Brushed DC Motor Control Module
Contents
1. fo TA T ea AY fil i Motor terminals 2 A mi Dz A A SS o SS f _ es 4 Sj amp Ventilation slots E ml q ae ml q s i jer S GH CAN interface Servo type 7 gt 2 ji EEREEE ERY ty Pu TS 5 An speed control input Coast Brake select Wire retention hooks Analog potentiometer input Brushed DC Motor Control Module i3 Texas INSTRUMENTS BOARD DATA SHEET Operational Specifications The following tables provide the operation specifications for the MDL BDC motor control board including power motor output environment and so on WARNING Do not exceed the absolute maximum supply voltage of 15 Vdc Doing so will cause permanent damage to the module Table 1 Power Supply Supply voltage range 6 12 13 Vdc Supply voltage absolute maximum 153 Vdc Supply current motor off fan off 90 mA Supply current motor off fan on 156 mA Under voltage detect threshold 6 Vdc a Exceeding this limit even momentarily will cause permanent damage Table 2 Motor Output Motor voltage 0 12 V Motor current cont2. Power In f Motor Out y Supply Ii lt A qe L y mE Motor Supply l Motor i ala i T ae KA l Let ml fa 7 ml i AAS j A Weta nr NETA SS AT A IIPS S aE a te Digital Speed Normally closed Normally closed Signal PWM Forward Direction Reverse Direction Limit Switch es Limit Switch es CAN Based Control for Closed loop Motor Control Wiring Diagram Power In i A N Motor Out To a R Supply GND lt g 7 Ye 3 op Motor Supply G4 7 hi Motor T ra Y J 4 A amp Ti Vy j G gR K MME i User switch 4 ELL sets CAN ID CAN cable to from CAN cable to from other devices other devices
3. i NET NET a Normallyclosed ZZ limit switches f GND os H Coast L Brak Reverse Limit i Coast L brake PREP External coastbrake Forward Limit ae control optional GND GiB a z oe Aa GND l j 9V signal ndex signal ia pena lt an B signal Encoder r position sensor opi A signal opt T 5V supply e LY Brushed DC Motor Control Module 10 i3 TEXAS INSTRUMENTS BOARD DATA SHEET Figure 8 shows the MDL BDC physical dimensions The module has two 0 175 4 5 mm diameter mounting holes as indicated Figure 8 Mechanical Drawing 3 500 an 987 e w 2 000 7 W 3 843 G PATAN m w oO The MDL BDC should be mounted so that the vents in the top and sides of the module are not restricted in any way A clearance of 2 inch should be maintained around the module Status LED Table 12 lists all of the LED status and fault codes for Normal Operating Fault and Calibration or CAN conditions Fault information is prioritized so only the highest priority fault will be indicated Table 12 Normal Operating Conditions Normal Operating Conditions Solid Yellow Neutral speed set to 0 Fast Flashing Green Forward Fast Flashing Red Reverse Solid Green Full speed forward Solid Red Full speed reverse Fault Conditions Brushed DC Motor Control Module 11 A TEXAS INSTRUMENTS BOARD DATA
4. i3 Texas INSTRUMENTS BOARD DATA SHEET Brushed DC Motor Control Module Ordering Information Stellaris Brushed DC Motor Control MDL BDC Module for Single Unit Packaging Stellaris Brushed DC Motor Control MDE BDC B Module for Volume Packaging Stellaris Brushed DC Motor Control RDK BDC Reference Design Kit includes the MDL BDC module Ve Contents Figure 1 Brushed DC Motor Control S Module General Description ssssssssssunssnnnnnnennnnennnnnna 1 OVERVICW uornrsianonnen niaaa 2 Feat r S oien enana anaa a 2 r Operational Specifications 00 4 l 7N Power SUpply ssconiciterir tna dennis 7 i Motor Selection sssassssssnsssnsusnsnnnnnnnnnnnnnnnnennnnn 7 g Operating Modes n sasssnnnssnnnsnunennnnnnnnnnnnnnnnnn ne 7 y jl Default Parameters s ccssseccssscesseeessseees 9 JEg UNM wicctcctic acacia oceagiera ct ight antaoteeds 9 Help Statis ED coaches eect seeceerae 11 lt I Jumper Settings cscccssseeeeeeeeeseeeeeeeeees 12 Fault Detection sssssssssnnenenennnnnnnnnnnnunnennn nnmnnn 12 Figure 2 Mechanical Drawing Firmware Update cccccesseeceeeesseeeeeeessees 13 Additional Information ss sseeeeeeees 13 General Description The MDL BDC motor control module is a variable speed control for 12 V brushed DC motors at up to 40 A continuous current The motor control module includes high performa
