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MCP2551

1. Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Monitoring DC link voltage Power supply V_DC_Link DC link voltage at power connector C1p02 Power Supply typically used as key switch input Elements Ann U16 Read Analog input AD Count 0 32760 Volt 32 Read Actual voltage mV 2 11 2 Hour counters Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Monitoring Hour counters HourCounter Hour counters 0 001h not resettable Elements Inverter U32 Read Counts when the inverter is power supplied by C1p02 0 001h Power U32 Read Counts when the power stage is enabled PowerStage EnableStatus True 0 0019 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW a ACIM aa Interface TT Mobile Electronics 2010 02 01 10107978V130 doc 18 32 2 11 3 Selftest Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Monitoring Selftest Selftest Shows the results of the self test routines at power on Elements Error U16 Read BitO 0 OK 1 Error DC Link citcuit Biti 0 OK 1 Error in watchdog circuit operation impossible Bit2 0 OK 1 Short circuit to V DC Link Bit3 0 OK 1 Short circuit to V_DC_Link Bit4 0 OK 1 Error in motor wir
2. 2 12 Analog Input Rheo Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Analog Input Rheo C1p34 Elements Ann U16 Read Analog input AD Count 0 32760 Ohm U16 Read Resistance between C1p34 and GND If resistance gt 12000 Ohm 0 12000 Ohm C1p34 0hm shows 12000 Ohm FilterConfig U16 Write Sets the filter time constant The filter Notel Note4 can be bypassed by setting 0 ms at FilterConfig Adjustable time constants U ms 10 2000 ms init value 10 PinStatus U16 Read BitO ConfigError indicates wrong U OK values at FilterConfig 1 ConfigError at FilterConfig Biti Input out of range shows 0 OK that the measured resistance 1 Input out of range at this input is higher than Bit2 12000 Ohm 0 OK 1 Hardware Error 2 13 Non volatile RAM Area for User specific data Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Non volatile RAM Area for User specific data NVRam Elements UserData 0 7 U16 Bi At run time this data are Directional stored at RAM The RAM will be automatically stored to EEPROM at power down and restored at power up This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW Description ACIM Application Interface Created by Date Document name Reg No Mobile Electronics 2010 02 01 1010
3. forthereportiam CLOS Roller Chains Generator a A DIN 625 SKF 6001 1 amp DIN 625 SKF 6001 2 bascule 1 case shaft 1 EU case_shaft 2 B DIN 125 1 A A 13 1 EP om 7968 M12 x 120 1 DIN 934 replaced by DIN EN 2402 DIN 125 1 A A 13 2 amp DIN 625 SKF 6301 1 amp DIN 625 SKF 6301 2 D rear_shaft_quad 1 Ba tyre rim 1 Ba tyre rim 2 amp DIN 934 replaced by DIN EN 2402 amp DIN 934 replaced by DIN EN 2402 I CHAIN PLANE Z work Axist E Work Axis2 Work Plane2 ED controller 1 2 Work Axis3 El Work axis4 motor holder i ET Mid Plane Offset Number of Chain Strands Number of Chain Links Sprockets S 2 Roller Chain Sprocket2 S x le Click to add sprocket 12 700 mm 7 750 mm 3 660 mm 13 920 mm 3 300 mm 9 910 mm 9 910 mm 10 200 mm 1 000 mm 1 000 mm 12 000 ul 6 000 ul 12 700 mm 49 069 mm 161 18 deg 4 153 mm 375 000 mm 364 681 mm 42 000 ul 24 000 ul 12 700 mm 169 945 mm 3 500 ul 198 82 deg 0 059 mm 5 368 mm 369 655 mm 364 681 mm 200 Oxford Super 2 CHAIN TRANSMISSION OPTIMIZATION Formulas used Roller chain Figure 17 17 shows a sprocket driving a chain and rotating in a counterclockwise direction Denoting the chain pitch by p the pitch angle by y and the pitch diam
4. Mobile Electronics 2010 02 01 10107978V130 doc 11 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction General purpose proportional Inputs Outputs PinStatus U16 Read BitO A disconnected shorted to 0 OK I O supply output 1 ConfigError at PinConfig Biti 0 OK 1 ConfigError at DebounceConfig Bit2 0 OK 1 invalid value at OutputValue Bit3 0 OK 1 invalid value at DitherAmp Bit4 0 OK 1 Output disconnected output shorted to I O supply transistor shorted Bit 5 0 OK 1 Hardware Watchdog error PinStatus Bit4 TRUE can only be detected if PinConfig 0 2 DigOut need to be False if PinConfig 1 or 3 gt OutputValue need to be 0 Hardware Watchdog error indicates an error of the ext HW watchdog of the unit 2 7 General purpose proportional Inputs Outputs with Safety Switch Variable Name Variable Type Variable Direction Function Scaling Miscellaneous General purpose proportional Inputs Outputs with Safety Switch C1p27 Elements PinConfig U16 Write Config 0 Digital output 1 PWM output 2 Digital input 3 Proportional output closed loop current controlled init value 3 default value 3 Notel Note3 DitherAmp U16 Write Set point Dither Amplitude 0 2500 0 1mA Note2 Note4 For PinConfig 3 Square wave sig
5. A supported evaluation version of one of the following Keil RealView Microcontroller Development Kit MDK ARM IAR Embedded Workbench development tools Code Sourcery GCC development tools Code Red Technologies Red Suite Texas Instruments Code Composer Studio TM IDE Ordering Information S Description Number Stellaris LM3S9B92 Low Cost Evaluation Kit for Keil RealView MDK ARM 32 KB code size limited EKK LM3S9B92 Stellaris LM3S9B92 Low Cost Evaluation Kit for IAR Systems Embedded Workbench 32 KB code size limited EKI LM3S9B92 Stellaris LM3S9B92 Low Cost Evaluation Kit for CodeSourcery G GNU 30 day limited EKC LM3S9B92 Stellaris LM3S9B92 Low Cost Evaluation Kit for Code Red Technologies Red Suite 90 day limited EKT LM3S9B92 Stellaris LM3S9B92 Low Cost Evaluation Kit for Code Composer Studio IDE board locked EKS LM3S9B92 Texas Instruments 108 Wild Basin Suite 350 Austin TX 78746 http www ti com stellaris Copyright 2009 2010 Texas Instruments Inc All rights reserved Stellaris and j Ti StellarisWare are registered trademarks of Texas Instruments ARM and Thumb are EXAS B Ra 5 BE registered trademarks and Cortex is a trademark of ARM Limited Other names and Cortex brands may be claimed as the property of others PB LM3S9B92EK 04 INSTRUMENTS Intelligent Processors by ARM February 9
6. XXXXXXXX XXXXYYWW o Syn Example L r MCP2551 1 P256 0326 0 8 Lead SOIC 150 mil Ld LJ LL Example MCP2551 I SN0326 o S256 Legend XX X YY WW NNN Customer specific information Year code last 2 digits of calendar vear Week code week of January 1 is week 01 Alphanumeric traceability code Note for customer specific information In the event the full Microchip part number cannot be marked on one line it will be carried over to the next line thus limiting the number of available characters Standard marking consists of Microchip part number year code week code traceability code facility code mask rev and assembly code For marking beyond this certain price adders apply Please check with your Microchip Sales Office sl DS21667D page 15 2003 Microchip Technology Inc MCP 2551 8 Lead Plastic Dual In line P 300 mil PDIP tE D J 2 n p O 1 1 _ E 1 A nt c A 1 7M D Ft eB Units INCHES MILLIMETERS Dimension Limits MIN NOM MAX MIN NOM MAX Number of Pins n 8
7. 2 Printed on recycled paper Microchip received QS 9000 quality system certification for its worldwide headquarters design and wafer fabrication facilities in Chandler and Tempe Arizona in July 1999 and Mountain View California in March 2002 The Company s quality system processes and procedures are QS 9000 compliant for its PICmicro 8 bit MCUs KEELOG code hopping devices Serial EEPROMs microperipherals non volatile memory and analog products In addition Microchip s quality system for the design and manufacture of development systems is ISO 9001 certified DS21667D page 21 2003 Microchip Technology Inc MICROCHIP WORLDWIDE SALES AND SERVICE AMERICAS Corporate Office 2355 West Chandler Blvd Chandler AZ 85224 6199 Tel 480 792 7200 Fax 480 792 7277 Technical Support 480 792 7627 Web Address http www microchip com Atlanta 3780 Mansell Road Suite 130 Alpharetta GA 30022 Tel 770 640 0034 Fax 770 640 0307 Boston 2 Lan Drive Suite 120 Westford MA 01886 Tel 978 692 3848 Fax 978 692 3821 Chicago 333 Pierce Road Suite 180 Itasca IL 60143 Tel 630 285 0071 Fax 630 285 0075 Dallas 4570 Westgrove Drive Suite 160 Addison TX 75001 Tel 972 818 7423 Fax 972 818 2924 Detroit Tri Atria Office Building 32255 Northwestern Highway Suite 190 Farmington Hills MI 48334 Tel 248 538 2250 Fax 248 538 2260 Kokomo 2767 S Albright Road Kokomo IN
8. Mobile Electronics 2010 02 01 10107978V130 doc 16 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Power Stage Locked U16 Read 0 unlocked temporary locked means 1 temporary locked the power stage is in 2 permanently locked initialization phase permanently locked means the power stage is switched off due to an error while self test or run time Status U16 Read BitO U lt OK 1 wrong value at PWMFreq Biti U lt OK 1 Overtemperature Bit2 0 OK 1 Temperature sensor error Bit3 0 OK 1 Overvoltage Bit4 0 OK 1 Overcurrent Bit5 0 Unprotected mode inactive 1 Unprotected mode active Bit6 0 OK 1 Power Stage permanently locked because wrong motor data Bit7 0 OK 1 Power Stage permanently locked because HW watchdog error Bit8 0 OK 1 Power Stage permanently locked because current sensor error Bit9 0 OK 1 Dower Stage permanently locked because undetvolt detection This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission E Title SAUER G DANFOSS MI06 HW Description ACIM Application Interface Created by Mobile Electronics 2 11 Monitoring Date Document name Reg No Page Total pages 2010 02 01 10107978V130 doc 17 32 2 11 1 DC link voltage Power supply
9. 7 Watchdog error limited operation possible 8 Watchdog error operation impossible 9 Power Stage error short circuit to V_DC_Link 10 Power Stage error short circuit to V_DC_Link 11 Error in motor witing or power stage 12 Shorted power output 13 wrong production data in EEPROM detected 14 Current sensor error 15 Undervoltage 16 255 reserved Counter 0 7 U8 Read If the occurred error is the same as last entry in Number 0 the Counter 0 will be incremented and the Hour 0 will be overwritten with the actual time Hour 0 7 Read Value of HourCounter Inverter when the error occutted AbsOTEtrtors Read Shows absolute number of detected over temperature errors while lifetime of the inverter AbsOVErrors Read Shows absolute number of detected over voltage errors while lifetime of the inverter AbsOCErrors Read Shows absolute number of detected over current errors while lifetime of the inverter AbsTSensErrors Read Shows absolute number of detected temperature sensor errors while lifetime of the inverter This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW a ACIM SE Interface Mobile Electronics 2010 02 01 10107978V130 doc 20 32
10. ANEXOS 1 MECHANICS 1 1 TRANSMISSION There is going to be a big difference in transmission between the gasoline engine and the electric one In the first type there is a chain rotating on the sprockets and a gearbox which is connected to the engine We are going use the same kind of transmission that we used in the previous system a ROLLER CHAIN But now of course there is not going to be a gearbox So now as we do not have previous gearbox in order to make sure that we will have power and torgue enough to move the guad we will choose a proper roller chain transmission in order to supply more torgue to the rear wheels by decreasing the rotation speed Also the guad speed is going to depend on the transmission rate so we will decrease the number of teeth of the driver sprocket wheel Z1 and increase the number of teeth of the big sprocket wheel Z2 The general data of the transmission are PITCH 12 7 mm Zi 12 Z2 42 i z1 22 0 28571429 1 2 DRIVER SPROCKET Roller Sprocket Properties Bolted Con Design Guide Number of Teeth custom size a custom number of strands 0 000 kg m 2 r 12 700 mm 7 750 mm 3 660 mm 13 920 mm 3 300 mm 9 910 mm 9 910 mm 10 200 mm 1 000 mm 1 000 mm 12 000 60001 12 700 mm 49 069 mm 161 18 deg 4153mm 375 000 mm 364 681 mm 42 000 ul 24 000 ul 12 700 mm 169 945 mm
11. Ann U16 Read Analog input AD Count 0 32760 0 0 V 32760 18 V Volt 32 Read Actual supply voltage feedback value 0 15000 mV PinStatus U16 Read BitO Supply voltage feedback 0 OK value out of range will be set 1 ConfigError at PinConfig for voltage values higher than Biti 15000 mV In this case the U lt OK provided value is limited to 1 Supply voltage feedback value out of 15000 mV range 2 9 2 Encoder supply Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Auxiliary supply voltages C1p28 Encoder supply Fixed auxiliary supply voltage with current feedback typically used for motor encoder supply Elements Ann U16 Read Analog input AD Count 0 32760 0 0 mA 32720 110 mA Feedback Value U16 Read Encoder supply current 0 1000 0 1m A PinStatus U16 Read BitO 0 OK 1 current feedback out of range This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW a ACIM aa Interface TT Mobile Electronics 2010 02 01 10107978V130 doc 15 32 2 10 Power Stage Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Power Stage PowerStage Elements PWMFreq U8 Write PWM frequency Notel Note4 1 4kHz 2 8 kHz 3 12 kHz 4 16 kHz init value 2 Enable BOOL Write False disabled N
12. DANFOSS MI06 HW a ACIM SE Interface Mobile Electronics 2010 02 01 10107978V130 doc 2 32 Table of Contents Table OP CONTES ARR ad etant len ls HSE aos scarey nikon nn sto No o oo 1 1 BIOS functionality 1 2 BIOS Default Settings 2 APT Tatiana g 2 1 Multi function Tap ts WI Aaaa 22 Di e u i sin at r a MAU AA AA WA AA 2 3 General purpose Inputs Outputs nennen s 2 4 General purpose Inputs Outputs with Safety Switch iii 7 2 5 Matti contactor Ott put Hai K 9 2 6 General purpose proportional Inputs Outputs 1 ssrssrsrsrressssererees 2 7 General purpose proportional Inputs Outputs with Safety Switch EST na ahaa 29 Auxiliary supply volladen AZ NN entier A Us 14 2 9 1 SENSA 2 9 2 Encoder supply 2 10 lS 2 11 MONON ennn a 2 11 1 DC link voltage Power Sepp 2 11 2 Hourcounters 2 11 3 Selftest G E vBfror WIS CORY TTT 2 12 iil E STT 2 13 Non volatile RAM Area for User specific data 2 14 Motor EET TTT 2 15 Motor Identification Data initie rann loan 2 16 Device Info Block 2 17 OS 2 18 LED 2 19 NVMem us osi nia a nana ni nii 2 20 Setvice Tool Access 221 IDENTITY 2 22 CAN INTERFACE ssd zis na aha la uni nia 3 1 Notel 3 2 Note2 3 3 Note3 S 0 o Ni v 30 Be NOTE Ds oi orsta 30 4 Miscellaneous Ale Supported GUIDE Component iii i
13. 0 OK 1 ConfigError at FreqConfig Biti 0 OK 1 QuadError values at FregConfig QuadError indicates wrong signal sequence at C1p18 and C1p30 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW O ACIM z Interface Mobile Electronics 2010 02 01 10107978V130 doc 5 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Multi function Inputs Dig Freg C1p30 Encoder signal B if C1p18 FregConfig 1 Elements DebounceConfig U16 Write Sets the time to debounce the digital Notel Note4 input Only for DigIn 0 100 ms The input signal will be delayed for that time fixed sample time 1 ms Digln BOOL Read Digital in The digital input works Active True independently from selected mode at C1p18 FreqConfig Count U16 Read Number of measuted counts this loop Only valid when Counter counts rising and falling edge C1p18 FreqConfig 0 PinStatus U16 Read BitO ConfigError indicates wrong 0 OK values at DebounceConfig 1 ConfigError at DebounceConfig Biti Hardware Watchdog error 0 OK indicates an error of the ext 1 Hardware Watchdog error HW watchdog of the unit 2 2 Digital Inputs Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Digital Input
14. FilterConfig Adjustable time constants U ms 10 200 ms init value 10 Notel Note4 C1p11 C1p22 Elements Ann U16 Read Analog input 0 32760 2728 10 V 30024 10 V AD Count Volt 932 Read Analog in 10000 10000 mV PinStatus U16 Read BitO U OK 1 ConfigError at FilterConfig Biti 0 OK 1 Input out of range Bit2 0 OK 1 Hardware error If PinStatus Bitt TRUE Anln and Volt are undefined FilterConfig U16 Write Sets the filter time constant The filter can be bypassed by setting 0 ms at FilterConfig Adjustable time constants U ms 10 200 ms init value 10 Notel Note4 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission E Title GM R DANFOSS MI06 HW a ACIM SE Interface Mobile Electronics 2010 02 01 10107978V130 doc 14 32 2 9 Auxiliary supply voltages 2 9 1 Sensor supply Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Auxiliary supply voltages C1p23 Sensor supply Selectable auxiliary supply voltage with voltage feedback typically used for potentiometers foot pedals throttles or minilevers Elements PinConfig U16 Write Set Value Notel Note3 0 5V 1 10V 2 12V default value 0
