Getting Started Guide
Contents
1. From Power DN L3 Foy VAI Motor Distribution x f Oto Module Out 39 In N Motor In Motor GF Gt User Switch Status LED J Normally closed He Limit switches Reverse direction switch es 5V is optional no internal connection Forward direction PWM speed PWM switch es signal from 5V Digital Sidecar GND mim Install jumpers if limitswitches are notused ER Servo style PWM Speed Control Input The servo PWM input controls motor speed and direction The digital signal must meet the timing and voltage requirements listed the MDL BDC24 specifications The center pin has no internal connection Because the signal is optically isolated both the signal S and GND pins must be connected to the signal source The servo style PWM input is optically isolated All other control inputs are non isolated and are referenced to the power supply Calibrating the PWM Input To accommodate variation in the timing of the supplied signal Jaguar has a2. Configuration System Mode Voltage Synchronous update Sync Ramp o P 0 000 Reference Encoder Potentiometer D 10 000 Speed 0 Vout 0 00 2764 Current 0 00 Position 0 000 Power 1 Wi Texas INSTRUMENTS 18 January 5 2011 Firmware Update Using BDC COMM Firmware update capability allows Texas Instruments to provide new software in binary format that contains feature enhancements and bug fixes Special firmware releases have been created for FRC 2010 Both MDL BDC and MDL BDC24 have firmware updates available This firmware update must be installed prior to using RS232 or CAN based control Firmware update is optional for Servo PWM control Firmware update requires RS232 and CAN cables at least one MDL BDC24 the binary file a PC with an RS232 port and a 12 V power source The BDC COMM Application User s Guide contains additional detail on using the tool for firmware update as well as other configuration and control functions Important Information Observe the following precautions when updating firmware We strongly recommend connecting only one Jaguar to the network at a time The exception is when updating a single first generation MDL BDC Jaguar To update an MDL BDC Jaguar add only theMDL BDC24 that is being used as the RS232 to CAN bridge W Use the correct binary file For first generation MDL BDC modules the file is
3. January 5 2011 9 General Operation Table 2 2 Status LED Continued Slow Flashing Red Fault condition Calibration Conditions Fast Flashing Red and Green Calibration mode active Fast Flashing Red and Yellow Calibration mode failure Fast Flashing Green and Yellow Calibration mode success Calibration mode reset to factory Slow Flashing Red and Green default settings success Operating Modes The MDL BDC24 can be controlled using either the Servo style PWM Input or the CAN interface Table 2 3 compares the capabilities of each control method Table 2 4 Control Method Comparison Speed Control Yes Yes Analog Position Control No Yes Encoder Position Control No Yes Configurable Parameters No Yes No ve Limit Switches Yes Yes Coast Brake Feature Yes Yes Firmware Update No Yes a By default the jumper sets coast brake Network commands can over ride the jumper setting Jaguar supports the simultaneous use of CAN for monitoring and the Servo style input for speed Fault Conditions A slow flashing Red LED indicates that the MDL BDC24 detected one of the following fault conditions Power supply under voltage Over temperature Over current Limit switch activated in the current direction of motion When a fault condition occurs the motor shuts down and the LED indicates a fault state during the fault condition and for 3 seconds after the fault cau
4. esp idunt 20 Chapter 7 Closed Loop Control 21 WIRING eC 21 Constant Current Gontrol 2 dnt a oe bein nie soin dta eias 22 Position Control using an 22 Position Control Using a 23 Speed Control zarse eir drit d eu ea uem de s teo ees ii eta e ess ied 23 Chapter 8 Operation Using the CAN 25 CAN KO e E E 25 CANIS cnc uid ed A uUi aL AM MEC M EET 25 CAN NetWOIK t tin teu te tegebat tete I bM tel values ed 25 Control Options for Networked Jaguar 26 Appendix A Jaguar Communication 29 CAN ee eer e D PER E esit etu oc dee ond maa 29 E P 29 CAN Gable Assembly iid etr e ra rg E e P Ee te s PD d t du 30 CAN Cable Pin Assignmerits im ree ud lice ei d Hd te dte od Re 30 RS232 Cable EM TEE 30 RS232 Cable Assembly rii edd Pda Sect dette 30 RS232 Cable Pin Assignments 4 ir e edt nnde edet nnn 31 External References uma rnit e tte ui test ta aec Db eor aay det PEREAT ae AERE 31
