Trinamic TMCM-AC-840 Manuel utilisateur

TMCM-AC-840 Motor Control Daughter Board Kit Manual 1

TMCM-AC-840 Motor Control

Daughter Board Kit

for the Actel SmartFusion™Development Kit (A2F-DEV-KIT)

and the Actel SmartFusion™Evaluation Kit (A2F-EVAL-KIT)

Version: 1.40 / September 1st , 2011

TRINAMIC Motion Control GmbH & Co. KG

Waterloohain 5

22769 Hamburg, Germany

Phone +49-40-51 48 06 –0,

FAX: +49-40-51 48 06 –60

http://www.trinamic.com

TMCM-AC-840 Motor Control Daughter Board Kit Manual 2

Table of Contents

1INTRODUCTION.............................................................................................................................. 3

2FEATURES...................................................................................................................................... 4

3MOTOR CONTROL KIT INGREDIENTS......................................................................................... 5

4PROGRAMMING............................................................................................................................. 6

5BOARD PICTURES......................................................................................................................... 7

5.1 TOP VIEW V1.2 (LAYOUT)............................................................................................................ 7

5.2 TOP VIEW V1.2 (ASSEMBLED)....................................................................................................... 7

5.3 TOP VIEW V1.3 (LAYOUT)............................................................................................................ 8

5.4 TOP VIEW V1.3 (ASSEMBLED)....................................................................................................... 8

6INCLUDED MOTORS...................................................................................................................... 9

6.1 QMOT QSH4218-35-10-027 STEPPER MOTOR............................................................................ 9

6.2 QMOT QBL4208-41-04-006 BLDC MOTOR............................................................................... 10

7CONNECTING THE BOARD......................................................................................................... 11

7.1 ASSEMBLING THE BOARD…........................................................................................................ 11

7.2 CONNECTION TO THE ACTEL SMARTFUSION™BOARDS .............................................................. 11

7.3 CONNECTING MOTORS TO THE TMCM-AC-840.......................................................................... 12

7.4 CONNECTING THE POWER SUPPLY (TWO SEPARATE OR ONE SINGLE POWER SUPPLY)................. 13

7.5 ADDITIONAL POWER CONNECTORS FOR BOARD REVISION V1.3 AND HIGHER.................................. 14

8PINOUT LISTS............................................................................................................................... 15

8.1 MIXED SIGNAL HEADER CONNECTOR ......................................................................................... 15

8.2 TMC262 SIGNALS..................................................................................................................... 18

8.3 TMC603A SIGNALS .................................................................................................................. 18

8.4 ADDITIONAL PINS AND PIN HEADERS.......................................................................................... 19

8.5 ADDITIONAL SPI HEADER &JUMPER (ONLY REVISION V1.3 AND HIGHER)...................................... 19

8.6 BOARD LEDS............................................................................................................................ 20

9PRECAUTIONS............................................................................................................................. 22

9.1 MAXIMUM CURRENTS ................................................................................................................ 22

10 DEMO DESIGNS........................................................................................................................ 23

11 REFERENCES ........................................................................................................................... 23

12 VERSION.................................................................................................................................... 24

TMCM-AC-840 Motor Control Daughter Board Kit Manual 3

1 Introduction

SmartFusion™ FPGA fit well to motion control applications. Due to the combination of hardware,

software, and additional analog components complex systems can be integrated within a single chip.

This drastically reduces the number of required components to realize a motion control unit. Real time

critical tasks can be implemented in hardware. Complex - but less real time critical tasks - can be

realized in software. Real Time critical tasks are commutation of fast rotating BLDC motors or

processing of high resolution encoder signals. Processing of analog signals, e.g., voltage and current

measurement is a typical task in motion control applications. Therefore, the SmartFusion’s™ analog

I/Os and processing functionality can be used.

Together with Trinamic’s integrated BLDC motor gate driver TMC603A (or with the integrated stepper

motor driver TMC262), one can realize a power stage with a couple of components as demonstrated

with the TMCM-AC-840 Daughter Board Kit for direct plug to the ACTEL SmartFusion™ Evaluation Kit

boards or Development Kit boards.

The TRINAMIC TMCM-AC-840 Daughter Board Kit is a power driver for brushless DC motors (BLDC)

as well as stepper motors. The TMCM-AC-840 Daughter Board Kit incorporates one TMC603A BLDC

motor driver IC and one TMC262 coolStep™ stepper motor driver IC as well as two motors (one

BLDC and one stepper motor) and a fitting portable power supply to start right away.

The TMCM-AC-840 is designed to operate with the ACTEL SmartFusion™Development Kit (Revision

C and later) as well as the ACTEL SmartFusion™Evaluation Kit as both boards are pin-compatible

regarding their Mixed Signal Expansion Header (see the ACTEL user guides for both boards). When

using the TMCM-AC-840 in combination with an ACTEL SmartFusion™ Development Kit that is

equipped with the larger A2F500 SmartFusion™ FPGA, some additional analog I/Os are available on

the Mixed Signal Header. All signals of the Mixed Signal Expansion Header are easily accessible via

pin headers on the TMCM-AC-840 daughter board.

