MDL-BDC24
Contents
1. Coast Brake default brake a ENN Jumpers hold the limit switch inputs closed Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 12 i3 Texas INSTRUMENTS BOARD DATA SHEET Fault Detection The MDL BDC24 detects and shuts down the motor if any of the following conditions are detected Power supply under voltage Over temperature E Over current m Loss of CAN RS232 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 faults which are instantaneous Calibration To accommodate variation in the timing of the supplied signal the MDL BDC24 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 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 The MDL BDC24 samples these signals and centers the speed range and neutral position between these limits See the MDL BDC24 Getting Started Guide for complete calibration procedure information CAN Communication The Controller Area Network CAN provides a powerful in2. From Power Distribution L Motor Module J In Motor In Motor Connect to Host Controller PC cRIO To other CAN Devices DB9 Adapter 5 Black Jaguar bridges RS232 to CAN Mechanical Details Figure 7 shows the MDL BDC24 physical dimensions The module has two 0 175 4 5 mm diameter mounting holes as shown in Figure 7 Figure 7 Mechanical Drawing i 3 50 gt a 1 99 gt i 5 nN Wl a 2 00 Gh le Y i 3 85 A en Q 0 175 NET NET CEEI eel alee e sa Seay eT eS T a 4 25 p gt The MDL BDC24 should be mounted so that the vents in the top and sides of the module are not restricted in any w
3. i3 Texas INSTRUMENTS BOARD DATA SHEET Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 Ordering Information Stellaris Brushed DC Motor Control MDL BDC24 Module with CAN MDL BDC24 for Single Unit Packaging Stellaris Brushed DC Motor Control RDK BDC24 with CAN Reference Design Kit includes the MDL BDC24 module Contents General Description ccssesseeseeeeeeeees 1 Figure 1 Brushed DC Motor Control Overview runoaan aat da 2 Module Detailed Features cccccccccccseesseeeeseeeees 2 Operational Specifications 000 4 1s Servo style PWM Input ceeeeeeees 8 Dy T Electrical Interface c cccccccessessccereesseseseere 8 a Power Supply c cccccceccescsesscececseseseeseeeeees 8 ie Motor Selection ccccceceesseceeeceeeeseeeeees 9 Operating Modes ccceeeseeeeeteeeeeeees 9 Jz Default Parameters c cccccccccceceeeseenees 10 F WINO ceert erie 10 Je Mechanical Details ccccceeeeseeeeees 11 Status LED ooo ccceeeseseseseeseeeeeeeeeeeeees 12 Jumper Settings cccceceeeesseeeeeeenees 12 Figure 2 Mechanical Drawing Fault Detection cccccccecceeeeeeseseeeeaeeeees 13 CAlIDIALION onna 13 CAN Communication n se 13 Coast Brake Input ceeeeeeeeeeeeeeees
4. 14 Analog INPUT 0 0 eee eeeeeeeeeeeeeenaeeeeeeenaes 15 Encoder INput ccceeeeeseeeeeeeenteeeeeeeeaaes 15 Limit Switch Inputs 2 0 2 eeeeeeeeeeeees 16 Firmware Update sesser 16 Additional Information sssseeeee 16 General Description The MDL BDC24 motor control module is a variable speed control for 12 V and 24 V brushed DC motors at up to 40 A continuous current The motor control module includes high performance 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 BDC24 uses highly optimized software and Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 1 i3 TEXAS INSTRUMENTS BOARD DATA SHEET 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 BDC24 is a Stellaris reference design The Brushed DC Motor Control Reference Design Kit RDK contains an MDL BDC24 motor control module as well as additional hardware and software for evaluating CAN communication After evaluating the RDK BDC24 users may choose to either customize the parts of the hardware and software design or use the MDL BDC24 without modification For detailed circuit level information and reference design kit de
5. is located adjacent to the MDL BDC24 module See Table 7 on page 6 for electrical limits Analog Input The analog input accepts a 0 3 V sensor signal for implementing position control mode Position control can also be implemented with a single or multi turn potentiometer Potentiometers with continuous rotation are not supported The MDL BDC24 contains a built in bias pin for use with 10kQ potentiometers If another potentiometer value or analog source is used it must have a 0 3 V range If the P I and D parameters are positive or zero the MDL BDC24 expects that a forward condition voltage on White terminal voltage on Green will generate an increasing voltage on the analog input If the P I and D parameters are positive or zero the MDL BDC24 expects that a forward condition voltage on White terminal voltage on Green will generate a decreasing voltage on the analog input The analog input is not electrically isolated Table 5 on page 6 lists the electrical requirements of an external control signal Encoder Input In position control mode the MDL BDC24 accepts position commands over the network and then uses an internal PID controller to autonomously move the motor to the specified position The QEI software position count changes on each pulse of the Encoder A input For example a 360 movement of a 100 pulse per revolution PPR encoder will result in a 100 count change in the position value PPR is sometim
