Mighty Mite Servo Drive Module Installation Manual
Contents
1. ge I aaa qas 2 13 3 2 8 3 Encoder BOO Di u ase ae ed 13 3 2 8 4 mri e cR 14 3 2 8 5 Vleit gn e 14 3 2 8 6 VOUS e EE 14 2 29 Bul PrOlSGl6 bv u bebat o deseo c EU eda vou ce vrbes o vues decis basi Una PY Ru ll 14 3 2 9 1 Over EIERE 14 32 die a ENEE 15 3 2 9 3 Over En le ee u u 15 3 2 9 4 Other Built In Proteccion ui uu y m T TM 15 3 9 System ArcNIteCtU uuu id 16 A TECHNICAL INFORMATION uuu anu a vt A edo aucta dust 17 AA Eelere ME 17 42 Technical D Atay ere 17 5 INSTALLATION E 17 Dal erede MA RE 18 5 1 1 Main Power and Motor FOwer tiva ee aeneo pu it cu ee vos tus 19 Beles eei SR TT ds 20 ES eae um o etum iei essc tudo misure cuu uus E E E 21 5 E OMIM le Tee Le WEE 21 ESI Motion Document 100249 Revision D 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 5 2 MOUNTING Ota FO BA T T 21 E FAISAL SITIKIDG usc sic cis iene PEO ce os somos chen moan anita ce tut esc DEOS mentee lad 24 5 OWNS Le UD mt a Da 24 5 5 initializing the Syste cert 24 5 6 Heat Rere ile Nini diia 24 56 1 Thermal Conductivity Dala ii AN 24 5 6 2 Heat Sink Interface Materials 26 6 TECHNICAL SPECIFICATIONS ee 26 SE GONMOlS PSCIICATONS sse utente o dba and te i eau edes2. 870 0 770 2 PL 0 770 2 PL Figure 13 Single Axis PCBA Footprint wi Mating Connectors 0 745 3 PL 0 145 0 000 C L 0 020 EH 0 275 9 f 0 870 _ 0 550 0 425 C L 0 050 X 0 050 PITCH 0 030 DIA PLATED 0 000 C L 0 425 C L 0 260 X 0 060 en R 0 870 0 770 2 PL 0 770 2 PL Figure 14 Single Axis PCBA Footprint w o Mating Connectors ESI Motion Document 100249 Revision D Page 23 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 5 3 Heat Sinking The Mighty Mite Servo Drive Module comes with an integrated heat sink on the side opposite to PCBA mounting The integrated heat sink is designed to be used alone without any external heat sink mass for motor currents up to 5A per axis For applications requiring higher currents a proper heat sink design must be used with the Mighty Mite oervo Drive Module please refer to the section on Heat Dissipation for details 5 4 Powering Up The Mighty Mite Servo Drive Module has two voltage sources bus and controller voltage The bus voltage should be set to a voltage below the configuration peak voltage see Table 1 Voltage and Current Limits Mighty Mite Servo Drive Module Voltage and Current Limits If the peak voltage is exceeded software will trigger a bus over voltage fault and disable the servo drive The controller voltage should be set to 5V 10 The bus and controller voltages can be applied to the servo drive in either order Wh
3. MB A MA gt 2 00 K 3 3V v 0 1 8 17 B M 3 B MA B MA le MAY MA I MA E MES BISS MA B MB B MB B3 gt I MB gt i BISS MB ESI Motion Document 100249 Revision D 3 26 2015 Page 13 Mighty Mite Servo Drive Module Installation Manual 3 28 4 Hall 45V K 3 3V 3 3V o O 1 0K 10 0 K 10 0 K A2 w HALL X Mx gt IT HALL X BUE Mx DP D1 3 2 8 5 Motor Temperature 3 3V 10 0 K Q 1 0K 3V REFO AAA JAXX MOTOR TEMP Mx m BUE MOTOR TEMP Mx dd MOTOR TEMP Mx gt BE i D1 1 0 K 3 2 8 6 Vbus Pre Inrush 3 3V 2 00 K K 10 0 K A2 VBUS PRE INRUSH AN d gt gt BUF_VBUS_PRE_INRUSH py 10 0 D1 1 5V REF 5 3 3 2 9 Built In Protection 3 2 9 1 Over Current The Mighty Mite Servo Drive Module s motor phase current is always monitored and when the current on any phase exceeds the over current limit usually defined to be 1 25 peak current the servo drive module will disable its self The servo drive module can only be re enabled when the fault is removed and the fault state cleared Please refer to the ESI Motion Controller User s Manual for details ESI Motion Document 100249 Revision D Page 14 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 3 2 9 2 Over Voltage The Mighty Mite Servo Drive Module s bus voltage is always monitored and when the bus voltage exceeds the over voltage limit