5. SHEET Table 12 Normal Operating Conditions Continued Normal Operating Conditions Slow Flashing Yellow Loss of CAN or servo link Slow Flashing Red Fault Calibration or CAN Conditions Flashing Red and Green Calibration mode active Flashing Red and Yellow Calibration mode failure Flashing Green and Yellow Calibration mode success Slow Flashing Green CAN ID assignment mode Fast Flashing Yellow Current CAN ID count flashes to determine ID Flashing Yellow CAN ID invalid that is Set to 0 awaiting valid ID assignment Jumper Settings Figure 9 shows the factory default jumper settings Figure 9 Default Factory Jumper Settings Se Banj E E E ANA ENG J Deae al f i f g Coast Brake Jumpers hold the limit default brake switch inputs closed Fault Detection The MDL BDC detects and shuts down the motor if any of the following conditions are detected E Power supply under voltage E Over temperature E Over current m Loss of CAN or servo style speed link E Limit switch activated in the current direction of motion The LED indicates a fault state during the fault condition and for three seconds after the fault is cleared except for the limit switch and link
6. NL voltage 27 40 V Watchdog time out 100 ms Number of modules per network 1 63 a Limited by fail safe CAN transceiver SN65HVD1050 b Two terminations per network c Must be a valid ID range Brushed DC Motor Control Module e gt i3 Texas INSTRUMENTS BOARD DATA SHEET Power Supply The MDL BDC is designed primarily for use with 12 V sealed lead acid batteries although other power sources can be used as long as the voltage range is not exceeded See the Brushed DC Motor Control Reference Design Kit RDK User s Manual for more detail NOTE MDL BDC does not have reverse polarity input protection Motor Selection The MDL BDC operates 12 V brushed DC motors Typical motors include the BI802 001A model from CIM and the RS 555PH S255 model from Mabuchi Some very small DC motors or motors in lightly loaded applications may have a limited useful speed range See the Brushed DC Motor Control Reference Design Kit RDK User s Manual for additional information on motor selection The MDL BDC can also drive resistive loads with some de rating to allow for increased ripple current inside the module Operating Modes The MDL BDC can be controlled using either the servo style PWM input or the CAN interface Table 10 compares the capabilities of the two control methods Table 10 Comparison of Control Methods The MDL BDC does support the simultaneous use of CAN f
7. RM and Thumb are registered trademarks and Cortex is INSTRUMENTS a trademark of ARM Limited Other names and brands may be claimed as the property of others Cortex Intelligent Processors by ARM BD BDC DS 02 February 9 2010
8. an assigned ID number The ID number defaults to 1 but can be changed by sending a CAN assign ID command to the bus The LED flashes green when the assign ID command is received and then flashes yellow when the button is pressed with the number of yellow flashes corresponding to the ID number Pressing the user switch on the MDL BDC informs that particular module to accept the previously specified code See the RDK BDC User s Manual on the RDK CD for instructions on how to set an ID using an EK LM3S2965 evaluation board The CAN protocol used by the MDL BDC includes the following capabilities E Firmware update over CAN E Read supply voltage motor voltage temperature and current E Set motor voltage or target position E Set control mode to speed or position See the MDL BDC CAN Communication API Specification for complete details The RDK includes a CAN board with an example application that demonstrates CAN control CAN Connector Pin Assignments The pin assignments for the RJ11 6P 4C connectors are defined in CAN in Automation CiA DS102 Figure 5 on page 9 shows the network connector pin assignments Brushed DC Motor Control Module 8 Ai Texas INSTRUMENTS BOARD DATA SHEET Figure 5 Network Connector Pin Assignments CANL CANH V GND CAN Socket Viewed from Top Tab down Default Parameters The MDL BDC parameters are shown in Table 11 which lists the default configuration of the MDL BDC Parameters can be modified
