PM50 PM50E User Manual
Contents
1. TECHNOSOFT CO DSP Motion Solutions PM50 Version 2 0 Power Module for DC Brushless DC and AC Motors Technosoft 2001 TECHNOSOFT DSP Motion Solutions PM50 v2 0 User Manual P091 058 V20 UM 1001 October 2001 Technosoft S A Rue des Courtils 8A CH 2035 Corcelles Switzerland Tel 41 32 732 5500 FAX 41 32 732 5504 E mail contact technosoft ch http www technosoft ch Read This First About This Manual This book describes the power module PM50 version 2 0 The PM50 v2 0 is a 75W power module that can be used to drive DC brush brushless DC and AC motors Due to the MC Bus compatible interface for the control unit the PM50 v2 0 can be easily connected with all Technosoft DSP based modules equipped with MC Bus interface Information about Cautions This book may contain cautions CAUTION This is an example of a warning statement A warning statement describes a situation that could potentially cause harm to you or to the PM50 v2 0 power module If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoft ch Receive general information World Wide Web hitp www technosoft ch or assistance see Note Email contact technosoft ch Ask questions about product operation or report FAX 41 91 976 0504 suspected problems see Email hotline technosoft ch Note Make suggestions about or Mail Technosoft SA r2. ae A cca ER gt Figure 2 3 Current Measurement 2 3 4 Motor Supply DC bus Voltage Measurement The PM 50 v 2 0 includes a motor supply DC bus voltage feedback applied on the MC bus analogue input named VDC The gain factor is 0 091 Hence DC bus voltages between 0 and 55V are translated into O to 5V at VDC output The measurement scheme provides filtering with a time constant of 8 6 ms in order to remove spurious switching noise generated by the on board power stage 2 3 5 J3 Motor and Hall Sensors Connector By default the PM50 v2 0 is equipped with an 8 pin 0 1 pitch Wago 90 connector for the motor Its pin assignment is presented in Table 2 3 On request the PM50 v2 0 can also be equipped with an 8 pin 0 1 pitch screw terminal connector J33 with the same pin assignment as J3 Technosoft 2 5 PM50 User Manual PM50 Operation Table 2 3 J3 Motor Connector default 8 pin 0 1 pitch Wago 90 connector Pin Name Type Function S 1 U O _ PhaseAfor3 phase motors I 2 v O _ PhaseBfor3 phase motors I 3 W O PhaseCfor3 phasemotors Z 5Vnc for Hall sensors oS 4 BV O 5Vpc for Hall sensors 5 HALL ta o y O 6 HAaLL2 I Ha 7 HALLS I Ha 8 GND Ground _ O O O O O OOOO O O 2 3 6 J6 Encoder Connector By default the PM50 v2 0 is equipped with a 2x5 0 1 pitch header connector for the encoder Its pin assignment is presented in Table 2 4 The enco
3. 2x18 pin 0 1 pitch MC Bus connectors J1 and J2 The MC Bus is a standard interface that permits to connect different Technosoft control and measurement modules with a range of power modules including PM50 v2 0 Tables 2 8 and 2 9 present the PM50 v2 0 pin assignment on the MC Bus connectors By default the PM50v2 0 is Technosoft 2 7 PM50 User Manual PM50 Operation delivered with PC 104 connectors on the MC Bus to allow control unit connecting either over or under the PM50 v2 0 Table 2 8 J1 MC bus connector Pin Name Tel Deseription 1 reserved no INotconnected on the PM50 v2 0 PWM1 CU output Active low command for the upper transistor A phase leg 3 PVVM2 CU output Active low command for the lower transistor A phase leg 5 PWM3 CU output Active low command for the upper transistor B phase leg PWMA CU output Active low command for the lower transistor B phase leg PS CU output Active low command for the upper transistor C phase leg PWM6 T CU output Active low command for the lower transistor C phase leg 9 reserved n c INotconnected on the PM50 v2 0 _ 0 I ES 4 ENC A O CU input Encoder signal A from J6 J66 or J666 __ gt o ENC B O CU input Encoder signal B from J6 J66 or J666 ENC Z_ O CU input Encoder signal Z index zero from J6 J66 or J666 _ 21 PDPINT CU input Power stage error signal driven by protection circuitry Open collector si