4. Revision D Page 25 3 26 2015 Mighty Mite Servo Drive Module Installation Manual Maximum Current Command Paralleled Axes Current A vs Temp C Figure 16 Maximum Current Command vs Case Temperature Paralleled Axes 5 6 2 Heat Sink Interface Materials If a heat sink is needed effective coupling of the Mighty Mite base plate to the heat sink is essential for optimum heat transfer Depending on the operating current and the amount of heat dissipated various methods are available to achieve a good thermal bond Table 4 Thermal Interface Compounds shows examples of thermal interface compounds which can be used with the Mighty Mite Servo Drive Module Thermal Interface Part Number Compound Thermal Operating Conductivity Temperature Phase Change Aavid Thermalloy 100300F00000G 0 79 W m C 40 C to 200 C Gap Pad Bergquist GP1500 1 5 W m C 60 C to 200 C Thermal Grease Aavid Thermalloy 100100F00000G 0 73 W m C 40 C to 200 C Table 4 Thermal Interface Compounds 6 TECHNICAL SPECIFICATIONS Insert objective here 6 1 Control Specifications ESI Motion Document 100249 Revision D Page 26 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 6 1 1 Current Loop Controller Type Vector digital Compensation for bus voltage variations Automatic compensation Motor Types DC Brushless Brushed and Induction Current Control Fully digital Sinusoidal with vector control Current Loop Bandwi
5. components and possibly other servo drive modules in a multi axis design The Flea is designed with XX FETs which allows the Flea to be clocked at PWM frequency up to XX making it ideal for applications involving very low inductive loads The Flea operates between 10 to 50V at currents up to 10A The Mite is probably our most versatile servo drive module The Mite is available as a single axis module measuring 2 00 in and weighing 2 2 oz 62 4 g and a dual axis module measuring 3 42 in and weighing 3 7 oz 105 g The Mite provides up to 2kW of power per axis packaged in a potted plastic case and an integrated heat sink The Mite supports several motor feedback options which are selected via software configuration parameters The Mite is ideal for precision military aviation automotive robotic and specialized industrial applications where size and weight are critical The Mite is also available in an extended operating temperature range The Mite operates between 10 to 170V at currents up to 30A The Tick is our high current low voltage servo drive module The Scorpion is our low current high voltage servo drive module ESI Motion Document 100249 Revision D Page 8 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 300 Servo Drive Modules E D 150 Tick 80 60 Wolverine 40 Wu T d 30 4 Scorpion 10 0 10 50 200 400 600 800 Voltage V Figure3 ESI Motion Family of Servo Drive Modu
6. 9m Digital 6 oni AJ CNitw Daal 8 HSSERXCIK High Speed Serial Bus Receive Clock Digitalin _ 9 sm SYNC High Speed Serial Bus Transmit Sync _ Digital Out Analog 21 Analog Out 23 24 Analog 25 26 INRUSH De Bus Voltage Inrush Precharge Command _ Digital Out Table 9 IO PCBA J12 Service and Communication ESI Motion Document 100249 Revision D Page 30 3 26 2015 Mighty Mite Servo Drive Module Installation Manual m gt om 9m 4 SN MB Resolver Sin Negative MotorB 1 Alois _ Analog In 6 COS MB Resolver Cos Negative MotorB Analogin 8 EX MB Resolver Excitation Negative MotorB 1 Analog Out 11 N 1 Power Reference e e Ln LU 1 00 19 20 21 N N F 23 24 25 Table 10 1 0 PCBA J13 Motor B Feedback ESI Motion Document 100249 Revision D Page 31 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 7 APPENDICES 7 1 TBD ESI Motion Document 100249 Revision D Page 32 3 26 2015
7. C HSSB TX DATA HSSB RX CLK HSSB RX SYNC HSSB RX DATA High Speed Serial Bus Receive Serial SCI TX Communication SCI RX Interface Logic level only external circuit required Available on Dual Axis only Figure 5 System Architecture ESI Motion Document 100249 Revision D 3 26 2015 Page 16 Mighty Mite Servo Drive Module Installation Manual 4 TECHNICAL INFORMATION 4 1 Physical Specification 2 00 L 65 Figure 6 Single Axis Package Dimensions and Mounting Pattern in E d 3 00 Led 57 p 2 790 Figure7 Dual Axis Package Dimensions and Mounting Pattern in 4 2 Technical Data 5 INSTALLATION The Mighty Mite Servo Drive Module is designed to mount to a PCBA The Mighty Mite Servo Drive Module can be purchased with an ESI furnished I O PCBA designed to be used for system development please refer to Figure 1 Mighty Mite Servo Drive Module Part Number option The mechanical and electrical interfaces for the ESI furnished I O PCBA can be found in the Mighty Mite Servo Drive Module s Datasheet This section will provide the user with the information required to design and develop a PCBA to interface to the Mighty Mite Servo Drive Module ESI Motion Document 100249 Revision D Page 17 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 5 1 Connections The connections to th