9. cooling fan Flexible configuration options with simple source file modification Easy to customize full source code and design files available Factory source code compiles to less than 16 KB Features Quiet control of brushed DC motors 15 kHz PWM frequency m Two options for Speed control Industry standard R C servo type PWM interface Controller Area Network CAN interface m CAN communication Multicast shared serial bus for connecting systems in electromagnetically noisy environments 1M bits s bit rate CAN protocol version 2 0 A B Brushed DC Motor Control Module 2 i3 TEXAS INSTRUMENTS BOARD DATA SHEET Full configurability of module options Real time monitoring of current voltage speed and other parameters Status LED indicates Run Direction and Fault conditions Motor brake coast selector Limit switch inputs for forward and reverse directions Quadrature encoder input QE Index input 5 V supply output to encoder E Analog input Accepts 10 kQ potentiometer or 0 3 V input Screw terminals for all power wiring m Headers 0 1 inch pitch for all control signals Figure 4 Detailed Drawing of the MDL BDC Motor Control Module Internal cooling fan p ee
10. faults which are instantaneous Brushed DC Motor Control Module 12 i3 Texas INSTRUMENTS Firmware Update The MDL BDC firmware can be updated over CAN The capability to update the MDL BDC firmware can be added to most Host controllers by implementing the necessary CAN protocol For users who are not developing a CAN host controller an application that runs on the Stellaris LM3S2965 Evaluation Board EK LM3S2965 is provided This board is included in the RDK The example application can be downloaded from www ti com stellaris See the Brushed DC Motor Control Reference Design Kit RDK User s Manual for additional information on the firmware update procedure Additional Information The following documents are available for download at www ti com stellaris E Brushed DC Motor Control Reference Design Kit RDK User s Manual Publication number RDK BDC UM Schematics and Bill of Materials BOM Detailed functional description Firmware update configuration and operation using the RDK BDC test application Brushed DC Motor Control RDK Quickstart Guide A step by step guide to using the reference design kit RDK BDC RDK BDC Firmware Development Package User s Guide Publication number SW RDK BDC UG Part of the StellarisWare source code library Copyright 2007 2010 Texas Instruments Inc All rights reserved Stellaris and StellarisWare are registered trademarks of Texas j TEXAS Instruments A
11. inuous 40 A Motor current for 2 seconds 60 A Motor current peak at starting 100 A PWM frequency 15 625 kHz PWM resolution a 0 1 Output current for resistive loads 30 A a The motor voltage is controlled by using a pulse width modulated waveform b The output current for resistive loads is continuous and the value shown is the maximum value Table 3 Environment Operating temperature range 0 50 C Storage temperature range 25 85 C Fan on temperature 42 C Fan off temperature 38 C Brushed DC Motor Control Module 4 i3 Texas INSTRUMENTS BOARD DATA SHEET Table 4 Servo Style Speed Input Minimum pulse width 0 67 ms Neutral pulse width 1 5 ms Maximum pulse width 2 33 ms Servo signal period 5 0125 29 985 ms Valid pulse width range 0 5 2 50625 ms Duty cycle range 50 Digital high level input current 2 5 25 mA Digital low level input current 0 3 mA Watchdog time out 100 ms Voltage isolation servo to other signals 40 V a Sets full speed in reverse b These are the default values Pulse width range can be calibrated for different values See the servo PWM calibration procedure Servo Style PWM Input on page 7 c Sets full speed in forward direction d The servo input is optically isolated Table 5 Analog Inpu
12. nce CAN networking as well as a rich set of control options and sensor interfaces including analog and quadrature encoder interfaces The high frequency pulse width modulator PWM enables the DC motor to run smoothly and quietly over a wide speed range The MDL BDC uses highly optimized software and a powerful 32 bit Stellaris microcontroller to implement open loop speed control as well as closed loop control of speed position or motor current The MDL BDC is a Stellaris reference design The Brushed DC Motor Control Reference Design Kit RDK contains an MDL BDC motor control module as well as additional hardware and software for evaluating CAN communication After evaluating the RDK BDC users may choose to either customize the parts of the hardware and software design or use Brushed DC Motor Control Module 1 KiJ TEXAS INSTRUMENTS BOARD DATA SHEET the MDL BDC without modification See the Brushed DC Motor Control Reference Design Kit RDK User s Manual available for download from www ti com stellaris for complete technical details on using and customizing the motor control board Figure 3 Brushed DC Motor Control Module Overview The MDL BDC motor control board provides the following features Controls brushed 12 V DC motors up to 40 A continuous Controller Area Network CAN interface at 1 Mbit s Industry standard servo PWM speed input interface Limit switch encoder and analog inputs Fully enclosed module includes