6. Design Kit RDK User s Manual for additional information on motor selection The MDL BDC24 can also drive resistive loads with some de rating to allow for increased ripple current inside the module Operating Modes The MDL BDC24 can be controlled using either the servo style PWM input or the CAN interface Table 13 compares the capabilities of the two control methods Table 13 Comparison of Control Methods The MDL BDC24 does support the simultaneous use of CAN for monitoring and the servo style input for speed NOTE See the MDL BDC24 Getting Started Guide for additional calibration information Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 Ai Texas INSTRUMENTS BOARD DATA SHEET Default Parameters Table 14 lists the default configuration of the MDL BDC24 Parameters can be modified 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 14 Default Factory Configuration Acceleration rate Instantaneous change Deceleration rate Instantaneous change Motor Control mode Open loop speed control using voltage For additional information on parameters see the RDK BDC24 Firmware Development Package User s Guide Wiring The MDL BDC24 is controlled using either a servo type PWM source CAN bus or RS232 interface Figure 5 shows a typical simple wiring arrangeme
7. Update The MDL BDC24 firmware can be updated over CAN and RS232 The capability to update the MDL BDC24 firmware can be added to most Host controllers by implementing the necessary protocol If you are not developing a CAN host controller the BDC COMM application provides firmware update from a Windows PC The BDC COMM application can be downloaded from www ti com odc comm For additional information on the firmware update procedure see the MDL BDC24 Getting Started Guide Additional Information The following documents are available for download at www ti com stellaris E MDL BDC24 Getting Started Guide Publication number MDL BDC GSG m BDC COMM User s Guide Publication number MDL BDC24 SW UG m RDK BDC24 Firmware Development Package User s Guide Publication number SW RDK BDC UG Part of the StellarisWare source code library E Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 User s Manual Publication number RDK BDC BDC24 UM Schematics and Bill of Materials BOM Detailed functional description Firmware update configuration and operation using the RDK BDC24 test application E Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 Readme First A step by step guide to using the reference design kit RDK BDC24 Copyright 2009 2011 Texas Instruments Inc All rights reserved Stellaris and StellarisWare are registered trademarks 1A TEXAS of Texas Instruments ARM and Thumb are
8. ations 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 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 a
9. ay A clearance of 1 2 inch should be maintained around the module Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 11 i3 Texas INSTRUMENTS BOARD DATA SHEET Status LED Table 15 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 15 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 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 8 shows the factory default jumper settings Figure 8 Default Factory Jumper Settings St
10. enters H 7 User Swich intain 0 5 gt E ol ag Maintain 0 5 clearance 8 around all vents CAN Port 6P6C CAN RS232 Port orr j oe ey Status LED i 85 5 ABI 3 a a Gee 5 Limit switch inputs Use hooks to prevent eat i r a wires shaking loose c Encoder Input Analog input 0 3V Motor coast brake jumper Operational Specifications The following tables provide the operation specifications for the MDL BDC24 motor control board WARNING Do not exceed the maximum supply voltage of 30 Vpc Doing so will cause permanent damage to the module Table 1 Power Supply Supply voltage range Vin 5 52 12 24 30 Vdc Supply voltage absolute maximum 35 Vdc Supply current motor off fan off Vin 12 V 35 mA Supply current motor off fan on Viy 12 V 105 mA Under voltage detect threshold 6 0 Vdc a Power supply requires Viy 2 7 0 Vpc to start up b Exceeding this limit even momentarily will cause permanent damage Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 4 i3 Texas INSTRUMENTS BOARD DATA SHEET Table 2 Motor Output Motor voltage 0 Vin V Motor current continuous 40 A Motor current for 2 seconds 60 A Motor current peak at starting 100 A PWM frequency 15 625 kHz PWM resolution 0 1 Output current for resistive loads 30 A a The motor
11. es referred to as the number of lines that an encoder has The relationship between the Encoder B input and the Encoder A input determines whether the position counter increments or decrements An edge on the Index I input resets the position counter to zero The MDL BDC24 supports a wide range of shaft encoders Encoder electrical parameters are detailed in Table 8 on page 6 If the P I and D parameters are positive or zero the MDL BDC24 expects that a forward condition voltage on White terminal voltage on Green will generate increasing counts on the encoder interface Increasing counts occur when the rising or falling edge of the A input leads the rising or falling edge of the B input If the P I and D parameters are negative or zero the MDL BDC24 expects that a forward condition voltage on White terminal voltage on Green will generate decreasing counts on the encoder interface Decreasing counts occur when the rising or falling edge of the B input leads the rising or falling edge of the A input The MDL BDC24 can supply 5 V power to an encoder Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 15 i3 TEXAS INSTRUMENTS BOARD DATA SHEET Limit Switch Inputs Two limit switch inputs provide a method for immediate shut down of the motor The inputs expect typically closed contacts one for each direction of rotation See Table 11 on page 7 for electrical specifications Firmware