8. Mighty Mite Servo Drive Module based on Figure 1 Mighty Mite Servo Drive Module Part Number and the peak voltage and current which should not be exceeded Voltage V Continuous Current A Table1 Voltage and Current Limits ESI Motion Document 100249 Revision D Page 19 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 5 1 2 Feedback The Mighty Mite Servo Drive Module Feedback connections are divided into motor A and motor B feedback The Feedback has motor Current Command Feedback options Temperature and Brake The Current Command is an analog input mapped and scaled through software configuration to the motor current control loop The Temperature input is an active circuit that measures an NTC thermistor which is directly proportional to motor temperature The temperature vs resistance polynomial can be configured through software The Brake output is a TTL discrete that can be used to engage or disengage an external brake circuit The user will be required to implement the external brake circuit using i e a MOSFET switch When the logic level is high the brake is assumed to be engaged or that the MOSFET switch is open and no current is flowing through the brake coil The Mighty Mite Servo Drive Module has five different forms of motor feedback Sensorless Digital Encoder Resolver Hall and BiSS C Feedback options are selected through software configuration settings each motor feedback can be configured exclus
9. SES MOTION Mighty Mite Servo Drive Module Installation Manual Prepared By ESI Motion 2250A Union Place Simi Valley CA 93065 www esimotion com Revision D Updated on 3 26 2015 ESI Motion Document 100249 Mighty Mite Servo Drive Module Installation Manual Notice This installation manual contains proprietary information belonging to ESI Motion The information provided is solely for the purpose of assisting users of the Mighty Mite Servo Drive Module Information supplied in this manual is subject to change without notice ESI Motion Document 100249 Revision D Page 2 3 26 2015 Mighty Mite Servo Drive Module Installation Manual Revision Control 1 15 2015 Initial Release Boo 1 16 2015 Corrected Table 7 added Section 6 1 1 27 2015 Updated Thermal Data new potting compound 3 26 2015 Updated Part Number Ordering and Voltage and Current Limits Added Configuration Options ESI Motion Document 100249 Revision D Page 3 3 26 2015 Mighty Mite Servo Drive Module Installation Manual Part Number Ordering Pri Servo Drive Continuous Voltage Case Configuration Options M Mighty Mite Current 012 12V P Potted S Single Axis E Extended Operating 01 1A 028 28V Plastic D Dual Axis Temperature 02 2A 048 48V P Single Paralleled 1 Include I O PCBA 05 5A 075 75V Axes 10 10A 170 170V 80A maximum 20 20A 40 40A Peak Sine Wave 2 X Con
10. VAT Oc cata edd 26 Bole Curent LOO C RE 27 em Mb oen A ee opp 27 63 POSIMIOM LOOP inicia aR LO Cus Do Se 28 6 2 e td 28 7 APPENDICE Sian edd iii sc nai DM cil ue EHE asus 32 ao stt Etica t iiL Eti E II D UE 32 TABLE OF FIGURES 3 26 2015 Figure 1 Mighty Mite Servo Drive Module Part Number 4 Figure 2 Mighty Mite Servo Drive Configuration Options 4 Figure 3 ESI Motion Family of Servo Drive Modules 9 Figure A ESI Motion Family of Servo Drives sss eee eee 10 Figure5 System Architecture eee eee 16 Figure 6 Single Axis Package Dimensions and Mounting Pattern in sess 17 Figure 7 Dual Axis Package Dimensions and Mounting Pattern in 17 Figure 8 D al Axis Re lee TEE 18 Figure 9 Mighty Mite Servo Drive Module Single Axis Connections 19 Figuie TO Feedback COMMONS uu u uuu ii 20 Figure 11 Dual Axis PCBA Footprint w Mating Connectors 22 Figure 12 Dual Axis PCBA Footprint w o Mating Connectors 22 Figure 13 Single Axis PCBA Footprint w Mating Connectors 23 Figure 14 Single Axis PCBA Footprint w o Mating Connectors 23 Figure 15 Maximum Current Command vs Case Tempera
11. control parameters The Analog Ref signal should be used as the reference for the analog test points The Regeneration discrete can be used with an external circuit to switch the bus voltage VDC IN to a load resistor when the bus voltage exceeds a software configurable limit The duty cycle and duration of the Regeneration discrete is also configurable through software The Inrush discrete can be used to control an external switch that will slow the RC rise time of the bus voltage as it charges the capacitor bank during power up When the bus voltage reaches a software configurable limit the Inrush discrete will switch off The Discharge discrete can be used with an external circuit to discharge the bus voltage capacitor bank during power down safely removing power from the system in a timely fashion The Vbus Pre Inrush is an analog input that can be used to monitor the bus voltage prior to the Inrush switch The Digital l O is a software configurable input or output pin and can be mapped to various system events Refer to the section on Software for further details Communication The Mighty Mite Servo Drive Module has several forms of communication The RS422 CAN and USB are standard on the servo drive and have a defined software protocol The High Speed Serial Bus HSSB and Serial Communication Interface SCI are to be used for customer specific applications and are not accessible with the standard servo drive software package This docu
