data brief - evalkit-robot-1 - compact reference design kit for … · figure 1. motor operating...
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Features• 36 V/6 Apeak power stage• STSPIN32F0A advanced 3-phase motor controller embedding Cortex-M0 MCU• STL7DN6LF3 60 V, 35 mΩ Dual N-channel MOSFETs• Hall sensors• Position control loop based on Field Oriented Control• MODBUS communication protocol through RS-485• Extremely compact footprint (40 mm x 40 mm)• maxon EC-i 40 100 W 3-phase brushless DC motor• maxon ENX 16 EASY 1024-pulse incremental encoder
DescriptionThe EVALKIT-ROBOT-1 is an evaluation kit offering a ready-to-use servo brushlesssolution.
Thanks to the high integration level of the STSPIN32F0A, the control board providesa powerful power stage, the analog circuitry implementing current sensing andovercurrent protection and a Cortex-M0 microcontroller performing a Field-OrientedControl with closed-loop positioning. All packed into a 40 mm x 40 mm footprint.
The maxon EC-i 40 motor, thanks to the optimized magnetic circuit, offers a very hightorque density and very low cogging torque. In combination with the maxon ENX 16EASY 1024 pulses incremental encoder, it is an excellent choice for reliable, robustand high-precision position and speed control.Product status link
EVALKIT-ROBOT-1
Compact reference design kit for robotics and automation based on STSPIN32F0A
EVALKIT-ROBOT-1
Data brief
DB4049 - Rev 3 - February 2020For further information contact your local STMicroelectronics sales office.
www.st.com
1 Specifications
Table 1. Control board specifications
Parameter Value
Supply voltageNominal 36 V
Full operating range from 12 V to 45 V
Maximum currentDC(1) 3 A
Peak 6 A
RS485 maximum baud rate 20 Mbps
RS485 differential input voltageDifferential ± 12 V
Common mode - 7 V to 12 V
Encoder inputsDifferential ± 7 V
Common mode ± 7 V
1. Actual maximum current may be limited by power dissipation
Table 2. Motor specifications
Parameter Value
Nominal voltage 36 V
SpeedNominal 3950 rpm
No load 4550 rpm
TorqueNominal 207 mNm
Stall 3160 mNm
CurrentNominal 2.72 A
Stall 42.2 A
Phase resistance 0.853 Ω
Phase inductance 0.675 mH
Rotor inertia 44 gcm2
Pole pairs 7
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 2/15
Figure 1. Motor operating range
Table 3. Encoder specifications
Parameter Value
Supply voltage 5 V
Supply current 22 mA
Pulses per turn 1024
Max speed 30 krpm
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 3/15
Figure 2. Motor and encoder connectors drawings
Table 4. Motor and Hall-effect sensors connector
Pin Connection
1 Hall-effect sensor 1
2 Hall-effect sensor 2
3 Hall-effect sensor 3
4 Hall-effect sensors supply
5 Motor winding 1
6 Motor winding 2
7 Motor winding 3
8 Hall-effect sensors ground
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 4/15
Table 5. Encoder connector
Pin Connection
1 Not connected
2 Encoder supply
3 Encoder ground
4 Not connected
5 Quadrature output channel A-
6 Quadrature output channel A+
7 Quadrature output channel B-
8 Quadrature output channel B+
9 Zero index channel I-
10 Zero index channel I+
Figure 3. Schematic board 1
DE
H1H2H3
DE
RX
Plug:Wurth Elektronik662008113322
TXRX
TX
Plug:Wurth Elektronik690157001072
DEBUG
TERMA+
B-GND
BOTTOM SIDE
TX
RX
NRST
NRST
BOO
T0
PA13
PA0
PF0
PA15
PA15
PB6
PB7
OUTUOUTVOUTW
ENC_nAENC_nBENC_nIENC_I
ENC_AENC_B
PF1ENC_IENC_nI
ENC_nBENC_B
PA7
ENC_AENC_nA
PA6
PB6
PB7
PA14
PF0PF1
PA6
PA7
H1
PA0PA1
PA2
PA1 H2
PA2 H3
NRST
PA13PA14PA14
PA15BOOT0
12V
VM
VDD
VDD
VDD
VDD
VDD
VDD
5V
VDD
VDD
VDD
5V
VDD
HSW
LSWHSV
LSVHSU
LSU
OUTU
OUTV
OUTW
PA3
PA4
PA5
PB1
OP3
PO
P3N
OP3
O
OP2POP2NOP2O
OP1
OO
P1N
OP1
PO
CC
OM
P
R6012k
R2100k
TP17 R312k
R63 1k
U1
STSPIN32F0A
OP2P1
OP2N2
OP2O3
PF04
PF15
VREG126
NRST7
VM8
SW9
VDDA10
PA011
PA112
PA2
13
PA3
14
PA4
15
PA5
16
PA6
17
PA7
18
PB1
19
TEST
MO
DE
20
OP1
O21
OP1
N22
OP1
P23
OC
CO
MP
24
HSW25OUTW26VBOOTW27LSW28HSV29
VBOOTV31LSV32
OUTV30
OUTU34
LSU36
HSU33