15. NOTES DS21667D page 6 2003 Microchip Technology lnc MCP 2551 2 0 ELECTRICAL CHARACTERISTICS 2 1 Terms and Definitions A number of terms are defined in ISO 11898 that are used to describe the electrical characteristics of a CAN transceiver device These terms and definitions are summarized in this section 2 1 1 BUS VOLTAGE VCANL and VCANH denote the voltages of the bus line wires CANL and CANH relative to ground of each individual CAN node 2 1 2 COMMON MODE BUS VOLTAGE RANGE Boundary voltage levels of VCANL and VCANH with respect to ground for which proper operation will occur if up to the maximum number of CAN nodes are connected to the bus 2 1 3 DIFFERENTIAL INTERNAL CAPACITANCE CpirF OF A CAN NODE Capacitance seen between CANL and CANH during the recessive state when the CAN node is disconnected from the bus see Figure 2 1 2 14 DIFFERENTIAL INTERNAL RESISTANCE RDIFF OF A CAN NODE Resistance seen between CANL and CANH during the recessive state when the CAN node is disconnected from the bus see Figure 2 1 2 1 5 DIFFERENTIAL VOLTAGE VDIFF OF CAN BUS Differential voltage of the two wire CAN bus value VDIFF VCANH VCANL 2 1 6 INTERNAL CAPACITANCE CIN OF A CAN NODE Capacitance seen between CANL or CANH and ground during the recessive state when the CAN node is disconnected from the bus see Figure 2 1 2 1 7 INTERNAL RESISTANCE RIN OF A CAN NODE Resistance
16. OK 1 invalid value at RrBase Bit15 U lt OK 1 invalid value ar Tbase ft Bit16 0 OK 1 invalid value at Tcoeff_r Bit17 0 OK 1 invalid value at RsBase Bit18 0 OK 1 invalid value at Tbase_s Bit19 U lt OK This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW ES ACIM EE Interface Mobile Electronics 2010 02 01 10107978V130 doc 26 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Motor Identification Data 1 invalid value at Ac Temp Bit20 0 OK 1 invalid value at CC_Gain Bit21 0 OK 1 invalid value at EncPulses Bit22 0 OK 1 invalid value at DataStruct Version Bit23 0 no Relnit in progress 1 Relnit in progress 2 16 Device Info Block Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Device Info Block Devicelnfo Elements DeadTime U16 Read Dead time of power stage Production data 0 6400 ns MinTemp S16 Read Specified minimum temperature where Production data the unit will work proper 60 200 PC Min Volt S32 Read Specified minimum voltage Production data mV MaxVolt 32 Read Specified maximal voltage where the unit Production data will work proper mV Set
17. Shutdown temperature 20 30 oc 12V lt V CANL CANH lt 12V hysteresis Note 3 Note 1 This parameter is periodically sampled and not 100 tested 2 MKD Z IRXD IVREF 0 mA OV lt VCANL lt VDD OV lt VCANH lt VDD VRS VDD 3 This is valid for the receiver in all modes High speed Slope control and Standby FIGURE 2 1 TEST CIRCUIT FOR ELECTRICAL CHARACTERISTICS Vpp 0 TXD GANI TT VREF CAN 60 Q 100 pF Transceiver RXD 30 pF CANL An GND Rs Rext TTI TT Note RS may be connected to VDD or GND via a load resistor depending on desired operating mode as described in Section 1 7 8 Slope Resistor Input Rs nl 2003 Microchip Technology Inc DS21667D page 10 MCP 2551 FIGURE 2 2 TEST CIRCUIT FOR AUTOMOTIVE TRANSIENTS 500 pF TXD CANH p VREF CAN 600 Schaffner Transceiver Generator RKD i li CANL 500 pF GND Rs Rext Note Rs may be connected to VDD or ex GND via a load resistor depending on desired operating mode as TT TT described in Section 1 7 8 Slope Resistor Input Rs The wave forms of the applied transients shall be in accordance with ISO 7637 Part 1 test pulses 1 2 3a and 3b FIGURE 2 3 HYSTERESIS OF THE RECEIVER RXD receive data output voltage VOR VDIFF r i VDIFF d i VOL hysteresis D19 0 5 0 9 Vdiff V EE S 2
18. a lt x ui 7 212C EPI ada Precision PS Oscillator Battery Backed Hibernate LDO Voltage Regulator Timer 3 Analog Comparators R T c 2 Quadrature Encoder Inputs 8 PWM Outputs Comparators PWM PWM Generator Interrupt Dead Band i Generator 2x 10 bit ADC Each 8 channel 1 Msps MOTION CONTROL LM3S9000 Series Block Diagram This block diagram shows the superset of features for the LM3S9000 series of microcontrollers Product Features m ARM Cortex M3 Processor Core 80 MHz operation 100 DMIPS performance ARM Cortex SysTick Timer Nested Vectored Interrupt Controller NVIC m On Chip Memory 256 KB single cycle Flash memory up to 50 MHz a prefetch buffer improves performance above 50 MHz 96 KB single cycle SRAM Internal ROM loaded with StellarisWare software Stellaris Peripheral Driver Library Stellaris Boot Loader e Advanced Encryption Standard AES cryptography tables e Cyclic Redundancy Check CRC error detection functionality m External Peripheral Interface EPI 8 16 32 bit dedicated parallel bus for external peripherals Supports SDRAM SRAM Flash memory FPGAs CPLDs m Advanced Serial Integration 10 100 Ethernet MAC and PHY Two CAN 2 0 A B controllers USB 2 0 OTG Host Device Three UARTSs with IrDA and ISO 7816 support one UART with full modem controls Two IC modules Two Synchronous Serial In
19. 07328193 41 165 906257 1147 32 14 57 07328193 42 169 944923 1120 00 1 57 07328193 43 4 13 53 06798465 34 13 53 06798465 35 13 3 53 06798465 6 173 983769 137 641983 141 678915 145 716158 0 38 0 37 1093 95 1284 71 1248 00 1213 33 134 53 96 86 130 69 94 10 127 06 13 53 06798465 37 149 753689 1180 54 123 63 13 53 06798465 38 153 791483 1149 47 120 37 1 53 06798465 3 3 9 13 53 06798465 40 13 53 06798465 41 13 53 06798465 42 53 06798465 157 829521 161 867785 173 983769 0 33 0 32 0 31 1120 00 1092 00 1065 37 1040 00 1015 81 117 29 106 38 49 06903198 137 641983 1185 88 124 19 49 06903198 49 06903198 36 49 06903198 37 49 06903198 38 49 06903198 141 678915 157 829521 0 33 0 32 0 32 1152 00 1120 00 1089 73 1061 05 1033 85 120 64 108 26 49 06903198 161 867785 1008 00 105 56 49 06903198 165 906257 12 49 06903198 43 173 983769 0 28 983 41 102 98 937 67 98 19 70 70 We also verified that the peripheral velocity on the driving wheel was lower than 4 m s so there is not risk for polygonal problem due to the low number of teeth Sprocket wheel The sprocket had to be placed on the motor shaft which is cone shaped and with a woodruff key We ordered a toothed wheel with a central hole that equals the minimum diameter of the cone s
20. 1 invalid value at OutputValue Bit3 Hardware Watchdog error 0 OK indicates an error of the ext 1 invalid value at DitherAmp HW watchdog of the unit Bit4 0 OK 1 Output disconnected output shorted to I O supply transistor shorted Bit 5 0 OK 1 Hardware Watchdog error SafetyStatus U16 Read U lt OK If SafetyStatus 1 and 1 SafetyError PinStatus Bit4 0 the output will work in unsafe mode the PWM signal can be 10 wider than commanded This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW Description ACIM Application Interface Created by Date Document name Reg No ge al pag Mobile Electronics 2010 02 01 10107978V130 doc 13 32 2 8 Analog inputs Page Total pages Variable Name Variable Type Variable Direction Function Scaling Miscellaneous Analog inputs C1p10 Elements Ann U16 Read Analog input 0 32760 2728 0 V 30024 10 V AD Count Volt 932 Read Analog in 0 10000 mV PinStatus U16 Read BitO 0 OK 1 ConfigError at FilterConfig Biti 0 OK 1 Input out of range Bit2 0 OK 1 Hardware error If PinStatus Bitt TRUE Anln and Volt are undefined FilterConfig U16 Write Sets the filter time constant The filter can be bypassed by setting 0 ms at
21. 2 E2084 1 000ul 12 700mm 7 750 mm 4090mm 4 880 mm 13 920 mm 15600 000N 0 590kg m 36 000 mm 2 69085 1 000 u 12 700mm 7 770mm 3 600mm 6 250mm 13 920mm 6700 000N O 380ka m 32 000 mm 2 ISO 606 2004 Short pitch transmission precision roller chains EU BW MEN Reprod TE fast yea ERT Wale 22 RE aa Design REM EVE IP Mite Bolted Clevis Inset Connection Pin Frame Notci Fasten Assemble x Y i v Spassembly View YA GENERAL OUAD iam H EE Representations Hal S STRUCTURE 1 T By DIN 625 SKF 6001 1 A DIN 625 SKF 6001 2 bascule 1 E faf case shaft 1 E faf case shaft 2 9 DIN 125 1 A A 13 1 E OM 7968 M12 x 120 1 Y Gr DIN 934 replaced by DIN EN 240 A DIN 125 1 A A 13 2 R DIN 625 SKF 6301 1 Y 9 DIN 625 SKF 6301 2 E rear shaft quad TR Buen it DIN 934 replaced by DIN EN 240 9 DIN 934 replaced by DIN EN 240 E II CHAIN PLANE E Work Axist work Axis2 El Work Plane2 H ff controler 1 Be Z Work Axis3 El Work Axis4 E Bia motor holder 4 7 B Roller Chains Generator M Mid Plane Offset Number of Chain Strands Number of Chain Links Sprockets L S ka K 2 Roller Chain Sprocket t Y 2 41 Click to add sprocket 12 700 mm 7 750 mm 3 660 mm 13 920 mm 3 300 mm 9 910mm 9 910
22. 3 500ul 198 82 deg 0 053 mm 5 368 mm 369 655 mm 364 681mm s diere riek KH K a Boon Biets Place Billof Parameters Greate Comertto S ER Minor rnan gt sens Matras Substitutes Weldment Component Position Manage Productivity Comet V fee Wambaa YA B oma reed DOVE Samen abg IN 994 eira by DNA ZTS o redecedby DEN Bomen ara SON eberr DEN ON red OVEN DNS read DEN G iaie E Roler Chan Sprocket Z manav EI 28778 121 A rush 5540m Pee R Xa Rae amp Diu eer Chan ansi Pre Eae LE Tenda Tooth Profie tooth Profi IS AENEA Diam taet e EH a ARZ Obi Connection Pn Fame Ene rac ier E eor fapta Elos Bae Doncseres Bones F 600 2 S Sene Sons P KANA Boo es tt Y o rode by ODEO pom AA gt Bonassroms Bones ores rea sah at buc gt buns E D om 334 releced by DOVEN 2205 AO ot raeed by BUBNA Bonne gt Deh gt Ck s Deere neder iat ve ekue 7 ie AA UI Laad B I SL e 017777 D E 1 3 SPROCKET WHEEL Data U Roller Sprocket Properties Bolted Clevis Insert ac Design Power ratio k Connection Pin Frame Number of Teeth 1 000 t 7 750 mm U Inertia moment Me
23. 9 MCP 2551 2 2 DC Characteristics Continued DC Specifications Continued Electrical Characteristics Industrial 1 TAMB 40 C to 85 C VDD 4 5V to 5 5V Extended E TAMB 40 C to 125 C VDD 4 5V to 5 5V jn Sym Characteristic Min Max _ Units Conditions Bus Line CANH CANL Receiver TXD 2V pins 6 and 7 externally driven D22 RDIFF Differential input resistance 20 100 kQ D24 ILI CANH CANL input leakage 150 HA VDD lt VPOR current VCANH VCANL 5V Transmitter Data Input TXD D25 VIH High level input voltage 2 0 VDD V Output recessive D26 VIL Low level input voltage Vss 0 8 V Output dominant D27 IIH High level input current 1 1 HA VTXD VDD D28 liL Low level input current 100 400 HA VTXD OV Receiver Data Output RXD D31 VOH High level output voltage 0 7 VDD V IOH 8mA D32 VOL Low level output voltage 0 8 V loL 8mA Voltage Reference Output VREF D33 VREF Reference output voltage 0 45 VDD 0 55 VDD V 50 HA lt IVREF lt 50 JA Standby Slope Control Rs pin D34 VSTB Input voltage for standby mode 0 75 VDD V D35 ISLOPE Slope control mode current 10 200 UA D36 VSLOPE Slope control mode voltage 0 4 VDD 0 6 VDD V Thermal Shutdown D37 TJ sd Shutdown junction temperature 155 180 oc Note 1 D38 T m
24. C to 125 C SOIC package e MCP2551T E SN Tape and Reel Package P Plastic DIP 300 mil Body 8 lead dim SN Plastic SOIC 150 mil Body 8 lead RESTE Sales and Support Data Sheets Products supported by a preliminary Data Sheet may have an errata sheet describing minor operational differences and recommended workarounds To determine if an errata sheet exists for a particular device please contact one of the following 1 Your local Microchip sales office 2 The Microchip Corporate Literature Center U S FAX 480 792 7277 3 The Microchip Worldwide Site www microchip com Please specify which device revision of silicon and Data Sheet include Literature you are using Customer Notification System Register on our web site www microchip com cn to receive the most current information on our products 2003 Microchip Technology Inc DS21667D page 19 MCP 2551 NOTES DS21667D page 20 2003 Microchip Technology lnc Note the following details of the code protection feature on Microchip devices Microchip products meet the specification contained in their particular Microchip Data Sheet Microchip believes that its family of products is one of the most secure families of its kind on the market today when used in the intended manner and under normal conditions There are dishonest and possibly illegal methods used to breach the code protection feature All of these method
25. an extended low state on the TXD input it will disable the CANH and CANL output drivers in order to prevent the corruption of data on the CAN bus The drivers are disabled if TXD is low for more than 1 25 ms minimum This implies a maximum bit time of 62 5 us 16 kb s bus rate allowing up to 20 consecutive transmitted dominant bits during a multiple bit error and error frame scenario The drivers remain disabled as long as TXD remains low A rising edge on TXD will reset the timer logic and enable the CANH and CANL output drivers 1 6 Power on Reset When the device is powered on CANH and CANL remain in a high impedance state until VDD reaches the voltage level VPORH In addition CANH and CANL will remain in a high impedance state if TXD is low when VDD reaches VPORH CANH and CANL will become active only after TXD is asserted high Once powered on CANH and CANL will enter a high impedance state if the voltage level at VDD falls below VPORL providing voltage brown out protection during normal operation 1 7 Pin Descriptions The 8 pin pinout is listed in Table 1 3 TABLE 1 3 MCP2551 PINOUT V Nas Pin Function 1 TXD Transmit Data Input 2 Vss Ground 3 VDD Supply Voltage 4 RXD Receive Data Output 5 VREF Reference Output Voltage 6 CANL CAN Low Level Voltage I O 7 CANH CAN High Level Voltage 1 0 8 Rs Slope Control Input 1 7 1 TRANSMITTER DATA INPUT TXD TXD is a TTL compat
26. as military grade or enhanced plastic Only products designated by TI as military grade meet military specifications Buyers acknowledge and agree that any such use of TI products which TI has not designated as military grade is solely at the Buyer s risk and that they are solely responsible for compliance with all legal and regulatory requirements in connection with such use TI products are neither designed nor intended for use in automotive applications or environments unless the specific TI products are designated by TI as compliant with ISO TS 16949 requirements Buyers acknowledge and agree that if they use any non designated products in automotive applications TI will not be responsible for any failure to meet such requirements Following are URLs where you can obtain information on other Texas Instruments products and application solutions Products Applications Amplifiers amplifier ti com Audio www ti com audio Data Converters dataconverter ti com Automotive www ti com automotive DLP Products www dlp com Communications and www ti com communications Telecom DSP dsp ti com Computers and www ti com computers Peripherals Clocks and Timers www ti com clocks Consumer Electronics www ti com consumer apps Interface interface ti com Energy www ti com energy Logic logic ti com Industrial www ti com industrial Power Mgmt power ti com Medical www ti com medical Microcontrollers microcontroller ti com Security www t
27. device Specifications PLUS 1 GUIDE Minimum System Requirements PLUS 1 Service Tool Minimum System Requirements 1 5 GHz processor 1 0 GHz processor Microsoft Windows XP Microsoft Windows XP Local administrator access on used PC Local administrator access on used PC 1 GB of system memory 1 GB of system memory 355 MB of available hard disk space 125 MB or available hard disk space 1024 x 768 or higher resolution graphics card monitor with 16 bit color 1024 x 768 or higher resolution graphics card monitor with 16 bit color Access to e mail for license registration USB 2 0 for use with CAN USB gateway Adobe Acrobat Reader v7 0 or higher Access to e mail for license registration Adobe Acrobat Reader v7 0 or higher Ordering Information PLUS 1 GUIDE Related Product Short Term and Single Seat Packages Sauer Danfoss part number Type 28 day single seat short term license 10101078 CG150 CAN USB gateway Sauer Danfoss part number 10104136 Full capability single seat license 10101000 Comprehensive technical information PLUS 1 GUIDE Software User Manual 10100824 Sauer Danfoss product literature on line at www sauer danfoss com 520L0708 Rev HA Jan 2009 Copyright 2009 Sauer Danfoss All rights reserved Contents subject to change All trademarks in this material are properties of their respective ow