12. der Resolver Hall and BiSS C Feedback Sensor Specifications Communications Outputs Resolver Excitation 20 0K 0 1 4 99K Sine IN XK N wv 0 1 4 99K EXE e EXE n 20 0K 3 2 7 2 Analog Test Points ATPs ESI Motion Document 100249 Revision D Page 11 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 10 0 K 4 99 K 1 5V REF gt ES gt gt BUE ATPx ATPx gt a NW 4 99 K 3 2 7 3 Brakes 49 9 DBRAKE Mx X amp AMWVy XX amp BRAKE Mx 3 2 7 4 Regen Inrush Discharge 49 9 DREGEN v AA X REGEN 49 9 DINRUSH 5 NNN XX INRUSH 49 9 DDISCHARGp gt A DISCHARGE 3 2 7 5 Digital IO 49 9 DDIGIO lt MM lt lt DIG IO 3 2 8 Inputs 3 2 8 1 Current Command 1000p 3 3V 10 0 K 1 50K A2 CMD Mx gt E BUE CMD Mx da CMD Mx 3 T 7 10 0 K 1 50K D1 1000p 1 5V REF ESI Motion Document 100249 Revision D 3 26 2015 Page 12 Mighty Mite Servo Drive Module Installation Manual 3 2 8 2 Resolver 470p 4 99 K 10 0 K SIN _COS _ MO S AN gt gt BUF_SIN COS Mx 3 3V 10 0 K Q 1 5V REF gt E 470p 0 1 T I D1 4 99 K 10 0 K SIN COS Mx gt A gt gt BUE SIN COS Mx 10 0 K 1 5V REF y 3 2 8 3 Encoder BiSS C BISS TXA EN gt BISS CLK MA lt A MA 1 0 K lt A_MA A MA gt a om BISS TXB EN gt BISS CLK MB lt A MB 1 0 K lt A
13. dth Contact ESI Motion for details Current Sampling Time Contact ESI Motion for details Current Sampling Rate 10 Khz 20 Khz Current Command options Analog HiDS RS422 or CAN Table5 Current Loop Specification 6 1 2 Velocity Loop Controller geilen E Velocity Control Control Fully digital digital Encoder Incremental quadrature BISS C Encoder Hall Resolver Velocity and Feedback options Sensorless Velocity Loop Bandwidth Contact ESI Motion for details Velocity Sampling Time Contact ESI Motion for details Velocity Sampling Rate 5 Khz Velocity Command options Analog HIDS RS422 or CAN Table6 Velocity Loop Specification ESI Motion Document 100249 Revision D Page 27 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 6 1 3 Position Loop Controller Type RB Position Loop Bandwidth Contact ESI Motion for details Position Sampling Time Contact ESI Motion for details Position Sampling Rate 1 Khz Position Command options Analog HiDS RS422 or CAN Table7 Position Loop Specification 6 2 I O PCBA The I O PCBA is an optional circuit board that can be purchased along with the Mighty Mite Servo Module The I O PCBA provides the user with a platform that can be used for system development prior to the design of a user defined PCBA that will mate with the Mighty Mite Servo Drive Module The l O PCBA provides all the connections necessary for motor control the signals are arranged into thre
14. e Mighty Mite Servo Drive Module can be divided up into four groups Main Power and Motor Power Feedback Service and Communication Please refer to Figure 5 System Architecture for details These connections are available in both the Dual and Single Axis drive however the Single Axis drive does not have any connections on Motor B Feedback The Mighty Mite Servo Drive Module Dual Axis is shown below Chassis x4 Heat Sink Figure8 Dual Axis Connections ESI Motion Document 100249 Revision D Page 18 3 26 2015 9 1 1 Mighty Mite Servo Drive Module Installation Manual The Mighty Mite Servo Drive Module Single Axis is shown below Heat Sink Figure9 Mighty Mite Servo Drive Module Single Axis Connections Main Power and Motor Power The Main Power and Motor Power are the high current connections to the Mighty Mite Servo Drive Module The Main Power connections are located on the top VDC IN and bottom VY DC HIN of the servo drive module The Dual Axis servo drive provides two VDC IN and two VDC RTN pins Motor A and B have their own dedicated Main Power pins refer to Figure 8 Dual Axis Connections The two VDC IN pins and two VDC_RTN pins are electrically equivalent however the current carrying capability is through the motor dedicated pins and should not be interchanged The Motor Power phase A B and C are located on the sides of the servo drive module Table shows nominal voltage and continuous current used for ordering the