The TMCM-AC-840 daughter board requires at least one DC supply voltage of +VM= 12V to 40V.

We recommend driving the board with two independent DC supply voltages –one for each driver IC:

+VM262 = 12V to 40V and +VM603 = 12V to 48V!

TMCM-AC-840 Motor Control Daughter Board Kit Manual 4

2 Features

One BLDC motor pre-driver TMC603A

oIntegrated dual range high precision current measurement amplifiers

oSupports shunt less current measurement using power MOS transistor RDSon

ohallFX™ sensorless back EMF commutation emulates hall sensors

oIntegrated break-before-make logic: No special microcontroller PWM hardware

required

oSee the TMC603A datasheet for more information [2]

One stepper motor driver TMC262

oEnergy saving high resolution microstepping two phase stepper driver with step and

direction interface and external power stage

oHigh precision sensor-less motor load measurement stallGuard2™

oEnergy efficiency and coolness by automatic load dependant motor current regulation

technology coolStep™ Save up to 75% of energy!

oSee the TMC262 datasheet for more information [3]

One BLDC Motor (Qmot QBL4208-41-04-006)

oMaximum rated current 1.8A, peak current 5.4A, see motor spec/user guide for more

information on electrical and mechanical parameters [6]

One Stepper Motor (Qmot QSH4218-35-10-027)

oMaximum current 1.0A, see motor spec/user guide for more information on electrical

and mechanical parameters [5]

One portable power supply with international connectors, 24V/1A (version 1.3 and higher)

Hard top case for easy handling and safe transport (version 1.3 and higher)

The Board and the driver stages support maximum motor currents of up to 2A for stepper

driver block and up to 4A (5A with good cooling) for the BLDC driver block.

Easy plug and play solution using the freely available demo design (under BSD) for the BLDC

and stepper functionality

Hall-sensor interface for BLDC motors

ABN encoder interface for high precision position measurement

oThe encoder interface can be used with the stepper or with the BLDC motor.

Various analog signals connected to the analog blocks (Signal Conditioning Blocks, SCBs) of

the Actel SmartFusion™Device for, e.g., voltage measurement

Additional RSENSE measurement pins

All signals of the Mixed Signal Expansion Header can be accessed via additional pin headers

for test and measurement

Parallel operation of BLDC and stepper motor driver

Pin-compatible to both the Actel SmartFusion™Development Kit as well as the Actel

SmartFusion™Evaluation Kit

Each driver requires a separate DC supply voltage

oThe stepper driver block (TMC262): +VM262 = 12V to 40V

oThe BLDC driver block (TMC603A): +VM603 = 12V to 48V

oUsing jumpers, a single power supply can be used for both drivers

TMCM-AC-840 Motor Control Daughter Board Kit Manual 5

3 Motor Control Kit Ingredients

TMCM-AC-840 Motor Control Daughter Board Kit Manual 6

4 Programming

The voltage supplies (+VM262 and +VM603) of the TMCM-AC-840 daughter board must be

DISCONNECTED or SWITCHED OFF during programming of the Actel SmartFusion™

A2F200/A2F500 device.

For further help on how to program the Actel SmartFusion™ devices refer to the user guides available

on the Actel website http://www.actel.com.

TMCM-AC-840 Motor Control Daughter Board Kit Manual 7

5 Board Pictures

5.1 Top View v1.2 (Layout)

5.2 Top View v1.2 (assembled)

TMCM-AC-840 Motor Control Daughter Board Kit Manual 8

5.3 Top View v1.3 (Layout)

5.4 Top View v1.3 (assembled)

TMCM-AC-840 Motor Control Daughter Board Kit Manual 9

6 Included Motors

The TMCM-AC-840 Daughter Board Kit includes two motors, which fit the daughter board and demo

design –one stepper motor and one BLDC motor. The picture shows how the motors will look like.

6.1 Qmot QSH4218-35-10-027 Stepper Motor

step angle: 1.8˚

optimized for microstep operation

4 wire connection

Coil current 1A RMS

0.27 Nm

Read the motor manual for more information and details on current and voltage settings for different

applications and operating conditions [5].

Wire/connector connections of the Qmot QSH4218-35-10-027 Stepper Motor. Watch the printed

information next to the motor connectors on the board. Connect the motor wires accordingly.

TMCM-AC-840 Motor Control Daughter Board Kit Manual 10

6.2 Qmot QBL4208-41-04-006 BLDC Motor

Hall effect angle: 120° electric angle

Max radial force: 28N (10mm from flange)

Max axial force: 10N

Rated phase current: 1.79A

Max peak current: 5.4A

Hall sensor outputs

Read the motor manual for more information and details on current and voltage settings for different

applications and operating conditions [6].

Wire/connector connections of the Qmot QBL4208-41-04-006 BLDC Motor. Watch the printed

information next to the motor connectors on the board. Connect the motor wires accordingly.

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