5. expect that a forward condition voltage on White terminal voltage on Green generates 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 See Figure 7 1 on page 22 for wiring information For reliable operation keep encoder wiring short and route it away from noise sources The encoder inputs are not electrically isolated Position Control Using a Potentiometer Position control can also be implemented with a single or multi turn potentiometer Potentiometers with continuous rotation are not supported The MDL BDC and MDL BDC24 modules contain a built in bias pin for use with 10 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 Jaguar expects that a forward condition voltage on White terminal voltage on Green generates an increasing voltage on the analog input If the P I and D parameters are positive or zero Jaguar expects that a forward condition voltage on White terminal voltage on Green generates a decreasing voltage on the analog input The analog input is not electrically isolated Speed Control Speed control can be implemented with either an encoder or with a simple tachometer sensor If a tachometer sensor is used such as a gear tooth sensor then the signal should be connected to
6. Using the CAN Interface 28 January 5 2011 Jaguar Communication Cables CAN Terminator Because the CAN signals operate at high bit rates 1 MBPS a terminator is required at each end of the network A simple network might work with a single terminator but this is not recommended for normal use The termination resistor is also important for returning the CAN signaling levels to the recessive state when no nodes are transmitting Figure A 1 shows the recommended terminator construction Figure A 1 CAN Terminator Plug Crimp resistor leads to center contacts 100 ohm1 6 W Resistor Digikey100EBK ND or similar 6P6C Modular Plug AMP5 5563843 or similar CAN Cable Use CAN cables to daisy chain the network between Jaguar modules Standard off the shelf modular 6P6C cables can be used Cables must be straight pinned which means Pin 1 gt 1 Pin 2 gt 2 and so on This is also referred to as a reverse cable because the tabs on the connectors are on the opposite sides of the cable The CAN cable needs only 4 conductors but it is acceptable to use a 6 conductor cable and plugs A suitable 6 ft off the shelf 6P4C cable is Digikey Stock No A2662R 07 ND Figure A 2 shows the materials needed to build custom length CAN cables Apart from a modular plug crimp tool no special tools are required Figure A 2 Materials Needed to Assemble Custom Length 6P4C Cable 2 Modular plug for stranded flat Modular cable 4
7. conductor 6P6C 6P4C Modular Plug Crimp Tool oval cable Assmann Elect AT K 26 4 S 100 R AMP P No 5 641335 Digikey Stock No A0043R 100 ND Digikey Stock No A9092 ND January 5 2011 29 RS232 Cable CAN Cable Assembly Follow these steps to complete cable assembly shown in Figure A 3 1 Cut modular cable to length 2 Use the crimp to strip the outer jacket from each end of the cable 3 Insert wires into the modular plug and load into crimper 4 Close crimper to complete the connections and secure the cable Figure A 3 Completed Cable Assembly 7 Modular Plug 222 x v 4or 6 conductor cable CAN Cable Pin Assignments 1 Black 2 Red CAN H 3 Green CANL 4 Yellow GND RS232 Cable Figure A 4 shows the materials needed to build the RS232 cable Apart from a soldering iron no special tools are required Figure A 4 Materials Needed to Assemble RS232 Cable Components Resistor 1000 196 Panasonic ERO S2PHF 1200 Digikey Stock No P100CACT ND N Heatshrink tubing 1 8 diameter Digikey Stock No Q2F018B ND Modular cord 6 contact 6 conductor reversed Assmann Elect AT S 26 6 6 B 7 R R Digikey Stock No 046 0003 ND Modular adapter 6P6C to DB 9 Female CUI P No AMK 0003 Digikey Stock No 046 0003 ND RS232 Cable Assembly Follow these steps to complete cable assembly shown in Figure A 4 1 Take the Modular Adapter and cut the black wire as short as possi