VBOOTU35
PA13
37PA
1438
PA15
39PB
640
PB7
41BO
OT0
42R
ESER
VED
43G
ND
44O
P3P
45O
P3N
46O
P3O
47VD
D48
EPAD
49
C31220p
U5
STR485
VL1
R2
DE3
nRE4
D5
GND6SRL7A8B9VCC10
EP11
TP15
TP16
R6212k
C7100nF
C91nF
R1330R6
12k
LED1RED
12
C32220p
J413579
2468
10
J81234
U6 AM26LV32E
1B1
1A2
1Y3
G4
2Y5
2A6
2B7
GND8
3B93A103Y11nG124Y134A144B15VCC16
EPAD
17
TP3
C310uF
C30220p
C4 470nF
J12
Header 10x2
1 23 45 67 89 10
C29 100n
C5 470nF
R540R
C10 100nF
R53NP
C8 10nF
C6 470nF
TP19
R64 120R
J10
1234
5678
R1410k
C1100nF
TP14
TP18
TP4
R61 1k
C11 10nF
C210uF
R59 1k
TP13
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 5/15
Figure 4. Schematic board 2
-
+
OC Comp
OCREF
OC
+
-
+
-
+
-
Gain = 15, Max sensed current = 5.5 A
RB 18.0E+3RLP 2.2E+3RS 20.0E-3Ith 3.77 A @ VREF 250mV
ISNSU
ISNSV
ISNSW
ISNSU
ISNSV
ISNSW
ISNSU
ISNSV
ISNSW
VM
VM
VM
VDD
VDD
VM
VDD
VDD
HSU
LSU
OUTU
HSV
LSV
OUTV
LSW
HSW
OUTW
OCCOMP
OP2O
OP2N
OP2P
PA3
PB1
OP3N
OP3O PA4
OP3P
OP1N
PA5OP1O
OP1P
C13150nF
R3521k
R40 0.100R
C182.2nF
R32 100R
R24
10.5k
R15
10.5k
D9BAT30
R49 2.2k
C191nF
R21 100R
C17150nF
R27
2.4k
R34 100R
Q2
STL7DN6LF3
56
78
4
2
3
1
TP6
R20
2.4k
C1633p
TP9
R28
2.4k
TP7
R16 0.100R
D8BAT30
R42 100R
R46180k
TP5
R33
10.5k
R3921k
D6BAT30
R2621k
D7BAT30
TP8
R4718k
C1233p
C15150nF
R18
2.4k
R44 100R
Q3
STL7DN6LF3
56
78
4
2
3
1
R36
2.4k
R5010k
R3021k
D5BAT30
R45 2.2k
R1721k
R29 0.100R
R43 2.2k
R38
2.4k
D4BAT30
R2221k
R23 100R
Q4
STL7DN6LF3
56
78
4
2
3
1
C1433p
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 6/15
Figure 5. Schematic board 3
Nominal supply voltage 36 VOperating range from 12 V to 45 V
Wurth Elektronik744043390
Wurth Elektronik865080243008
VDD5V
VM
5V
VM
C28
100n
R51187k
J7
1
2
C244700n
L1 39uH1 2
C26330n
U4 L78L33ABUTR
IN3
OUT1
GN
D2
TAB
4
TP11
C27100n
R5260k4
C22 100n
+C2047uF
+ C2147uF
U3 ST1S14PHR
BOOT1
EN25
EPAD
9
FB4
GND6
PG2
SW8
VIN7
EN13
C231.7p
D10STPS0560Z
12
+ C25150u
TP12
Table 6. Bill of materials
Item Quantity Part reference Part description Value
1 3 C1, C7, C10 SMT ceramic capacitor 100 nF
2 1 C2 SMT ceramic capacitor 10 µF
3 1 C3 SMT ceramic capacitor 10 µF
4 3 C4, C5, C6 SMT ceramic capacitor 470 nF
5 2 C8, C11 SMT ceramic capacitor 10 nF
6 2 C9, C19 SMT ceramic capacitor 1 nF
7 3 C12, C14, C16 SMT ceramic capacitor 33 pF
8 3 C13, C15, C17 SMT ceramic capacitor 150 nF
9 1 C18 SMT ceramic capacitor 2.2 nF
10 2 C20, C21 SMT electrolytic capacitor 47 µF
11 2 C22, C28 SMT ceramic capacitor 100 nF
12 1 C23 SMT ceramic capacitor 1.7 pF
13 1 C24 SMT ceramic capacitor 4700 nF
14 1 C25 SMT electrolytic capacitor 150 µF
15 1 C26 SMT ceramic capacitor 330 nF
16 2 C27, C29 SMT ceramic capacitor 100 nF
17 3 C30, C31, C32 SMT ceramic capacitor 220 pF
18 6 D4, D5, D6, D7, D8, D9 Small signal Schottky diode BAT30
19 1 D10 Schottky rectifier STPS0560Z
20 1 J4 WR-MM female connector withlatch w/o polarization 10 poles
Flat connector 10pole
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 7/15
Item Quantity Part reference Part description Value
21 1 J7 Horizontal terminal block pitch3.50 mm
Terminal2P_screwp3.5mm
22 1 J8 Terminal block T.H. 4 positions,2.54 mm
Terminal4P_screwp2.54mm
23 1 J10 WR-MPC3 - 3.00MM male dual-row right angle 8 poles
Connector 8 polew polarization
24 1 J12 WR-PHD 1.27 mm dual pinheader, H=3.80 mm Header 10x2
25 1 LED1 WL-SMCW SMT red LED red
26 1 L1 WE-TPC SMD Tiny PowerInductor 39 µH
27 3 Q2, Q3, Q4Dual N-channel 60 V, 35 mΩ typ.,6.5 A STripFET™ F3 powerMOSFET
STL7DN6LF3
28 1 R1 SMT resistor 330 Ω
29 1 R2 SMT resistor 100 kΩ
30 4 R3, R6, R60, R62 SMT resistor 12 kΩ
31 1 R14 SMT resistor 10 kΩ
32 3 R15, R24, R33 SMT resistor 10.5 kΩ
33 3 R16, R29, R40 Thick film chip resistors 0.100 Ω
34 6 R17, R22, R26, R30, R35, R39 SMT resistor 21 kΩ
35 6 R18, R20, R27, R28, R36, R38 SMT resistor 2.4 kΩ
36 6 R21, R23, R32, R34, R42, R44 SMT resistor 100 Ω
37 3 R43, R45, R49 SMT resistor 2.2 kΩ
38 1 R46 SMT resistor 180 kΩ
39 1 R47 SMT resistor 18 kΩ
40 1 R50 SMT resistor 10 kΩ
