mighty mite servo drive - esi motion motion document 100236-00e 11/3/2014 ve esi motion’s mighty...

ESI Motion Document 100236-00E 11/3/2014

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ESI Motion’s Mighty Mite is the

latest innovation solution in our

highly capable servo drive line.

This extremely lightweight controller is the

only dual axis drive of this complexity on

the market today. The Mite incorporates

our rugged controller and power driver

modules, offers many feedback options,

and is packaged in a potted plastic case.

This versatile servo line is ideal for preci-

sion military, aviation, automotive, robotic,

and specialized industrial applications

where size and weight are critical.

Motor Types:

DC Brushless, Brushed, and Induction

Feedback:

Sensorless, Encoder, Resolver, Hall, and

BiSS-C

Cooling Options:

Chassis

Packaging:

Potted Plastic Case

Mighty Mite Servo Drive C

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S 2” D x 3” W x 0.6” H in size

Independent Dual axis configuration

Light Weight and High Efficiency

Torque, Velocity, or Position Control

Configurable, user friendly GUI with enhanced

data collection capability

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Bus Voltage (DC) 10 V to 170 V

Peak Current 40 A, Output Power 2 kW (per axis)

Operating Temperature –40ºC to 71ºC

Extended –55ºC to 100ºC (optional)

Maximum Electrical Speed 75K RPM

Operational Vibration +/- 20 grms

Weight 3.7 oz. / 105 g

SP

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2250A Union Place

Simi Valley, CA 93065

Product of USA

Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521

E-mail: [email protected]

www.esimotion.com


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Overview

The following describes both the electrical and physical interfaces for the Mighty Mite Servo Drive. Included in this

document is information necessary to integrate the Mighty Mite Servo Drive with other system components.

In order to design a multi-use capability, networking has been emphasized in the Mighty Mite Servo Drive. The Mighty

Mite Servo Drive can be connected to the following two types of networks:

RS-422, Controller Area Network (CAN)

Both networks are ideal for real-time embedded networking. They have been proven to be stable and robust as well as

flexible. Thus, the Mighty Mite Servo Drive can easily be modified through software to accept commands and report

feedback without hardware modification.

This document discusses the system interconnect by functional group. The four groups are as follows:

Motor Power and Phases, Motor A and B Feedback, Communication, and Services Interfaces

Motor Power and Phases

Dedicated motor power pins are provided for each Motor A and B allowing for individual current loading, however

they are electrically equivalent.

The motor power and phase pins are designed to be soldered to a carrier printed circuit board. The motor power con-

sists of two Voltage DC in (VDC_IN) and two Voltage DC Return (VDC_RTN) pins. The Motor A and B phase pins A,

B, and C are located on opposite ends of the Mite module.

The Mite module has an integrated heat sink, which is located opposite to the motor pins and connectors J1 and J2.

Care must be taken when using the Mite module for high-power applications, motor currents greater than 5A will re-

quire an external heat sink. Proper heat sinking practices should be followed. Please refer to the Mighty Mite User’s

Manual for heat sinking instructions and thermal conductivity data.

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E-mail: [email protected] www.esimotion.com


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Motor A and B Feedback

The Mite has several types of motor position feedback that can be used: Resolver, Digital Encoder, BiSS-C,

Hall, and Sensorless. The feedback for Motor A is located on J2 and the feedback for Motor B is located on J1.

The feedback is selected and configured via the Host Interface for the Dragon Servo (HiDS) software. The Dig-

ital Encoder, BiSS-C, and Hall interfaces are 5V tolerant. External feedback sensors should be powered from

the same +5V supply used to power the Mite Controller. Below is the pin out configuration for J1 and J2.

Communication Interfaces

The Mite includes an RS422 physical interface compliant to the TIA/EIA-422-B specification. The Mite is capable

of a 1 Mbps data rate. The RS422 pins are short circuit protected from –7 V to +12 volts.