8. is that faulty software has the potential to send errant messages To address the possibility that motors could run when they are not supposed to a special set of trusted commands have been added This capability is supported in an FRC specific firmware update All MDL BDC and MDL BDC24 modules must have updated firmware if they are to be used with CAN or RS232 communication in an FRC competition Trusted Mode FIRST Robotics Competition feature Each MDL BDC and MDL BDC24 module expects to see a trusted message from the Host every 100 ms If a trusted message is not received the MDL BDC and MDL BDC24 module shut down the motor output until trusted communication is restored Trusted communication relies on a proprietary protocol that defines a dynamic message token known only to the host driver and a specific MDL BDC or MDL BDC24 module Non FIRST users should use the factory default firmware available in source form which does not implement trusted communication January 5 2011 15 Introduction to Network Based Control 16 January 5 2011 Operation using the RS232 Interface The MDL BDC24 supports a full set of network control and configuration 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 con
9. named QS BDC bin For second generation MDL BDC24 modules black the file is named QS BDC24 bin Step 1 Hardware Setup Connect an MDL BDC24 black to a PC following the information in Chapter 5 Operation using the RS232 Interface on page 17 W Ifa first generation MDL BDC Jaguar gray requires firmware update then connect it to the MDL BDC24 see Figure 6 1 Apply power The LED on the Jaguar s flash yellow indicating loss of link Figure 6 1 Valid Configurations for Firmware Update Black Jaguar Jaguar Black Jaguar Update Firmware A on this Jaguar A Me Connect to PC Serial Port D RS232 CAN Bridge Connect to PC Serial Port 0 1 0 LJ Terminator A Firmware Update Terminator January 5 2011 19 Firmware Update Using BDC COMM Step 2 Run BDC COMM Run BDC COMM EXE The LED on the Jaguar s should now be solid yellow indicating a valid network link If the LED is not solid yellow check all network connections as well as the BDC COMM Com Port setting A valid link must be es
10. use with the Jaguar s constant current mode No additional wiring is needed for constant current control Position Control using an Encoder In position control mode the MDL BDC and MDL BDC24 modules accept position commands over the network and then use 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 results in a 100 count change in the position value PPR is sometimes 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 22 January 5 2011 Getting Started Guide An edge on the Index input resets the position counter to zero The MDL BDC and MDL BDC24 modules support a wide range of shaft encoders Encoder electrical parameters are detailed in the corresponding data sheets If the P I and D parameters are positive or zero the MDL BDC and MDL BDC24 modules expect that a forward condition voltage on White terminal voltage on Green generates 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 and D parameters are negative or zero the MDL BDC and MDL BDC24 modules
11. ID number command to all Jaguar modules Pressing the USER switch on an MDL BDC24 informs that particular module to accept the previously specified D number and save it to non volatile memory The operation times out if a Switch is not pressed within 5 seconds The Jaguar with the new ID assignment sends out a message to let all Jaguar modules know that the ID assignment is complete Normal operation resumes CAN Network A CAN network consists of one or more Jaguar modules an interface or bridge and a host controller Figure 8 1 shows a typical configuration January 5 2011 25 Operation Using the CAN Interface Figure 8 1 CAN Network Topology Black Jaguar Jaguar or Black Jaguar Jaguar or Black Jaguar Connect to cRIO Serial Port Terminator Additional Jaguars Plug Serial to 6P6C cable 6P4C or 6P6C modular cable CAN cabling follows a daisy chained topology using modular cable Table 8 1 lists network parameters Table 8 1 CAN Wiring Parameters Maximum Nodes 16 A node is defined as a device on the CAN network This includes all Jaguar modu
