BLD04A Brushless DC Motor Driver User`s Manual V1
Contents
1. Pin 1 and pin 5 of 2510 12 connector is not connected to any cable Unused Created by Cytron Technologies Sdn Bhd All Rights Reserved C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Please refer to IFC BLO2 User s Manual for IFC BLO2 hardware installation e Q 2 712 Mt o lt WoW A a a J 4 l dl SA SSL SELLADA Busy A5 A4 AZ A2 Al AGC a 4 xv Connect the driver with the brushless motor to IFC BL02 as shown in below figure 1 Connect Pluggable Terminal Block from brushless motor to BLDO4A 2 Connect power supply thick red and black wire to IFC BL02 card 3 Connect Parallel I O cable from BLDO4A to IFC BL02 Created by Cytron Technologies Sdn Bhd All Rights Reserved 15 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A in Comecon Connection Alarm Output n 10 Ground VRL Speed Input opm 5 Aim Raa Created by Cytron Technologies Sdn Bhd All Rights Reserved 16 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 5 4 Using BLDO4A with Microcontroller Parallel Mode Sample source code is provided to show how to interface BLDO4A with SK40B SK40C in Parallel Control Mode The sample source code does not demonstrate all the features of BLDO4A The connection between the Parallel IO Interface of the BLDO4A and the SK40B SK40C is as below2. Lat lo ex ES J HOFF ede Oppo poof A Le E oop E A wA i Cr _ e pour 3 cof colo 40 Pin PICI6F 18F Park Sk40c RAl TTOPA0 DIdSP 0 0 gO RESET S5W1 SWA BLD044 Sk 40 For this sample source code every time the SW1 is pressed and released the motor will go through the following cycle Free Running Stop gt Rotate at half speed with direction 1 gt Brake gt Rotate at full speed with direction 0 gt Repeat again Created by Cytron Technologies Sdn Bhd All Rights Reserved 17 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Connect the BLDO4A to microcontroller as shown in figure below This example uses SK40C as the host 1 Connect Pluggable Terminal Block from brushless motor to BLDO4A pes PSA BLDOIA DN BRUSNLESS DC MOTOR MLER Created by Cytron Technologies Sdn Bhd All Rights Reserved 18 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 5 5 Using BLDO4A with Microcontroller UART Mode Sample source code in UART mode is also provided to show how to use the BLDO4A with SK40C SK40B in UART Control Mode Sample source code can be downloaded from the website However the sample source code does not demonstrate all the features of BLDO4A ola e a e efes oe 40 Pm PICIOF 18F a C P For this sample source code every time the SW1 is
3. 00x0 L gs7 aniena gsi antena 94x0 z 1 pe H 00X0 z 1 pe H 00x0 z 1 pe H 00x0 z 1 pe H 00x0 z 1 pe H 00X0 z 1 pe H 00x0 z 1 pe H 00x0 z 1 pe H 00x0 z 1 pe H 00x0 z 1 pe H 00x0 1 198peaH 00x0 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 1 19peaH 00x0 PeoJIBAO y aseyd jo MO abeyonlapun Z BHeYOAIBAO ueje ON 0 3 8 s Ueye peay pasds peay JONUOD jayjeied jas 000 0 peeds jas wieje ay Josay 0 USIP JOS 0 0 UO PISIIP Jas 10 o0u ay Uny JOJOW y 93 819 10 0w ay dos 11 OOcSILL S 00926 t 00p8t anler 00x0 ZZXO z 19peaH 00x0 1 19peaH 00X0 00c6l lt 0096 008p 0 jey pneg Jas Technologie Cytron a ae Z a ooxo L4epeeH ooxo xo z1 pe H o00xo 1 JepeeH 00xo uoyesiunuwoo Le vn Isa L Aat ay va vera aa E vrod1d 0 350H 50H 0 vroa7a Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Testing UART Communication To test the UART communication the host need to send 3 bytes of data one by one to the BLDO4A First 2 bytes are headers and third byte is command to test the UART communication i 1 byte Send header 1 0x00 ii 2 byte Send header 2 0x00 iii 3 byte