13. or monitoring and the servo style input for speed Servo Style PWM Input The MDL BDC incorporates support for speed and direction control using the standard servo style interface found on many radio control receivers and robot controllers See the electrical specifications for default timing of this signal Brushed DC Motor Control Module 7 Ai TEXAS INSTRUMENTS BOARD DATA SHEET To accommodate variation in the timing of the supplied signal the MDL BDC has a calibrate feature that sets new values for full forward full reverse and points in between Follow these steps to initiate calibration 1 Hold down the user switch for five seconds see Figure 4 on page 3 2 Set the controller to send a full forward signal 3 Set the controller to send a full reverse signal 4 Set the controller to send a neutral signal 5 Release the user switch The MDL BDC samples these signals and centers the speed range and neutral position between these limits NOTE See the Brushed DC Motor Control Reference Design Kit RDK User s Manual for additional calibration information CAN Communication The Controller Area Network CAN provides a powerful interface for controlling one or more MDL BDC modules The MDL BDC has two RJ11 RJ14 6P 4C sockets more specifically RJ16 sockets for daisy chaining modules using standard cables Each end of the CAN network must be terminated properly Each MDL BDC module on the CAN bus is accessed using
14. t Analog input voltage 0 3 V Potentiometer value 10 kQ Potentiometer reference voltage pin 2 9 3 0 3 1 V Measurement resolution 10 bit bits Measurement rate 15 625 kHz a With 10 kQ potentiometer connected Table 6 Voltage Current and Temperature Measurement Temperature measurement accuracy 6 C Supply voltage measurement accuracy 0 3 V Motor current measurement accuracy 1 A Measurement resolution 10 bit bits Measurement rate 15 625 kHz Brushed DC Motor Control Module i3 Texas INSTRUMENTS Table 7 Brake Coast Input BOARD DATA SHEET Digital low level input voltage 0 3 1 3 V Digital high level input voltage 2 0 3 3 5 0 V Digital input pull down resistor 200 kQ Response time 64 us a Selects Brake mode b Selects Coast mode Table 8 Quadrature Encoder Input QEl Digital low level input voltage 0 3 1 3 V Digital high level input voltage 2 0 3 3 5 0 V Digital input pull up resistor 10 kQ Encoder rate DC 1 M Encoder supply voltage 4 90 5 0 5 10 Encoder supply current 20 mA a Applies to A B and Index inputs b Measured in transitions per second Table 9 CAN Interface Bit rate 0 01332 1 1 Mbps Recommended bus termination 120 Q Absolute maximum CANH CA
15. using CAN commands or by modifying the software source code Parameters changed using CAN commands are volatile and must be reloaded if power is cycled Table 11 Default Factory Configuration Acceleration rate Instantaneous change Deceleration rate Instantaneous change Motor Control mode OF aAQQITION a O ALIO O Design Kit RDK User s Manual Wiring The MDL BDC is controlled using either a servo type PWM source or CAN commands Figure 6 shows a typical simple wiring arrangement with power motor PWM control and optional limit switch connections Control wires must be looped through the wire retention hooks to prevent the connectors from shaking loose during operation Basic servo style PWM control is enabled by default and does not require CAN configuration Figure 7 on page 10 shows an advanced wiring configuration using the CAN interface Wiring for position sensing using both a position potentiometer and a quadrature encoder is detailed Although two sensor types are shown the MDL BDC software supports control and monitoring of only one sensor at a time Brushed DC Motor Control Module 9 KiJ Texas INSTRUMENTS BOARD DATA SHEET Figure 6 Figure 7 Basic Wiring with a Servo Style Speed Command for Open loop Motor Control
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