INGENIA Triton Core User manual

INGENIA-CAT S.L.
8-14 MARIE CURIE, ADVANCED INDUSTRY PARK
08042 BARCELONA
Triton Core Product Manual
Edition 05/29/2017
For the most up to date information visit the online manual.

1 Table of Contents
1 Table of Contents 2
2 General Information 3
2.1 Manual revision history ........................................................................................................................................ 3
2.2 Disclaimers and limitations of liability ................................................................................................................ 3
2.3 Contact .................................................................................................................................................................. 3
3 Safety Information 5
3.1 About this manual................................................................................................................................................. 5
3.2 Warnings................................................................................................................................................................ 5
3.3 Precautions ........................................................................................................................................................... 5
4 Product Description 6
4.1 Triton part numbering .......................................................................................................................................... 6
4.2 Specifications........................................................................................................................................................ 8
4.3 Hardware revisions ............................................................................................................................................ 12
4.4 Absolute maximum ratings ................................................................................................................................ 13
4.5 Operational characteristics ................................................................................................................................ 14
4.5.1 Input supply ........................................................................................................................................................ 14
4.5.2 Output supplies and voltage reference ............................................................................................................. 15
4.5.3 Output stage........................................................................................................................................................ 15
4.5.4 System monitoring ............................................................................................................................................. 16
4.5.5 Protections .......................................................................................................................................................... 17
4.5.6 Inputs................................................................................................................................................................... 18
4.5.7 Outputs................................................................................................................................................................ 19
4.5.8 Motion.................................................................................................................................................................. 19
4.6 Equivalent circuits .............................................................................................................................................. 20
4.7 Architecture......................................................................................................................................................... 22
5 Pinout 25
6 Signalling LEDs 31
6.1 Power and operation signalling LED outputs.................................................................................................... 31
6.2 CAN signalling LED outputs (only TRI-x/48-C-P)................................................................................................ 32
6.3 EtherCAT signalling LED outputs (only TRI-x/48-E-P) ....................................................................................... 33
7 Product Dimensions 35
7.1 Triton Core with CAN (TRI-x/48-C-P) .................................................................................................................. 35
7.2 Triton Core with EtherCAT (TRI-x/48-E-P).......................................................................................................... 36
8 Application Software 38
8.1 Configuration ...................................................................................................................................................... 38
8.2 Applications......................................................................................................................................................... 38
8.3 Arduino ................................................................................................................................................................ 38
9 Service 39

Triton Core Product Manual|General Information
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1 http://doc.ingeniamc.com/download/attachments/58654728/Triton%20Core%20Product%20Manual%20v1.pdf?
api=v2&modificationDate=1487976169754&version=1
2 http://doc.ingeniamc.com/triton/manuals/triton-core-product-manual
2General Information
2.1 Manual revision history
Revision Release Date Changes PDF
v1 February 2017 Preliminary draft. Download1
v2 May 2017 Improved PDF export format.
For the most up to date information use the onlineProduct Manual2. The PDF manual is generated only after
major changes.
Please refer toproduct hardware revisions (see page 12)for information on previous hardware revisions and
changes.
2.2 Disclaimers and limitations of liability
The information contained within this document contains proprietary information belonging toINGENIA-CAT
S.L..
Such information is supplied solely for the purpose of assisting users of the product in its installation.
INGENIA-CAT S.L.rejects all liability for errors or omissions in the information or the product or in other
documents mentioned in this document.
The text and graphics included in this document are for the purpose of illustration and reference only. The
specifications on which they are based are subject to change without notice.
This document may contain technical or other types of inaccuracies.The information contained within this
document is subject to change without notice and should not be construed as a commitment byINGENIA-CAT
S.L..INGENIA-CAT S.L.assumes no responsibility for any errors that may appear in this document.
Some countries do not allow the limitation or exclusion of liability for accidental or consequential damages,
meaning that the limits or exclusions stated above may not be valid in some cases.
2.3 Contact
INGENIA-CAT S.L.
8-14 Marie Curie
Advanced Industry Park
08042 Barcelona
Spain

Triton Core Product Manual|General Information
INGENIA |05/29/2017 4
3 mailto:[email protected]
4 http://www.ingeniamc.com/
Telephone: [phone]
E-mail:[email protected]3
Web site:www.ingeniamc.com4

