INGENIA Titan GO User manual

INGENIA-CAT S.L.
C/ ÁVILA 124, 2ºB
08018 BARCELONA
TITAN GO Product Manual
Edition 2022-07-14 08:35:14
For the most up to date information visit the online manual.

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 ............................................................................................................................................................... 5
3 Safety Information 6
3.1 About this manual.............................................................................................................................................. 6
3.2 Warnings............................................................................................................................................................. 6
3.3 Precautions ........................................................................................................................................................ 6
4 Product Description 7
4.1 Titan part numbering......................................................................................................................................... 7
4.2 Hardware revisions .......................................................................................................................................... 12
4.3 Power and current ratings............................................................................................................................... 13
4.3.1 Power losses calculation (heat dissipation) ................................................................................................... 14
4.3.2 Current ratings ................................................................................................................................................. 15
4.3.3 Maximizing heat dissipation with a heatsink.................................................................................................. 16
4.4 Architecture...................................................................................................................................................... 17
4.4.1 Power stage and supply architecture ............................................................................................................. 18
5 Connectors Guide 20
5.1 Supply, shunt and motor terminals ................................................................................................................ 20
5.2 Ring terminals and screws............................................................................................................................... 22
5.3 Micro Fit 3.0 connectors mating...................................................................................................................... 23
5.4 P1: Aux supply connector ................................................................................................................................ 24
5.5 P2: Communications and IOs connector ........................................................................................................26
5.6 P3: Safe torque off connector.......................................................................................................................... 29
5.7 P4: Digital halls and motor temperature connector ...................................................................................... 30
5.8 P5: USB connector ........................................................................................................................................... 32
5.9 P6: Encoder connector..................................................................................................................................... 33
5.10 P7: Resolver ...................................................................................................................................................... 35
5.11 P8: Absolute Encoder....................................................................................................................................... 37
6 Signalling LEDs 39
6.1 Power and operation signalling LEDs .............................................................................................................40
6.2 CAN signalling LEDs .........................................................................................................................................41
6.3 Resolver status LEDs........................................................................................................................................ 42
6.3.1 Resolver LEDs ................................................................................................................................................... 42
6.3.2 Adjusting the resolver...................................................................................................................................... 43
7 Wiring and Connections 44
7.1 Protective earth................................................................................................................................................ 45

7.1.1 Reducing EMI susceptibility............................................................................................................................. 45
7.1.2 Earth plane reference ......................................................................................................................................45
7.2 Power supply.................................................................................................................................................... 48
7.2.1 Power supply requirements ............................................................................................................................48
7.2.2 Power supply connection................................................................................................................................ 48
7.2.3 Battery supply connection .............................................................................................................................. 49
7.2.4 Dual supply connection................................................................................................................................... 50
7.2.5 Connection of multiple drives with the same power supply ......................................................................... 51
7.2.6 Power supply wiring recommendations......................................................................................................... 52
7.2.6.1 Wire section ...................................................................................................................................................... 52
7.2.6.2 Wire length ....................................................................................................................................................... 52
7.2.6.3 Supply protection ............................................................................................................................................ 52
7.2.7 Logic power supply.......................................................................................................................................... 53
7.3 DC bus bulk capacitance ................................................................................................................................. 54
7.4 Motor and shunt braking resistor.................................................................................................................... 57
7.4.1 AC and DC brushless motors ...........................................................................................................................57
7.4.2 DC motors and voice coils actuators............................................................................................................... 58
7.4.3 Motor wiring recommendations...................................................................................................................... 59
7.4.3.1 Wire section ...................................................................................................................................................... 59
7.4.3.2 Motor choke...................................................................................................................................................... 59
7.4.3.3 Wire length ....................................................................................................................................................... 60
7.4.4 Shunt braking resistor ..................................................................................................................................... 60
7.5 Feedback connections..................................................................................................................................... 62
7.5.1 Digital Halls interface....................................................................................................................................... 62
7.5.2 Digital Incremental Encoder............................................................................................................................ 64
7.5.3 Absolute encoder interface ............................................................................................................................. 66
7.5.4 Analog encoder (Sin-Cos encoder) interface.................................................................................................. 68
7.5.5 Resolver interface ............................................................................................................................................ 70
7.5.5.1 Resolver Gain.................................................................................................................................................... 72
7.5.5.2 Configuring the resolver .................................................................................................................................. 72
7.5.6 Digital input feedback - PWM encoder............................................................................................................ 73
7.5.7 Analog input feedback..................................................................................................................................... 74
7.5.7.1 Potentiometer.................................................................................................................................................. 74
7.5.7.2 DC tachometer ................................................................................................................................................. 74
7.5.8 Feedback wiring recommendations ...............................................................................................................75
7.5.8.1 Recommendations for applications witch close feedback and motor lines.................................................75
7.6 I/O connections ................................................................................................................................................ 77
7.6.1 Low-speed and High-speed single ended digital inputs interface (GPI1, GPI2, GPI3, HS_GPI1, HS_GPI2) . 77
7.6.2 Analog inputs interface (AN_IN1).................................................................................................................... 79
7.6.3 Digital outputs interface (GPO1) .....................................................................................................................81