28. seen between CANL or CANH and ground during the recessive state when the CAN node is disconnected from the bus see Figure 2 1 FIGURE 2 1 PHYSICAL LAYER DEFINITIONS ECU RIN CANL I RIN RDIFF CDIFF de CANH CIN CIN En GROUND 2003 Microchip Technology Inc DS21667D page 7 MCP 2551 Absolute Maximum Ratingst VDD AAA KAA an a na ni r lb nn re ER 7 0V DC Voltage at TXD RXD VREF and VS iii 0 3V to VDD 0 3V DC Voltage at CANH CANL Note 1 annen ennen er ire 42V to 42V Transient Voltage on Pins 6 and 7 Note 2 nentrn nannt tnn nnne nne nn 250V to 250V Storage temperature AA u ete need a O nr 55 C to 150 C Operating ambient temperature iii 40 C to 125 C Virtual Junction Temperature TvJ Note 3 40 C to 150 C Soldering temperature of leads 10 seconds 300 C ESD protection on CANH and CANL pins Note 4 6 kV ESD protection on all other pins Note 4 ss 4 kV Note 1 Short circuit applied when TXD is high and low 2 In accordance with ISO 7637 3 In accordance with IEC 60747 1 4 Classification A Human Body Model T NOTICE Stresses above those listed under Maximum ratings may cause permanent damage to the device This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operational listings of this specifi
29. 0 F 122 F MI06 S 48 400 P Plate Type Heat Sink 10107500 Maximum heat sink 85 C 185 F MI06 S 48 400 FH Finned Type Heat Sink Horizontal 10107501 temperature full current MI06 S 48 400 FV Finned Type Heat Sink Vertical 10107502 Operation signal 2 built in LEDs red and green Signal line connectors AMPSEAL 35 pins Related Products Part Number IP protection IP64 with membrane 35 pin AMPSEAL Mating Connector Bag Assembly 10107896 EMC ESD 50V m 15kV CG150 CAN USB Gateway 10104136 Safety EN 1175 Optional bolt connected power fuses for different Vibration Shock 5g 50g x on request current ratings UL UL583 Comprehensive technical information PLUS 7 MI06 Technical Information 11047294 Sauer Danfoss product literature on line at www sauer danfoss com 11042732 Rev AA May 2008 CENTRUM TRYK Copyright 2008 Sauer Danfoss All rights reserved Contents subject to change G SAVER Rs S DANFOSS MI06 HW Description ACIM Application Interface Mobile Electronics 2010 02 01 10107978V130 doc 1 32 M106 SYS File 10107978v130 SYS SYS File Family 10107950 Hardware MI06 S 48 400 FH 10107501 MI06 S 48 400 FV 10107502 MI06 S 48 400 P 10107500 MI06 S 24 400 FH 10107498 MI06 S 24 400 FV 10107499 MI06 S 24 400 P 10107497 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER
30. 0 000kgm 2 T 11695 12 700 men d 7 750 mm dy 3 660 mm Dr 13 920 mm by 3 300 mm hz 9 810 mm hy 9 910 mm b 10 200 mm t 1 000 mm 2 000 nm E custom size El Custom number of strands Roller Chain Sprocket2 1 d 42 000 DB chan drivest rb e 6 004 p 12 700 mm D 163 345 mm B 161 18 deg x 4 153 nm y 375 000 mm 4 364 681 mm 3 069 mm Ds 150 547 mm U ta S 420001 0 506 mm Y 24 0004 Da P 12 700 mm 1700m Dy 168 945 mm i 3 5001 198 82 deg OF 162 117 mm B x 0 059 mm U 5 368 mm c 369 655 mm 364 681 mm ke Kia Autode TOO Type a keyword or phrase Inspect Tools Manage View Environments Get Started as 88 Pattern GP Replace gt Ga Grip Snap G T iG k 11 Part iAssembly Author ve T Edit readsheet BB Copy Z Make Layout EB Mirror E5Shrinkwrap gt Create Convert to Substitutes Weldment Mo Constrain Billof Parameters YA Rotate Materials Place Create Component Position Manage Productivity Convert lt iPart iAssembly Bi motor holder 1 Work Plane1 Z Work Axis1 Roller Chain Sprocket2 1 C mates E F Origin EJ Theoretical Tooth Profile El Tooth Profile Section Profile E F
31. 00 N 50 000 mm 2 2088 2 2 000 ul 12 700mm 8 510mm 4 450 mm 7 750 mm 31100 000 N 101 000 mm2 9088 3 3 000 ul 12 700 mm 4 450 mm 7 750 mm 44500 000 N 000 mm 2 81 000 ul 700 mm Si 0 mm 8000 000 280 ko n 2 083 1 000ul 12 700mm 7 750mm 4 090mm 4880 mm 11600 000 N 32 000 mm 2 0084 1 000ul 12 700 mm 7 750mm 4 090 mm 4 880 mm 15600 000 N 36 000 mm 2 085 10000 12 700mm 7 770mm 3 600mm 6 250 mm 32 000 mm 2 150 606 2004 Short pitch transmission precision roller chains EU i 9 SPS WEER BTU Z py autode TRT A Moo Reprod Wees MAUA Ms VOT COR Number of chain strands K 1 Number of chain links 86 Norm ISO 606 2004 short pitch 3 MECHANICS Spring Semester a Analysis of the previous work The project of conversion of the ATV quad from combustion to electric motor started in the first semester We were already supposed to use a triphase servo motor SAUER DANFOSS TSA120 80 a couple of 10Ah 12V Rechargeable Sealed lead acid batteriesand an inverter to convert batteries dc in alternating current for powering the electric engine The removal of combustion motor and the tank leftthe necessary space to lodge all the components mentioned above Concerning the inverter it was already thought to be blocked to the chassis by 4 little plastic bands so we didn t operate any change for its placing Regarding the placing of the tw
32. 00 mm 5 000 mm 2 310mm 3 000mm 5 640mm 440 000N 0 200 kg m 11 000 mm 2 D05B 2 2 000 U 8 000mm 5 000mm 2 310mm 3 000mm 5 640 mm 7800 000 H 0 400 kg m 22 000 mm 2 8058 3 3 000 u 8 000 mm 5 000 mm 2 310mm 3 000 mn 5 640 mm 11100 000N 0 500 kg m 33 000 mm 2 0068 1 1 000 9 525 mm 8 350 men 3 280 mm 5 720mm 10 240 mm 900 000N 0 400 kg m 28 000 mm 2 2068 2 2 000 u 9 525mm 6 350mm 3 280mm 5 720mm 10 250 mm 16900 000N 0 800 kg m 56 000 mm 2 2068 3 3 000 u 9 525mm 6 350mm 3 280mm 5 720mm 10 240 mm 24900 000N 1 200kg m 84 000 mm 2 088 1 1 000 u 12 700 mm 8 510mm 4450mm 7 750 men 13 920mm 17800 000N 0 700 kg m 50 000 mm 2 9068 2 2 000 U 12 700mm 8 510mm 4 450 mm 7 750mm 13 920mm 31100 000N 1 300 kg m 101 000 mm 2 9085 3 3 000 U 12 700mm 8 510 mn 4450mm 7 750mm 13 920mm 44500 000N 2 000 kg m 151 000 mm 2 60083 10004 12 700mm 7 750mm 4 090mm 4830mm 13 920mm 11600 000N 0 420 kg m 32 000 mm 2 3084 10004 12 700mm 7 750mm 4 090mm 4 880 mm 13 920 mm 15600 000N 0 590 kg m 36 000 mm 2 Figure 28 New chain Engine and brakes operations The project of conversion counts to control the motor and electrical brakes by inputs sent by two potentiometers to a microcontroller The potentiometers can transform a mechanical linear input in a control signal We have decided to use the same lever of the previous throttle on the right side of the guad to ac
33. 003 Microchip Technology Inc DS21667D page 11 MCP 2551 2 3 AC Characteristics AC Specifications Electrical Characteristics TAMB 40 C to 85 C VDD 4 5V to 5 5V Extended E TAMB 40 C to 125 C VDD 4 5V to 5 5V Industrial 1 ey Sym Characteristic Min Max Units Conditions 1 tBIT Bit time 1 62 5 us VRS O0V 2 fBIT Bit frequency 16 1000 kHz VRS OV 3 TtxL2bus d Delay TXD to bus active 70 ns 40 C lt TAMB lt 125 C VRS OV 4 TtxH2bus r Delay TXD to bus inactive 125 ns 40 C lt TAMB lt 85 C VRS OV 170 ns 40 C lt TAMB lt 125 C VRS OV 5 TtxL2rx d Delay TXD to receive active 130 ns 40 C lt TAMB lt 125 C VRS OV 250 ns 40 C lt TAMB lt 125 C RS 47 ka 6 TtxH2rx r Delay TXD to receiver 175 ns 40 C lt TAMB lt 85 C inactive VRS OV 225 ns 40 C lt TAMB lt 85 C Rs 47 ka 235 ns 40 C lt TAMB lt 125 C VRS OV 400 ns 40 C lt TAMB lt 125 C Rs 47 kQ 7 SR CANH CANL slew rate 5 5 8 5 Vlus Refer to Figure 1 1 Rs 47 kQ Note 1 10 tWAKE Wake up time from standby 5 us see Figure 2 5 Rs pin 11 TbusD2rx s Bus dominant to RXD Low 550 ns VRS 4V see Figure 2 2 Standby mode 12 CIN CANH CANH CANL input 20 pF 1 Mbi s data rate CIN CANL capacitance typical VTXD VDD N
34. 150 487 1998 Steel ISO 487 1998 Steel ISO 606 2004 Bush TSO 606 2004 roller chains type C roller chains type roller chains type Chans Short pitch transmissi m AA RAA EN WA chan k p dy dz by Pr Fy m A 9058 1 1 000 ul 8 000mm 5 000mm 2 310mm 3 000mm 5 640mm 4400 000N 0 200 kg m 11 000 mm 2 B058 2 2 000 U 8 000mm 5 000mm 2 310mm 3000mm 5 640 mm 7800 000N 0 400kg m 22 000 mm 2 9058 3 3 000 ul 8 000mm 5 000mm 2 310mm 3 000 mm 5 640mm 11100 000N 0 500kg m 33 000 mm 2 9068 11 000 ul 9 525mm 6 350 mm 3 280mm 5 720 mm 10 240 mm 8900 000N D 400kg m 28 000 mm 2 9068 2 2 000 ul 9 525mm 6 350mm 3 280mm 5 720 mm 10 240 mm 16900 000N 0 800kg m 56 000 mm 2 FH 2068 3 3 000 ul 9 525mm 6 350mm 3 280mm 5 720 mm 10 240mm 24900 000N 1 200kgjm 84 000 mm 2 088 1 1 000 ul 12 700 mm 8 510mm 4450mm 7 750mm 13 920 mm 17800 000N 0 700kg m 50 000 mm 2 2085 2 2 000 ul 12 700mm 8 510mm 4 450 mm 7 750 mm 13 920 mm 31100 000 N 101 000 mm 2 9088 3 3 000 ul 12 700mm 8 510mm 4 350 m 7 750 mm 13 920 mm 44500 000N 2 151 000 mm 2 1 1 000ul 12 700 m 50 mm 360 mm 3 300 mm 13329 mm 8000 00 0 2 21 000 mm 2 9083 10001 12 700mm 7 750mm 4 030mm 4880mm 13 920mm 11600 000N 0 32 000 mm
35. 2010 IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries TI reserve the right to make corrections modifications ennancements improvements and other changes to its products and services at any time and to discontinue any product or service without notice Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete All products are sold subject to T s terms and conditions of sale supplied at the time of order acknowledgment TI warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with T s standard warranty Testing and other quality control techniques are used to the extent TI deems necessary to support this warranty Except where mandated by government requirements testing of all parameters of each product is not necessarily performed TI assumes no liability for applications assistance or customer product design Customers are responsible for their products and applications using TI components To minimize the risks associated with customer products and applications customers should provide adequate design and operating safeguards TI does not warrant or represent that any license either express or implied is granted under any TI patent right copyright mask work right or other TI intellectual property right relating to any combination machine or process in which TI products or se
36. 28193 39 157 829521 0 36 13 46 1206 15 126 31 90 94 SS 161 867785 0 35 13 80 1176 00 123 15 88 67 14 57 07328193 41 165 906257 0 34 14 15 1147 32 120 15 86 51 pe eee 169 944923 0 33 14 49 1120 00 117 29 84 45 14 57 07328193 43 173 983769 0 33 14 84 1093 95 114 56 82 48 12 64 1284 71 134 53 96 86 53 06798465 35 141 678915 0 37 13 01 1248 00 130 69 94 10 53 06798465 36 145 716158 0 36 13 38 1213 33 127 06 53 06798465 149 753689 1180 54 53 06798465 153 791483 1149 47 53 06798465 157 829521 1120 00 13 53 06798465 40 161 867785 0 33 14 87 1092 00 114 35 82 33 13 53 06798465 41 165 906257 0 32 15 24 1065 37 111 56 80 33 13 53 06798465 42 169 944923 0 31 15 61 1040 00 108 91 78 41 13 53 06798465 43 173 983769 0 30 15 98 1015 81 106 38 76 59 12 49 06903198 34 137 641983 0 35 13 69 1185 88 124 19 89 41 12 49 06903198 35 141 678915 0 34 14 09 1152 00 120 64 86 86 12 49 06903198 36 145 716158 0 33 14 49 1120 00 117 29 84 45 12 49 06903198 37 149 753689 0 32 14 90 1089 73 114 12 82 16 12 49 06903198 38 153 791483 0 32 15 30 1061 05 111 11 80 00 12 49 06903198 39 157 829521 0 31 15 70 1033 85 108 26 77 95 12 49 06903198 40 161 867785 0 30 16 10 1008 00 105 56 76 00 12 49 06903198 41 165 906257 10 29 16 51 983 41 102 98 74 15 12
37. 46902 Tel 765 864 8360 Fax 765 864 8387 Los Angeles 18201 Von Karman Suite 1090 Irvine CA 92612 Tel 949 263 1888 Fax 949 263 1338 Phoenix 2355 West Chandler Blvd Chandler AZ 85224 6199 Tel 480 792 7966 Fax 480 792 4338 San Jose 2107 North First Street Suite 590 San Jose CA 95131 Tel 408 436 7950 Fax 408 436 7955 Toronto 6285 Northam Drive Suite 108 Mississauga Ontario L4V 1X5 Canada Tel 905 673 0699 Fax 905 673 6509 ASIA PACIFIC Australia Suite 22 41 Rawson Street Epping 2121 NSW Australia Tel 61 2 9868 6733 Fax 61 2 9868 6755 China Beijing Unit 915 Bei Hai Wan Tai Bldg No 6 Chaoyangmen Beidajie Beijing 100027 No China Tel 86 10 85282100 Fax 86 10 85282104 China Chengdu Rm 2401 2402 24th Floor Ming Xing Financial Tower No 88 TIDU Street Chengdu 610016 China Tel 86 28 86766200 Fax 86 28 86766599 China Fuzhou Unit 28F World Trade Plaza No 71 Wusi Road Fuzhou 350001 China Tel 86 591 7503506 Fax 86 591 7503521 China Hong Kong SAR Unit 901 6 Tower 2 Metroplaza 223 Hing Fong Road Kwai Fong N T Hong Kong Tel 852 2401 1200 Fax 852 2401 3431 China Shanghai Room 701 Bldg B Far East International Plaza No 317 Xian Xia Road Shanghai 200051 Tel 86 21 6275 5700 Fax 86 21 6275 5060 China Shenzhen Rm 1812 18 F Building A United Plaza No 5022 Binhe Road Futian District Shenzhen 518033 China Tel 86 7
38. 49 06903198 42 169 944923 0 29 16 91 960 00 100 53 72 38 1 49 06903198 43 173 983769 0 28 17 31 937 67 98 19 70 70 2 1 45 07821227 34 137 641983 0 32 14 93 1087 06 113 84 81 96 1 1 1 45 07821227 35 141 678915 0 31 15 37 1056 00 110 58 79 62 11 145 07821227 36 145 716158 0 31 15 81 1026 67 107 51 77 41 11 45 07821227 37 149 753689 0 30 16 25 998 92 104 61 75 32 11 45 07821227 39 157 829521 0 28 17 13 947 69 99 24 71 45 11 45 07821227 141 165 906257 0 27 18 01 901 46 94 40 67 97 11 45 07821227 42 169 944923 0 26 18 45 880 00 92 15 66 35 11 45 07821227 43 173 983769 0 26 18 89 859 53 90 01 64 81 RESULT Finally as we explained we choose the transmission highlighted in yellow Where we have got a torque of 16 91 m N at the rear wheels which is pretty acceptable and the quad speed is 72 38 Km h which is pretty close to 65 Km h that was the previous speed of the quad with the gasoline engine Bolted Clevis In Connection Fin Method Browse for a chain by size ASME 829 1M ASME B29 1M ASME B29 1M ASME B29 3 ISO 487 1998 Steel Precision powe Precision powe Precision power Double Pitch Po der chains type S su eo ee ISO 487 1998 Steel
39. 55 82901380 Fax 86 755 8295 1393 China Shunde Room 401 Hongjian Building No 2 Fengxiangnan Road Ronggui Town Shunde City Guangdong 528303 China Tel 86 765 8395507 Fax 86 765 8395571 China Qingdao Rm B505A Fullhope Plaza No 12 Hong Kong Central Rd Qingdao 266071 China Tel 86 532 5027355 Fax 86 532 5027205 India Divyasree Chambers 1 Floor Wing A A3 A4 No 11 OShaugnessey Road Bangalore 560 025 India Tel 91 80 2290061 Fax 91 80 2290062 Japan Benex S 1 6F 3 18 20 Shinyokohama Kohoku Ku Yokohama shi Kanagawa 222 0033 Japan Tel 81 45 471 6166 Fax 81 45 471 6122 Korea 168 1 Youngbo Bldg 3 Floor Samsung Dong Kangnam Ku Seoul Korea 135 882 Tel 82 2 554 7200 Fax 82 2 558 5932 or 82 2 558 5934 Singapore 200 Middle Road 07 02 Prime Centre Singapore 188980 Tel 65 6334 8870 Fax 65 6334 8850 Taiwan Kaohsiung Branch 30F 1 No 8 Min Chuan 2nd Road Kaohsiung 806 Taiwan Tel 886 7 536 4818 Fax 886 7 536 4803 Taiwan Taiwan Branch 11F 3 No 207 Tung Hua North Road Taipei 105 Taiwan Tel 886 2 2717 7175 Fax 886 2 2545 0139 EUROPE Austria Durisolstrasse 2 A 4600 Wels Austria Tel 43 7242 2244 399 Fax 43 7242 2244 393 Denmark Regus Business Centre Lautrup hoj 1 3 Ballerup DK 2750 Denmark Tel 45 4420 9895 Fax 45 4420 9910 France Parc d Activite du Moulin de Massy 43 Rue du Saule Trapu Batiment A ler Etage 91300 Massy Franc
40. 7978V130 doc Page Total pages 21 32 2 14 Motor Control interface Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Motor Control interface MotorControl Elements RPMSetPoint S32 Write Motor speed set value Note2 Note4 80000 80000 0 1rpm SpeedKP U32 Write Proportional gain of speed controller Note2 Note4 50 10000000 0 00001Nm tpm init value 50 SpeedKI U32 Write Integral gain of speed controller Note2 Note4 0 10000000 0 00001Nm rpm s TorqueFF S32 Write Torgue which is added as feed forward Note2 Note4 part to the speed controller output 1000000 1000000 0 001Nm UserTorqueLimit U16 Write User torque limit as percentage of Note2 Note4 Motor TorqueMax 0 10000 0 01 init value 10000 UserCurrLimit U16 Write User current limit as percentage of Note2 Note4 hardware current limit 0 10000 0 01 init value 10000 EncErrThreshold U16 Write Number of bad encoder pulses in a row Notel Note4 to detect a disconnected signal line 2 65535 init value 65535 PartLoadReduc U16 Write Lower limit of rated flux to reduce Notel Note4 cutrent at partial load 2000 10000 0 01 init value 10000 ActSpeed S32 Read Actual motor speed 100000 100000 0 1 rpm ActStatFreq S32 Read Actual stator frequency 1000000 1000000 0 001 Hz ActSlipFreq S32 Read Actual slip freq