4. LL3 signal from J3 or J33 connectors 15 DGND Ground terminal All digital signals are referenced to this signal CU RS 232 input linked directly to J4 or J44 connectors pin 3 CU RS 232 output linked directly to J4 or J44 connectors pin 1 reserved Not connected on the PM50 v2 0 reserved ows EEES ESE o Ve O Not connected on the PM50 v2 0 CO LBV nc from J5 or J55 connectors Not connected on the PM50 v2 0 Not connected on the PM50 v2 0 Not connected on the PM50 v2 0 Not connected on the PM50 v2 0 31 ln O ICU input Provides JP1 position 1 logic gt JP1 1 2 O logic gt JP1 2 3 Not connected on the PM50 v2 0 reserved MNIM NINININININININ gt GO ll 105 JO BIC Dia O CO Technosoft 2 9 PM50 User Manual PM50 Operation 2 6 JP1 Jumper The PM50 v2 0 power module provides one jumper JP1 whose position determines the level of the digital input In connected to the MC Bus e JP1 1 2 In signal is high 1 logic e JP2 2 3 In signal is low 0 logic Technosoft 2 10 PM50 User Manual Appendices Appendices Appendix A PM50 v2 0 Electrical Specifications Parameter Conditions T Min Typ Max Units _ DC Input Power Logic supply PB 55 PV O Motor supply BS Logic input current Required by PM50 v2 0 only For 0 15 total rating add the control unit current Motor supply current P 21 Arms Motor supply current po 16 33 Apeak Output Power Voltage setb
5. Technosoft A 5 PM50 User Manual Appendices 13 with J1 pin14 c J2 pin 14 with J1 pin 20 These links connect the Hall signals from PM50 v2 0 MC Bus with three I O pins of the MSK243 Technosoft A 6 Misia Kane Computing Ltd i Verdin Street Northwich Cheshire CVV9 78X Tel 44 0 1606 351006 Email sales kanecomp com Web www kanecomputing co uk PM50 User Manual
6. applied on the inverter DC bus and must be adapted to the motor and application requirements It should be able to absorb the energy generated during motor braking At power on the logic supply has to be applied first If this condition is not respected the protection for accidental logic supply shutdown will be triggered CAUTION Be careful to correctly connect the power supplies polarities Reverse polarities may damage the PM50 module Technosoft 2 2 PM50 User Manual PM50 Operation By default the PM50 v2 0 is equipped with a 4 pin 0 1 pitch screw terminal connector for the supply Its pin assignment is presented in Table 2 1 Table 2 1 J5 Supply Connector default 4 pin 0 1 pitch screw terminal connector an Name Type EE U 1 5 BV power supply plus 2 GND 5V power supply TE 3 GND Motor power supply S 4 MOT 1 Motor power supply plus a On request the PM50 v2 0 can also be equipped with 2 other types of connectors for the supply a3 pin 0 1 pitch Wago 90 connector J55 Its pin assignment is presented in Table 2 2 a 4 pin 0 1 pitch Molex 90 connector J555 with the same pin assignment as J5 Table 2 2 J55 Supply Connector alternate option 3 pin 0 1 pitch Wago 90 connector Pin Name Type Function S 1 5 I BN power supply plus 2 GND 1 Common supply minus 3 MOT Motor power supply plus 2 3 Power Stage Mod
7. compatible with all Hewlett Packard Agilent HEDSxxxx single ended TTL compatible encoders Table 2 5 presents the pin assignment the for Molex connectors 2 4 Communication 2 4 1 J4 RS 232 Connector The PM50 v2 0 power module offers an RS 232 serial channel The control unit must provide on the MC bus interface the Rx232 and Tx232 signals The PM50 v2 0 applies them to the 3 wire RS 232 connector The RS 232 transceiver should be on the control unit By default the PM50 v2 0 is equipped with a 3 pin 0 1 pitch screw terminal connector for RS 232 link Its pin assignment is presented in Table 2 6 On request the PM50 v2 0 can also be equipped with a 0 15 pitch Phoenix Contact Plug connector type MC1 5 3 G 3 81 with the same pin out as J4 Table 2 6 J4 RS 232 