The Mite includes a CAN physical interface compliant to the ISO 11898-2 specification. The maximum data rate

is 1 Mbps for a bus length of 40 meters. The Mite CAN interface meets the extended common mode range of –

7 to +12 volts. No internal bus termination is provided. The HiDS functions may be accessed via the CAN in-

terface.

Heat SinkChassis x4

VDC_IN VDC_IN

VDC_RTN VDC_RTN

J1

J2

AB

C

AB

C

1

2

39

40

1

2

39

40

Motor BMotor A

The motor power and phase pins are shown below:

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The High Speed Serial Bus (HSSB) and Serial Communication Interface (SCI) is reserved for customer specific

applications.

Service Interfaces

The Analog Test Points may be configured through HiDS. The voltage range on the analog test points is +/- 3.0

volt. The analog test points are buffered with a 50 Ohm series resistor.

The DC Bus Voltage Regeneration, Inrush, and Discharge are TTL level control signals that are to be used in

conjunction with external hardware designed to specifically perform DC Bus Voltage Regeneration, Inrush, or

Discharge.

The DC Bus Voltage Monitor prior to Inrush is an analog voltage input for the DC Bus Voltage measured prior

to the Inrush hardware. The analog input needs to be scaled between 0 to 5V.

The Digital I/O is a TTL level input or output discrete that can be configured via the HiDS software.

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System Diagram M

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A MotorA

CHASSIS

VDC_INVDC_RTNSpade Pins

Spade Pins

Mounting Hole

CMD+_MACurrent

CommandCMD-_MA

SIN+_MA

SIN-_MA

COS+_MA

COS-_MAEXE+_MA

EXE-_MA

Resolver Feedback

A+/BISS_CLK+_MA

A-/BISS_CLK-_MA

B+_MA

B-_MAI+/BISS_DATA+_MA

I-/BISS_DATA-_MA

Encoder/BiSS-C

Feedback

HALL_A_MAHALL_B_MA

HALL_C_MA

MOTOR_TEMP+_MA

MOTOR_TEMP-_MA

Hall Feedback

MotorTemperature

BRAKE_MA*Brake Command

* Logic level only, external circuit required.

A

C

MotorB

CHASSIS

VDC_INVDC_RTN Spade Pins

Spade Pins

Mounting Hole

CMD+_MBCurrent

CommandCMD-_MB

SIN+_MB

SIN-_MB

COS+_MB

COS-_MBEXE+_MB

EXE-_MB

Resolver Feedback

A+/BISS_CLK+_MB

A-/BISS_CLK-_MB

B+_MB

B-_MBI+/BISS_DATA+_MB

I-/BISS_DATA-_MB

Encoder/BiSS-C

Feedback

HALL_A_MBHALL_B_MB

HALL_C_MB

MOTOR_TEMP+_MB

MOTOR_TEMP-_MB

Hall Feedback

MotorTemperature

BRAKE_MB* Brake Command

RS422_TX_P

RS422_TX_NRS422

Transmit

RS422_RX_P

RS422_RX_NRS422

Receive

CAN_H

CAN_LCAN

HSSB_TX_CLK

HSSB_TX_SYNCHigh Speed Serial BusTransmit HSSB_TX_DATA

High Speed Serial BusReceive

BUF_ATP1

BUF_ATP2Analog Test Points and Reference

REGEN*

INRUSH*

DC Bus Voltage Regeneration,

Inrush, and Discharge

DISCHARGE*

VBUS_PRE_INRUSH

+5V_RTN

ANALOG_REF

DIGITAL_REF

SCI_TX

SCI_RX

Serial Communication

Interface

+5V_INController Voltage IN

Digital I/O and Reference

DIG_IO

Power Power

Motor B Motor A

Feedback Feedback

CommunicationService

USB_DP

USB_DNUSB

DC Bus Voltage Monitor Prior to

Inrush HSSB_RX_CLK

HSSB_RX_SYNC

HSSB_RX_DATA

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Product of USA




Electrical Interfaces J1

, 2 X

20 H

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J1, 2 x 20 Header, 0.05 in Pitch, 0.016 in Square Pin*