41. 8 Pitch P 100 2 54 Top to Seating Plane A 140 155 170 3 56 3 94 4 32 Molded Package Thickness A2 115 130 145 2 92 3 30 3 68 Base to Seating Plane A1 015 0 38 Shoulder to Shoulder Width E 300 313 325 7 62 7 94 8 26 Molded Package Width E1 240 250 260 6 10 6 35 6 60 Overall Length D 360 373 385 9 14 9 46 9 78 Tip to Seating Plane L 125 130 135 3 18 3 30 3 43 Lead Thickness c 008 012 015 0 20 0 29 0 38 Upper Lead Width B1 045 058 070 1 14 1 46 1 78 Lower Lead Width B 014 018 022 0 36 0 46 0 56 Overall Row Spacing eB 310 370 430 7 87 9 40 10 92 Mold Draft Angle Top a 5 10 15 5 10 15 Mold Draft Angle Bottom B 5 10 15 5 10 15 Controlling Parameter Significant Characteristic Notes Dimensions D and E1 do not include mold flash or protrusions Mold flash or protrusions shall not exceed 010 0 254mm per side JEDEC Equivalent MS 001 Drawing No C04 018 DS21667D page 16 2003 Microchip Technology Inc MCP 25351 8 Lead Plastic Small Outline SN Narrow 150 mil SOIC Se E O NT L nu 7 4 L A1 A2 Units INCHES MILLIMETERS Dimension Limits MIN NOM MAX MIN NOM MAX Number of Pins n 8 8 Pitch p 050 1 27 Overall Height A 053 061 069 1 35 1 55 1 75 Mo
42. ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 24 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Motor Identification Data 0 10000000 11Ohm init value 0xFFFFFFFF TBase_t U8 Write Temperature at which RrBase was Note4 Note5 measured 0 150 PC init value OxFF Tcoeff r U16 Write Temperature coefficient of rotor Note4 Note5 resistance 0 10000 10 6 K init value OxFFFF RsBase U32 Write Stator resistance value measured at Note4 Note5 Tbase s 0 10000000 luOhm init value OxFFFFFFFF Tbase_s U8 Write Temperature at which RsBase was Note4 Note5 measured 0 150 C init value OxFF ActTemp S16 Write Actual motor temperature Note2 Note4 50 200 PC init value 0x7FFF CCC Gain U16 Write Adjustment factor for current controller Note4 Note5 parameter 5000 15000 0 01 init value OxFFFF EncPulses U16 Write Number of encoder pulses per Note4 Note5 revolution 2 1024 pulses rev init value OxFFFF EncCounter S32 Read Actual encoder counter Counts up at positive speed 32768 32767 Counts per loop EncA BOOL Read Actual state of the hardware input pin of For test purposes encoder line A High True EncB BOOL Read Actual state of the hardware input pin of For test purposes encoder line B High True Relnit BOOL Write Trigger va
43. Config Biti 0 OK 1 ConfigError at DebounceConfig Bit2 0 OK 1 invalid value at OutputValue TRUE can only be detected if PinConfig 0 gt DigOut need to be 1 if PinConfig 1 gt OutputValue need to be gt 500 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAUER Title DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 8 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction General purpose Inputs Outputs with Safety Switch Bit3 A disconnected shorted to 0 OK I O supply output 1 Overload output shorted to H O PinStatus Bit4 TRUE supply transistor damaged can only be detected Bit4 if PinConfig 0 2 DigOut 0 OK need to be 0 1 Output disconnected output if PinConfig 1 gt shorted to I O supply transistor OutputValue need to be 0 shorted Bit5 switched off because 0 OK overload indicates that the 1 switched off because overload output is switched off Bit6 because overload of this pin 0 OK was detected This bit is 1 switch on protection after overload acknowledged with a switch error off on sequence at DigOut Bit 7 in Digital output mode or 0 OK OutputValue in PWM 1 Hardware Watchdog error output mode switch on protection after ovetload error indica
44. Interface Communicator Features USB powered Supports CAN bit rates up to 1000 kb per second CAN messages are time stamped in 100 ms increments Supports both 11 bit CAN 2 0A and 29 bit CAN 2 0B identifiers Supports data and remote frames Equipped with 110 cm 44 in length USB cable and 30 cm 12 in length CAN cable Interface the CAN bus with 9 pin D SUB connector Designed for USB 2 0 backward compliant with USB 1 1 Microsoft Windows XP amp Windows 2000 platforms Plug and Play installation CAN bus monitor software available on the Sauer Danfoss PLUS 1 website www sauer danfoss plus1 com 9 Technical data SAUER DANFOSS CG150 CAN USB Gateway lnterface Communicator Technical Data Dimensions 100 x 25 x 20 mm 4 x 1 x 0 75 in Power supply USB Current consumption approximately 70 mA 5V Operating temperature range 0 C 70 C 32 F 158 F Storage temperature range 40 C 85 C 40 F 185 F USB version 2 0 1 1 Clock accuracy 100 us LED indicators 2 Bit rate kb sec 5 1000 Kbits sec CAN physical layer High speed ISO 11898 2 Galvanic Isolation No Clock syncronization of multiple devices No Maximum message rates msgs sec 8000 Time stamp bits 32 Error counters reading No Mix 11 29 bit messages Yes Error frame detection Yes Error frame generation No Silent mode No Sound indicator No CA
45. LM3S9B92 microcontroller which features advanced motion control including eight PWM outputs for motion and energy and two Quadrature Encoder Inputs QEI modules The LM3S9B92 microcontroller also features an external 16 MHz crystal that provides the main oscillator clock which can directly drive the ARM core clock or an internal PLL to increase the core clock up to 80 MHz A 25 MHz crystal is used for the Ethernet clock The LM3S9B92 microcontroller also has an internal LDO voltage regulator that supplies power for internal use The Stellaris EK LM3S9B92 evaluation board includes the following features m Stellaris LM3S9B92 high performance microcontroller with large memory 32 bit ARM Cortex M3 core 256 KB main Flash memory 96 KB SRAM and 23 7 KB ROM Ethernet 10 100 port with two LED indicators USB 2 0 Full Speed OTG port Virtual serial communications port capability Oversized board pads for GPIO access User pushbutton and LED m Detachable In Circuit Debug Interface BD ICDI board can be used for programming and debugging other Stellaris boards Kit Contents The EK LM3S9B92 evaluation kit includes m EK LM3S9B92 Evaluation Board EVB m BD ICDI In Circuit Debug Interface Board m Cables USB cable 10 pin ribbon cable for JTAG 8 pin ribbon cable for power UART connection m Evaluation Kit CD containing Complete documentation StellarisWare Peripheral Driver Library and example source code
46. Limit Bit6 reserved Bit7 reserved Bit8 resetved Bit9 0 OK 1 invalid value at EncErrThreshold Bit10 0 OK 1 One encoder line disconnected Bit11 0 OK 1 invalid value at PartLoadReduc This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW Description ACIM Application Interface Created by Date Document name Reg No Mobile Electronics 2010 02 01 10107978V130 doc 2 15 Motor Identification Data Page Total pages 23 32 Variable Name Variable Type Variable Direction Function Scaling Miscellaneous Motor Identification Data Motor Elements PolePairs U8 Write Pole pairs 1 6 init value OxFF Note4 Note5 SpeedMax Write Maximum motor speed 0 100000 0 1 rpm init value OxFFFFFFFF Note4 Note5 FluxRated Write Rated rotor flux 0 1000000 0 01mWb init value OxFFFFFFFF Note4 Note5 CurrentMax Write Maximum motor current 0 2900000 mArms init value OxFFFFFFFF Note4 Note5 TorqueMax Write Torque at maximum current Motor CurrentMax 0 1000000 0 001Nm init value OxFFFFFFFF Note4 Note5 LmRated Write Main inductance at rated rotor flux level 0 10000000 0 1 uH init value OxFFFFFFFF Note4 Note5 Lir Min W
47. N 2 0B port use for different protocols CAN J1939 CANopen High number of I Os Configurable 1 0 functionality for improved flexibility in adapting to different applications Safety outputs with redundant transistors for advanced safety requirements VO supply voltage independent from battery Compact design with different cooling alternatives for flexible packaging conduction cooling air cooling Easy access to service status and diagnostic information PC Service Tool for field service Parameter up down load Oscilloscope Data logging Status and fault monitoring with two LED indicators SAUER DANFOSS Technical Data Dimensions in millimeters inches PLUS 1 Inverter MI06 S XX 400 Power Section M10 wrench size 17mm Type MI06 S 24 400 48 400 Nominal voltage 24 Vdc 36 48 Vdc EL 2 Input voltage range 16 36 Vdc 18 62 Vdc de Nominal current 200 Arms 200 Arms FL TT Maximum current S2 2min 400 Ar
48. N connector 9 pin male D SUB USB cable length 110 cm 44 in CAN cable length 30 cm 12 in Auto transmit buffers No Auto response buffers No Load dump protection Yes Polyurethane cabling No Status Lights CAN pin configuration Ordering information 520L0945 Rev B 02 06 GSAUR DANFOSS Power on CAN activity CAN pin configuration Pin Function 1 2 CAN Pin 25 ene 3 Shield Ground 00000 4 E Vessel 5 6 _ Pin 7 7 CAN 8 9 pin male connector front side view 9 Ordering Information CG150 CAN USB Gateway Interface Communicator Part Number 10104136 Copyright 2006 Sauer Danfoss All rights reserved Contents subject to change Sauer Danfoss Sauer Danfoss logotype and PLUS 1 are trademarks of the Sauer Danfoss Group v TEXAS INSTRUMENTS Stellaris LM3S9B92 Ethernet USB OTG Evaluation Kit The Stellaris LM3S9B92 Ethernet USB OTG Evaluation Kit provides a low cost evaluation platform for the LM3S9B92 ARM Cortex M3 based microcontroller The kit includes two boards the EK LM3S9B92 evaluation board and the BD ICDI In Circuit Debug Interface board The evaluation board design highlights the LM3S9B92 microcontroller s 10 100 Mbit Ethernet port full speed USB OTG port In Circuit Debug Interface ICDI board and easy connection to the GPIO ports Features The evaluation board uses the
49. Read only Parameter Input with Namespace e Read only Parameter Input e Access App Log Enable e Disable Raw Applog data Readout e Accessrights App Log Diagnostics e Accessrights App Log Errors e Accessrights App Log Others e Accessrights History e Accessrights Read e Accessrights Write e Transmit CAN e Receive CAN with Filter e Receive CAN with ID Mask e Receive CAN Basic e Non Volatile memory Dynamic with Default e Non Volatile memory Dynamic This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 32 32 e Non Volatile memory Dynamic Input e Set Pulse e Repeat e Until Get Time us 4 2 Diagnostic Data PLG In Target Diagnostic Data PLG file is dynamic allocated in target FLASH memory 4 3 ToolKey LOGKEY Supported 44 TimeBase The following time bases are supported T1M T10M T100M T1S T60S T1H TLOOP 4 5 Unit History Unit History is supported The 20 latest activities are logged 4 6 Read Only Parameters Support This software supports Read Only Parameters This SYS have a parameter named ReadOnlyParameters which enables or disables this function The parameter can have the values ENABLE or DISABLE where DISABLE is the default value The value can be set in the GUIDE Select this SYS in the Project ma
50. SB Full Speed OTG port and 10 100 Ethernet controllers Ask your distributor for part number EKK LM3S9B90 or EKK LM3S9B92 ARM RealView MDK tools EKI LM3S9B90 or EKI LM3S9B92 IAR Embedded Workbench tools EKC LM3S9B90 or EKC LM3S9B92 CodeSourcery Sourcery G tools EKT LM3S9B90 or EKT LM3S9B92 Code Red Technologies Red Suite tools or EKS LM3S9B90 or EKS LM3S9B92 Texas Instruments Code Composer Studio IDE See the website for the latest tools available Texas Instruments Inc 108 Wild Basin Suite 350 Austin TX 78746 http Awww ti com stellaris and brands may be claimed as the property of others PB LM3S9B92 06 Cortex Intelligent Processors by ARM JB TEXAS INSTRUMENTS STELLARIS microcontrollers IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries TI reserve the right to make corrections modifications ennancements improvements and other changes to its products and services at any time and to discontinue any product or service without notice Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete All products are sold subject to T s terms and conditions of sale supplied at the time of order acknowledgment TI warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with T s standard warranty Testing and other quality control techn
51. age 2 75 4 5 V VTxD 0 8V D11 VO CANL CANL dominant output voltage 0 5 2 25 V VTxD 0 8V D12 VDIFF r o Recessive differential output 500 50 mV VTXD 2V no load voltage D13 VDIFF d o Dominant differential output 1 5 3 0 V VTxD 0 8V VDD 5V voltage 40Q lt RL lt 609 Note 2 D14 lo SC CANH CANH short circuit output current 200 mA VCANH 5V D15 100 MA VCANH 40V 40V Note 1 typical D16 lo SC CANL I CANL short circuit output current 200 mA VCANL 40V 40V Note 1 Bus Line CANH CANL Receiver TXD 2V pins 6 and 7 externally driven D17 VDIFF r i Recessive differential input 1 0 0 5 V 2V lt V CANL CANH lt 7V voltage Note 3 1 0 0 4 Vs 12V lt V CANL CANH lt 12V Note 3 D18 VDIFF d i Dominant differential input 0 9 5 0 V 2V lt V CANL CANH lt 7V voltage Note 3 1 0 5 0 V 12V lt V CANL CANH lt 12V Note 3 D19 VDIFF h i Differential input hysteresis 100 200 mV _ see Figure 2 3 Note 1 D20 RIN CANH CANL common mode 5 50 kQ input resistance D21 RIN d Deviation between CANH and 3 3 VCANH VCANL CANL common mode input resis tance Note 1 This parameter is periodically sampled and not 100 tested 2 ITXD IRXD IVREF 0 mA OV lt VCANL lt VDD OV lt VCANH lt VDD VRS VDD 3 This is valid for the receiver in all modes High speed Slope control and Standby 2003 Microchip Technology nc DS21667D page
52. al com ponents in life support systems is not authorized except with express written approval by Microchip No licenses are con veyed implicitly or otherwise under any intellectual property rights DNV Certification Inc DNV MSC The Netherlands Accredited by the RvA 7 DNV ISO 9001 QS 9000 REGISTERED FIRM The Microchip name and logo the Microchip logo Accuron dsPIC KEELOQ MPLAB PIC PICmicro PICSTART PRO MATE and PowerSmart are registered trademarks of Microchip Technology Incorporated in the U S A and other countries AmpLab FilterLab microID MXDEV MXLAB PICMASTER SEEVAL and The Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the U S A Application Maestro dsPICDEM dsPICDEM net ECAN ECONOMONITOR FanSense FlexROM fuzzyLAB In Circuit Serial Programming ICSP ICEPIC microPort Migratable Memory MPASM MPLIB MPLINK MPSIM PICkit PICDEM PICDEM net PowerCal Powerlnfo PowerMate PowerTool rfLAB rfPIC Select Mode SmartSensor SmartShunt SmartTel and Total Endurance are trademarks of Microchip Technology Incorporated in the U S A and other countries Serialized Quick Turn Programming SQTP is a service mark of Microchip Technology Incorporated in the U S A All other trademarks mentioned herein are property of their respective companies 2003 Microchip Technology Incorporated Printed in the U S A All Rights Reserved
53. cation is not implied Exposure to maximum rating conditions for extended periods may affect device reliability DS21667D page 8 2003 Microchip Technology Inc MCP 2551 2 2 DC Characteristics DC Specifications Electrical Characteristics Industrial 1 TAMB 40 C to 85 C VDD 4 5V to 5 5V Extended E TAMB 40 C to 125 C VDD 4 5V to 5 5V Param No Sym Characteristic Min Max Units Conditions Supply D1 IDD Supply Current 75 mA Dominant VTXD 0 8V VDD D2 10 mA Recessive VTXD 2V Rs 47 ka D3 365 JA 40 C lt Tame lt 85 C Standby Note 2 465 UA 40 C lt Tamse lt 125 C Standby Note 2 D4 VPORH High level of the power on reset 3 8 4 3 V CANH CANL outputs are comparator active when VDD gt VPORH D5 VPORL Low level of the power on reset 3 4 4 0 V CANH CANL outputs are not comparator active when VDD lt VPORL D6 VPORD Hysteresis of power on reset 0 3 0 8 V Note 1 comparator Bus Line CANH CANL Transmitter D7 VCANH r VCANL r CANH CANL Recessive bus 2 0 3 0 V VrxD VDD no load voltage D8 IO CANH reces Recessive output current 2 2 mA 2V lt V CAHL CANH lt 7V lo CANL reces OV lt VDD lt 5 5V D9 10 10 mA 5V lt V CANL CANH lt 40V OV lt VDD lt 5 5V D10 VO CANH CANH dominant output volt
54. ction after overload error Bit 7 U lt OK 1 Hardware Watchdog error acknowledged with a switch off on sequence at DigOut in Digital output mode or Output Value in PWM output mode switch on protection after overload error indicates that the pin is not retrigger able after a overload switch off Hardware Watchdog error indicates an error of the ext HW watchdog of the unit 2 4 General purpose Inputs Outputs with Safety Switch Variable Name Variable Variable Function Scaling Miscellaneous Type Direction General purpose Inputs Outputs with Safety Switch C1p13 Elements PinConfig U16 Write Config Notel Note3 0 Digital output Sinking output 1 PWM output 2 Digital input default value 0 DigOut BOOL Write Digital out Note2 False off inactive For PinConfig 0 True on active OutputValue U16 Write Set point value Note2 Note4 0 10000 0 01 For PinConfig 1 PWM frequency 100 Hz Resolution 10 Yo OutputValue will be rounded internally to the nearest 10 value DebounceConfig U16 Write Sets the time to debounce the digital Notel Note4 input The input signal will be 0 100 ms delayed for that time Only valid if PinConfig 2 fixed sample time 1 ms Digln BOOL Read Digital input High True PinStatus U16 Read BitO A shorted output to 1 O 0 OK supply PinStatus Bit3 1 ConfigError at Pin