Connector default 3 pin 0 1 pitch screw terminal connector Pin Name Type TxD O Data Transmission GND Ground I RxD Data Reception A serial cable between the PM50 v2 0 power module and a PC must have the connections described in Table 2 7 Table 2 7 RS 232 serial cable connections Pin my Signal Name PC side mi Female Female connectors Transmit Data 2 3 1 Receive Data 3 2 3 Signal ground 7 5 2 2 5 Control Unit Interface MC Bus 2 5 1 J1 J2 MC Bus Connectors The PM50 v2 0 power module receives the PWM command signals and sends the feedback and status signals to the control unit through the two
8. der connector can be configured from SJ1 solder joint to be compatible with API Portescap A22 encoders or Hewlett Packard Agilent HEDL65xx encoders The SJ1 solder joint must be e ON for HP HEDL65xx encoder type OFF for APl Portescap A22 encoder type default Table 2 4 J6 Encoder Connector default 2x5 0 1 pitch header connector Pin Name Type Function 1 GND Ground gt S 2 5V O Encoder sun 3 DIR Connected to ground if SJ1 ON see note 4 stay ol Connected to 5V 5 nme Notconnected gt gt 6 A 1 Positive A for differential encoder or A for single ended encoder 7 ne Notconnected gt gt 8 B Positive B for differential encoder or B for single ended encoder 9f ne Notconnected gt gt S 710 z T Positive Z for differential encoder or Z for single ended encoder _ Table 2 5 J66 Encoder Connector alternate option 5 pin Molex connector Pin Name Type Function 1 GND Ground S O 2 Z Positive Z for differential encoder or Z for single ended encoder 3 A l Positive A for differential encoder or A for single ended encoder 4 456V O Encoder sensor supply 5 B_ 1 Positive B for differential encoder or B for single ended encoder Technosoft 2 6 PM50 User Manual PM50 Operation On request the PM50 v2 0 can also be equipped with a vertical J666 or 90 J66 5 pin Molex connector for the encoder which is
9. eport errors in Via Aldesago 1 documentation see Note CH 6977 Ruvigliana Switzerland Note You need to register your PM50 v2 0 system in order to get free assistance and support Technosoft lI PM50 User Manual Important Notice Technosoft S A reserves the right to make changes to its products or to discontinue any product or service without notice and advises its customers to obtain the latest version of relevant information to verify before placing orders that the information being relied on is current Technosoft S A warrants performance of its products and related software to current specifications in accordance with Technosoft s standard warranty Testing and other quality control techniques are utilized to the extent deemed necessary to support this warranty Please be aware that the products described herein are not intended for use in life support appliances devices or systems Technosoft S A does not warrant nor is liable for the product described herein to be used in other than a development environment Technosoft S A assumes no liability for applications assistance customer product design software performance or infringement of patents or services described herein Nor does Technosoft warrant or represent any license either express or implied is granted under any patent right copyright or other intellectual property right of Technosoft S A covering or relating to any combination machine or process i