15. e groups J11 Motor A Feedback J12 Service and Communication and J13 Motor B Feedback Refer to ESI Document 100236 Mighty Mite Datasheet for the electrical characteristics of each signal A 5V regulator on the I O PCBA is used to power both the Mighty Mite Servo Module controller and external motor feedback devices The I O PCBA is designed to work with Main Power VDC IN from 10V to 95V and provides a regulated 5V at 2 5A The l O PCBA that will be used with Main Power VDC IN that exceeds 95V will require the 5V regulator to be disabled An I O PCBA that is purchased with a Mighty Mite Servo Module that uses a Main Power VDC IN that exceeds 95V will already have the 5V regulator disabled Refer to ESI Document 100236 Mighty Mite Datasheet for the mechanical details of the I O PCBA Mite IO Boa maen J9 J13 Figure 17 I O PCBA ESI Motion Document 100249 Revision D Page 28 3 26 2015 Mighty Mite Servo Drive Module Installation Manual m gt om 9m 4 SN MA ResolversinNegativeMotorA Analogin _ Analog In 6 cos ma ResoverCosNegatveMotorA Analogin 8 DEM ResolverExcitationNegativeMotorA Analog Out 11 N 1 Power Reference Table8 WO PCBA J11 Motor A Feedback e m Ln LU 1 00 19 20 21 N N F 23 24 25 ESI Motion Document 100249 Revision D Page 29 3 26 2015 Mighty Mite Servo Drive Module Installation Manual m gt om
16. ed axes functions as a single motor controller with all control and feedback through Motor A all the Motor B control and feedback is disabled This versatile servo line is ideal for precision military aviation automotive robotic and specialized industrial applications where size and weight are critical ESI Motion Document 100249 Revision D Page 10 3 26 2015 Mighty Mite Servo Drive Module Installation Manual 3 1 Functional Description 3 2 Product Features 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 2 7 3 2 7 1 High Power Density Each axis in the Mighty Mite Servo Drive Module delivers up to 2000 W of continuous power The Mighty Mite Servo Drive Module Dual Axis is 2 00 x 3 00 x 0 57 a volume of 3 42 in and a weight of 3 7 oz 105 g The Dual Axis servo drive has independent axis configuration torque velocity and position control The Mighty Mite Servo Drive Module Single Axis is 2 00 x 1 75 x 0 57 a volume of 2 00 in and a weight of 2 2 oz 62 4 g The Single Axis servo drive has torque velocity and position control Supply Input Two isolated DC power sources are required 12 170V for the main power and 5V for the controller power The feedback power source either the same 5V for the controller or another supply must share a common ground Servo Control Feedback Ports Options The Mighty Mite Servo Drive Module has five different forms of motor feedback Sensorless Digital Enco
17. en the controller voltage is applied to the servo drive the configuration of the module is read and voltage and current limits are set to their default values 5 5 Initializing the System The Mighty Mite Servo Drive Module will remain disabled until it receives a command to enable and no system faults are active lf the servo drive module is disabled due to a system fault the system fault or faults must be resolved and a reset command sent to servo drive module prior to another enable command ESI Motion Controller User s Manual will provide the user with the information necessary to successfully configure and run the Mighty Mite Servo Drive Module 5 6 Heat Dissipation 5 6 1 Thermal Conductivity Data The Mighty Mite Servo Drive Module thermal resistance was measured from component junction to the heat sink base plate Refer to Table 2 Thermal Resistance Symbol C W Theta Junction to Base Plate 9 52 Table 2 Thermal Resistance The following is thermal data collected from the Mighty Mite Servo Drive Module mounted on a 5 x 6 x 0 5 aluminum heat sink with phase change thermal interface compound Aavid Thermalloy part number 100300F000006 ESI Motion Document 100249 Revision D Page 24 3 26 2015 Mighty Mite Servo Drive Module Installation Manual Case Temperature Rise EC Current Command A Current A vs Temp C Figure 15 Maximum Current Command vs Case Temperature Per Axis ESI Motion Document 100249