55. doned this system because develop it was too expensive and that was difficult with install it into a car because of the weight 25 kg in one piece what is very big problem with keep balance of the car But teams still work about make it smaller and probably KERS will back to Formula One in the next season Local Address SAUER DANFOSS PLUS 1 Inverter MIO6 S XX 400 AC Motor Controller The PLUS 1 Inverter family is designed to control AC motors in all types of electric vehicles Adaptable motor control using a Flux Vector Control algorithm offers best performance for drive systems while plug in data files enable easy matching and optimization of PLUS 1 compliant TSA AC induction motors and the MI 06 inverter Mobile Machine Management The PLUS 1 MIO6 Inverter is both a motor inverter and a vehicle controller in one unit With configurable I O functionality and analog digital and CAN communication ports the inverter is able to interface with a wide range of external devices Vehicle Application Development Users develop MI06 S XX 400 applications with PLUS 1 GUIDE This user friendly Microsoft Windows based development environment features a field proven graphical programming tool application downloader and service tool Software application blocks for typical applications are available in the Sauer Danfoss software library and can be simply adapted and expanded for individual vehicle application
56. e Tel 33 1 69 53 63 20 Fax 33 1 69 30 90 79 Germany Steinheilstrasse 10 D 85737 Ismaning Germany Tel 49 89 627 144 0 Fax 49 89 627 144 44 Italy Via Quasimodo 12 20025 Legnano MI Milan Italy Tel 39 0331 742611 Fax 39 0331 466781 Netherlands P A De Biesbosch 14 NL 5152 SC Drunen Netherlands Tel 31 416 690399 Fax 31 416 690340 United Kingdom 505 Eskdale Road Winnersh Triangle Wokingham Berkshire England RG41 5TU Tel 44 118 921 5869 Fax 44 118 921 5820 07 28 03 DS21667D page 22 2003 Microchip Technology Inc SAUER DANFOSS CG150 CAN USB Gateway Interface Communicator INTRODUCTION The Sauer Danfoss CG150 CAN Interface is an element of the PLUS 1 family of mobile machine management products The CG150 provides a compact and cost effective gateway interface between PLUS 1 compliant modules on the PLUS 1 Controller Area Network CAN and a personal computer PC USB port The CG150 communicator provides the application download of programs to PLUS 1 compliant devices on the PLUS 1 CAN network and upload download of application tuning parameters Device drivers are imbedded in the PLUS 1 GUIDE Graphical User Integrated Development Environment service and diagnostic tool software The CG150 is compatible with Bosch CAN standard 2 0 A amp B standard and extended data frames and USB standard 1 1 amp 2 0 520L0945 Rev B 02 06 CG150 CAN USB Gateway
57. ervice Tool even Read if DisableRead is True MasterPasswotd S Read This value can be written to by the Service Tool Write even if DisableWrite is True It can also be read by the Service Tool even if DisableRead is True 2 21 IDENTITY Type Direction ZZE I ls PP 8 HTwT TVom Ekman _ id SSS Node U AAA mm ServerAddr U8 Write The node number of this unit ClientAddr U8 Read The node number of the diagnostic tool Net n Emre The net number nzi This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS M106 HW Description ACIM Application Interface Created by Date Document name Reg No Page Total pages Mobile Electronics 2010 02 01 10107978V130 doc 29 32 2 22 CAN INTERFACE CAN Controller internal in CPU is used for CAN bus Following CAN signals are implemented Variable Name Variable Variable Function Scaling Miscellaneous Type Direction 9999 IEHHHH AO rs ana aan ma Baudrate Write Default 250000 baud Supported Baud rates 50000 baud 100000 baud 125000 baud 250000 baud 500000 baud 1000000 baud Buss Off BOOL Set gt If the CAN controller is in Bus Off mode Po mode DriverError BOOL Read Set gt The CAN driver could not be initialized and the whole CAN functionality is shut down For CAN O this flag could be set if
58. eter of the sprocket by D from the trigonometry of the figure we see 7 s gt 2 7 sin gt or D a 2 D 2 sin y 2 Since y 360 N where N is the number of sprocket teeth Eq a can be written D Da 17 29 sin 1802 N l Where D sprocket Wheel pitch diameter mm P chain pitch mm N number of sprocket teeth Where i transmission rate Z1 teeth number of the driver sprocket wheel Z2 teeth number of the sprocket wheel Power torque and speed T2 T1 sl l Where T torque MN efficiency i transmission rate P T N Where P power W T torque N m N speed rad s V Roo V lineal speed m s R radius m CALCULATIONS DATA OR PARAMETERS Initial SPROKET WHEEL Z1 i 14 Z2 i 37 pitch 12 7 mm MOTOR DATA nominal TORQUE 5 68 mN POWER 2kW SPEED 3360 r p m Transmission Chain Efficiency 0 85 Wheel diameter tyres 0 4 m CALCULATION We designed an excel table in order to optimize the teeth number of the sprockets trying to get a good torque and a good speed D m gt op E gt m 4 Quad speed km h 104 32 d1 mm d2 mm K Torque mN speed r p m speed rad s 14 57 07328193 34 137 641983 0 41 11 73 1383 53 144 88 14 57 07328193 141 678915 1344 00 14 57 07328193 145 716158 1306 67 57 07328193 149 753689 1271 35 14 KAA 153 791483 0 37 13 11 1237 89 129 63 93 34 14 57 073
59. f the ext HW watchdog of the unit 2 6 General purpose proportional Inputs Outputs Variable Name Variable Variable Function Scaling Miscellaneous Type Direction General purpose proportional Inputs Outputs C1p16 Elements PinConfig U16 Write Config Notel Note3 U Digital output 1 PWM output 2 Digital input 3 Proportional output closed loop current controlled init value 3 default value 3 DitherAmp U16 Write Set point Dither Amplitude Note2 Note4 0 2500 0 1m A For PinConfig 3 Square wave signal symmetrically to current set point with a fixed frequency of 62 5 Hz DigOut BOOL Write Digital out Note2 False off inactive For PinConfig 0 True on active OutputValue U16 Write Set point value Note2 Note4 0 10000 0 01 for PinConfig 1 For PinConfig 1 0 20000 0 1mA for PinConfig 3 PWM frequency 100 Hz Resolution 10 Yo OutputValue will be rounded internally to the nearest 10 DebounceConfig U16 Write Sets the time to debounce the digital Notel Note4 input The input signal will be 0 100 ms delayed for that time Only valid if PinConfig 2 fixed sample time 1 ms Digln BOOL Read Digital input If PinConfig 2 High True This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAUER DANFOSS MI06 HW ES ACIM a Interface
60. g m Electronic point of sale POS machines m Network appliances and switches m Gaming eguipment v Texas INSTRUMENTS Copyright 2009 2010 Texas Instruments Inc All rights reserved Stellaris and StellarisWare are registered trademarks of Texas Instruments ARM and Thumb are registered trademarks and Cortex is a trademark of ARM Limited Other names LM3S9B92 Microcontroller High performance ARM Cortex M3 microcontroller for real time embedded applications Ordering Information Orderable Part Number LM3S9B92 IQC80 C1 Description Stellaris LM3S9B92 Microcontroller Industrial Temperature 100 pin LQFP Stellaris LM3S9B92 Microcontroller Industrial Temperature 108 ball BGA LM3S9B92 IQC80 C1T Stellaris LM3S9B92 Microcontroller Industrial Temperature 100 pin LQFP Tape and reel LM3S9B92 IBZ80 C1 LM3S9B92 IBZ80 C1T Stellaris LM3S9B92 Microcontroller Industrial Temperature 108 ball BGA Tape and reel Development Kit The Stellaris LM3S9B96 Development Kit provides the hardware and software tools that engineers need to begin development quickly Ask your distributor for part number DK LM3S9B96 See the website for the latest tools available Evaluation Kit The Stellaris LM3S9B90 and LM3S9B92 Ethernet and USB OTG Evaluation Kits provide the hardware and software tools to speed development using the LM3S9B90 and LM3S9B92 microcontrollers integrated U
61. i com security RFID www ti rfid com Space Avionics amp www ti com space avionics defense Defense RF IF and ZigBee Solutions www ti com lprf Video and Imaging www ti com video Wireless www ti com wireless apps Mailing Address Texas Instruments Post Office Box 655303 Dallas Texas 75265 Copyright 2010 Texas Instruments Incorporated
62. ialINoA U32 Read First part of the Serial number Production data SerialNoB U32 Read Second part of the Serial number Production data PattNo0 U32 Read Defines the hardware assembly with Production data software loaded PartNo1 U32 Read Is a S D part number and is set when Production data customer specific software and or parameter settings are loaded from production cell part number that the customer is ordering InvFrameSize U32 Read Inverter frame size of the unit Production data i e 6 for MI06 unit This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission Title SAUER N G DANFOSS MI06 HW Description ACIM Application Interface Created by Date Document name Reg No Page Total pages Mobile Electronics 2010 02 01 10107978V130 doc 27 32 2 17 OS Variable Name Variable Variable Function Scaling Miscellaneous Type Direction SE Elements Set during the first processing time LoopCnt Counter that increment with 1 every processing time ExecTime processing time ms ExecTimeOut Requested processing time ms ExecTimeWork Actual work time during processing time ms ETime Time since power on 10ms 2 18 LED Variable Name Variable Variable Function Scaling Miscellaneous Type Direction LEED ed S C H 219 NVMem Variable Name Variable Variable Function Scaling Miscella
63. ible input pin The data on this pin is driven out on the CANH and CANL differential output pins It is usually connected to the transmitter data output of the CAN controller device When TXD is low CANH and CANL are in the dominant state When TXD is high CANH and CANL are in the recessive state provided that another CAN node is not driving the CAN bus with a dominant state TXD has an internal pull up resistor nominal 25 kQ to VDD 1 7 2 GROUND SUPPLY Vss Ground supply pin 1 7 3 SUPPLY VOLTAGE VDD Positive supply voltage pin 1 7 4 RECEIVER DATA OUTPUT RXD RXD is a CMOS compatible output that drives high or low depending on the differential signals on the CANH and CANL pins and is usually connected to the receiver data input of the CAN controller device RXD is high when the CAN bus is recessive and low in the dominant state 1 7 5 REFERENCE VOLTAGE VREF Reference Voltage Output Defined as VDD 2 1 7 6 CAN LOW CANL The CANL output drives the low side of the CAN differential bus This pin is also tied internally to the receive input comparator 1 7 7 CAN HIGH CANH The CANH output drives the high side of the CAN differential bus This pin is also tied internally to the receive input comparator 1 7 8 SLOPE RESISTOR INPUT Rs The RS pin is used to select High speed Slope control or Standby modes via an external biasing resistor 2003 Microchip Technology Inc DS21667D page 5 MCP 2551
64. ing or power stage Bit5 0 OK 1 Shorted power output motor output Bit6 0 OK 1 Test not passed because of hardware overvoltage protection Bit7 0 OK 1 Corrupted production data in EEPROM detected Warning U16 Read BitO 0 OK 1 Error in watchdog circuit limited operation possible Biti 0 OK 1 Watchdog not tested because low voltage at DC Link or VKey Bit2 0 OK 1 Corrupted user data in EEPROM detected Bit3 0 OK 1 Corrupted error history data in EEPROM detected This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 19 32 Variable Name Variable Type Variable Direction Function Scaling Miscellaneous Monitoring Selftest Status U16 Read 0 Selftest finished 1 DCLink selftest in progress 2 Watchdog selftest in progress 3 PowerStage selftest in progress 2 11 4 Error history Variable Name Variable Type Variable Direction Function Scaling Miscellaneous Monitoring Error history ErrorHistory Number 0 7 U8 Read Error history the last 8 errors 1 Overtemperature 2 Overvoltage 3 Overcurrent 4 Temperature sensor error 5 Unprotected Mode used 6 DC_Link error
65. iques are used to the extent TI deems necessary to support this warranty Except where mandated by government requirements testing of all parameters of each product is not necessarily performed TI assumes no liability for applications assistance or customer product design Customers are responsible for their products and applications using TI components To minimize the risks associated with customer products and applications customers should provide adequate design and operating safeguards TI does not warrant or represent that any license either express or implied is granted under any TI patent right copyright mask work right or other TI intellectual property right relating to any combination machine or process in which TI products or services are used Information published by TI regarding third party products or services does not constitute a license from TI to use such products or services or a warranty or endorsement thereof Use of such information may require a license from a third party under the patents or other intellectual property of the third party or a license from TI under the patents or other intellectual property of TI Reproduction of TI information in TI data books or data sheets is permissible only if reproduction is without alteration and is accompanied by all associated warranties conditions limitations and notices Reproduction of this information with alteration is an unfair and deceptive business practice TI is not re
66. lded Package Thickness A2 052 056 061 1 32 1 42 1 55 Standoff A1 004 007 010 0 10 0 18 0 25 Overall Width E 228 237 244 5 79 6 02 6 20 Molded Package Width E1 146 154 157 3 71 3 91 3 99 Overall Length D 189 193 197 4 80 4 90 5 00 Chamfer Distance h 010 015 020 0 25 0 38 0 51 Foot Length L 019 025 030 0 48 0 62 0 76 Foot Angle 0 0 4 8 0 4 8 Lead Thickness C 008 009 010 0 20 0 23 0 25 Lead Width B 013 017 020 0 33 0 42 0 51 Mold Draft Angle Top 0 0 12 15 0 12 15 Mold Draft Angle Bottom B 0 12 15 0 12 15 Controlling Parameter S Significant Characteristic Notes Dimensions D and E1 do not include mold flash or protrusions Mold flash or protrusions shall not exceed 010 0 254mm per side JEDEC Eguivalent MS 012 Drawing No C04 057 2003 Microchip Technology Inc DS21667D page 17 MCP 2551 NOTES DS21667D page 18 2003 Microchip Technology Inc MCP 2551 PRODUCT IDENTIFICATION SYSTEM To order or obtain information e g on pricing or delivery refer to the factory or the listed sales office PART NO X XX Examples ji T SA a MCP2551 1 P Industrial temperature Device Temperature Package PDIP package Range k b MCP2551 E P Extended temperature PDIP package Device MCP2551 High Speed CAN Transceiver NAN ER iU no SOIC package d MCP2551T I SN Tape and Reel Temperature 40 C to 85 C Industrial Temperature Range E 40
67. mm 10 200 mm 1 000 mm 1 000 mm 12 000 ul 6 000 ul 12 700 mm 49 069 mm 161 18 deg 4 153mm 375 000 mm 364 681 mm 42 000 ul 24 000 ul 12 700 mm 169 945 mm 3 500 ul 198 82 deg 0 059 mm 5 368 mm 369 655 mm 364 681 mm All AutoCAD 200 x cant f We 0 02 Bolted Clevis Insert Connection Pin Method Bronse for a chain by size Preview Power rating ASME 829 1M ASME B29 1M ASME B29 IM ASME B29 3 ISO 487 1996 Steel Precision powe Precision powe Precision power Double Pitch Po roller chains type S a co BW oo ISO 487 1998 Steel ISO 487 1998 Steel ISO 487 1998 Steel ISO 606 2004 Bush 150 606 2004 roller chains type C roller chains type roller chains type Chains Short pitch transmissi H WA Aa RA Chan k p di dy by f m A 9058 1 1 000 ul 8 000mm 5000mm 2 310mm 3 000 mm 4400 000 N 11 000 mm 2 9058 2 2 000 ul 8 000mm 5 000mm 2 319mm 3 000 mm 7800 000 N 22 000 mm 2 9058 3 3 000 ul 8 000mm 5 000mm 2 310mm 3 000 mm 11100 000 N 33 000 mm 2 9068 1 1 000 ul 9 525mm 6 350mm 3 280mm 5 720 mm 8900 000 N 28 000 mm 2 9068 2 2 000 ul 9 525mm 6 350mm 3 280mm 5 720 mm 16900 000 N 56 000 mm 2 9068 3 3 000 ul 9 525 mm 6 350mm 3 280mm 5 720mm 24900 000 N 84 000 mm 2 9088 1 1 000 ul 12 700 mm 8 510mm 4 450 mm 7 750 mm 17800 0