7.6.3.1 Wiring of 3.3 V loads......................................................................................................................................... 81
7.6.4 Motor temperature input (MOTOR_TEMP) .....................................................................................................82
7.7 Command sources ........................................................................................................................................... 84
7.7.1 Network communication interface................................................................................................................. 84
7.7.2 Standalone ....................................................................................................................................................... 84
7.7.3 Analog input ..................................................................................................................................................... 85
7.7.4 Step and direction............................................................................................................................................ 85
7.7.5 PWM command ................................................................................................................................................ 86
7.7.5.1 Single input mode............................................................................................................................................ 86
7.7.5.2 Dual input mode............................................................................................................................................... 87
7.7.6 Encoder following or electronic gearing......................................................................................................... 88
7.8 Communications.............................................................................................................................................. 90
7.8.1 USB interface.................................................................................................................................................... 90
7.8.1.1 USB wiring recommendations ........................................................................................................................ 90
7.8.2 RS485 interface ................................................................................................................................................ 91
7.8.2.1 Multi-point connection using daisy chain....................................................................................................... 92
7.8.3 CANopen interface ........................................................................................................................................... 93
7.8.3.1 CAN interface for PC.........................................................................................................................................95
7.8.3.2 CAN wiring recommendations ........................................................................................................................ 96
7.9 Safe Torque Off (STO) ......................................................................................................................................97
7.9.1 Fully independent STO channels .................................................................................................................... 98
7.9.2 STO status feedback output............................................................................................................................ 98
7.9.3 STO abnormal operation................................................................................................................................. 99
8 Dimensions and assembly 102
8.1 Titan Go Dimensions...................................................................................................................................... 102
8.2 Assembly Instructions.................................................................................................................................... 103
8.2.1 Heatsinks or cooling plates ...........................................................................................................................104
8.2.2 Thermal interface material............................................................................................................................ 104
8.2.3 Screw assembly.............................................................................................................................................. 105
9 Application Software 107
9.1 Configuration ................................................................................................................................................. 107
9.2 Applications.................................................................................................................................................... 107
9.3 Arduino ........................................................................................................................................................... 107
10 Service 108

TITAN GO Product Manual|General Information
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2 General Information
2.1 Manual revision history
Revision Release
Date
Changes
v1 May 2017 Preliminary draft. All the information in this version could change without notice.
v2 August 2017 Preliminary release. Added wiring guide, power ratings and updated mechanical
drawings.
v3 January
2018
Release version of the manual Includes changes according to product version
1.2.0.
v4 February
2020
Minor corrections. Added PDF automatic exporter. Download PDF
For the most up to date information use the onlineProduct Manual. Please refer to the producthardware
revisionspage 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.
C/ Avila 124, 2-B
08018 Barcelona
SPAIN
Telephone: [phone]
E-mail:[email protected]
Web site:www.ingeniamc.com