12. etwork protocol limit 1 63 Number of nodes per network physical limit 1 16 Total cable length gt s a Limited by fail safe CAN transceiver SN65HVD1050 b Two terminations per network c Must be a valid ID range Table 10 RS232 Interface Baud rate 115 200 Baud Format 8 n 1 Watchdog time out 100 ms RXD Absolute Maximum Voltage Range 25 25 V TXD High level output voltage 5 5 4 V TXD Low level output voltage 5 5 4 V RXD Positive going threshold 1 9 V RXD Negative going threshold 1 4 V Table 11 Limit Switch Interface V Digital low level input voltage 0 3 1 3 Digital high level input voltage 2 0 3 3 5 0 V Pull up resistor 10 kQ Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 i3 Texas INSTRUMENTS BOARD DATA SHEET Table 11 Limit Switch Interface Continued Response time 64 us a Motor enabled state b Motor disabled state Servo style PWM Input The MDL BDC24 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 Electrical Interface The Servo PWM input is electrically isolated from other circuits using an optocoupler The MDL BDC24 datasheet contains electrical spec
13. figuration functions over a standard RS232C serial interface The command protocol is essentially the same as the protocol used on the CAN interface allowing the MDL BDC24 to automatically bridge all commands between the RS232 and CAN interfaces RS232 signals are implemented on the left side NET connector See Figure 9 on page 14 for pin assignment information Coast Brake Input The Coast Brake input selects the dynamic behavior of the motor controller when decelerating or stopping In the coast setting the MDL BDC24 allows the current in the motor to decay slowly providing a more gradual deceleration In the brake setting the MDL BDC24 uses switching to oppose current generated by the motor which results in much faster deceleration The brake setting also provides some additional holding capability in the stopped position However it should not be regarded as a safety or mechanical brake of any sort By default the brake input is set using a jumper Network commands can override the jumper setting allowing the control mode to be changed dynamically An external control signal can be connected to provide the same capability Table 7 on page 6 lists the electrical requirements of an external control signal Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 14 K TEXAS INSTRUMENTS BOARD DATA SHEET Pin 1 of the brake coast connector can supply a small amount of 3 3 V power to an external device as long as the device
14. h 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 8A 1 A Motor current measurement accuracy lt 8A 2 A Measurement resolution 10 bits Measurement rate 15 625 kHz Table 7 Brake Coast Input Digital low level input voltage 0 3 1 3 Digital high level input voltage 2 0 3 3 5 0 V Digital input pull down resistor 200 kQ Response time 64 Us Power on Pin 1 3 3 V 25 mA a Selects Brake mode b Selects Coast mode Table 8 Quadrature Encoder Input QEl Digital low level input voltage 0 3 7 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 Encoder supply voltage 4 90 5 0 5 10 V Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 6 BOARD DATA SHEET Table 8 Quadrature Encoder Input QEI Continued i3 Texas INSTRUMENTS 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 100 Q Absolute maximum CANH CANL voltage 27 40 V Watchdog time out 100 ms Number of nodes per n
15. ifications including common mode voltage limits for the input stage Figure 4 MDL BDC24 s Servo PWM Input Stage Ul HI ILIM The on board resistor R2 has been selected to allow a signal of only a few volts to drive the optocoupler At 3 3 V or more it is advisable to add additional series resistance to limit the current into the LED The PWM input stage is essentially a current driven device so the threshold for a logic high level input is defined in milli amps Some recommended values for an external resistor are listed in Table 12 Table 12 Recommended External Resistor Values 2 5 V 0Q none 3 0V 09 1500 5 0V 560Q 12V 2 2kQ Power Supply The MDL BDG24 is designed primarily for use with 12 V or 24 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 The MDL BDC24 does not have reverse polarity input protection Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 8 i3 Texas INSTRUMENTS BOARD DATA SHEET Motor Selection The MDL BDC24 operates 12 V or 24 V brushed DC motors Typical motors include the BI802 001A model from CIM and the RS 555PH 3255 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
