbps
Equivalent circuit	Function	Associated pins	-	Max. output frequency
	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)
	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