18. for motor or the servo drive module whichever is lower the servo drive module will disable its self The servo drive module can only be re enabled when the fault is removed and the fault state cleared Please refer to the ESI Motion Controller User s Manual for details 3 2 9 3 Over Temperature The Mighty Mite Servo Drive Module has sensors that monitor the processor temperature as well as both motor A and B power driver sections Software will alert the user with a warning flag if the temperature nears the critical level and is programmed to shut itself off or shut down the power driver section if the temperature reaches the critical level The servo drive module can only be re enabled when the fault is removed and the fault state cleared Please refer to the ESI Motion Controller User s Manual for details 3 2 9 4 Other Built In Protection The Mighty Mite Servo Drive Module has other protection a BIT Built In Test Motor Over Temperature with a user provided thermistor Motor Over Speed Bus Under Voltage Motor Loss of Feedback and an I squared T I2T which is an estimate of the energy content in current transient conditions this can help protect against motor overheating The servo drive module can only be re enabled when the fault is removed and the fault state cleared Please refer to the ESI Motion Controller User s Manual for details ESI Motion Document 100249 Revision D Page 15 3 26 2015 Mighty Mite Servo Drive Module Insta
19. ive of the other The majority of the feedback options have their own independent hardware interface only the Encoder and BiSS C share common hardware connections Sensorless is the only feedback that does not require any external connections Figure 10 Feedback Options shows the connections required for each feedback implementation Feedback Feedback Digital SIN Encoder FA Ns S Service Controller Voltage IN Feedback Feedback BiSS_CLK gt lt pes CLK gt lt HALL Service Sensors BiSS DATA gt lt BiSS_DATA gt lt Controller 45V RTN Voltage IN Service 5V_IN Controller Voltage IN gt lt Twisted Pair Figure 10 Feedback Options ESI Motion Document 100249 Revision D Page 20 3 26 2015 Resolver BiSS C Encoder 5 1 3 5 2 Mighty Mite Servo Drive Module Installation Manual Service The Mighty Mite Servo Drive Module Service signals are Controller Voltage In 45V In Analog Test Points Buf_ATP Analog Outputs Regeneration Inrush and Discharge Digital Outputs Vbus Pre Inrush Analog Input Digital 1 O Digital In Output The Controller Voltage In is the 5V input to power the servo drive controller The power to any external motor feedback sensors should be referenced to the 5V supply There are two Analog Test Point outputs Buf ATP1 and Buf ATP2 which are configured through software These signals can be mapped to various
20. les Servo Drives The Wolverine is a plug and play stand alone military grade submersible package servo drive based on our servo drive modules An example of a Wolverine configuration would be a Mite servo drive module packaged with supporting hardware to form a stand alone drive The Wolverine includes a High Voltage Interlock and Brake Drivers however provides for optional Integrated EMI Filter and DC Bus Voltage Regeneration switch and active Inrush limiter The Wolverine is designed to meet several military standards MIL STD 810 MIL STD 1275 MIL STD 704 and MIL STD 461 The Wolverine supports several motor feedback options which are selected via software configuration parameters The ruggedized package comes in three cooling options Chassis Fan or liquid The Wolverine is designed for defense automotive energy and specialized industrial applications where a smaller lighter weight servo drive is needed The Wolverine operates between 10 to 610V at currents up to 80A The Dragon is a plug and play stand alone military grade submersible package servo drive based on our rugged controller and power drivers The Dragon includes a High Voltage Interlock Brake Drivers Integrated EMI Filter and DC Bus Voltage Regeneration switch and active Inrush limiter The Dragon is designed to meet several military standards MIL STD 810 MIL STD 1275 MIL STD 704 and MIL STD 461 The Dragon comes in three motor feedback configurations Dual Res