16. nt with power motor PWM control and optional limit switch connections Basic servo style PWM control is enabled by default and does not require CAN configuration Figure 6 on page 11 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 BDC24 software supports control and monitoring of only one sensor at a time Figure 5 Basic Wiring with a Servo Style Speed Command From Power Distribution Motor Module Out In Motor In Motor User Switch Status LED J Normally closed Limit switches o Eir e A switch es 5V is optional no internal connection PWM speed EN O O O cr aa signal from 5V Digital Sidecar GND Imm nstall jumpers if i gt limit switches are op notused Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 10 Ai Texas INSTRUMENTS BOARD DATA SHEET Figure 6 RS232 CAN Based Control Wiring Diagram
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18. registered INSTRUMENTS ARM trademarks and Cortex is a trademark of ARM Limited Other names and brands may be claimed as the property of others Cortex a Ea z C Intelligent Processors by ARM BD BDC24 DS 03 January 5 2011 IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries Tl reserve the right to make corrections modifications enhancements 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 Tl 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 Tl s standard warranty Testing and other quality control techniques are used to the extent Tl 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 wa
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20. s Real time monitoring of current voltage speed and other parameters Firmware update RS232 serial communication Bridges RS232 port to a CAN network Directly interfaces to a PC serial port or National Instruments cRIO 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 Analog input Accepts 10 kQ potentiometer or 0 3 V input Screw terminals for all power wiring Headers 0 1 inch pitch for all control signals Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 Ai Texas INSTRUMENTS BOARD DATA SHEET Figure 3 Detailed Drawing of the MDL BDC24 Motor Control Module N Maintain 0 5 clearance For power wiring use around all vents 12AWG Wire with 6 ring or spade terminals Motor output is not protected against shortcircuits From Power Distribution be Module DDP u BG In Motor In Motor g C3 Mounting holes H 3 50 c
21. tails see the Brushed DC Motor Control Reference Design Kit RDK User s Manual available for download from www ti com rdk bdc24 Use the MDL BDC24 Getting Started Guide if you are using the MDL BDC24 without modification Figure 2 shows the MDL BDC24 motor control module from the top view Figure 2 MDL BDC24 Motor Control Module J Overview The MDL BDC24 motor control board provides the following features Controls brushed 12 V and 24 V DC motors up to 40 A continuous Controller Area Network CAN interface at 1 Mbit s Industry standard servo PWM speed input interface RS232 to CAN bridge Limit switch encoder and analog inputs Fully enclosed module includes cooling fan Flexible configuration options with simple source file modification Easy to customize full source code and design files available Detailed Features This section describes the MDL BDC24 s features in detail E Quiet control of brushed DC motors 15 kHz PWM frequency Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 2 A Texas INSTRUMENTS BOARD DATA SHEET Three options for Speed control Industry standard R C servo type PWM interface Controller Area Network CAN interface RS232 serial interface 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 Full configurability of module option
22. terface for controlling one or more MDL BDC24 or MDL BDC modules Protocol The CAN protocol used by the MDL BDC24 includes the following capabilities m Firmware update over CAN E Read supply voltage motor voltage temperature and current Set motor voltage or target position Set control mode to speed or position Each MDL BDC24 module on the CAN bus is accessed using an assigned ID number The ID number defaults to 1 but can be changed by sending a CAN assign ID command to the bus See the RDK BDC24 Firmware Development Package User s Guide for complete protocol details Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 13 i3 TEXAS INSTRUMENTS BOARD DATA SHEET Connectors The MDL BDC24 hasa 6P6C socket and a 6P4C socket for daisy chaining CAN between modules using standard cables The CAN signals on the two sockets are hard wired to each other Figure 9 shows the pin assignments of each connector Each end of the CAN network must be properly terminated Terminator resistors can be between 100 and 1200 For more complex networks 100Q is recommended because it accelerates the return of differential signalling to a valid recessive state Figure 9 NET Connector Pin Assignments CANH CANL CANH CANL V GND Vt GND RX TXD 6P6C RS232 CAN Socket Viewed 6P4C CAN Socket Viewed from Top Tab down from Top Tab down RS232 Communication The MDL BDC24 supports a full set of network control and con
23. 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 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 on page 13 c Sets full speed in forward direction d The servo input is optically isolated Stellaris Brushed DC Motor Control Module with CAN MDL BDC24 Qn i3 Texas INSTRUMENTS BOARD DATA SHEET Table 5 Analog Input 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 Wit
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