12. January 5 2011 3 January 5 2011 Introduction to Jaguar Texas Instruments presents the next generation FIRST Robotics Competition FRC motor controller the MDL BDC24 brushed DC motor control also known as Black Jaguar The MDL BDC24 builds on the success of the first generation MDL BDC Gray Jaguar by adding an RS232 to CAN gateway and enhanced electrical performance Designed specifically for FRC competition the MDL BDC and MDL BDC24 modules facilitate the design of complex robots within the short six week FRC build period This document provides a complete description of how to use Jaguar in both Networked and Servo control modes Information applies to both the MDL BDC and MDL BDC24 models except where noted Additional information can be found in MDL BDC and MDL BDC24 data sheets as well as in related application notes Figure 1 1 Next Generation Brushed DC Motor Control Module MDL BDC24 The flowchart in Figure 1 2 provides an overview of the process of developing with the MDL BDC and MDL BDC24 modules We suggest checking off each step as it is completed January 5 2011 5 Introduction to Jaguar Figure 1 2 MDL BDC24 Development Process Getting Started with Jaguar Read Jaguar GSG Introduction and General Operation Chapters Decision Control using Network Servo PWM or Network Read Jaguar GSG Introduction to Servo PWM Network Control Chapter Read Jaguar GSG Servo P
13. No Yes Terminal Screws Captive Do not remove Loose Okay to remove a Captive terminal screws should not be removed because metal debris can be created b Non captive screws are safe to remove and are compatible with ring terminal use Internally the MDL BDC24 is a completely new design that makes use of switching converters and synchronous rectification to improve overall energy efficiency Software should be updated to the latest version to ensure that all capabilities of the MDL BDC or MDL BDC24 module are enabled and functional Warnings WARNING Be aware of the following warnings Failure to heed warnings can result in damage to the module or invalidation of the module warranty B Mount the Jaguar module so that the vents in the top and sides of the unit are not restricted in any way Maintain a clearance of at least 7 inch between modules Reverse wiring is unprotected doing so voids the Jaguar module s warranty Do not exceed the absolute maximum supply voltage 30 for MDL BDC24 13 V for MDL BDC Doing so causes permanent damage to the module W Protect Jaguar from all situations where debris could enter through ventilation slots or connector openings 8 January 5 2011 General Operation This chapter describes the general operation of the MDL BDC24 motor control module Figure 2 1 shows the key features of the MDL BDC24 motor control Table 2 1 provides a key to the status LED Fig
14. Stellaris amp MDL BDC24 Brushed DC Motor Control Module Getting Started Guide 4 5 INSTRUMENTS MDL BDC24 GSG 04 Copyright 2009 2011 Texas Instruments Copyright Copyright 2009 2011 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 and brands may be claimed as the property of others Texas Instruments 108 Wild Basin Suite 350 E Austin TX 78746 TEXAS http www ti com stellaris I NSTRUMENTS mum m m m EM ortex u r Intelligent Processors by ARM ARM 2 January 5 2011 Stellaris amp Brushed DC Motor Control User s Manual Table of Contents Chapter 1 Introduction to 5 Feat res o tote e eer ett Mui e e dat a HA co att EA idus 7 Differences between the MDL BDC and 24 8 tena 8 Chapter 2 General 9 Operating or be siete peeled abe er bes ted EA 10 EaultiGornditlons s ood ea eere tiep nebat cento d
15. WM Control Chapter Decision CAN Interface Method Connect Servo cable Power cable Read Jaguar GSG Operation using RS232 Chapter Read Jaguar GSG Firmware Update using BDC COMM Chapter Assemble and connect cables RS232 CAN Power Appendix A Connect to cRIO Jaguar Cable based FRC control system Ready to Run Assemblies Black Jaguar Bridge 3 Party CAN Interface Read Party CAN Bridge documentation Assign CAN ID ID Value gt 1 Update firmware in each Jaguar Read Jaguar GSG Operation using the CAN Interface Chapter January 5 2011 Getting Started Guide Features The Stellaris amp Brushed DC Motor Control Module with CAN MDL BDC24 offers 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 Controller Area Network CAN connectivity and a rich set of control options and sensor interfaces including analog and quadrature encoder interfaces The high frequency PWM on the MDL BDC24 enables DC motors to run smoothly and quietly over a wide speed range The module uses highly optimized software and a powerful 32 bit Stellaris amp microcontroller to implement open loop speed control as well as closed loop control of speed position or motor current The MDL BDC24 provides the following features January 5 2011 Quiet cont
