dc motor card hw reference manual and datasheet...2.1 dc motor control board 2.2 figure 2-4: dcm...
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VEST-VIO-USG-002, REV A
Page 1 APC Proprietary Information March 31, 2016
DC Motor Card HW Reference Manual and Datasheet
VEST-VIO-USG-002
Copyright © 2016 Advanced Products Corporation Pte Ltd. All rights reserved. No part of this document may be photocopied, reproduced, or translated to another language without the prior written permission of Advanced Products Corporation Pte Ltd.
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TABLE OF CONTENTS 1 Overview .........................................................................................................................................5
1.1 Introduction ........................................................................................................................................ 5 1.2 List Of Acronyms ................................................................................................................................. 5
2 System Architecture .........................................................................................................................6
2.1 DC Motor Control Board ..................................................................................................................... 8
3 DCM Card Hardware Specification ....................................................................................................9
3.1 BOARD SPECIFICATION ....................................................................................................................... 9 3.2 DC MOTOR DRIVER (U100) ................................................................................................................. 9 3.3 Main Board Connectors (JS100, JC100) ............................................................................................ 10
3.3.1 ViO Sensor Interface Connector (JS100) ................................................................................... 10 3.3.2 ViO Control Interface Connector (JC100) .................................................................................. 10
3.4 Output Connectors (JO100, JO101, JO102) ...................................................................................... 11 3.4.1 High Power Connector (JO100) ................................................................................................ 11 3.4.2 Low Power Connector (JO101) ................................................................................................. 11 3.4.3 Sensor Connector (JO102) ......................................................................................................... 12
4 DCM Card Component Location ...................................................................................................... 13
4.1 Key Components And Connectors .................................................................................................... 13
5 Revision History ............................................................................................................................. 15
6 Legal Notices ................................................................................................................................. 16
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LIST OF TABLES
Table 3-1: DCM Card Specification ........................................................................................................................... 9 Table 3-2: Control Logic .......................................................................................................................................... 10 Table 3-3: ViO Sensor Interface Connector ............................................................................................................ 10 Table 3-4: ViO Control Interface Connector ........................................................................................................... 11 Table 3-5: High Power Connector .......................................................................................................................... 11 Table 3-6: Low Power Connector ........................................................................................................................... 11 Table 3-7: Sensor Connector .................................................................................................................................. 12
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LIST OF FIGURES/DIAGRAMS Figure 2-1: Block Diagram ........................................................................................................................................ 6 Figure 2-2: ViO Assembly (Top) ................................................................................................................................ 7 Figure 2-3: ViO Assembly (Bottom) .......................................................................................................................... 7 Figure 2-4: DCM Card Block Diagram ....................................................................................................................... 8 Figure 4-1: Component Location (Top) .................................................................................................................. 13 Figure 4-2: Component Location (Bottom) ............................................................................................................ 14
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1 OVERVIEW
1.1 INTRODUCTION The DC Motor (DCM) daughter card would be mounted on the ViO Main Board and allows users to evaluate wide range of DC motors and a comprehensive DC motor solution.
It enables the development of a typical 3-axis motion control system as well as customization according to customer’s requirements.
1.2 LIST OF ACRONYMS Acronym Abbreviation
VEST Venture Embedded Solutions Technology
V*EST Venture Embedded Solutions Technology “The Logo”
VESS Venture Embedded System Solution
MCU Microcontroller
DCM DC Motor
Table 1-1: List Of Acronyms
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2 SYSTEM ARCHITECTURE
Below is the block diagram of ViO system and provides users the visualization for the whole product.
Figure 2-1: Block Diagram
The ViO system consists of a VIO Main board with any combinations of the four types of daughter boards. A maximum of seven daughter boards can be plugged into one VIO Main board. The four types of daughter cards that can be connected are:
1. DC Motor Control Board
2. Stepper Motor Control Board
3. Power Control Board
4. Sensor Board
MCU DSPIC33EP512M
U814
LDO LD1117S33TR
USB Mini-B
CAN1 CAN1 TX/RX
3.3V 800mA
DC Jack 5V
USB Type A
USB OTG DP/DN
CAN2 CAN2 TX/RX
RESET
FW SET
Debug Port
PC Serial
UART2
UART1
APU Serial
Swit
ch, S
W2
APU SPI FW c
on
figu
re t
o e
ith
er
SPI2
or
UA
RT1
+I2
C2
SPI2
APU I2C I2C2
MUX
ICSP
LCD UI Conn
Functional Card Slot 1~7 Any combination of below cards
1. DC Motor Control Board 2. Stepper Motor Control Board 3. Power Control Board 4. Sensor Board
7 PWMs
SPI1
GPIOs
Card IDs
Card Types
Card Detect
Power LED(1x) Status LED (2x)
SPI1
GPIOs
PGC
PGD
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Figure 2-2: ViO Assembly (Top)
Figure 2-3: ViO Assembly (Bottom)
DCM card is a daughter card to ViO system and can be mounted to any slot (up to seven) on ViO main board, as shown above. It works concurrently with other daughter cards without compromising the performance.