TITAN GO Product Manual|Safety Information
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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 Titan
Servo Drive.
To ensure maximum safety in operating the Titan 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 Titan 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:
The Titan Go has noenclosure and has high voltage live parts. Take precautions before commissioning or
touching it. Direct contact with live parts can cause serious injury or death. 
To prevent the formation of electric arcs, as well as dangers to personnel and electrical contacts, never
connect/disconnect the Titan Servo Drive while the power supply is on.
The Titan manages high electrical power and the motors will have high mechanical power. To
preventdamages to the setups or motors, always tune and start testing with low torque and current
limits. Never start a configuration or setup with unlimited current settings.
Disconnect the Titan 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 20 seconds before
touching any parts of the controller that are electrically charged or might be 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 Titan Servo Drive components temperature may exceed 150 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 Titan 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 Titan Servo Drive, check that all safety precautions have been followed, as well as the
installation procedures.

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4 Product Description
The Titan Go Servo Drive is a high power density solution providing top performance, advanced networking and
built-in hardware and firmware based safety, as well as a fully-featured motion controller. It can control multiple
motor types and supports almost any feedback sensor including absolute serial encoders and resolvers.
Its design includes multiple communication ports as CANopen, RS-485, USB all of them are electrically isolated.
The Titan Go Servo Drive has been designed with efficiency in mind. It incorporates cutting-edge power
semiconductor technology as well as optimized control algorithms to provide the perfect trade-off between
electromagnetic emissions and performance.
4.1 Titan part numbering
Ordering part number Status Image
TTN-150/200-C-C-CCMO -
TTN-100/400 -
PRODUCTION
OBSOLETE

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Specifications
A list of features of the Titan Go Servo Drive is shown next.
Electrical and power specifications
Part number →TTN-150/200 TTN-100/400
Power supply voltage 10 VDC to 200 VDC 10 VDC to 400 VDC
Auxiliary logic supply input
voltage range
10 VDC to 65 VDC
Standby logic supply
consumption
≤10 W
Transient peak voltage 220 VDC 450 VDC
DC bus capacitance 63 µF (+224 µF if CCMO version is chosen)
Minimum motor inductance 50 µH (for low inductance motors
use high PWM frequency mode)
50 µH
Nominal phase continuous
current (BLDC mode)
150 ARMS
(with heatsink)
65 ARMS
(with heatsink)
Nominal phase continuous
current (DC mode)
150 ADC 65 ADC
Maximum phase peak
current
250 ADC (1 s) 85 ADC (1 s)
Current sense range ± 457 A (Versions 1.0.0 and 1.1.0)
± 359 A (Version 1.2.0)
Current sense resolution 893 mA/count (Versions 1.0.0 and 1.1.0)
701.8 mA/count (Version 1.2.0)
Shunt braking transistorLow side shunt braking transistor on board. 100 A continuous braking current
capacity.

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Inrush current < 10 A at connection. Titan includes a 2 kΩDC bus capacitor precharge resistor
that limits the inrush. No need for external capacitor precharge circuits or
relays.
Cold plate 7 mm aluminum plate 6082-T6.
Power connectors Power ring terminals with M8 screws and washers included.
The maximum absolute screw torque is 9 Nm.
Do not exceed 9 Nm in any axis to the power connectors, take care of bus bars
and thick motor cables.
Efficiency >97% at the rated power and current.
Note that the 400 V 100 A version is more efficient at low load, while the 200 A
version is efficient at high load.
Motion control specifications
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 10 kHz (default)
20 kHz (alternative PWM frequency, configurable, preferred for low inductance
motors)
Current sensing Isolated current sense on phases A, B, and C.
Accuracy is ± 2% full scale. 10 bit ADC resolution.
Sensors for commutation
(brushless motors)
Digital Halls (Trapezoidal)
Digital Quadrature encoder (Sinusoidal / Trapezoidal)
PWM encoder (Sinusoidal / Trapezoidal)
Analog potentiometer (Sinusoidal / Trapezoidal)
Resolver (Sinusoidal)
Sensorless Mode (Sinusoidal)
Sin/Cos encoder (Sinusoidal). (from version 1.2.0)
Absolute encoder SSI(Sinusoidal / Trapezoidal)
Sensors for servo loops Digital Halls
Digital Quadrature encoder
Absolute encoder (SSI)
PWM encoder
Analog potentiometer
It is recommended to install the SSI only firmware variant if absolute
encoder SSI is used for commutation.