10. er Manual This page is empty Technosoft VI PM50 User Manual Introduction 1 Introduction This chapter provides a general description of the PM50 v2 0 power module along with a block diagram and the key features Contents 1 1 PM50 v2 0 Overview 1 2 Block Diagram 1 3 Key Features Technosoft 2 1 PM50 User Manual Introduction 1 1 PM50 v2 0 Overview The PM50 v2 0 is a 75W MC Bus compatible power module which combined with a control unit allows to drive the following categories of motors e brushless DC motors e permanent magnet synchronous motors PMSM e DC brush motors The PM50 v2 0 includes the following main components 3 phase MOSFET inverter 36 V 2 1 A up to 100 kHz switching frequency 3 currents feedback measured from the low side legs of the inverter DC bus voltage feedback Hall sensors inputs Incremental encoder port RS 232 serial communication connector Logical supply SV nc Motor supply 12 36Voc Protections to short circuit over current over voltage and accidental logic supply shutdown Standard MC Bus interface with the control unit Through the MC bus interface the control unit can e Command each of the 6 MOSFET transistors of the inverter Receive a power stage error signal when the protections are triggered and the inverter transistors are turned off Read the motor currents and the DC bus voltage Read the motor Hall signals Read the encoder quadrature signals A B a
11. gnal Not connected on the PM50 v2 0 25 5Vpc O 5VpcfromJ5orJ55connectors 7 26 DGND 27 DGND 28 DGND 29 DGND Not connected on the PM50 v2 0 input in PM50 v2 0 output from control unit CU control unit connected through the MC bus with PM50 v2 0 O output from PM50 v2 0 input in CU Technosoft 2 8 PM50 User Manual PM50 Operation Table 2 9 J2 MC bus connector Pin Name Type a 1 reserved no INot connected on the PM50 v2 0 Eger rT 91mV V Id ges CU analog input Value of current in B phase inverter lovver leg upper shifted with 2 5V Gain factor is 0 395V A Te CU analog input Value of current in A phase inverter lower leg upper shifted with 2 5V Gain factor is 0 395V A IC CU analog input Value of current in C phase inverter lower leg upper shifted with 2 5V Gain factor is 0 395V A 7 VrerLO Analogue ground Separated from DGND The connection between these two signals must be done on the CU 5V a Analogue reference CU must provide the 5V Half of this value represents the upper shift for bipolar signals Typical expected value is 5V allowed range is 4 75 5 25V Current drawn by PM50 v2 0 is under 0 5 mA I Ground terminal All digital signals are referenced to this signal 11 Hald O JCUinput HALL1 signal from J3 or J33 connectors 13 Hal2 O ICU input HALL2 signal from J3 or J33 connectors 14 Halla O ICU input HA
12. n which such Power Module development products or services might be or are used FCC Warning This equipment is intended for use in a laboratory test environment only It generates uses and can radiate radio frequency energy and has not been tested for compliance with the limits of computing devices pursuant to subpart J of part 15 of FCC rules which are designed to provide reasonable protection against radio frequency interference Operation of this equipment in other environments may cause interference with radio communications in which case the user at his own expense will be required to take whatever measures may be required to correct this interference Technosoft IV PM50 User Manual Contents Contents 1 Introduction 1 1 PM50 v2 0 Overview 1 2 Block Diagram 1 3 Key Features 2 PM50 v2 0 Operation 2 1 Board Layout 2 2 Power Supply 2 2 1 J5 Supply Connector 2 3 Power Stage Module 2 3 1 3 phase Inverter Command 2 3 2 Protections Error Signal 2 3 3 Current Measurement Interface 2 3 4 Motor Supply DC bus Voltage Measurement 2 3 5 J3 Motor and Hall Sensors Connector 2 3 6 J6 Encoder Connector 2 4 Communication 2 4 1 JA RS 232 Connector 2 5 Control Unit Interface MC Bus 2 5 1 J1 J2 MC Bus Connectors 2 6 JP1 Jumper Appendices A PM50 v2 0 Electrical Specifications B MC Bus Pin Correspondence with IMMC240 v3 0 and MCSK v1 0 C MC Bus Pin Correspondence with MSK243 v1 1 Technosoft V PM50 Us