4. Send command OxAA After sending 3 bytes of data host will receive 3 bytes of data from the BLDO4A i 1 byte Receive header 1 0x00 ii 2 byte Receive header 2 0x00 iii 3 byte Receive data OxAA Set UART Baudrate UART Baudrate can be set by sending 5 bytes of data from host to BLDO4A The value of baudrate must only be 0 5 i 1 byte Send header 1 0x00 ii 26 byte Send header 2 0x00 iii 3 byte Send command 0x22 iv 4 byte Send data 0x00 y 5 byte Send value of baudrate 0 5 Stop Brake Run Set Direction Reset Alarm Set Parallel Control 3 bytes of data need to be sent for stop brake run set direction reset alarm and set parallel control The first 2 bytes are headers and the third byte 1s the command to stop brake run set direction reset alarm and set parallel control i 1 byte Send header 1 0x00 ii 2 byte Send header 2 0x00 iii 3 byte Send command to stop brake run set direction reset alarm and set parallel control Created by Cytron Technologies Sdn Bhd All Rights Reserved 12 Cytron ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Set Speed 5 bytes of data is needed to control the speed of the motor The value of the speed must only be 0 3000 i 1 byte Send header 1 0x00 ii 29 byte Send header 2 0x00 iii 3 byte Send command to set the motor speed OxF6 iv 4
5. byte Send MSB value of speed v 5 byte Send LSB value of speed Read Speed Host need to send 3 bytes of data to read the motor speed The value returned to the host is the speed of the motor in rpm i 1 byte Send header 1 0x00 ii 29 byte Send header 2 0x00 iii 3 byte Send command OxF8 After sending 3 bytes of data host will receive 4 bytes of data from the BLDO4A i 1 byte Receive header 1 0x00 ii 2 byte Receive header 2 0x00 iii 3 byte Receive MSB value of speed iv 4 byte Receive LSB value of speed Read Alarm State 3 bytes of data will be sent to read the alarm state i 1 byte Send header 1 0x00 ii 29 byte Send header 2 0x00 iii 3 byte Send command 0xF9 Then host will receive 4 bytes of data from BLDO4A i 1 byte Receive header 1 0x00 ii 2 byte Receive header 2 0x00 iii 3 byte Receive data 0x00 iv 4 byte Receive alarm value Created by Cytron Technologies Sdn Bhd All Rights Reserved 13 Cytr on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 5 3 Using BLD04A with AR40B IFC BL02 Guide for making 10 ways cable This cable is used to interface Brushless Motor Driver with Parallel IO interface 10 ways of rainbow cable will be used on a 2510 12 female connector 2 pins from 2510 12 connector are unused which are pin and pin5 GEGTGEEROEEL
6. BLDO4A will output 12 pulses per motor rotation before gearbox on this pin This can be used to determine the speed and number of rotations for the motor Pin 10 Alarm Output This pin will be triggered pulled to low when there is an error occurred 4 2510 04 UART interface UART Rx 5V UART receive pin Ground Logic ground Not Connected Leave this pin disconnected UART Tx 5V UART transmit pin A A 5 Test Button When this button is pressed the motor will rotate at speed 1000 This is to fast check the condition of the BLDO4A This does not work in serial control mode 6 Closed Loop Selection Jumper Short this jumper for closed loop speed control open 1t for open loop speed control This need to be configured before power on the board Created by Cytron Technologies Sdn Bhd All Rights Reserved 7 C ytro n gt ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 7 Red LED Error Alarm LED The number of flashes indicates the type of alarm Overvoltage Input voltage is gt 28V EEE Undervoltage Input voltage is lt 20V The motor hall sensors state are invalid 4 Out Of Phase Bad motor or loose connection The motor has been overloaded for 5 Overload more than 5 seconds 8 Yellow LED Speed Control Mode Indicator Light on when closed loop speed control is selected 9 Green LED Power LED Light on when the board is powered up Creat
7. Cytron Technologie BLDO4A Brushless DC Motor Driver User s Manual V1 0 MARCH 2010 Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise Use of Cytron Technologies s products as critical components in life support systems is not authorized except with express written approval by Cytron Technologies No licenses are conveyed implicitly or otherwise under any intellectual property rights C yer On ROBOT HEAD to TOE Technologie Product User s Manual BLDO4A Index 1 Introduction l 2 Packing List 2 3 Product Specification and Limitations 3 4 Board Layout 4 5 Installation and Getting Started 9 5 1 Setting Speed Control Mode Open Closed loop 9 5 2 UART Communication Protocol 10 5 3 Using BLDO4A with AR40B IFC BLO2 14 5 4 Using BLDO4A with microcontroller Parallel Mode 17 5 5 Using BLDO4A with microcontroller UART Mode 19 5 6 Using BLDO4A with PC UART Mode 21 6 Warranty 25 Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to T