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DC tachometer
Resolver
Sin/Cos encoder (from version 1.2.0)
Supported target sources Network communication – USB(for configuration or in-house updates,
USB is not recommended for operation in field as it is a weak interface in
high power - high noise environments)
Network communication – CANopen
Network communication – RS-485
Standalone (execution from internal EEPROM memory)
Analog inputs
Step and Direction (Pulse and Direction)
PWM command
Encoder Following / Electronic Gearing
Resolver specifications Excitation voltage: Pure sine wave 3.8 Vrms10.8 Vp-p. It can work with
higher voltage rated resolvers as well.
Excitation frequency: 10 kHz
Resolver gain (transformation ratio): 0.5 ± 20% (default). Any other on
demand. Contact Ingenia.
Input differential resistance ~ 24 kΩ
Inputs/outputs and protections
General purpose Inputs and
outputs
5 x isolated single-ended digital inputs. GPI1, GPI2, GPI3, HS_GPI1,
HS_GPI2 (5 V TTL logic)
1 x isolated (±10 V) differential analog input (12 bits). AN_IN1
1 x isolated digital output. GPO1 (3.3V logic)
Dedicated Inputs and
outputs
2 x isolated Safe Torque Off inputs (24V level).
1 x isolated Safe Torque Off status feedback optocoupler output.
1 x motor temperature sensing input
Output Supplies 1 x 5 V output supply for powering external circuitry (up to 200 mA). Short
circuit protected, ±2% tolerance.
1 x 24 V output supply for external circuitry such as fans, relays or STO (up
to 400 mA). ±25% unregulated tolerance. Not short-circuit protected.
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 SUP+
Phase to SUP-
Phase to phase
Phase to Earth

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Mechanical limits for homing functions
Hall sequence/combination error
ESD protections in all inputs, outputs, feedbacks and communications
EMI protections (noise filters) in all inputs, outputs and feedbacks
Can drive an external power braking resistor in case of re-injection
Safe Torque Off 2 x STO inputs, 24 V isolated inputs (work from 15 V to 30 V). Redundant
topology with self-test features. Ready for SIL 3 reliability level but not
certified.
1 x STO feedback indication output for external self-verification circuit.
Minimum pulse width for Safe Torque Off activation (and power stage
shutdown): 14 ms
Minimum pulse width for STO feedback reaction: 1 ms.
Pulses < 1 ms can be used for safety PLCs but will be ignored. Pulses between
14 ms and 1 ms can be used for self test.
Motor Brake Not available.
Communications
USB MiniUSB (2.0) vertical connector. Fully isolated 2.5 kVRMS 1 min.
Serial RS-485 full-duplex (compatible with RS-422) isolated 2.5 kVRMS.
Default 115200 bps, 8 data bits, no parity, 1 stop bit, no flux control.
120 Ωterminations for TX and RX included on board with DIP switches.
TX+ and RX+ biased to +5 V with 4.7 kΩ. TX- and RX- biased to GND with 4.7 kΩ.
CANopen CANopen compliant with isolation (self powered, no need for external supply).
1 Mbps max (default).
120 Ωtermination included on board with a DIP switch. CiA-301, CiA-303,
CiA-305, CiA-306 and CiA-402 compliant.
EtherCAT -
Environmental and mechanical specifications
Part number →
Cold plate temperature -40ºC to +85ºC full current (with appropriate heatsink)
+85ºC to 110ºC derated current.

