INGENIA Triton Core User manual

INGENIA-CAT, S.L.
C/ Avila 124, 2-B
08018 Barcelona
TRITON CORE Product Manual
Edition 2021-07-07 16:23:18
For the most up to date information visit the online manual.

1 Table of Contents
1 Table of Contents 2
2 General Information 4
2.1 Manual revision history...................................................................................................................................... 4
2.2 Disclaimers and limitations of liability ............................................................................................................. 4
2.3 Contact ............................................................................................................................................................... 4
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..................................................................................................................................................... 7
4.3 Hardware revisions .......................................................................................................................................... 11
4.4 Absolute maximum ratings ............................................................................................................................. 12
4.5 Operational characteristics ............................................................................................................................. 13
4.5.1 Input supply ..................................................................................................................................................... 14
4.5.2 Output supplies and voltage reference .......................................................................................................... 14
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............................................................................................................................................................... 21
4.6 Equivalent circuits ........................................................................................................................................... 21
4.7 Architecture...................................................................................................................................................... 25
5 Pinout 27
6 Signalling LEDs 33
6.1 Power and operation signalling LED outputs................................................................................................. 33
6.2 CAN signalling LED outputs (only TRI-x/48-C-P)............................................................................................. 33
6.3 EtherCAT signalling LED outputs (only TRI-x/48-E-P) ....................................................................................35
7 Product Dimensions and Assembly 37
7.1 Triton Core with CAN (TRI-x/48-C-P) ............................................................................................................... 37
7.2 Triton Core with EtherCAT (TRI-x/48-E-P)....................................................................................................... 38
7.3 Assembly Instructions...................................................................................................................................... 39
7.3.1 Electrical assembly and ESD precautions....................................................................................................... 39
7.3.2 Mechanical assembly....................................................................................................................................... 39
7.3.2.1 Heatsinks .......................................................................................................................................................... 39
7.3.2.2 Thermal interface material.............................................................................................................................. 40

8 Application Software 41
8.1 Configuration ................................................................................................................................................... 41
8.2 Applications...................................................................................................................................................... 41
8.3 Arduino ............................................................................................................................................................. 41
9 Service 42

TRITON CORE Product Manual|General Information
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2 General Information
2.1 Manual revision history
Revision Release Date Changes
v1 February 2017 Preliminary draft.
v2 May 2017 Improved PDF export format.
v3 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product hardware revisions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

TRITON CORE 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 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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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 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.
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
Triton Go TRI-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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 VDC to +48 VDC
Maximum continuous
power supply voltage
50 VDC
Transient peak voltage 65 VDC @ 100 ms
Internal DC bus
capacitance
20 µF
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE
ACTIVE

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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 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)

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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
It is recommended to install the SSI only firmware variant if absolute
encoder SSI is used for commutation.


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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.

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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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Hardware revision Individual board references Description and changes
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section.
Over operating free-air temperature range unless otherwise noted.
Parameter MIN MAX UNIT
VBUS(CONT)
,
V
LOGIC(CONT
)
V_BUS or V_LOGIC
to GND_P in
continuous mode
-0.3 54 V
V
BUS(TRANS)
,V
LOGIC(TRAN
S)
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
Identifying the hardware revision
Hardware revision is screen printed on the board.


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

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4.5.1 Input supply
Parameter Conditions / Comments MIN TYP MAX U
N
IT
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 m
A

CBUS Internal DC bus
capacitance
16 20 24 µ
F
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 U
N
IT
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

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Parameter Conditions / Comments MIN TYP MAX U
N
IT
I5V +5V_D output current *10 — 200 m
A
I3.3V +3.3V_D output current
*1
0— 50 m
A
I3.3VREF +3.3V_REF_OUT output
current *1
0 — 10 m
A
Note 1:Can withstand continuous short-circuit. Rearms after cool down time < 10 s.
4.5.3 Output stage
Parameter Conditions / Comments MIN TYP M
A
X
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 ADC
I
TRA
(TRI
-1)
Continuous phase
current in
Trapezoidal mode
(TRI-1/48-y-P)
no heatsink required. Limited
by ADC range.
— — 0.
6
7
ARMS
I
SIN(
TRI-
1)
Continuous phase
current in
Sinusoidal mode
(TRI-1/48-y-P)
no heatsink required. Limited
by ADC range.
— — 0.
7
1
ARMS
I
DC(
TRI-
4)
Continuous phase
current in DC
mode (TRI-4/48-y-
P)
Limited by ADC range. -5 — 5 ADC
I
TRA
(TRI
-4)
Continuous phase
current in
Trapezoidal mode
(TRI-4/48-y-P)
Limited by ADC range. — — 3.
3
3
ARMS
I
SIN(
TRI-
4)
Continuous phase
current in
Sinusoidal mode
(TRI-4/48-y-P)
Limited by ADC range. — — 3.
5
4
ARMS