PIN DESCRIPTION TYPE NAME

1 Current Command Positive Motor B Analog Input CMD+_MB

2 Current Command Negative Motor B Analog Input CMD-_MB

3 Resolver Sin Positive Motor B Analog Input SIN+_MB

4 Resolver Sin Negative Motor B Analog Input SIN-_MB

5 Resolver Cos Positive Motor B Analog Input COS+_MB

6 Resolver Cos Negative Motor B Analog Input COS-_MB

7 Resolver Excitation Positive Motor B Analog Output EXE+_MB

8 Resolver Excitation Negative Motor B Analog Output EXE-_MB

9 Digital Encoder A Positive / BiSS-C Clock Positive Motor B Digital In / Out A+/BISS_CLK+_MB

10 Digital Encoder A Negative / BiSS-C Clock Negative Motor B Digital In / Out A-/BISS_CLK-_MB

11 Digital Encoder B Positive Motor B Digital In B+_MB

12 Digital Encoder B Negative Motor B Digital In B-_MB

13 Digital Encoder I Positive / BiSS-C Data Positive Motor B Digital In / In I+/BISS_DATA+_MB

14 Digital Encoder I Negative / BiSS-C Data Negative Motor B Digital In / In I-/BISS_DATA-_MB

15 Hall A Motor B Digital In HALL_A_MB

16 Hall B Motor B Digital In HALL_B_MB

17 Hall C Motor B Digital In HALL_C_MB

18 Digital Reference Digital DIGITAL_REF

19 Temperature Positive Motor B Analog MOTOR_TEMP+_MB

20 Temperature Negative Motor B Analog MOTOR_TEMP-_MB

21 +5V Input Digital Power +5V_IN

22 +5V Return Digital Power +5V_RTN

23 Reserved No Connect Reserved








31 Brake Command Motor A Digital Out BRAKE_MA

32 Brake Command Motor B Digital Out BRAKE_MB

33 DC Bus Voltage Regeneration Command Digital Out REGEN

34 DC Bus Voltage Inrush (Precharge) Command Digital Out INRUSH

35 DC Bus Voltage Discharge Command Digital Out DISCHARGE

36 DC Bus Voltage Monitor Prior to Inrush Analog In VBUS_PRE_INRUSH

37 Serial Communication Interface (SCI) Transmit Digital Out SCI_TX

38 Serial Communication Interface (SCI) Receive Digital In SCI_RX

39 Reserved Digital In Reserved

40 Reserved Digital In Reserved

* Mating connector Samtec P/N

CLP-120-02-F-D-TR

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Product of USA




Electrical Interfaces J2

, 2 X

20 H

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J2, 2 x 20 Header, 0.05 in Pitch, 0.016 in Square Pin*