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Heat dissipation The maximum heat dissipation is 4 kW. Provide a heatsink according to
environment temperature and power rating. Heat dissipation is affected
mainly by the phase current and voltage.
In order to achieve the maximum power ratings, excellent heat transfer is
needed between the cold plate and a heatsink. Please see Dimensions and
assembly for details.
Maximum humidity 5% - 85% (non-condensing). Titan can be supplied with conformal coating.
Horizontal dimensions 206 x 172 mm
Maximum height 55 mm
Weight (exc. mating
connectors)
1878 grams
4.2 Hardware revisions
Hardwar
e
revision
Individual
board
references
Description and changes
1.0.0
May
2017
i047-01H1-1.0.0
i047-01H2-1.0.0
i047-01H3-1.0.0
First product beta release.
1.1.0
Septemb
er 2017
i047-01H1-1.1.0
i047-01H2-1.1.0
i047-01H3-1.1.0
First product release. Changes from the previous version:
Modifications on the aluminum cooling plate, reduction of 1 mm thickness
and added extra PCB support area for better vibration and thermal
performance.
Added 2.5 kV isolation to USB ports. The drive is no longer powered from USB
but communication reliability is greatly enhanced.
Change high voltage notification LED to blue for better visibility.
Enabled the main DC/DC converter that is powered from the DC bus. Auxiliary
24V power supply input becomes optional.
Improved protections for the 24V output supply.
Added 24V bus monitoring.
Added motor temperature sensing input.
Added pre-biasing resistors 4.7 kΩto the RS485 lines. Pull up to 5 V for
positive GND for negative.
Modified HALLs circuit with galvanic isolation.
Manufacturing PCA improvements.
Added mechanical stress relief slots on the power board.
Added electrical creepage slots on the control board.
Modified version TTN-200/400 with IGBTs to improve performance at high
load.

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Hardwar
e
revision
Individual
board
references
Description and changes
Improved creepage distances on the power stage.
Changed PCB finishes to unify black aspect on all boards and increase
radiation heat dissipation at high altitude.
Modified PCB design for with IPC class 3/A. High-reliability aerospace
requirements.
Changed shunt recirculation diode.
Modified STO circuit for SIL3 compliance. Increased minimum pulse time to
20 ms to allow self-test functions.
Improve the thermal performance of some internal power supplies.
Solved CAN hardware blocking bug.
Increased DC bus capacitance on all variants.
1.2.0
January
2018
i047-01H1-1.2.0
i047-01H2-1.2.0
i047-01H3-1.2.0
Improvements in current sensing and EMI at high current performance.
Improved current sense resolution to allow better torque control. From
893.0 mA/count to 701.8 mA/count on version 1.2.0.
Added Safe Torque Off (STO) bypass jumpers.
Added Sin/Cos encoder compatibility.
Separated the Incremental encoder from the Absolute encoder
connectors.The pinout is still 100% compatible with wirings of version 1.1.0.
Added power terminals plastic insulator and stiffener to make connections
more robust.
Improved EMI USB robustness. This allows for operation at high power even
with USB connected.
Removed Safe Torque Off error at power-up that caused the reset.
Improvement of overcurrent performance.
Improvement on EMI of the power stage.
Manufacturing improvements.
4.3 Power and current ratings
TTN-x/xx-C-Cvariants of TitanGoare capable of providing the nominal current from -40 ºC to 85 ºC (temperature
measured in the cold plate) with a 0.1 ºC/W heatsink(Fischer LA 11 200 24) attached by means of a low thermal
resistance interface material. Above 85 ºC a current derating could be needed to prevent overheating.Above 85 ºC a
current derating could be needed to prevent overheating. Please seeDimensions and assembly for further details.
In case of excessive power losses, over-temperature will be detected, causing the driver to turn off.The system
temperature is available inE-Core registersand is measured near the power stage.This temperature parameter can
be accessed from USB 2.0, CAN or RS485 serial interface and does not indicate the air temperature, but the
temperature of the PCB.Above 110 ºC the Titan Go automatically turns off the power stage and stays in fault state
avoiding any damage to the drive. The Fault LED will be activated and latched until the temperature decreases
below this threshold.
Identifying the hardware revision
Hardware revision is screen printed on the board.It can also be read from Motion Lab - Drive parameters.

Drive safety is always ensured by its protections. However, by means of it, power losses and temperature
will limit the allowable motor current.