21. llation Manual 3 3 System Architecture Power VDC_IN VDC RTN Spade Pins Motor B Suse Mounting Hole M A M B Spade Pins Feedback CMD MB e CMD MB urrent Command SIN MB SIN MB COS MB Resolver COS MB Feedback EXE _MB EXE _MB A BISS_CLK _MB A BISS_CLK _MB B _MB B MB I BISS_DATA _MB I BISS_DATA _MB Encoder BiSS C Feed back HALL A MB HALL B MB Hall HALL C MB Feedback MOTOR TEMP MB MOTOR TEMP MB Motor Temperature BRAKE MB Brake Command Service fv IN Controller a Voltage IN SUL ATP Analog Test BULANE Points and ANALOG REF Reference REGEN DC Bus Voltage INRUSH Regeneration DISCHARGE Inrush and Discharge DC Bus Voltage Monitor Prior to VBUS PRE INRUSH Inrush DIG IO DIGITAL REF Reference Digital I O and Power VDC_IN Spade Pins VDC_RTN Motor A Mounting Hole Saai A Spade Pins B C Feedback c CMD _MA urren CMD MA Command SIN _MA SIN MA COS MA Resolver Feedback COS MA EXE MA EXE MA A BISS_CLK _MA A BISS_CLK _MA B _MA B _MA I BISS_DATA _MA I BISS_DATA _MA Encoder BiSS C Feedback HALL_A_MA Hall HALL_B_MA Feedback HALL_C_MA MOTOR_TEMP _MA Motor MOTOR_TEMP _MA Temperature Brake BRAKE_MA Command Communication RS422 RS422 TX P Transmit R5422 TX N RS422 RS422 RX P ane RS422 RX N CAN H CAN CAN L USB DP USB USB DN HSSB TX CLK High Speed Serial Bus Transmit HSSB TX SYN
22. ment will only discuss the RS422 CAN and USB interfaces All three interfaces provide the user with complete flexibility in controller configuration commands and feedback The CAN and USB interfaces work directly with the Host Interface for the Dragon Servo HiDS user friendly GUI with enhanced data collection capability The uses and capability and of HiDS can be found in ESI Document 100266 Controller User s Manual ESI Document 100211 ESI Motion s CAN Protocol and ESI Document 100121 ESI Motion s RS422 Protocol are also available Mounting to a PCBA The Mighty Mite Servo Drive Module has two pin headers J1 and J2 Samtec part number FT S 120 01 L DV 2 x 20 pins and 0 05 pitch The main power and motor power are spade shaped copper pins that are soldered to the PCBA The dimension and location of the mounting holes for the spade shaped pins is shown in Figure 11 through Figure 14 Mighty Mite Dual and Single Axis PCBA Footprints The headers J1 and J2 can be soldered directly to the PCBA or mated with Samtec part number CLP 120 02 F D TR The mating height for J1 and J2 to Samtec part number CLP 120 02 F D TR is 0 14 The length of the spade pins will accommodate either configuration If PCBA area is at a premium the use of mating connectors for J1 and J2 will allow the user to place low profile components underneath the Mighty Mite Servo Drive Module ESI Motion Document 100249 Revision D Page 21 3 26 2015 Mighty Mite Servo D
23. olver Dual Encoder and Single Resolver with BiSS C The ruggedized package comes in three cooling options Chassis Fan or liquid This versatile servo drive is ideal for high performance military aviation and specialized industrial applications operating outdoor at high temperatures in high vibration or other extreme environ mental conditions The Dragon operates between 24 to 610V at currents up to 80A ESI Motion Document 100249 Revision D Page 9 3 26 2015 Mighty Mite Servo Drive Module Installation Manual The Roadwind is our high current low voltage servo drive The Vulcan is our low current high voltage servo drive The Hyperion is our high current high voltage servo drive 300 Se VO Hyperion Drives Current A Vulcan 10 50 200 400 600 800 Voltage V Figure4 ESI Motion Family of Servo Drives 3 Product Description The Mighty Mite Servo Drive Module incorporates our rugged controller and power drivers offers several software configurable feedback options and is packaged in a potted plastic case with an integrated heat sink The Mighty Mite Servo Drive Module comes packaged as either a dual or single axis drive The servo drive can be ordered in a variety of voltage and current configurations The bus voltage ranges from 10V to 170V and currents up to 40A at 2kW per axis The dual axis drive can be ordered as a paralleled axes drive delivering twice the rated current of a single axis The parallel
24. overview of the ESI Motion Family of Servo Drives and Servo Drive Modules Then provide a detailed description of the Mighty Mite oervo Drive Module the product features and system architecture This document will provide the user with details on the installation of the Mighty Mite Servo Drive Module The installation will cover the connections to the servo drive mounting the servo drive to a printed circuit board assembly PCBA heat sinking powering up the drive and initializing the system The connections to the Mighty Mite Servo Drive Module will be explored in more detail main power and motor power feedback service and communication Other sections of this manual will cover the technical specifications