16. are update progress When the firmware update completes reconnect bdc comm to the network to re establish a link The System tab in BDC COMM displays the firmware version 20 January 5 2011 Closed Loop Control Options A network controlled Jaguar supports several types of closed loop control through an internal PID controller Constant current control Position control using an encoder W Position control using a potentiometer B Speed control Only one mode can be used at a time For each control mode refer to API VI or tool documentation for information on which commands to use for configuration Wiring All closed loop mode except for constant current control require an external sensor Figure 7 1 shows an advanced wiring configuration using the CAN interface The diagram shows wiring for position sensing using both a position potentiometer and a quadrature encoder Although two sensor types are shown the MDL BDC software supports control and monitoring of only one sensor at a time January 5 2011 21 Closed Loop Control Options Figure 7 1 Advanced Wiring Diagram Power In cr Motor Out Supply GND en OK 7 4 7 7 i 3 Motor f A Supp
17. ble This wire is unused 2 Cutoff the terminals on the Red and Green wires Strip then solder the Red and Green wires to the 100 resistor Use a section of heat shrink to protect the resistor and solder connections 30 January 5 2011 RS232 Cable Pin Assignments Getting Started Guide Insert remaining terminals into the DB9 receptacle Pin numbers are indicated on the plastic connector body White Pin 3 Blue Pin 2 Yellow Pin 5 Slide the back shell over the connector then insert the modular cable to complete the assembly 1 White RXD TXD 3 2 Black E 3 Red CAN H 4 Gen cL 1 5 Yellow GND GND 6 Blue TXD RXD 2 External References The following references are also useful for working with MDL BDC24 module January 5 2011 The MDL BDC24 Data Sheet contains detailed electrical specifications and connector details The BDC COMM User s Guide provides instructions on how to use the BDC COMM GUI and command line applications to control Jaguar networks MDL BDC24 FAQ 31 External References 32 January 5 2011 IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries TI 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
18. calibrate feature that sets new values for full forward full reverse and points in between Calibration is normally only required in applications where the PWM source has uncertainties due to analog radio links or other variables Direct digital sources are unlikely to require calibration January 5 2011 13 Servo PWM based Control 14 To calibrate the servo style PWM input for a specific range connect a PWM source then Hold down the USER switch with a straightened paperclip for 5 seconds The LED flashes Red and Green to indicate Calibration mode Instruct the controller to send a full forward signal for one or more seconds Boo wm Instruct the controller to send a full reverse signal for one or more seconds 5 The LED flashes Green and Yellow quickly to indicate a successful calibration The MDL BDC24 samples these signals and centers the speed range and neutral position between these limits A calibration failure signals if an out of range signal is detected This condition is indicated by flashing the LED Red and Yellow January 5 2011 Introduction to Network Based Control Both MDL BDC and MDL BDC24 support CAN based control configuration and firmware updates MDL BDC24 also supports the same command set over RS232 Network Security and System Safety The factory default network protocol allows for very flexible control networks with all commands being accepted and executed without restriction However a vulnerability
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21. les and any device that sends and receives CAN messages If you use the Black Jaguar as a bridge all Jaguar modules gray or black including the Bridge count as nodes but the computer or CRIO does not since it is sending messages over the serial port Total Cable Length maximum 20 ft 6 1m Tip Start with this length of bulk cable and cut all segments from it to ensure compliance Termination Resistance 100 At each end of the network Cable Type 4 or 6 conductor modular cable 28 or 26 AWG See Appendix A Jaguar Communication Cables on page 29 for cable and terminator assembly instructions Control Options for Networked Jaguar Modules The Host controller on a Jaguar network requires a software driver to implement the CAN communication protocol Protocol details are available from the RDK BDC24 pages at www luminarymicro com jaguar To simplify programming National Instruments and Texas Instruments have created a range of tools to simplify Jaguar control The following Host tools APIs Virtual Instruments are available B BDC COMM is a Windows application for configuring testing and performing firmware upgrades 26 January 5 2011 January 5 2011 Getting Started Guide LabView VI Java API C API Example source code for a host based on a Stellaris Microcontroller can be found in StellarisWare boards rdk bdc bdc ui also available at www luminarymicro com jaguar 27 Operation