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2.1 DC MOTOR CONTROL BOARD
2.2 Figure 2-4: DCM Card Block Diagram
Above picture is the block diagram of DCM card which comprises motor driver, A3950, and 3 output interfaces for user access. The DC Motor Control Board offers the ability to drive wide range of DC motor with output power up to +/-2.8A and 36V. It also supports QEI encoders (ENC_A and ENC_B), sensor and three GPIOs to give users flexibility to design with their intention.
Main features are as follows:
• PWM-controlled speed and direction of motor
• In-built analog control loop
• Overcurrent protection
• Short-to-supply and short-to-ground protection
• Sleep function
• Thermal shutdown with hysteresis
• Undervoltage lockout (UVLO)
• Crossover-current protection
7 PWMs
SPI1
GPIOs
Card IDs
Card Types
Card Detect
Motor Driver A3950SEUTR-T
Motor Driving
Port
Low Power Port
GPIO Port
Encoder Sensor GPIOs
V3P3
GND
V3P3_A
AGND
Op Amp
(Current Sense)
DC Motor Daughter Card
ViO Main Board
DC Motor System
DCM_OUTA
DCM_OUTB
Motor Power Supply Input
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3 DCM CARD HARDWARE SPECIFICATION
3.1 BOARD SPECIFICATION This section covers the specifications and features of the board and provides a high level description of the major components and interfaces that make up the board.
Feature Description
Operating Conditions 3 ~ 3.6V (Digital Interface) 8 ~ 36V (Load Supply Voltage)
Power Source Main Board (3.3V) External (Load Supply Voltage)
PCB 4-layer Board
Main Board Interface Board Sensor Connector Board Control Connector
External Interface High Power Connector Low Power Connector Sensor Connector
Table 3-1: DCM Card Specification
3.2 DC MOTOR DRIVER (U100) DCM daughter card consists of a DMOS full-bridge motor driver, A3950, for DC motor. It is designed for PWM control and able to deliver peak output currents up to +/- 2.8A and operating voltages to 36V. It also offers the following features:
• Low Rds(ON)
• PWM-controlled speed and direction of motor
• Overcurrent protection
• Short-to-supply and short-to-ground protection
• Sleep function
• Thermal shutdown with hysteresis
• Undervoltage lockout (UVLO)
• Crossover-current protection
The control logic is as follows:
DIR PWM MODE nSLEEP OUTA OUTB Function
1 1 X 1 H L Forward
0 1 X 1 L H Reverse
X 0 1 1 L L Brake (slow decay)
1 0 0 1 L H Fast Decay Synchrounous Rectification2
0 0 0 1 H L Fast Decay Synchrounous Rectification2
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DIR PWM MODE nSLEEP OUTA OUTB Function
X X X 0 Z Z Sleep Mode
Table 3-2: Control Logic
1. X indicated "don't care", Z indicates high impedance
2. To prevent reversal of current during fast decay synchronous rectification, outputs go to the high impedance state as the current approaches zero ampere.
3.3 MAIN BOARD CONNECTORS (JS100, JC100) DCM daughter card connected to Main Board via the following connectors, ViO Sensor Interface Connector and ViO Control Interface Connector.