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The following figure shows the basic power flow and losses in a servo drive system.
4.3.1 Power losses calculation (heat dissipation)
Current flowing through Titan Servo Drive causes power losses that, ultimately, are converted in heat. This heat
must be transferred to itssurrounding environment efficiently so that the temperature of the drive does not reach
dangerous levels. The greater the power losses, the more effective the heat dissipation must be. Power losses
mainly depend mainly on 3 parameters:
Motor RMS current: thisis the cause of what is calledstaticorconductionpower losses, which typically are
the main source of power losses, havingthat they show a positive correlation in a squared ratio.
DC bus voltage: this, along with the motor RMS current and PWM switching frequency, is the cause of what
are calleddynamicorcommutationlosses, and show positive correlation in a proportional ratio.
PWM switching frequency:similar to DC bus voltage, the PWM switching frequency directly affects the
commutation losses. Typically, 10 kHz is the default value to reduce these losses, but it can be increased up
to 20 kHz.
Other less relevant parameters affect also the power losses but are not considered in the following graphs:
Air temperature: higher power semiconductor temperatures reduce their efficiency.
Motor speed: faster motor speeds result in higher overall power losses since the input DC bus current is
greater, and this increases conduction losses on the reverse polarity protection circuitry.
Some parts of the Titan Go can exceed 125 ºC during operation, especially at high load levels.
Do not touch the Titan Go during operation and wait at least 5 minutes after turn off to allow a safe cool
down.

PWM switching frequency and nominal specifications
All nominal specifications in this manual are measured under a PWM switching frequency of 10 kHz.

PWM in SMO feedback mode
It is strongly recommended to configure the alternative PWM frequency of 20 kHz when using the
sensorless SMO as a feedback source, or when controlling motors of low inductance.


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4.3.2 Current ratings
Power losses cause the drive to increase its temperature according to:
As power losses have a positive correlation with the motor RMS current, when the ambient temperature rises, the
output current must be limited to avoid an excessive drive temperature (TP< 110 ºC). The threshold temperature
where the current derating should start mainly depends on the DC bus voltage.
Parameter Valu
e
Unit
s
Notes
Maximum absolute power
stage
temperature
110 ºC Measured on the PCB (not the heatsink) and accessible via
register.
Thermal resistance from
power stage to the heatsink
0.01
7
ºC/W Does not consider the thermal resistance of the heatsink, but
assumes
the cold plate is a thermal conductor, not the thermal
dissipator.
Thermal resistance from
power stage to air
5 ºC/W Considering the drive is vertical and free air convection with is
allowed on the cold plate surface (> 30 cm clearance around
the drive).
Mounting the drive without heatsink could only be done for
very low load applications or debugging purposes, otherwise,
over-temperature alarm will occur after a few minutes of
operation.

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Parameter Valu
e
Unit
s
Notes
Temperature stabilization
time
800 s With 0.1 ºC/W heatsink attached. Considering 90 % of the
maximum temperature.
This graphic shows the maximum current with respect to ambient temperature, also assuming a 0.1ºC/W heatsink
attached.
4.3.3 Maximizing heat dissipation with a heatsink
A heatsink is needed to reach the nominal current at any ambient temperatures.When using high-efficiency
heatsinks or in enclosed spaces, the equation can be simplified as follows.
Current derating
The current derating graph is only indicative and is based on thermal tests performed in a climatic
chamber where there was enough room for natural air convection. Each application may reach different
ratings depending on the installation, ventilation and/or housing.
Current derating is only a recommendation and is not performed automatically by the drive.


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4.4 Architecture
This diagram representsthe main hardware elements of Titan Go, and how they relate to each other.
•
•
•
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Assembly recommendations for best heat dissipation
Always allow natural air convection by ensuring ≥10 mm air space around the drive.
Use a good thermal interface material to improve the heat dissipation. See Dimensions and
assembly for details.
If housed, use a good thermal conductivity material, such as black anodized aluminum. Placing the
drive in a small plastic package will definitively reduce its temperature range.
Temperature range can be increased by providing forced cooling with a fan. Always ensure
electrical isolation between live parts and the heatsink.
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4.4.1 Power stage and supply architecture
The following drawing shows the architecture of the power stage and its main components. Also, it clarifies how the
internal power supplies are wired. For simplicity, power transistors are shown as switches.

TITAN GO Product Manual|Product Description
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TITAN GO Product Manual|Connectors Guide
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20
5 Connectors Guide
This chapter details the Titan Go Servo Driveconnectors and pinout.
5.1 Supply, shunt and motor terminals
Power terminals