22. ly 2 Motor ZA 7 2 p 4 2 A P 99 ZK E User switch ec sets CAN ID CAN cable to from CAN cable to from other devices gt B ccu other devices ELI 25 7 i I _ j NET A 1 iET NN 2187 X Normallyclosed Pola i n i limit switches 5 D H Coast L Brak Reverse Limit brake External 9 Forward Limit ar control optional GND 3V Reference GND 10kQ Potentiometer OOV signal index signal x age signal position sensor opt GND signa opt J 5V supply Constant Current Control The MDL BDC and MDL BDC24 modules default to voltage control but in some applications current ampere control is a more useful parameter In this mode the MDL BDC and MDL BDC24 s internal current sensor is used to complete a constant current control loop The capabilities of this mode are a function of the motor s parameters and the electrical specification for the module as listed in the data sheet A small DC motor might not be suitable for
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24. nector which has a special IOIOI annotation as shown in Figure 5 1 Figure 5 1 MDL BDC24 Bridges for RS232 to From Power Distribution Motor Module Out In Motor In Motor Connect to Host Coniroller PC cRIO other CAN Devices 0 DB9 Adapter Black Jaguar bridges RS232 to CAN See Appendix A Jaguar Communication Cables on page 29 for details of the RS232 cable assembly The recommended DB9 adapter design contains an integrated CAN terminator BDC COMM Application Overview BDC COMM is a Windows application for configuring and controlling a Jaguar network using a PC s RS232 serial port It is also a convenient tool for performing firmware updates BDC COMM requires the use of an MDL BDC24 to bridge RS232 to CAN Figure 5 2 on page 18 shows the main GUI window of the BDC COMM application January 5 2011 17 Operation using the RS232 Interface Figure 5 2 BDC COMM GUI Main Window BDC COMM File Status Connected Help Board ID 1 v Com Port
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26. outes sce sie siis 10 Coast Brake J mbper tote ir euge ta eda e uae avt pev ee ee deed us Yep VT lees 11 Power and Motor Wirllig rede ttd eaae tradat ers 11 Chapter 3 Servo PWM based Control eeeeeeeeiieeeeeeeeeeeee nennen nee ne nnn tn nnns asas nnns sinas asta nnn nan 13 Servo style PWM Speed 3 13 Calibrating the PWM Inplt 2i i rro EE re ID Fe dinge 13 Chapter 4 Introduction to Network Based Control eese esses 15 Network Security and System 15 Trusted Mode FIRST Robotics Competition 15 Chapter 5 Operation using the RS232 nenne nennen nnn annt innen 17 BDC COMM Application Overview 0 m Inns sinn nennen sr 17 Chapter 6 Firmware Update Using BDC COMM 19 Important InformatiOn dete one 19 Step 1 Hardware Setup rice deep nude aede inet d inu rn neuve siad uus eL 19 Step 2 hun BDC COMM L d tee ette e em d ett itia nd 20 Step 3 Assign Unique 20 Step 4 Update Firmware 2 Pert P ete o Dti Pei oe t eis dele cd
27. rol of brushed DC motors 15 kHz PWM frequency Three options for Speed control Industry standard 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 B Full configurability of module options 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 QEI Index input 5V 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 Introduction to Jaguar Differences between the MDL BDC and MDL BDC24 First generation Jaguar motor controls MDL BDC have similar capabilities to the second generation Jaguar MDL BDC24 Functional differences are summarized in Table 1 1 Table 1 1 MDL BDC and MDL BDC24 Differences MDL BDC Gray MDL BDC24 Black Feature Part Number MDL BDC MDL BDC24 Voltage Range 6 13 V 6 30 V RS232C Port