Triton Core Product Manual|Safety Information
INGENIA |05/29/2017 5
3 Safety Information
3.1 About this manual
Read carefully this chapter to raise your awareness of potential risks and hazards when working with the Triton
Servo Drive.
To ensure maximum safety in operating the Triton Servo Drive, it is essential to follow the procedures included
in this guide. This information is provided to protect users and their working area when using the Triton Servo
Drive, as well as other hardware that may be connected to it. Please read this chapter carefully before starting
the installation process.
3.2 Warnings
The following statements should be considered to avoid serious injury to those individuals performing the
procedures and/or damage to the equipment:
•To prevent the formation of electric arcs, as well as dangers to personnel and electrical contacts, never
connect/disconnect the Triton Servo Drive while the power supply is on.
•Disconnect the Triton Servo Drive from all power sources before proceeding with any possible wiring
change.
•After turning off the power and disconnecting the equipment power source, wait at least 10 seconds
before touching any parts of the controller that are electrically charged or hot.
3.3 Precautions
The following statements should be considered to avoid serious injury to those individuals performing the
procedures and/or damage to the equipment:
•The Triton Servo Drive components temperature may exceed 100 ºC during operation.
• Some components become electrically charged during and after operation.
•The power supply connected to this controller should comply with the parameters specified in this
document.
• When connecting the Triton Servo Drive to an approvedpower source, do so through a line that is
separate from any possible dangerous voltages, using the necessary insulation in accordance with safety
standards.
•High-performance motion control equipment can move rapidly with very high forces. Unexpected
motion may occur especially during product commissioning. Keep clear of any operational machinery
and never touch them while they are working.
•Do not make any connections to any internal circuitry. Only connections to designated connectors are
allowed.
•All service and maintenance must be performed by qualified personnel.
•Before turning on the Triton Servo Drive, check that all safety precautions have been followed, as well as
the installation procedures.

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5 http://doc.ingeniamc.com/display/EMCL/CANopen+protocol
4 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 protocol5, 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.
4.1 Triton part numbering

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

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6 http://doc.ingeniamc.com/display/TR/Triton+Go+Product+Manual
7 http://doc.ingeniamc.com/display/KB/Motor+inductance+effects+on+servo+drives
Triton Go6TRI-7/48-C-C
TRI-4/48-C-C
TRI-1/48-C-C
TRI-7/48-E-C
TRI-4/48-E-C
TRI-1/48-E-C
4.2 Specifications
A list of features of the Triton Core Servo Drive is shown next. For further details, please check the Operational
characteristics (see page 14)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 Base7from Ingenia)
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE

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8 http://doc.ingeniamc.com/display/EMCL/0x2020+-+Enable+alternative+frequency+PWM
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
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, configurable8)
Current sensing Precision current sense on phases A, B.
(Phase C is generated digitally)
Accuracy is ± 1% full scale.
10 bit ADC resolution.

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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

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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
•6 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 (see page 31) and
Operational characteristics (see page 14) 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.

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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
4.3 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.

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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
4.4 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 (see page 25)section.
Over operating free-air temperature range unless otherwise noted.
Parameter MIN MAX UNI
T
VBUS(CONT) ,
VLOGIC(CONT)
V_BUS or V_LOGIC to GND_P in continuous
mode
-0.3 54 V
VBUS(TRANS) ,VLOGIC(TRA
NS)
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 *30 0 V
Identifying the hardware revision
Hardware revision is screen printed on the board.


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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
4.5 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 (see page 25)section.
For all the following characteristics TA=25 ºC, VBUS= 48 V, fSW= 20 kHz, 1.2 ºC/W heatsink attached, unless
otherwise noted.
4.5.1 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
VLOGI
C
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

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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
4.5.2 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
V3.3V
REF
+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
I3.3VR
EF
+3.3V_REF_OUT
output current *1
0 — 10 mA
Note 1:Can withstand continuous short-circuit. Rearms after cool down time < 10 s.
4.5.3 Output stage
Parameter Conditions /
Comments
MIN TYP MA
X
UNI
T
IDC(T
RI-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.
— — 0.6
7
ARM
S
ISIN(T
RI-1)
Continuous phase current in
Sinusoidal mode (TRI-1/48-y-P)
no heatsink required.
Limited by ADC range.
— — 0.7
1
ARM
S
IDC(T
RI-4)
Continuous phase current in DC
mode (TRI-4/48-y-P)
Limited by ADC range. -5 — 5 ADC