41 1 R51 SMT resistor 187 kΩ
42 1 R52 SMT resistor 60.4 kΩ
43 1 R53 SMT resistor NP
44 1 R54 SMT resistor 0 Ω
45 3 R59, R61, R63 SMT resistor 1 kΩ
46 1 R64 SMT resistor 120 Ω
47 16TP3, TP4, TP5, TP6, TP7, TP8,TP9, TP11, TP12, TP13, TP14,TP15, TP16, TP17, TP18, TP19
40 mils PAD TP-SMD-diam1_016mm
48 1 U1 STSPIN32F0A three-phasecontroller with MCU STSPIN32F0A
49 1 U3 Up to 3 A step-down switchingregulator ST1S14PHR
50 1 U4 Positive Voltage Regulator L78L33ABUTR
51 1 U53.3V RS485 compatible with 1.8VI/Os and selectable speed20Mbps or 250kbps
STR485
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 8/15
Item Quantity Part reference Part description Value
52 1 U6 Quadruple differential linereceiver AM26LV32E
EVALKIT-ROBOT-1 Specifications
DB4049 - Rev 3 page 9/15
2 Waste and Recycling
The evaluation board is not to be disposed of as urban waste. At the end of its life cycle, differentiatedwaste collection must be followed. Consult the local authorities for more information on the proper disposalchannels and recycling centers. It is mandatory to collect separately the evaluation board and make sure it isdelivered to the appropriate waste management and recycling centers. As of 15 August 2018, in all countriesbelonging to the European Union, the evaluation board is subject to the requirements of WEEE Directive2012/19/EU, and therefore it is forbidden to dispose of the evaluation board as undifferentiated waste or withother domestic waste. Incorrect disposal of the evaluation board may cause damage to the environment and mayincur fines based on specific countries’ rules, regulations, and laws.
EVALKIT-ROBOT-1 Waste and Recycling
DB4049 - Rev 3 page 10/15
Revision history
Table 7. Document revision history
Date Version Changes
09-Oct-2019 1 Initial release.
16-Dec-2019 2 Cover image updated.
03-Feb-2020 3 Correct the unit of Maximum Current in Table 1
EVALKIT-ROBOT-1
DB4049 - Rev 3 page 11/15
Contents
1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
2 Waste and Recycling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
List of tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
List of figures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
EVALKIT-ROBOT-1 Contents
DB4049 - Rev 3 page 12/15
List of tablesTable 1. Control board specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Table 2. Motor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Table 3. Encoder specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Table 4. Motor and Hall-effect sensors connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Table 5. Encoder connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 6. Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 7. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
EVALKIT-ROBOT-1 List of tables
DB4049 - Rev 3 page 13/15
List of figuresFigure 1. Motor operating range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Figure 2. Motor and encoder connectors drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 3. Schematic board 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 4. Schematic board 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Figure 5. Schematic board 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
EVALKIT-ROBOT-1 List of figures
DB4049 - Rev 3 page 14/15
IMPORTANT NOTICE – PLEASE READ CAREFULLY
STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to STproducts and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. STproducts are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement.
Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design ofPurchasers’ products.
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Information in this document supersedes and replaces information previously supplied in any prior versions of this document.
© 2020 STMicroelectronics – All rights reserved
EVALKIT-ROBOT-1
DB4049 - Rev 3 page 15/15
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