8. OE Technologie Product User s Manual BLD0O4A 1 INTRODUCTION BLDO4A is designed to drive the Linix 10W and 30W brushless dc BLDC motor It offers several enhancements over the original Linix BLDC motor driver such as closed loop speed control UART interface and better protection for both the motor as well as the driver Besides that the interface of BLDO4A is compatible with the original Linix BLDC motor driver and this makes the upgrading for existing users an effortless process This BLDC motor driver is designed with the capabilities and features as below e Powered by high performance dsPIC Digital Signal Controller e Operating at DC 24V 15 e Support up to 4A per phase e 4 Quadrant control e 5V logic level input for Start Stop Run Brake Direction and Alarm Reset e Support analog voltage 0 5V or PWM signal for speed control e Support UART interface e Selectable open loop or closed loop speed control e Current limiter e 12 pulses per revolution encoder output e Alarm indicator for overvoltage undervoltage out of phase and overload alarm e Comes with casing for better durability and easier mounting e Support the following Linix BLDC motor 10 Watt 45ZWN10 5G ASZWN10 15G ASZWN10 30G 30 Watt 45ZWN30 10G 45 7WN30 20G Created by Cytron Technologies Sdn Bhd All Rights Reserved 1 C Y tr on gt ROBOT HEAD to TOE Technologies Product User s Manual BLDO4A 2 PACKING LIST Please check
9. T HEAD to TOE Technologie Product User s Manual BLD0O4A 4 Open BLDO4A GUI folder and click on Setup BLDO4A GUI can be downloaded from the website User may already have the NET framework installed on PC especially if users have already installed other applications which were built with one of the Visual Studio 2005 NET languages If you do not yet have it the NET framework can be freely downloaded from Microsoft s website Users of Windows Vista do not need to install the NET framework as it comes pre installed as part of the OS 5 Click Install to install the BLDO4A GUI Application Install Security Warning Publisher cannot be verified Are you sure you want to install this application Mame ELDO4A4 GUI From C Documents and Settings joLiza My Documents Google Tal Publisher Unknown Publisher Install Don t Install i While applications can be useful they can potentially harm your computer IF you do not trust the source do not install this software More Information Created by Cytron Technologies Sdn Bhd All Rights Reserved 22 Cytr on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 6 Run the GUI Warning massage may appear if you do not have any COM port on your PC Plug in the UCOOA and click OK Warning Warning Mo valid COM Pork Found in your system 7 Figure below show the BLDO4A GUI Select the COM Port which is c
10. ction This pin controls the direction of the motor The actual direction of the motor depends on the gear ratio of the gearbox Pin 3 Direction of the output shaft after gearbox Linix BLDC Motor Direction As viewed into the output shaft 45ZWN10 5G High 1 Counter Clockwise A5SZWN10 15G iszwnsoang Lew aszwniosog Mish ga Low 0 Counter Clockwise Pin 4 Alarm Reset When the error alarm is triggered setting this pin to low level will reset the alarm Please return the Start Stop or Run Brake input to high level before resetting the alarm The alarm will not be reset if both inputs are at low level Pin 5 VRH When speed control by potentiometer is desired this pin is connected to the higher pin of the potentiometer Please refer to figure below for the connection Pin 6 Speed Input The speed of the motor can be controlled by the analog voltage 0 5V DC or PWM signals on this pin Please refer to figure below for the connection Pin 7 VRH When speed control by potentiometer is desired this pin is connected to the lower pin of the potentiometer Please refer to figure below for the connection Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 Cytr on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A ay speed iriver Driver Q PWM Pin 8 Ground Connect this pin to the ground of the host Pin 9 Encoder Output The