68. mpensate the space between spacers flanges and braces holes The following picture shows the motor mounted without rubber rings because they didn t come on time Figure 21 Motor mounted 1 Figure 22 Motor mounted 2 Protection of the ball bearing We created a system to protect the ball bearing which was exposed to air and very close to the ground so easy to be damaged We chose to realize a plastic cover to put it on the central part of the flange before mounting the toothed wheel on the motor shaft So we realized a 3D drawing which after has been manufactured Figure 23 Plastic cover Toothed wheels and transmission chain Once mounted the engine we focused on the transmission between the motor shaft and the one of the two back wheels The pre existing transmission consisted of a driving wheel with 14 teeth and the free one with 37 teeth Calculations done in the first semester on the torgue and maximum speed reguired helped us to find the new numbers of teeth that we needed We obtained two wheels of 12 and 42 teeth as we can see in the following table Table Toothwheels di mm REAR SHAFT Torque mN speedlrad s quadspeed km h 57 07328193 137 641983 11 73 57 07328193 141 678915 12 08 57 07328193 14 40 57 07328193 145 716158 161 867785 0 38 0 37 0 36 12 42 1271 35 1237 89 1206 15 1176 00 133 14 95 86 129 63 93 34 126 31 90 94 14 57
69. ms 400 Arms 2 32 Peak current 420 Arms 420 Arms i b Output voltage 3x0 16V 3x0 24 S 24V inputV 36V input V sa ROONNANNNANNNA A sao SAT 0 79 U U U U 48V input V L Version Base plate 20 mm 0 79 Dimensions W 140 mm 5 51 in Version Heatsink here vertical H 200 mm 7 87 in 200 7 87 D 98 mm 3 86 in plate version 184 7 24 118 mm 4 65 in finned version Power connectors M10 1 I Weight 3 5 kg 7 72 Ib plate version 3 7 kg 8 16 Ib finned version 124 Interface E 140 Number Maximum 551 in default A number configuration A s S A Dipu 3 E gt CT LE a Analog input unipolar 0 10V 1 O Analog input bipolar 10V 2 P301 000 818 6 0 33 Digital output 5 7 Displayed fuse not included Digital output for safety 1 relevant components Caution Da controlled output i PLUS 1 devices are not field serviceable Opening the device housing will void the warrenty y Current controlled output for safety relevant components 1 0 2A Motor temperature sensor 1 Incremental encoder 1 2 CAN interface 1 Others Switching frequency 8kHz standard Product Part Number adjustable 4 8 12 16 kHz MI06 S 24 400 P Plate Type Heat Sink 10107497 Efficiency min 98 at nominal output MI06 S 24 400 FH Finned Type Heat Sink Horizontal 10107498 Output frequency 0 300 Hz MI06 S 24 400 FV Finned Type Heat Sink Vertical 10107499 Ambient temperature range 40 C 50 C 4
70. mum load of 450 allowing a maximum of 112 nodes to be connected given a minimum differential input resistance of 20 kQ and a nominal termination resistor value of 120Q 1 2 Receiver Function The RXD output pin reflects the differential bus voltage between CANH and CANL The low and high states of the RXD output pin correspond to the dominant and recessive states of the CAN bus respectively 1 3 Internal Protection CANH and CANL are protected against battery short circuits and electrical transients that can occur on the CAN bus This feature prevents destruction of the transmitter output stage during such a fault condition The device is further protected from excessive current loading by thermal shutdown circuitry that disables the output drivers when the junction temperature exceeds a nominal limit of 165 C All other parts of the chip remain operational and the chip temperature is lowered due to the decreased power dissipation in the transmitter outputs This protection is essential to protect against bus line short circuit induced damage 1 4 Operating Modes The RS pin allows three modes of operation to be selected e High Speed Slope Control Standby These modes are summarized in Table 1 1 When in High speed or Slope control mode the drivers for the CANH and CANL signals are internally regu lated to provide controlled symmetry in order to mini mize EMI emissions Additionally the slope of the signal tra
71. n 3 5 Noted To reinitialize the APL with the new variables given by the API the special variable ReInit inside the structure need to be triggered This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 31 32 4 Miscellaneous All Scaling for inputs and outputs are theoretical values for exact data see engineering specification for hardware Mote technical details can be found in Plus 1 Controller Family Technical Information The engineering specification can be found Sauer Danfoss internally in the EDMS system Maximum nested levels are 10 The Data types BOOL S8 and U8 will allocate 2 bytes 16bit each in this hardware If the PLUS 1 GUIDE Service Tool version lt 2 2 the PLUS 1 GUIDE Service Tool size of the downloadable file will be 20000H PLUS 1 GUIDE 4 0 or higher is required 41 Supported GUIDE Components The following GUIDE components which needs support from the SYS are allowed e Initialize Hardware Output e Integer Sine e Integer Cosine e Integer Tangent e Integer Arc Sine e Integer Arc Cosine e Integer Arc Tangent e Integer Square Root e Module Input e Module Bus Input e Module Bus Output e Hardware Input Output e Hardware Input e Read Output from Hardware e Open Parameter Set e Close Parameter Set e
72. nager and Edit the Parameter in the Inspector NOTE The memory calculation would not be correct when the ReadOnlyParameters is in ENABLE mode The Total amount of ROM should be reduced with 8192 to get the correct calculation Needed information for csv file ADDRESSMODE LSBFIRST DEFAULTTYPEDATA 1 MIN_DATASIZE 16 4 7 HOST settings In General the PLUS1 Setup program does this This setting use TI Compiler v 4 1 3 Key is TMS320C2000 C C v4 1 3 BEGIN This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission SAUER DANFOSS PLUS 1 GUIDE Graphical User Integrated Development Environment eee NT lam PLUS Et Take Control of Your by SAUER DANFOSS Applications with GUIDE GUIDE Graphical User Integrated Development Environment isa member of the PLUS 1 family of products that provide GUIDE Screens complete vehicle control solutions Other PLUS 1 products GUIDE Features include controllers displays and electrohydraulic products e Rapid production of applications enabled by dragging and dropping proven graphical software objects GUIDE allows graphical development of machine Built on reliable robust field proven tools management applications downloading of software via CAN e Assures protection of proprietary intellectual property and development of user specific service and diag
73. nal symmetrically to current set point with a fixed frequency of 62 5 Hz DigOut BOOL Write Digital out False off inactive True on active Note2 For PinConfig 0 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 12 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction General purpose proportional Inputs Outputs with Safety Switch OutputValue U16 Write Set point value Note2 Note4 0 10000 0 01 for PinConfig 1 For PinConfig 1 0 20000 0 1mA for PinConfig 3 PWM frequency 100 Hz Resolution 10 Yo OutputValue will be rounded internally to the nearest 10 DebounceConfig U16 Write Sets the time to debounce the digital Notel Note4 input The input signal will be 0 100 ms delayed for that time Only valid if PinConfig 2 fixed sample time 1 ms Digln BOOL Read Digital input If PinConfig 2 High True PinStatus U16 Read BitO A disconnected shorted to 0 OK I O supply output 1 ConfigError at PinConfig PinStatus Bit4 TRUE Bit1 can only be detected U lt OK if PinConfig 0 2 DigOut 1 ConfigError at DebounceConfig need to be False Bit2 if PinConfig 1 or 3 gt 0 OK OutputValue need to be 0
74. nc DS21667D page 1 MCP 2551 NOTES DS21667D page 2 2003 Microchip Technology Inc MCP 2551 1 0 DEVICE OVERVIEW The MCP2551 is a high speed CAN fault tolerant device that serves as the interface between a CAN protocol controller and the physical bus The MCP2551 provides differential transmit and receive capability for the CAN protocol controller and is fully compatible with the ISO 11898 standard including 24V requirements It will operate at speeds of up to 1 Mb s Typically each node in a CAN system must have a device to convert the digital signals generated by a CAN controller to signals suitable for transmission over the bus cabling differential output It also provides a buffer between the CAN controller and the high voltage spikes that can be generated on the CAN bus by outside sources EMI ESD electrical transients etc 1 1 Transmitter Function The CAN bus has two states Dominant and Recessive A dominant state occurs when the differential voltage between CANH and CANL is greater than a defined voltage e g 1 2V A recessive state occurs when the differential voltage is less than a defined voltage typically OV The dominant and recessive states correspond to the low and high state of the TXD input pin respectively However a dominant state initiated by another CAN node will override a recessive state on the CAN bus 1 1 1 MAXIMUM NUMBER OF NODES The MCP2551 CAN outputs will drive a mini
75. nc DS21667D page 3 MCP 2551 TABLE 1 1 MODES OF OPERATION Mode Current at R Pin Resulting Voltage at Rs Pin Standby IRS lt 10 HA VRS gt 0 75 VDD Slope control 10 HA lt IRS lt 200 LA 0 4 VDD lt VRS lt 0 6 VDD High speed IRS lt 610 JA 0 lt VRS lt 0 3VDD TABLE 1 2 TRANSCEIVER TRUTH TABLE VDD VRS TXD CANH CANL Bus State Rxol 4 5V lt VDD lt 5 5V VRS lt 0 75 VDD 0 HIGH LOW Dominant 0 1 or floating Not Driven Not Driven Recessive 1 VRS gt 0 75 VDD X Not Driven Not Driven Recessive 1 VPOR lt VDD lt 4 5V VRS lt 0 75 VDD 0 HIGH LOW Dominant 0 See Note 3 1 or floating Not Driven Not Driven Recessive 1 VRS gt 0 75 VDD X Not Driven Not Driven Recessive 1 0 lt VDD lt VPOR X X Not Driven Not Driven High Impedance X No Load No Load Note 1 If another bus node is transmitting a dominant bit on the CAN bus then RXD is a logic 0 2 X don t care 3 Device drivers will function although outputs are not ensured to meet the ISO 11898 specification FIGURE 1 1 SLEW RATE VS SLOPE CONTROL RESISTANCE VALUE 25 TO es a a aro va 15 N sA o kd Slew Rate V US 0 tt tt tt tt 10 20 30 40 49 60 70 76 90 100 110 120 Resistance kQ L DS21667D page 4 2003 Microchip Technology Inc MCP 2551 1 5 TXD Permanent Dominant Detection If the MCP2551 detects
76. neous Type Direction NVMem NVMem Elements Status Status of Non Volatile memory aftet reset The status code is bit coded Bit 0 Set The NVMem was restored to a previous state This may happen when a store operation was aborted For example due to power off Bit 1 Set The NV Memory checksums are not correct This may for instance occur the first boot up after a new application is downloaded if the NV Memoty usage is changed Bit 2 Set The reset routine could not access the NV memory For instance due to a hardware problem Bit3 15 is reserved This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission Title SAUER N G DANFOSS MI06 HW Description ACIM Application Interface Created by Date Document name Reg No Page Total pages Mobile Electronics 2010 02 01 10107978V130 doc 28 32 2 20 Service Tool Access Variable Name Variable Variable Function Scaling Miscellaneous Direction Ld Service Tool Access DisableRead i True The Service Tool has no read access to the unit DisableWrite BOOL i True The Service Tool has no write access to the unit DisableDownload i True The Service Tool has no access to download any file to the unit Connect BOOL True The unit has received a Service Tool Command during the last execution loop MasterPasswotd U32 Write This value can be read by the S
77. ners MICROCHIP M CP 2551 High Speed CAN Transceiver Features Supports 1 Mb s operation Implements ISO 11898 standard physical layer reguirements Suitable for 12V and 24V systems Externally controlled slope for reduced RFI emissions Detection of ground fault permanent dominant on TXD input Power on reset and voltage brown out protection An unpowered node or brown out event will not disturb the CAN bus Low current standby operation Protection against damage due to short circuit conditions positive or negative battery voltage Protection against high voltage transients Automatic thermal shutdown protection Up to 112 nodes can be connected High noise immunity due to differential bus implementation Temperature ranges Industrial 1 40 C to 85 C Extended E 40 C to 125 C Block Diagram Package Types PDIP SOIC TXD Vss RXD MCP2551 7 CANH 6 CANL 5 VREF TXD Dominant Thermal Shutdown VDD Detect TXD x i a gt gt Control 5 t Driver Slope Power On RS E Control 0 5 VDD Reset RXD De GND Da CANH Receiver VREF L Reference ZN Voltage X CANL 2003 Microchip Technology I
78. ng are URLs where you can obtain information on other Texas Instruments products and application solutions Products Applications Amplifiers amplifier ti com Audio www ti com audio Data Converters dataconverter ti com Automotive www ti com automotive DLP Products www dlp com Communications and www ti com communications Telecom DSP dsp ti com Computers and www ti com computers Peripherals Clocks and Timers www ti com clocks Consumer Electronics www ti com consumer apps Interface interface ti com Energy www ti com energy Logic logic ti com Industrial www ti com industrial Power Mgmt power ti com Medical www ti com medical Microcontrollers microcontroller ti com Security www ti com security RFID www ti rfid com Space Avionics amp www ti com space avionics defense Defense RF IF and ZigBee Solutions www ti com lprf Video and Imaging www ti com video Wireless www ti com wireless apps Mailing Address Texas Instruments Post Office Box 655303 Dallas Texas 75265 Copyright 2010 Texas Instruments Incorporated v TEXAS INSTRUMENTS STELLARIS microcontrollers r 256 KB Flash ARM pvic Cortex M3 96 KB SRAM SW 100 MHz ROM Clocks Reset 3 UARTs System Control 2 SSI SPI Systick Timer 4 Timer PWMICCP 10 100 Ethernet Each 32 bit or 2x16 bit MAC PHY en Sn 2 Watchdog Timers 7 USB Full Speed a Host Device OTG GPIOs Si s 2 CAN 32ch DMA E Lu lt u
79. nostic tools GUIDE e Graphical editor allows easy development of applications by maximizes OEM engineering inexperienced programmers productivity and protects intellectual property Service tool has multiple access protection levels to protect against unauthorized use and tampering GUIDE Development Tool e PLUS 1 compliant function blocks increase productivity by allowing rapid set up of Sauer Danfoss compliant sensor GUIDE uses graphic symbols pump motor and valve products and components to create application drawings that are easily understood by inexperienced programmers The drawing represents the software application which is then automatically coded and serves as the documentation for the program Local Address 520L0708 Rev HA Jan 2009 SAUER PLUS 1 GUIDE Graphical User DANFOSS Integrated Development Environment GUIDE Development Tool e Symbols and components are selected from a palette and dropped onto the drawing space e Sauer Danfoss developed function blocks are available for common control requirements such as PID control ramp filter and command signal profiles e GUIDE compliance blocks allow rapid integration of input and output signals from Sauer Danfoss electrohydraulic products through the use of predetermined signal types and parameter default settings e Graphical programming reduces the number of steps required to develop an application source code is generated directly from the ap
80. nsitions on CANH and CANL can be controlled with a resistor connected from pin 8 RS to ground with the slope proportional to the current output at Rs further reducing EMI emissions 1 4 1 HIGH SPEED High speed mode is selected by connecting the Rs pin to Vss In this mode the transmitter output drivers have fast output rise and fall times to support high speed CAN bus rates 1 4 2 SLOPE CONTROL Slope control mode further reduces EMI by limiting the rise and fall times of CANH and CANL The slope or slew rate SR is controlled by connecting an external resistor REXT between RS and VOL usually ground The slope is proportional to the current output at the Rs pin Since the current is primarily determined by the slope control resistance value REXT a certain slew rate is achieved by applying a respective resistance Figure 1 1 illustrates typical slew rate values as a function of the slope control resistance value 1 4 3 STANDBY MODE The device may be placed in standby or SLEEP mode by applying a high level to Rs In SLEEP mode the transmitter is switched off and the receiver operates at a lower current The receive pin on the controller side RXD is still functional but will operate at a slower rate The attached microcontroller can monitor RXD for CAN bus activity and place the transceiver into normal operation via the Rs pin at higher bus rates the first CAN message may be lost 2003 Microchip Technology I