3.3.1 ViO DC Motor Sensor Interface Connector (JS100)
Pin Signals Description
1 QA Quadrature Encoder Interface Phase A
2 QB Quadrature Encoder Interface Phase B
3 HOME_P6 Sensor Input
4 MODE 0: Fast Decay Mode 1: Slow Decay Mode
5 GND Ground
6 CARD_ID1 Card ID Bit 0
7 CARD_ID2 Card ID Bit 1
8 CARD_ID3 Card ID Bit 2
9 Reserved Reserved
10 AGND Analog Ground
11 END_P3 Sensor Input
12 AGND Analog Ground
13 CurrentSense_P4_A Current Sensing
14 AGND Analog Ground
15 Reserved Reserved
16 V3P3_A Analog 3.3-V Supply
Table 3-3: ViO Sensor Interface Connector
3.3.2 ViO DC Motor Control Interface Connector (JC100) Pin Signals Description
1 V5P0 5V Supply
2 GND Ground
3 V3P3_M Digital 3.3-V Supply
4 DIR Direction Control 0: Reverse 1: Forward
5 PWM Speed control
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Pin Signals Description
6 nSLEEP 0: Sleep mode 1: Normal operation
7 nFAULT 0: Faulty condition - Motor fault, undervoltage or TJ> 160DegC
8 GPIO1 General purpose I/O
9 GPIO2 General purpose I/O
10 GPIO3 General purpose I/O
11 Card_nDETECT Daughter card detection
12 Card_Type1 Card Type Bit 0
13 Card_Type2 Card Type Bit 1
14 Card_Type3 Card Type Bit 2
Table 3-4: ViO Control Interface Connector
3.4 OUTPUT CONNECTORS (JO100, JO101, JO102)
Please take note that Motor power supply input is through pin 1 and pin 2 of High Power connector
3.4.1 High Power Connector (JO100)
Pin Signals Description
1 Vmotor Motor Power Supply Input
2 GND Ground
3 NC No connection
4 NC No connection
5 DC_MOTA DC Motor Output A
6 DC_MOTB DC Motor Output B
7 NC No connection
8 NC No connection
Table 3-5: High Power Connector
3.4.2 Low Power Connector (JO101)
Pin Signals Description
1 V3P3_M Digital 3.3-V Supply
2 GND Ground
3 V3P3_A Analog 3.3-V Supply
4 AGND Analog ground
Table 3-6: Low Power Connector
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3.4.3 Sensor Connector (JO102)
Pin Signals Description
1 V3P3_M Digital 3.3-V Supply
2 GND Ground
3 END Sensor Input
4 HOME Sensor Input
5 V3P3_M Digital 3.3-V Supply
6 GND Ground
7 ENC_QA Quadrature Encoder Interface Phase A
8 ENC_QB Quadrature Encoder Interface Phase B
9 V3P3_A Analog 3.3-V Supply
10 AGND Analog ground
11 GPIO1 General purpose I/O
12 GPIO2 General purpose I/O
13 GPIO3 General purpose I/O
Table 3-7: Sensor Connector
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4 DCM CARD COMPONENT LOCATION
This section describes the key components on the board. It provides information on their location and function.
4.1 KEY COMPONENTS AND CONNECTORS The picture below shows the locations of the connectors and jumper on the board.
Figure 4-1: Component Location (Top)
High Power Conn
Low Power Conn
DC Motor Driver, A3950
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Figure 4-2: Component Location (Bottom)
Sensor Conn
Vio
Mo
tor
Co
ntr
ol C
on
n
Vio
Mo
tor
Senso
r Co
nn
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5 REVISION HISTORY
Version Date Released Changes
A March 31, 2016 First release
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6 LEGAL NOTICES
The signed agreement between Purchaser and APC will govern the sale and purchase of APC’s Venture Embedded Solutions Technology (“VEST”) products (“Products”). In the event that no agreement has been concluded, APC’s terms and conditions of supply will apply.
Testing and other quality control techniques are used to the extent that APC deems necessary to support its warranty.
Except where required by law, specific testing of all parameters of each Product is not necessarily performed.
Purchaser must provide adequate design and operating safeguards to minimize inherent or procedural and technical risks associated with Purchaser products and applications. Purchaser is solely responsible for its selection and use of APC Products. APC assumes no liability for applications assistance, Purchaser product design or any incompatibility of the Product with Purchaser product.
Products supplied by APC are not designed, intended or authorized for use in life support, life sustaining, medical systems or devices, aircraft navigation, nuclear, or other applications, including, but not limited to, public transportation operating systems, in which the failure of such Products could reasonably be expected to result in personal injury, loss of life or severe property or environmental damage. Purchaser acknowledges that use of APC’s Products in such product applications is understood to be fully at the risk of Purchaser and that Purchaser is responsible for verification and validation of the suitability of APC’s Products in such applications. Purchaser agrees that APC is not and shall not be liable, in whole or in part, for any claim or damage arising from use in such applications. Purchaser agrees to indemnify, defend and hold APC harmless from and against any and all claims, damages, losses, costs, expenses and liabilities arising out of or in connection with any such use or application.
APC retains all rights to all proprietary intellectual property in the Products and associated manufacturing processes and has the right to file for and obtain intellectual property protection for same.
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