and thermal properties of the Mighty Mite Servo Drive Module A separate ESI Document 100226 Controller User s Manual is available for a more detailed discussion of the capabilities of ESI Motion s Servo Drive Modules Refer to the ESI Document 100236 Mighty Mite Datasheet for details on signal connections and electrical characteristics ESI Motion Family of Servo Drives and Servo Drive Modules The ESI Motion Family of Servo Drives and Servo Drive Modules operate over voltages ranging from 10 to 800V and currents up to 300A Servo Drive Modules The Flea is our smallest servo drive module measuring XX in and weighing XX oz The servo drive module is designed to be mounted on a PCBA allowing it to be integrated with other system level
25. rive Module Installation Manual a m 9 eut 3 ME X ce EA Lun Fe e Lu e LA P e 5 s E 8 ZZ amp S8 5 e e 2 Oc o o O mo m 0 895 2 PL 0 870 2 PL PAD 0 225 MAN HOLE 0 125 III 0 550 2 PL 0 425 C L 111111 AA EN UN 0 029 X 0 058 PAD 0 050 X 0 147 PITCH e 0 000 C L 2 PL NJ III WM reg SPOTT eege 0 550 2 PL 0 895 2 PL 0 870 2 PL 0 260 X 0 060 PLATED SLOT 10 PL i l a a C Cl Le LA en Ley m e Figure 11 Dual Axis PCBA Footprint wi Mating Connectors 1 370 3 PL 0 480 0 000 C L 0 480 0 645 C L 2PL 0 900 1 370 3 PL e e K e 0 870 2 PL 0 895 2 9 f PAD 0 225 MAX HOLE 0 125 ES 0 550 2 PL 0 425 C L 0 050 X 0 050 PITCH 0 030 DIA PLATED 0 000 C L 2 PL 99999999 LA A AAA ALA ALA AAA AAA AA 0 425 C L 0 550 2 PL 0 895 2 PL X 0 870 2 PL 0 260 X 0 060 PLATED SLOT 10 PL Figure 12 Dual Axis PCBA Footprint w o Mating Connectors 1 395 2 PL 1 395 2 PL ESI Motion Document 100249 Revision D Page 22 3 26 2015 Mighty Mite Servo Drive Module Installation Manual N zi sdl cl as cds NI Q NI t Mos Vi SC Sr C Gd E RN x To o Oe CO Yo Fr coc coo PF 23 o PADQ 225MAX mca nnn 0 550 0 425 C L III JLLLLTLLI IS TN 0 029 X 0 058 PAD 0 050 X 0 147 PITCH 0 000 C L h3 TILL tii RRE E RUNNAR 0 425 CA 0 260 X 0 060 JL d 0 550 PLATED SLOT 5 PL 0 895 2 PL 0
26. tinuous Current Current and Voltage values are nominal refer to the Installation Manual for the full operational range Figure 1 Mighty Mite Servo Drive Module Part Number Available Configurations Continuous Current m 1A Voltage Figure2 Mighty Mite Servo Drive Configuration Options ESI Motion Document 100249 Revision D Page 4 3 26 2015 Mighty Mite Servo Drive Module Installation Manual TABLE OF CONTENTS 1 SAFETY INFORMATION uu ul eege tu uic a M uade uae dou duoc 8 2 INTRODUCTION ec 8 2 1 ESI Motion Family of Servo Drives and Servo Drive Modules 8 3 PRODUCT DESCRIPTION 4i EE 10 3 li Funcional Describir 11 9 2 Produc T EE 11 321 Hgm Power Derby scusate toii u basa dt napa tuan isa ELI no sto Copa eu rate 11 Sus 2 18 IOPU EE 11 3 2 3 SE VO CONTO Rp R 11 3 2 4 Feedback Ports OPINAS aia 11 3 2 5 Feedback Sensor Specifications 11 3220 Seu uni Tele CN 11 8 2 1 GV cM PT 11 3 2 7 1 Resolver Evctaton a nnne nnns nnn ris 11 deste Analog TestPolbls ATES acta ido dedidit daa ede Lia Reise 11 3 2 7 8 ifl OS tt geese tee nn o DOS 12 3 2 7 4 Regen Jr DISOChafde tege t ast l pete to ra nea e p petitus 12 522 5 a e coc Sa 12 zt obla CRM CNET ES TNR DEOS 12 3 2 8 1 Curent Command cw edo 12 3 2 8 2 mic
27. ture Per Axis 25 Figure 16 Maximum Current Command vs Case Temperature Paralleled Axes 26 Figure T7 A ta recti e Det nei reb rut nu aa i D aaa Oct Bats ue tte 28 TABLES able Voltage and Current ET ssec iii 19 Table 2 Thermal Ee Te 24 Table 3 Current Command vs Case Temperature Rise 25 Table 5 Thermal Interface CompoundS s001nnneoseanneenernnenosrnrnressnnnrrrsrnrrrensnnrrrennnnrrensnnrrersenne 26 Table o gen ele Beete e EE 27 Tablez Velocity LooD SDecITIC den espro ena Se nd euo geo uml Re tob pe e Sx Referee reta 27 ESI Motion Document 100249 Revision D Page 6 Mighty Mite Servo Drive Module Installation Manual Table8 Position Loop Specification uuu u uyu u uuu u y u un suu ap aa usss au 28 Table9 I O PCBA J11 Motor A Feedback 29 Table 10 IO PCBA J12 Service and Communicalion 30 Table 11 I O PCBA J13 Motor B Feedback 31 Referenced Documents ESI Document 100236 Mighty Mite Datasheet ESI Document 100266 Controller User s Manual ESI Document 100211 ESI Motion s CAN Protocol ESI Document 100121 ESI Motion s RS422 Protocol ESI Motion Document 100249 Revision D Page 7 3 26 2015 1 Mighty Mite Servo Drive Module Installation Manual SAFETY INFORMATION 2 2 1 INTRODUCTION This document will provide the user with an
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