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Parameter Conditions / Comments MIN TYP M
A
X
UNIT
I
DC(
TRI-
7)
Continuous phase
current in DC
mode (TRI-7/48-y-
P)
-6.3 — 6.
3
ADC
I
TRA
(TRI
-7)
Continuous phase
current in
Trapezoidal mode
(TRI-7/48-y-P)
 — — 5.
6
ARMS
I
SIN(
TRI-
7)
Continuous phase
current in
Sinusoidal mode
(TRI-7/48-y-P)
 — — 5.
6
ARMS
I
PK(
TRI-
1)
Peak phase
current (TRI-1/48-
y-P)
Peak time = continuous.
No heatsink required. Limited
by ADC range.
-1 —1 ADC
I
PK(
TRI-
4)
Peak phase
current (TRI-4/48-
y-P)
Peak time = continuous.
Limited by ADC range.
-5 — 5 ADC
I
PK(
TRI-
7)
Peak phase
current (TRI-7/48-
y-P)
Peak time = 5 s -8.5 — 8.
5
ADC
η
NO
M
Efficiency Phase current = 7 ARMS — — 9
7
%
4.5.4 System monitoring
Parameter Conditions / Comments MIN TYP MAX UNIT
I
RANGE(
TRI-1)
Phase current sensing
range (TRI-1/48-y-P)
-1.02 — 1.02 A

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Parameter Conditions / Comments MIN TYP MAX UNIT
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
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 TYP MAX U
N
I
T
VUSER User-configurable over /
under voltage protection
limits
6—65 V
TUSER User-configurable over /
under temperature
protection limits
Board temperature -40 —110 º
C

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Parameter Conditions /
Comments
MIN TYP MAX U
N
I
T
VESD(AIR) Air discharge ESD protection
voltage rating on all pins *1
As in IEC 61000-4-2
Standard
— — ±30 k
V
VESD(CONTACT) Contact discharge ESD
protection voltage rating on
all pins *1
As in IEC 61000-4-2
Standard
— — ±30 k
V
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.
4.5.6 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

TRITON CORE Product Manual|Product Description
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19
Parameter Conditions / Comments MIN TYP MAX UNIT
V
IL(5
)
Low-level
input voltage
(5 V tolerant
inputs)
HALL_x and
#TORQUE_OFF_IN pins
— — 0.8 V
V
IH(E
CAT
)
High-level
input voltage
(EtherCAT
interface)
PHY0_RXDx
andPHY1_RXDx pins
2— — V
V
IL(E
CAT
)
Low-level
input voltage
(5 V tolerant
inputs)
PHY0_RXDx
andPHY1_RXDx pins
— — 0.8 V
V
ANA
LO
G
Analog inputs
voltage range
ANALOG_IN_x and
MOTOR_TEMP_IN
0—3.3 V
B
ANA
LO
G
Analog inputs
resolution
ANALOG_IN_x and
MOTOR_TEMP_IN
—12 —bit
R
TER
M
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(5
V)
5 V tolerant
pins input
current
HALL_x and
#TORQUE_OFF_IN pins
-3.2 —3.2 mA
4.5.7 Outputs
Parameter Conditions / Comments MIN TYP MAX UNIT
VOH High-level voltage
on output pins *1
IOUTPUT = 50 μA 2.3 — — V

TRITON CORE Product Manual|Product Description
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20
Parameter Conditions / Comments MIN TYP MAX UNIT
VOL Low-level voltage
on output pins *1
IOUTPUT = -50 μA— — 0.5 V
I
OUT
(3.3V
)
Output current on
3.3 V tolerant
pins*2
-5 — 5 mA
I
OUT
(5V)
Output current on 5
V tolerant pins*3
-2 — 2 mA
V
OH(E
CAT)
High-level voltage
on PHY0_TXDx
andPHY1_TXDx
pins
2.4 — — V
V
OL(EC
AT)
Low-level voltage
on PHY0_TXDx
andPHY1_TXDx
pins
— — 0.4 V
V
OH(E
CAT_L
ED)
High-level voltage
on LED_ECAT_LINKx
pins
IECAT_LED = 50 μA 3.2 — — V
V
OL(EC
AT_LE
D)
Low-level voltage
on LED_ECAT_LINKx
pins
IECAT_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