81. o batteries it has been planned a grid for supporting them Our work focused on the design and manufacturing of suitable structures for fixing the electric motor to the chassis First semester team already drew using a 3D graphic software two flanges to fix them on the front and back side of the motor utilizing the holes on it Due to some mistakes in the mechanical drawings of the first semester we had to design two completely new flanges b Design and manufacturing of flanges fixing of the engine to the chassis Back flange We chose to design the back flange like a solid disc with a diameter of 65 mm with four through holes for M8 screws placed on a 99 75 diameter circumference with 90 degrees between each other and a central hole of 22 mm diameter to permit the flange to stay on the motor The disc is extended on the radius for other 45 mm only for an angle of 168 7 degrees This protrusion is the flange itself and it has two eyelets that follow the circumference for M8 blots one for every eye bolt on the right side of the chassis The first semester solution with a holed disc was something not easy to realize because it needed some opening mechanism to put it on the motor because there are powering cables on the surface which don t permit the fixing Moreover we had to increase the radius dimensions of the flange to permit the connection between triphase terminals on the motor and batteries trying to avoid unwanted contact
82. o nl na vn 31 4 2 Diagnostic Data PEG In Tafget nnen sneven ks o r ra 32 43 VOOM absol ooo Ne En 32 AA T gt T S BTT 32 4 5 Unit Stoty Ia ua 32 4 6 Read Only Parameters Support nn en 32 Al Or GS sisal on r ni 32 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 3 32 1 General 1 1 BIOS functionality The functionality is defined around the pin If no Variable Type is specified the Variable Name contains elements defined later The pins are defined as C ConnectorNumber p PinNumber Example The pin C1p19 has 3 variables C1p19 DigIn C1p19 DebounceConfig C1p19 PinStatus Also C1p20 has 3 variables C1p20 DigIn C1p20 DebounceConfig C1p20 PinStatus Etc 1 2 BIOS Default Settings The default value of variables is 0 if nothing is specified This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 4 32 2 API Interface 2 1 Multi function Inputs Dig Freq Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Multi function Inputs Dig Freq C1p18 Encoder
83. o that we can after manufacture it to obtain the cone shape desired and the space for the key Figure 24 Mechanical draw of the motor shaft and real part Figure 25 New sprocket wheel before manifacturing Free toothed wheel For this tootned wheel we chose to use the previous support which presents a ribbed profile for the coupling with the shaft of the two back wheels Figure 26 Free toothed wheel In the previous toothed wheel the connection with the support has been realized by four screws without bolts The first thing to do is taking the old toothed wheel down from the support heating the piece to melt the glue which has been used on the screws So we ordered a toothed wheel solid inside that we can perforate in the laboratory and then connect to the support with four bolts without threading the holes created Figure 27 New free toothed wheel before manifacturing Toothed wheels designs What we wanted to obtain is shown in the following mechanical drawings These designs represent how the new toothed wheels were intended to be realized The chain has been ordered together with two tootned wheels The wheel base is 390 mm Table Chain 150 487 1998 Steel ISO 487 1998 Steel 180 4937 1998 Steel 150 606 2004 Bush TSO 606 2004 toller chains type C roller chains type roller chains type Chains Short pitch transmiss amp Chan k p di dz b Pr Pe m A amp 205 1 1 000 U 8 0
84. onnect the engine to the chassis because of the new shape of the motor which had to be placed using the pre existing braces for the previous combustion motor Fixing of flanges The back flange has been screwed on the lower base of the cylinder of the motor using four M8 8 8 screws with lock washers The front flange has been screwed on the higher base of the cylinder of the engine using seven M8 8 8 bolts with washers Figure 19 Back flang mounted and detail of the screw with lock washers Figure 20 Front flang mounted Motor placing The motor has been placed in the same position where the combustion engine was Obviously it is an electric motor so it needs less space compared to the previous one even if their weights are almost the same Next pictures show the holes on the braces useful references for mounting the engine Figure 21 Location of the motor in the chassis Threaded pivots and spacers Once manufactured the flanges and mounted on the motor we realized two threaded pivots because each of them has to cross both flanges and braces to support the engine Then we realized in the mechanical laboratory two metal spacers obtained by cutting with a band saw a pipe with an internal diameter of 8 mm and an external one of 11 mm They are useful because only on one side the two braces are on the same plane Due to vibrations produced by the motor it will be necessary to use rubber rings and washers to co
85. ote 1 13 CDIFF Differential input 10 pF 1 Mbi s data rate capacitance ty pical Note 1 14 TtxL2busZ TX Permanent Dominant 1 25 4 ms Timer Disable Time 15 TtxRZ2pdt res TX Permanent Dominant 1 HS Rising edge on TXD while Timer Reset Time device is in permanent dominant state Note 1 This parameter is periodically sampled and not 100 tested DS21667D page 12 2003 Microchip Technology Inc MCP 2551 2 4 Timing Diagrams and Specifications FIGURE 2 4 TIMING DIAGRAM FOR AC CHARACTERISTICS TXD transmit data VDD input voltage UV VDIFF CANH CANL differential voltage RXD receive data output voltage FIGURE 2 5 TIMING DIAGRAM FOR WAKE UP FROM STANDBY VRS Slope resistor VoD input voltage 0 6 VDD OV VRXD Receive data output voltage 0 3 VDD lt 10 VTXD 0 8V FIGURE 2 2 TIMING DIAGRAM FOR BUS DOMINANT TO RXD LOW STANDBY MODE 1 5V VDIFF Differential 0 9V voltage OV Receive data output voltage 0 3 VDD La 11 gt VRS 4V VTXD 2V eK 2003 Microchip Technology Inc DS21667D page 13 MCP 2551 NOTES DS21667D page 14 2003 Microchip Technology lnc MCP 25351 3 0 PACKAGING INFORMATION 3 1 Package Marking Information 8 Lead PDIP 300 mil ra N A XXXXXXXX XXXXXNNN YYWW oS L ur Lr u
86. ote2 Note3 True enabled Enable can be set after all self tests are finished and if no error was found during the self test A 1 0 sequence receipts the PowerStage Status bits and clears the bits of these errors which are not longer present A 0 1 sequence at Enable is necessaty to enable the power stage EnableStatus BOOL Read False disabled In case of an error True enabled EnableStatus can be disabled even if Enable is enabled Unprotected BOOL Write False Unprotected mode disabled Note3 True Unprotected mode enabled If the Power Stage is switched off because of a temperature sensor error it is possible to switch on the Power Stage also if this error is actually present ResetErrStatus BOOL Write False disabled Note2 Note3 True enabled A 0 1 sequence receipts the PowerStage Status bits and clears the bits of these errors which are not longer present Temp S16 Read Actual temperature at power stage 60 170 PC TempLimit S16 Read Upper temperature limit of power stage A constant value specified C by the inverter type production data HWCurrLimit U32 Read Current limit of the powet stage Production data hardware corresponds with boost current of data sheet 0 2900000 mArms This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAUER Title DANFOSS MI06 HW ES ACIM a Interface
87. other CAN Nodes already communicate during initialization phase BOOL Write Set gt Reinitialize the CAN driver if DriverError is Set Ma BOOL Read Set gt The internal CAN message queue have was full during the last execution loop A message may have been lost Port PORT Read A handler for the CAN port x used as an input to a CAN symbol to select which CAN port to use This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 30 32 3 Notes 3 1 Notel This signal must use the symbol Tnitialize Hardware Output This means that this output will be updated before the application starts 3 2 Note2 This signal can use both symbols Initialize Hardware Output and Hardware Output Tnitialize Hardware Output means that this output will be updated before the application statts Hardware Output means that this output will be updated every loop in the application 3 3 Note3 Fot invalid values the default value is taken 3 4 Noted The input value will be limited to the valid range For invalid values the minimum or maximum value is taken If invalid value is less than the minimum allowed value the minimum allowed value is taken if invalid value is bigger than the maximum allowed value the maximum allowed value is take
88. plication drawing to reduce coding errors e On line and context sensitive help allows easy comprehension of product features e Application data logging aids machine diagnostics Downloader GUIDE includes an easy to use download tool Application files are downloaded to the target controller via CAN The download tool allows PLUS 1 users to access all of the controllers and intelligent devices on the PLUS 1 network Simple fast reliable communications between a controller or network of controllers and a PC USB port is accomplished with the CG150 CAN USB gateway Service Tool GUIDE includes a Service Tool that provides the ability to monitor and tune the operation of all devices on a PLUS 1 network The application developer can use basic Service Tool building blocks to develop a custom look and feel Service Tool Standard features of the Service Tool include bar graph displays oscilloscope displays for trending and tuning and data export to spreadsheet tools User defined graphics allow the Service Tool to have a proprietary look and feel The Service Tool allows OEM customization of the Service Tool look and feel Importation of user defined graphics in JPEG TIFF GIF or BMP format Access to any device on PLUS 1 network via CAN using the CG150 CAN USB gateway Data logging Read and write access to tuning parameters Protection for determining the level of access to PLUS 1 device data Viewing of history logs maintained in the PLUS 1
89. r that time Only valid if PinConfig 2 fixed sample time 1 ms Digln BOOL Read Digital input High True PinStatus U16 Read BitO A shorted output to 1 O U lt OK supply PinStatus Bit3 1 ConfigError at PinConfig Bitl 0 OK 1 ConfigError at DebounceConfig Bit2 0 OK 1 invalid value at OutputValue Bit3 0 OK 1 Overload output shorted to 1 O supply transistor damaged Bit4 0 OK 1 Output disconnected output shorted to I O supply transistor shorted Bit5 0 OK 1 switched off because overload Bit6 0 OK TRUE can only be detected if PinConfig 0 gt DigOut need to be 1 if PinConfig 1 gt OutputValue need to be gt 500 A disconnected shorted to I O supply output PinStatus Bit4 TRUE can only be detected if PinConfig 0 DigOut need to be 0 if PinConfig 1 gt OutputValue need to be 0 switched off because overload indicates that the output is switched off because overload of this pin was detected This bit is This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 7 1 32 Variable Name Variable Type Variable Direction Function Scaling Miscellaneous General purpose Inputs Outputs 1 switch on prote
90. riable to reinitialize the motor Note5 and encoder parameters A 0 1 sequence will reinitialize the motor control as soon as PowerStage EnableStatus FALSE and abs MotorControl ActSpeed lt 10 rpm DataStructVersion U16 Write Version of the motor data structure Note3 Note5 0 65000 init value 100 default value 100 Status U32 Read BitO 0 OK 1 invalid value at PolePairs Bitl 0 OK 1 invalid value at SpeedMax This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 25 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Motor Identification Data Bit2 0 OK 1 invalid value at FluxRated Bit3 0 OK 1 invalid value at CurrentMax Bit4 0 OK 1 invalid value at TorqueMax Bit5 0 OK 1 invalid value at LmRated Bit6 0 OK 1 invalid value at Lir Min Bit7 U lt OK 1 invalid value at Llr Max Bit8 0 OK 1 invalid value at Lls_Min Bit9 0 OK 1 invalid value at Lls Max Bit10 0 OK 1 invalid value at Lm 100 Bit11 0 OK 1 invalid value at Im100 Bit12 0 OK 1 invalid value in Im array of LmTable 0 9 Bit13 0 OK 1 invalid value in Lm array of LmTable 10 19 Bit14 U lt
91. rite Minimum leakage inductance of rotor 0 10000000 0 1 uH init value OxFFFFFFFF Note4 Note5 Llt Max Write Maximum leakage inductance of rotor 0 10000000 0 1 uH init value OxFFFFFFFF Note4 Note5 Ls Min Write Minimum leakage inductance of stator 0 10000000 0 1 uH init value OxFFFFFFFF Note4 Note5 Lis_Max Write Maximum leakage inductance of stator 0 10000000 0 1 uH init value OxFFFFFFFF Note4 Note5 Lm100 Write Main inductance 100 value for Lm lookup table 0 10000000 0 1 uH init value OxFFFFFFFF Note4 Note5 Im100 U32 Write Magnetization current 100 value for Lm lookup table 0 2900000 mArms init value OxFFFFFFFF Note4 Note5 LmTable 0 9 U16 Write Main inductance lookup table Im array 0 10000 0 01 init value OxFFFF for all elements Note4 Note5 Take care for increasing values LmTable i lt LmTable i 1 LmTable 10 19 U16 Write Main inductance lookup table Lm array 1000 10000 0 01 init value OxFFFF for all elements Note4 Note5 RrBase U32 Write Rotor resistance value measured at Tbase t transformed to stator side Note4 Note5 This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW ES
92. rvices are used Information published by TI regarding third party products or services does not constitute a license from TI to use such products or services or a warranty or endorsement thereof Use of such information may require a license from a third party under the patents or other intellectual property of the third party or a license from TI under the patents or other intellectual property of TI Reproduction of TI information in TI data books or data sheets is permissible only if reproduction is without alteration and is accompanied by all associated warranties conditions limitations and notices Reproduction of this information with alteration is an unfair and deceptive business practice TI is not responsible or liable for such altered documentation Information of third parties may be subject to additional restrictions Resale of TI products or services with statements different from or beyond the parameters stated by TI for that product or service voids all express and any implied warranties for the associated TI product or service and is an unfair and deceptive business practice TI is not responsible or liable for any such statements TI products are not authorized for use in safety critical applications such as life support where a failure of the TI product would reasonably be expected to cause severe personal injury or death unless officers of the parties have executed an agreement specifically governing such use Buyers represent tha
93. s 11042732 Rev AA May 2008 PLUS ST by SAUER DANFOSS PLUS 1 Inverter MI06 S 48 400 P Features Displayed fuse not included Advanced motor control performance FluxVector Control for best drive performance in all speed modes and minimal power losses in the drive system Easy Motor Characterization for any AC motor using the PLUS 1 Service tool Plug and perform motor setup for Sauer Danfoss PLUS 1 Compliant AC motors type TSA using the web application downloader Designed for quality and reliability Superior thermal performance with SMD technology and copper based IMS Insulated Metal Substrate power electronics Single AMPSEAL connector for high machine reliability Sealed to IP 64 with breathable membrane Enhanced EMC Performance Operating ambient temperature range 40 C to 50 C Redundant watchdog timers Protected I O and Wire Off detection Powerful computing capability with DSP Digital Signal Processor Integrated vehicle control functionality All functions are user programmable with PLUS 1 GUIDE Graphical User Integrated Development Environment Easy to handle and flexible control configuration for managing sensors and actuators Database of predefined Function Blocks for typical functions and applications traction application pump application battery state of charge algorithm hour meter vehicle safety and fault management Comprehensive interface concept CA