13. nd the Index Control the RS 232 serial communication At MC bus level the MOSFET transistor commands and the power stage error signal are TTL CMOS compatible Bipolar signals as motor currents are applied with half scale offset e g with zero value at 2 5V Due to the MC bus compatibility the PM50 v2 0 can be easily connected with any Technosoft DSP based control unit 1 2 Block Diagram Figure 1 1 presents the block diagram of the PM50 v2 0 including the main components Technosoft 2 2 PM50 User Manual Introduction MC Bus Connectors 3 Currents Measurement Hall Sensors PWM Commands Figure 1 1 PM50 v2 0 Block Diagram 1 3 Key Features e MC bus compatible power module easy connectable with any Technosoft DSP based control module e Suitable to drive brushless DC brushless AC PMSM and DC motors e Logic supply 5Voc 45 e Motor supply 12 36Voc e Nominal output power 75W e Nominal current 2 1A e Peak current 6 33A for 0 15 e Output voltage 0 36 Vrms e 3 phase MOSFET inverter with switching frequency up to 100 kHz e Protection to short circuit phase phase over current and over voltage e Protection to logic supply under voltage accidental shutdown e Feedback signals for 3 motor currents e Feedback for DC bus voltage e Single ended encoder inputs e Hall sensors inputs e RS 232 serial communication port e Standard MC BUS interface with the control unit Techn
14. ondition is maintained If any low leg motor current exceeds 7A for more than 10 ms a PDPINT fault signal will occur Short term over voltages having energy of less than 3J 47V x 5A x 12ms will be clamped by an on board 47V suppresser 2 3 3 Current Measurement Interface The PM50 v2 0 measures the motor currents using shunts placed in the lower legs of the inverter see Figure 2 3 using a current gain factor of 0 395V A which translates 6 33A currents into 2 5V voltages These voltages are applied on the MC bus analogue outputs IA IB and IC with a 2 5V offset Hence positive currents are measured between 2 5V to 5V and negative currents are measured between 0 and 2 5V The midpoint 2 5V corresponds to a zero current Remark A positive current is defined as flowing from the lower transistor diode to ground e g when the motor sinks the current A negative current is defined as flowing from ground to the lower transistor diode e g when the motor sources the power supply Technosoft 2 4 PM50 User Manual PM50 Operation WARNING Be aware that the current measurement scheme simple and cost effective from the hardware point of view requires some special care from the point of view of software implementation Thus for the three currents measurement scheme the A D conversion MUST be synchronized with the PWM command of the inverter transistors to properly measure the currents on each phase of the motor O V dC N gt
15. osoft 2 3 PM50 User Manual Introduction This page is empty Technosoft 2 4 PM50 User Manual PM50 Operation 2 PM50 v2 0 Operation This chapter describes the operation of the PM50 v2 0 power module Information is provided on the PM50 s various interfaces Contents 2 1 2 2 2 3 2 4 2 5 2 6 Board Layout Power Supply 2 2 1 J5 Supply Connector Power Stage Module 2 3 1 3 phase Inverter Command 2 3 2 Protections Error Signal 2 3 3 Current Measurement Interface 2 3 4 Motor Supply DC bus Voltage Measurement 2 3 5 J3 Motor and Hall Sensors Connector 2 3 6 J6 Encoder Connector Communication 2 4 1 JA RS 232 Connector Control Unit Interface MC Bus 2 5 1 J1 J2 MC Bus Connectors JP1 Jumper Technosoft 2 1 PM50 User Manual PM50 Operation 2 1 Board Layout Figure 2 1 presents the PM50 v2 0 board layout Pin 1 for all the connectors and the jumper is marked on the layout with a square pad J5 Power Supply 5V logic supply 12 36V motor supply J3 Motor and Hall Sensor Connector supplied with WAGO N 733 108 or equivalent J4 Screw type RS 232 Connector JP1 Jumper J6 Encoder Connector 7 ee00 0 0000 SJ1 Solder Joint Figure 2 1 PM50 v2 0 Board Layout 2 2 Power Supply 2 2 1 J5 Supply Connector The PM50 v2 0 requires two power supplies e 5Vbc for the internal logic e 12 36 Vpc for the motor The motor power supply is