11. ed by Cytron Technologies Sdn Bhd All Rights Reserved 8 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 5 INSTALLATION AND GETTING STARTED 5 1 Setting Speed Control Mode Open Closed Loop The mode of operation can be configured by JP2 The BLDO4A PCB board needs to be disassembled from the casing in order to access this jumper The speed control mode must be configured before power up the BLDO4A Once the board is powered up any changes to the jumper status will be ignored The default mode when shipped is Closed Loop mode Short this jumper for closed loop speed control and leave it open for open loop speed control The different between closed loop and open loop speed control are as follow Open Loop The speed of the motor is controlled by the PWM signal which duty cycle is directly proportional to the speed input The actual speed of the motor may be different depending on the load of the motor This mode of operation will provide wider speed range for the motor 250rpm 3500rpm Closed Loop The speed of the motor is controlled by a PI controller which will monitor the actual speed of the motor and alter the duty cycle of the PWM signal so that the actual speed will follow the speed input as close as possible In this mode the actual speed of the motor will be consistent disregarding the load of the motor This is especially useful when the motor is used to drive the robot over the ra
12. l sensor Hall Sensor A White Connect to hall sensor A 2 Hall Sensor B Blue Connect to hall sensor B Hall Sensor C Connect to hall sensor C 3 FRC Header Parallel IO interface l Start Stop Internally pulled high active low 2 Run Brake Internally pulled high active low Internally pulled high active low Internally pulled high active low 5 VRH Connect to the higher terminal of external potentiometer for speed control Speed Input PWM or analog voltage 0 5V input for speed 7 VRL Connect to the lower terminal of external 7 potentiometer for speed control 8 Ground Logic ground 9 Encoder Output Open Collector output 12 pulses per revolution Alarm Output Open Collector output active low These pins are TTL CMOS compatible and are internally pulled high They can be controlled by a microcontroller output or a switch These pins are open collector outputs When they are connected to the input of the microcontroller an external pull up resistor 1K 10K Ohm Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 Cytron ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Pin 1 Start Stop and pin 2 Run Brake These 2 pins are used together to control the movement of the brushless motor The effects of each pin are as follow X Don t Care Motor stops instantaneously brake Motor stops naturally free running stop Pin 3 Dire
13. mp However this operation mode has a limited speed range 400rpm 3000rpm compared to the open loop speed control Other than that the motor may jerk when operates without any load The problem will go away when the motor is under load Closed Loop Created by Cytron Technologies Sdn Bhd All Rights Reserved 9 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Open Loop 5 2 UART Communication Protocol The BLDO4A supports 2 types of interface Parallel IO and UART By default the BLDO4A operates in parallel control mode where the motor is controlled by the input from the parallel IO interface Once the BLDO4A receives any valid command from the host it will operate in the UART control mode since then and any changes on the parallel IO interface are neglected To return back to the parallel control mode the host need to send a Set Parallel Control command to the BLDO4A Another alternative will be power off and power on again the BLDO4A In this section the protocol for UART control mode is explained The default baud rate is 9600bps Created by Cytron Technologies Sdn Bhd All Rights Reserved 10 ROBOT HEAD to TOE Product User s Manual BLDO4A anjer GS71 ene GSW ener CO EC MA E loo poo po gt exo AA lo gt oo gt oo i o ix ERRE EOS E AS IA A A eee A MI EA Al ooo gt oo o po gt ix gt po po y y oxo DO z 1 pe H