94. s C1p19 3 C1p20 C1p21 C1p31 C1p32 5 C1p33 A Elements DebounceConfig U16 Write Sets the time to debounce the digital Note1 Note4 input The input signal will be 0 100 ms delayed for that time fixed sample time 1 ms DigIn BOOL Read Digital in High True PinStatus U16 Read 0 OK ConfigError indicates wrong 1 ConfigError at DebounceConfig values at DebounceConfig This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 6 32 2 3 General purpose Inputs Outputs Variable Name Variable Variable Function Scaling Miscellaneous Type Direction General purpose Inputs Outputs C1p14 C1p15 C1p25 C1p26 Elements PinConfig U16 Write Config Notel Note3 U Digital output Sinking output 1 PWM output 2 Digital input default value 0 DigOut BOOL Write Digital out Note2 False off inactive For PinConfig 0 True on active OutputValue U16 Write Set point value Note2 Note4 0 10000 0 01 For PinConfig 1 PWM frequency 100 Hz Resolution 10 Yo OutputValue will be rounded internally to the nearest 10 value DebounceConfig U16 Write Sets the time to debounce the digital Notel Note4 input The input signal will be 0 100 ms delayed fo
95. s to our knowledge reguire using the Microchip products in a manner outside the operating specifications contained in Microchip s Data Sheets Most likely the person doing so is engaged in theft of intellectual property Microchip is willing to work with the customer who is concerned about the integrity of their code Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code Code protection does not mean that we are guaranteeing the product as unbreakable Code protection is constantly evolving We at Microchip are committed to continuously improving the code protection features of our products Attempts to break microchip s code protection feature may be a violation of the Digital Millennium Copyright Act If such acts allow unauthorized access to your software or other copyrighted work you may have a right to sue for relief under that Act Trademarks Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is assumed by Microchip Technology Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise Use of Microchip s products as critic
96. s with the chassis All the dimensions for both flanges have been taken according with the mechanical drawings of the Sauer Danfoss motor and measuring directly on the chassis of the quad We couldn t make a first 3D model of the flange because of its too long radius Figure 13 3D model of the back flang Figure 14 Mechanical draw of the back flang Figure 15 Back flang Front flange motor cover The model of the flange realized in the first semester has been a good start for the design of the complete part In fact with the help of it we have been able to realize a first 3D plastic model manufactured by the 3D printer This flange presents seven M8 holes placed on a circumference with diameter xx mm with different angles between one and the other to permit the connection with the seven holes placed on the circular front of the motor The flange is also useful to protect the stator windings of the engine from dirt Once designed the new 3D model we havent been able to print a plastic model for the same reason of the other flange radial dimensions too long Thus we had to order it directly without test it A A 1 1 SSI IR RSS Figure 16 mechanical draw of the front flange Figure 17 Front flange Figure 18 3D model of the front flange Manufacturing of flanges The two flanges have been manufactured in aluminium alloy These two parts cost 8200 DKK the price is high but it was the only solution to c
97. signal A if FregConfig 1 Elements PinConfig U16 Write Config Notel Note3 0 no pull up Active High Affects also C1 p30 1 pull up 1 1kOhm to 15V Active Low default value 0 FreqConfig U16 Write Configuration of used mode Note2 Note3 0 normal counter mode Affects also C1 p30 result in Count Maximum input frequency in 1 Quad encoder mode normal counter and quad result in QuadCount encoder mode 100 Hz default value 0 Quad encoder mode count 4 pulses per encoder period DebounceConfig U16 Write Sets the time to debounce the digital Notel Note4 input Only for Digln 0 100 ms The input signal will be delayed for that time fixed sample time 1 ms Digln BOOL Read Digital in The digital input works Active True independently from selected mode at FreqConfig Count U16 Read Number of measuted counts this loop Only valid when Counter counts rising and falling edge FreqConfig 0 QuadCount S16 Read Number of measured counts this loop Only valid when for quad encoder signals at C1p18 and FreqConfig 1 C1p30 Sign defines direction PinStatus U16 Read BitO ConfigError indicates wrong 0 OK values at PinConfig and 1 ConfigError at PinConfig DebounceConfig Biti 0 OK Hardware Watchdog error 1 ConfigError at DebounceConfig indicates an error of the ext Bit2 HW watchdog of the unit 0 OK 1 Hardware Watchdog error FreqStatus U16 Read BitO ConfigError indicates wrong
98. sponsible or liable for such altered documentation Information of third parties may be subject to additional restrictions Resale of TI products or services with statements different from or beyond the parameters stated by TI for that product or service voids all express and any implied warranties for the associated TI product or service and is an unfair and deceptive business practice TI is not responsible or liable for any such statements TI products are not authorized for use in safety critical applications such as life support where a failure of the TI product would reasonably be expected to cause severe personal injury or death unless officers of the parties have executed an agreement specifically governing such use Buyers represent that they have all necessary expertise in the safety and regulatory ramifications of their applications and acknowledge and agree that they are solely responsible for all legal regulatory and safety related requirements concerning their products and any use of TI products in such safety critical applications notwithstanding any applications related information or support that may be provided by TI Further Buyers must fully indemnify TI and its representatives against any damages arising out of the use of TI products in such safety critical applications TI products are neither designed nor intended for use in military aerospace applications or environments unless the TI products are specifically designated by TI
99. t they have all necessary expertise in the safety and regulatory ramifications of their applications and acknowledge and agree that they are solely responsible for all legal regulatory and safety related requirements concerning their products and any use of TI products in such safety critical applications notwithstanding any applications related information or support that may be provided by TI Further Buyers must fully indemnify TI and its representatives against any damages arising out of the use of TI products in such safety critical applications TI products are neither designed nor intended for use in military aerospace applications or environments unless the TI products are specifically designated by TI as military grade or enhanced plastic Only products designated by TI as military grade meet military specifications Buyers acknowledge and agree that any such use of TI products which TI has not designated as military grade is solely at the Buyer s risk and that they are solely responsible for compliance with all legal and regulatory requirements in connection with such use TI products are neither designed nor intended for use in automotive applications or environments unless the specific TI products are designated by TI as compliant with ISO TS 16949 requirements Buyers acknowledge and agree that if they use any non designated products in automotive applications TI will not be responsible for any failure to meet such requirements Followi
100. terface modules SSI Integrated Interchip Sound l S module m System Integration Direct Memory Access Controller DMA System control and clocks including on chip precision 16 MHz oscillator Four 32 bit timers up to eight 16 bit Eight Capture Compare PWM pins CCP Real Time Clock Two Watchdog Timers One timer runs off the main oscillator One timer runs off the precision internal oscillator Up to 65 GPIOs depending on configuration e Highly flexible pin muxing allows use as GPIO or one of several peripheral functions e Independently configurable to 2 4 or 8 mA drive capability s Up to 4 GPIOs can have 18 mA drive capability m Advanced Motion Control Eight advanced PWM outputs for motion and energy applications Four fault inputs to promote low latency shutdown Two Quadrature Encoder Inputs QEI m Analog Two 10 bit Analog to Digital Converters ADC with sixteen analog input channels and sample rate of one million samples second Three analog comparators 16 digital comparators On chip voltage regulator m JTAG and ARM Serial Wire Debug SWD m 100 pin LQFP and 108 ball BGA package m Industrial 40 C to 85 C Temperature Range Target Applications m Motion control m Factory automation m Fire and security m HVAC and building control m Power and energy m Transportation m Test and measurement equipment m Medical instrumentation m Remote monitorin
101. tes that the pin is not retriggerable after a ovetload switch off Hardware Watchdog error indicates an error of the ext HW watchdog of the unit SafetyStatus U16 Read 0 OK If SafetyStatus 1 and 1 SafetyError PinStatus Bit3 0 and Bit4 0 the output will work in unsafe mode the PWM signal can be 10 wider than commanded This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW a ACIM aa Interface Mobile Electronics 2010 02 01 10107978V130 doc 9 32 2 5 Main contactor output Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Main contactor output C1p24 Elements PinConfig U16 Write Config Notel Note3 0 Digital output Sinking output 1 PWM output default value 0 Locked BOOL Read False unlocked True permanently locked DigOut BOOL Write Digital out Note2 False off inactive For PinConfig 0 True on active OutputValue U16 Write Set point value Note2 Note4 0 10000 0 01 For PinConfig 1 PWM frequency 100 Hz Resolution 10 Yo OutputValue will be rounded internally to the nearest 10 PinStatus U16 Read BitO A shorted output to 1 O U lt OK supply PinStatus Bit2 1 ConfigError at PinConfig Bitl 0 OK 1 invalid value at OutputValue Bit2 0 OK 1 O
102. the disadvantage of the need to increase vehicle weight of energy storage devices In practice the vehicle braking energy are used for propelling the wheels during acceleration of the vehicle which serves as a prime mover or as an auxiliary drive The second way is to transfer energy by rail network and its use by other traction appearing on the episode Recovered energy can be stored in power substations model of the mechanism As shown in the drawing the brake rotor 1 and washers 2 come into contact with each other by electric motors 3 4 by means of several roller screws 5 wedge shaped along the surface 6 Wedge effect is automatically amplified as a result of rotation of the wheel allows varying degrees of braking force to be created with little effort Our idea was to connect regenerative break to supply system and use it while breaking for convert energy which we dont need for break for charge batteries While this operation motor is working as a generator and its output is supplied to an electrical load The transfer of energy to the load provides the braking effect In last year in Formula One was using similar mechanism Kinetic Energy Recover System KERS This system allows use saved energy at fast part of track for drivers At every circuit they were allowed to add extra around 70 PH for car for few second what is very useful with overtake cars Teams worked a lot about this system but after one season FIA aban
103. tivate the potentiometer of the electrical brakes For the new throttle we decided to mount a new rotating handle the same used on motorbikes Figure 29 Linear potenziometer and right handlebars without the old rubber cover Figure 30 New rotating handle mounted Most of this work has still to be done we should realize the proper structures for the support of the two metal cables which active the potentiometers Placing of electronic components The space under the saddle is the place chosen for the electronic components of the quad There we should place the mother board with the microcontroller and the two potentiometers connected to the board We need to remove a part of the plastic under the saddle in order to create enough space for all the components Figure 31 The space under the saddle 4 REGENERATIVE BRAKES Recuperative braking regenerative braking electrodynamic braking with energy recovery used in electric traction vehicles in mechanisms to recover kinetic energy during braking and convert it into electricity instead of heat useless System improves the energy efficiency of the vehicle During braking the electric motors act as generators Generated by the current may be used in several ways The first way is the accumulation of energy directly to the vehicle and then using it for the next boot The advantage of this method is the lack of energy losses associated with its transmission while
104. uency 1000000 1000000 0 001Hz ActTorque 32 Read Actual motor torque set value 1000000 1000000 0 001 Nm ActQCurrent S32 Read Actual Q axis current 4000000 4000000 mA ActDCurrent S32 Read Actual D axis current 4000000 4000000 mA ActCurrent U32 Read Actual motot current 0 2900000 mArms ActVoltage U32 Read Actual motor voltage line to line 0 150000 mVrms ActTorqueLimit U32 Read Actual torgue limit minimum of calculated physical limit user torgue limit and motor torgue limit 0 1000000 0 001 Nm This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission G SAVER DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 22 32 Variable Name Variable Variable Function Scaling Miscellaneous Type Direction Motor Control interface ActCurrLimit U32 Read Actual current limit minimum of hardware current limit user current limit and motor current limit 0 2900000 mArms Gen Mode BOOL Read Operation mode 0 motor mode 1 generator mode Status U16 Read BitO 0 OK 1 invalid value at RPMSetPoint Biti 0 OK 1 invalid value at SpeedKP Bit2 0 OK 1 invalid value at SpeedKI Bit3 0 OK 1 invalid value at TorgueFF Bit4 0 OK 1 invalid value at UserTorqueLimit Bit5 0 OK 1 invalid value at UserCurr
105. verload output shorted to 1 O supply transistor damaged Bit3 0 OK 1 Output disconnected output shorted to I O supply transistor shorted Bit4 0 OK 1 switched off because overload Bit5 0 OK 1 switch on protection after overload error Bit 6 0 OK 1 Hardware Watchdog error TRUE can only be detected if PinConfig 0 2 DigOut need to be 1 if PinConfig 1 gt OutputValue need to be gt 500 A disconnected shorted to I O supply output PinStatus Bit3 TRUE can only be detected if PinConfig 0 gt DigOut need to be 0 if PinConfig 1 gt OutputValue need to be 0 switched off because overload indicates that the output is switched off because overload of this pin was detected This bit is acknowledged with a switch off on sequence at DigOut in Digital output mode or Output Value in PWM output mode switch on protection after overload error indicates that the pin is not retrigger able This document is the sole property of Sauer Danfoss and may not be distributed to any third party without permission 6 SAUER DANFOSS MI06 HW ES ACIM a Interface Mobile Electronics 2010 02 01 10107978V130 doc 10 0 32 Variable Name Variable Type Variable Direction Function Scaling Miscellaneous Main contactor output after a overload switch off Hardware Watchdog error indicates an error o

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