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ITRA(
TRI-4)
Continuous phase current in
Trapezoidal mode (TRI-4/48-y-P)
Limited by ADC range. — — 3.3
3
ARM
S
ISIN(T
RI-4)
Continuous phase current in
Sinusoidal mode (TRI-4/48-y-P)
Limited by ADC range. — — 3.5
4
ARM
S
IDC(T
RI-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 ARM
S
ISIN(T
RI-7)
Continuous phase current in
Sinusoidal mode (TRI-7/48-y-P)
— — 5.6 ARM
S
IPK(T
RI-1)
Peak phase current (TRI-1/48-y-
P) Peak time = continuous.
No heatsink required.
Limited by ADC range.
-1 —1 ADC
IPK(T
RI-4)
Peak phase current (TRI-4/48-y-
P)
Peak time =
continuous. Limited by
ADC range.
-5 — 5 ADC
IPK(T
RI-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 %
4.5.4 System monitoring
Parameter Conditions /
Comments
MIN TYP MAX UNIT
IRANGE(T
RI-1)
Phase current sensing range
(TRI-1/48-y-P)
-1.02 — 1.02 A
IRANGE(T
RI-4)
Phase current sensing range
(TRI-4/48-y-P)
-5.1 — 5.1 A
IRANGE(T
RI-7)
Phase current sensing range
(TRI-7/48-y-P)
-12.7 — 12.7 A
ISENSE(T
RI-1)
Phase current sensing
sensitivity (TRI-1/48-y-P)
— 1.99 — mA/
count
ISENSE(T
RI-4)
Phase current sensing
sensitivity (TRI-4/48-y-P)
— 9.96 — mA/
count
ISENSE(T
RI-7)
Phase current sensing
sensitivity (TRI-7/48-y-P)
— 24.8 — mA/
count

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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 %
4.5.5 Protections
Parameter Conditions /
Comments
MIN TY
P
MA
X
UNI
T
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(AI
R)
Air discharge ESD protection
voltage rating on all pins *1
As in IEC
61000-4-2
Standard
— — ±30 kV
VESD(C
ONTACT
)
Contact discharge ESD protection
voltage rating on all pins *1
As in IEC
61000-4-2
Standard
— — ±30 kV
PESD(P
OWER)
Power and Logic supplies ESD
protection peak pulse power *2
TA = 25 ºC,
10/1000 µs
waveform
— — 600 W
PESD(SI
GNAL)
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.

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4.5.6 Inputs
Parameter Conditions / Comments MI
N
TY
P
MA
X
UN
IT
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(EC
AT)
High-level input
voltage (EtherCAT
interface)
PHY0_RXDx and PHY1_RXDx pins 2 — — V
VIL(EC
AT)
Low-level input
voltage (5 V tolerant
inputs)
PHY0_RXDx and PHY1_RXDx pins — — 0.8 V
VANAL
OG
Analog inputs
voltage range
ANALOG_IN_x and
MOTOR_TEMP_IN
0—3.3 V
BANAL
OG
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

Triton Core Product Manual|Product Description
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4.5.7 Outputs
Parameter Conditions /
Comments
MIN TYP MAX UNI
T
VOH High-level voltage on output
pins *1
IOUTPUT = 50 μA2.3 — — 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(5
V)
Output current on 5 V tolerant
pins *3
-2 — 2 mA
VOH(EC
AT)
High-level voltage on
PHY0_TXDx and PHY1_TXDx
pins
2.4 — — V
VOL(EC
AT)
Low-level voltage on
PHY0_TXDx and PHY1_TXDx
pins
— — 0.4 V
VOH(EC
AT_LED)
High-level voltage on
LED_ECAT_LINKx pins
IECAT_LED = 50
μA
3.2 — — V
VOL(EC
AT_LED)
Low-level voltage on
LED_ECAT_LINKx pins
IECAT_LED = -50
μA
— — 0.1 V
IECAT_L
ED
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
4.5.8 Motion
Parameter Conditions /
Comments
MIN TYP MAX UNIT
fSW Default power stage switching
frequency
— 20 — kHz

Triton Core Product Manual|Product Description
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fSW(RA
NGE)
Power stage switching frequency
configurable range *1
20 — 80 kHz
fTORQ
UE
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.
4.6 Equivalent circuits
Equivalent circuit Function Associated
pins
fC (-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_ENCO
DER_CS
- -
Digital hall inputs *1HALL_x 159 kHz 10 ksps