28. se is cleared except for the limit switch fault 10 January 5 2011 Getting Started Guide which is cleared instantly A slow flashing Yellow LED indicates that the MDL BDC24 is not receiving a valid control signal Coast Brake Jumper The coast brake signal controls the dynamics of the drive signal to the motor When set to brake the MDL BDC24 is able to achieve greater deceleration and holding torque because it decays regenerative current from the motor The coast brake signal can be set with a jumper or controlled by a signal from a digital source A single wire connected to the center S pin is recommended Do not connect to the pin 43 3 V of this connector as any mis wiring could damage the MDL BDC24 The coast brake jumper setting can be overwritten when using the CAN RS232 interface Power and Motor Wiring The Overview diagram Figure 1 2 on page 6 shows motor and power connections to the MDL BDC24 For power wiring use 10 12 AWG wire terminated with 6 ring or spade terminals The control is not protected against reverse polarity or short circuits January 5 2011 11 General Operation 12 January 5 2011 Servo PWM based Control The MDL BDC and MDL BDC24 both support speed and direction control through a servo style PWM input Figure 3 1 shows the servo wiring details Figure 3 1 Wiring for Servo style PWM Control 74
29. tablished before proceeding to the next step Step 3 Assign Unique CAN ID If two modules are connected each must have a unique CAN ID The factory default CAN ID is 1 Assign the Jaguar modules the ID gt 1 so that new Jaguar modules from the factory do not operate on your robot Using the BDC COMM application select the System tab and enter a new ID a unique number from 2 63 Click Assign The LED on the module s starts flashing green Press the USER button on the module that is to receive the new ID This must be done within 5 seconds or the operation times out The module s LED blinks the number of times that corresponds to the ID if assignment was successful for example if you assign the unique ID number of 5 the LED blinks five times A fast flashing yellow LED indicates an invalid CAN ID This can occur if an attempt is made to reassign an ID that is already in use Step 4 Update Firmware A valid link must be established before proceeding Ensure that the LED indicates solid yellow It might be necessary to reconnect to the CAN network to synchronize the trusted link Select the board ID that you want to update using the Board ID menu Select File Update Firmware from the top menu bar Browse to locate the appropriate binary file The MDL BDC24 black uses the qs bdc24 bin file The MDL BDC gray uses the qs bdc bin file Click OK and then click Update A progress bar displays the firmw
30. the Encoder A input signal with the B and f input left unconnected The speed set point is defined in revolutions per second Adjust the encoder lines parameter if the sensor generates more than one pulse per revolution January 5 2011 23 Closed Loop Control Options 24 January 5 2011 Operation Using the CAN Interface CAN Overview Controller Area Network CAN provides a powerful interface for controlling one or more Jaguar modules Jaguar has a 6P6C socket and a 6P4C socket for daisy chaining modules using standard cables Each end of the CAN network should be terminated with 1000 resistor The CAN protocol used by Jaguar includes the following capabilities CAN IDs Firmware update over CAN Read supply voltage motor voltage temperature and current Set and read motor voltage or target position Set control mode to speed or position Configure parameters Enable features such as closed loop speed and position control Trusted communication with keep alive commands for fail safe operation Each MDL BDC24 module on the CAN bus is accessed using an assigned ID number The ID defaults to 1 but should be changed to a unique value from 2 to 63 by following the ID Assignment procedure The procedure is detailed in Step 3 of the firmware update procedure in Chapter 6 Firmware Update Using BDC COMM page 19 At the network protocol level ID assignment involves the following 1 2 The Host sends Assign
31. ure 2 1 MDL BDC24 Key Features For power wiring use Maintain 0 5 clearance Motor output is not protected 12AWG Wire with 6 ring around all vents E against shortcircuits or spade terminals Jj From Power Lo NN 4 9 A Distr ibution ED Y N Motor Module DO 272 Aa Out In c Motor Su E In M Q ww Motor 2 T SLE User Switch 3 50 centers Maintain0 5 dearance CAN Port around all vents Status LED RS232 CAN Port 18 27 8 BER nu Use hooks to prevent gt 0 wires shaking loose Limit switch inputs Encoder Input Analog input 0 3V Motor coast brake jumper Table 2 2 Status LED 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 Fulspeedreverse Fault Conditions Slow Flashing Yellow Loss of servo or Network link Fast Flashing Yellow Invalid CAN ID
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