14. onnected to the BLDO4A and the correct baud rate The default baud rate is 9600bps a BLDO4A Control Panel COM Port com come v Baud Rate 9600 v Cca MINNINNNIEN 8 Click Connect and buttons for motor control will be enabled The movement of the motor can be controlled by clicking the corresponding button and the speed may be changed by using the Set Speed slide bar Besides that the motor speed can be obtained by clicking the Start button under the Read Speed panel The speed of the motor will be ploted on the graph as shown below Created by Cytron Technologies Sdn Bhd All Rights Reserved 23 Cytr on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A a BLDO4A Control Panel m COM Fort Motor Control Set Speed 2047 Set New Baud Rate Read Speed Current speed rpm 066 Created by Cytron Technologies Sdn Bhd All Rights Reserved 24 Cytron ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 6 WARRANTY gt Product warranty is valid for 6 months gt Warranty only applies to manufacturing defect gt Damage caused by miss use is not covered under warranty gt Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A Taman Universiti 81300 Skudai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com m
15. pressed and released the motor will go through the following cycle Free Running Stop gt Rotate at half speed with direction 1 gt Brake gt Rotate at full speed with direction 0 gt Repeat again Created by Cytron Technologies Sdn Bhd All Rights Reserved 19 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A Connect the BLDO4A to microcontroller as shown in figure below This example uses SK40C as the host 1 Connect Pluggable Terminal Block from brushless motor to BLDO4A S 2 Connect power cable thick red and black wire to 24V power source 3 Connect UART cable from BLDO4A to SK40C UUE Rx and Tx pin is cross connected Created by Cytron Technologies Sdn Bhd All Rights Reserved 20 C yer on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 5 6 Using BLDO4A with PC UART Mode Besides controlling the BLDO4A with a microcontroller we also provide GUI to control the motor from a PC UCOOA is needed for UART communication between BLDO4A and PC Please refer to UCOOA User s Manual for more details about the product 1 Connect Pluggable Terminal Block from brushless motor to BLDO4A Ye 2 Connect power source wire thick red and black wire to 24V power source 3 Connect UCOOA to PC USB port and another end of UCOOA to UART port of BLDO4A Created by Cytron Technologies Sdn Bhd All Rights Reserved 21 C yer on y ROBO
16. the parts and components according to the packing list If there are any parts missing please contact us at sales cytron com my immediately 1 x BLDO4A Brushless DC Motor Driver 1 x Rainbow Cable 16 x 2510 Iron Pin 1 x 2510 12 Female Connector 1 x 2510 04 Female Connector 1 x Pluggable Terminal Block 1 x Mini Jumper On the board AY eS eS E A User s manual sample source codes and GUI can be downloaded from http www cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 2 Cytron ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 3 PRODUCT SPECIFICATION AND LIMITATIONS rota The open loop speed may vary from motor to motor Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 C yer On ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 4 BOARD LAYOUT a a a a z BLDO4A O 5 WUWU CUF OM COM iy gt a ee T DINA J BLDO4A pins orientation Components on BLDO4A and their functions 1 Fuse SA To protect the BLDO4A Created by Cytron Technologies Sdn Bhd All Rights Reserved 4 Cytr on y ROBOT HEAD to TOE Technologie Product User s Manual BLD0O4A 2 Pluggable Terminal Block Connect to motor and power source DI MEN Wate comet msreata Motor Coil C Connect to motor coil C 5V Positive supply to the hall sensor Ground Black Negative supply to the hal
17. y Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 25
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