16. ule The PM50 v2 0 power stage module includes a 3 phase inverter the protection circuits and the measurement circuits for the DC bus voltage and the motor currents 2 3 1 3 phase Inverter Command The 3 phase inverter see figure 2 2 uses MOSFET transistors with switching frequency up to 100kHz The PM50 v2 0 MC bus interface includes 6 PWM command inputs TTL CMOS compatible named PWM1 to PWM6 through which the control unit can drive each transistor of the inverter All PWM commands are active low PWM1 PWM3 PWM5 drive the upper transistors PWM2 PWM4 PWM6 drive the lower transistors PWM1 amp PWM2 drive phase A PWM3 amp PWM4 drive phase B PWM5 amp PWM6 drive phase C The control unit PWM commands should include a dead time of minimum 0 5us for transistors commutation Technosoft 2 3 PM50 User Manual PM50 Operation MC Bus J1 J Im Vdc O JA Motor A J3 2 oS Motor B J3 3_ X Motor C A A Figure 2 2 3 phase Inverter Control using PWM Command Inputs 2 3 2 Protections Error Signal The PM50 v2 0 power stage includes protection circuits for phase to phase short circuit over current over voltage and accidental shutdown of logic supply logic supply under voltage If any of these protections is triggered the PM50 v2 0 sets low the MC bus error signal PDPINT open collector signal to sign this event to the control unit and the inverter transistors are turned off as long as the c
17. vironment Ambient Operating Temp 90 RH max non condensing 0 55 Technosoft A 2 PM50 User Manual Appendices Appendix B MC Bus Pin Correspondence with IMMC240 v3 0 and MCSK v1 0 J1 MC bus connector Le PM50 v2 0 signal IMMC240 signal MCSK signal CMP8 IOPB1 CAP3 IOPC6 IO 18 CAPVHALL1 CAP4 IOPC7 O 19 CAPH DIR Technosoft A 3 PM50 User Manual Appendices J2 MC bus connector Pin PMS50 v2 0 signal IMMC240 signal MCSK signal ADCIN2 CFG ADCIN2 eo o o w aoon IAC 7 VrerLO VrerLO VrerLO Te Ves ro penn_ pGnp__ DenD Hall 2 IOPA1 IO 1 HALL2 Hall 3 IOPA2 IO 2 HALL3 DGND DGND DGND DGND DGND Rx232 LBV nr E reserved VEE SPISIMO IO SPISIMO SPISOMI IO SPISOMI SPICLK IO SPICLK SPISTE IO SPISTE ADCSOC IOPCO AUTORUN CLKOUT IOPC1 CLKOUT IO 13 SN XF IOPC2 MCRDY BIO IOPC3 INT2HOST XINTS 10 In Technosoft A 4 PM50 User Manual Appendices Appendix C MC Bus Pin Correspondence with MSK243 v1 1 J1 MC bus connector J2 MC bus connector Lu PM50 v2 0 signal MSK243 signal Pin PM50 v2 0 signal MSK243 signal eS ae ee ee ADCINA EE as Se sone ADCIN7 e Yem vemi o Dew DaD se a PDPINT PDPINT XINT2 IOPD Remark When MSK243v1 1 is delivered together with a PM50 v2 0 the MSK243 board includes an adapter The adapter links the following MC Bus signals a J2 pin 11 with J1 pin 11 b J2 pin
18. y external PWM control 0 36 Vms Vin 36V fowm 20kHz Ta 40 C 135 w a JE 2 fown 20kHz 0 1 sec duration PWM frequency T ae Inverter output dead band Measured at inverter outputs 0 2 us using PWM commands with dead time of 0 5 us Ta 25 C Protections _ Quiputeurrentplevel__ Tes 280 ge Over vottage tip level O O Under ra trip level Referring to internal 12V supply R un zu derived from logic supply 5V Short circuit shutdown time Output terminals shorted 05 ms Inputs from MC BUS PWM dead bandcommand Measured at MC BUS pins over DIESEN operating ambient temperature High level input voltage TTL compatible 2 Low level input voltage TTLcompatible OV High level input current Compatible with open collector mA outputs Lou level input current fA Analog Outputs to MC BUS aa aand A i d feedback aa ee A feedback Cut off frequency of 3 motor 1 5 MHz currents feedback Technosoft A 1 PM50 User Manual Appendices DC bus voltage feedback gain voltage Digital Outputs to MC BUS Setting time of the 3 motor 0 1 accuracy currents feedback High level output voltage for Direct link to 5V logic supply Mon User MC BUS pin Low level output voltage for Direct link to ground Mon User MC BUS pin Hall Inputs from motor connector High level input current Pull up resistor to 5V 0 0 mA Lowlevelinputcurrent mA System En
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