PIN DESCRIPTION TYPE NAME

1 Current Command Positive Motor A Analog Input CMD+_MA

2 Current Command Negative Motor A Analog Input CMD-_MA

3 Resolver Sin Positive Motor A Analog Input SIN+_MA

4 Resolver Sin Negative Motor A Analog Input SIN-_MA

5 Resolver Cos Positive Motor A Analog Input COS+_MA

6 Resolver Cos Negative Motor A Analog Input COS-_MA

7 Resolver Excitation Positive Motor A Analog Output EXE+_MA

8 Resolver Excitation Negative Motor A Analog Output EXE-_MA

9 Digital Encoder A Positive / BiSS-C Clock Positive Motor A Digital In / Out A+/BISS_CLK+_MA

10 Digital Encoder A Negative / BiSS-C Clock Negative Motor A Digital In / Out A-/BISS_CLK-_MA

11 Digital Encoder B Positive Motor A Digital In B+_MA

12 Digital Encoder B Negative Motor A Digital In B-_MA

13 Digital Encoder I Positive / BiSS-C Data Positive Motor A Digital In / In I+/BISS_DATA+_MA

14 Digital Encoder I Negative / BiSS-C Data Negative Motor A Digital In / In I-/BISS_DATA-_MA

15 Hall A Motor A Digital In HALL_A_MA

16 Hall B Motor A Digital In HALL_B_MA

17 Hall C Motor A Digital In HALL_C_MA

18 Digital Reference Digital DIGITAL_REF

19 Temperature Positive Motor A Analog MOTOR_TEMP+_MA

20 Temperature Negative Motor A Analog MOTOR_TEMP-_MA

21 +5V Input Digital Power +5V_IN

22 +5V Return Digital Power +5V_RTN

23 RS422 Transmit Positive Digital Out RS422_TX_P

24 RS422 Transmit Negative Digital Out RS422_TX_N

25 RS422 Receive Positive Digital In RS422_RX_P

26 RS422 Receive Negative Digital In RS422_RX_N

27 CAN High Digital CAN_H

28 CAN Low Digital CAN_L

29 Reserved for USB Data Positive (Not Implemented) Digital USB_DP

30 Reserved for USB Data Negative (Not Implemented) Digital USB_DN

31 Analog Reference Analog ANALOG_REF

32 Digital Input / Output Digital In / Out DIG_IO

33 High Speed Serial Bus Transmit Clock Digital Out HSSB_TX_CLK

34 High Speed Serial Bus Receive Clock Digital In HSSB_RX_CLK

35 High Speed Serial Bus Transmit Sync Digital Out HSSB_TX_SYNC

36 High Speed Serial Bus Receive Sync Digital In HSSB_RX_SYNC

37 High Speed Serial Bus Transmit Data Digital Out HSSB_TX_DATA

38 High Speed Serial Bus Receive Data Digital In HSSB_RX_DATA

39 Analog Test Point 1 Analog Out BUF_ATP1

40 Analog Test Point 2 Analog Out BUF_ATP2

* Mating connector Samtec P/N

CLP-120-02-F-D-TR

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Product of USA




Electrical Characteristics M

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SIGNAL MINIMUM MAXIMUM UNITS

VDC In 10 170 V

Peak Phase Current - 2 x Rated Current (6) (7) A

Current Command -10 10 V

Current Command - 20 K Ohm

Resolver Excitation 4.0 (5) - V rms

Resolver Sin, Cos 2 (5) 4.2 V rms

Resolver Sin, Cos 0 5K (5) Hz

Resolver Sin, Cos - 20 K Ohm

Encoder, BiSS-C Data 0 5 V

Encoder, BiSS-C Data - 120 Ohm

BiSS-C Clock 3.5 - V

BiSS-C Clock -20 20 mA

Hall 0 5 V

Temperature (4) - 2 K Ohm

5 VDC In - 450 mA

Brake Command 0 3.3 V

Regeneration Command 0 3.3 V

Inrush Command 0 3.3 V

Discharge Command 0 3.3 V

Vbus Monitor Pre Inrush 0 5 V

RS422 (1) (2) - 1000 K bps

CAN (2) (3) - 1000 K bps

USB 2.0 (Future Upgrade) - 12 M bps

Digital I/O 0 3.3 V

High Speed Serial Bus 0 3.3 V

SCI 0 3.3 V

Analog Test Point Out -5 5 V

Analog Test Point Out - 50 Ohm

(1) Physical Interface compliant

to the TIA/EIA-422-B.

(2) Short circuit protection from

–7 V to 12 V protection.

(3) Compliant to ISO 11898-2

specification.

(4) Recommended NTC 5k,

Epcos part # B57540G502F.

(5) Nominal value

(6) Peak Sine Wave

(7) Up to a Maximum of 40 A

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Mechanical M

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Mechanical M

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Ordering Information S

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Example: Part Number: M10A048VPD-E-I

Servo Drive: Mighty Mite

Continuous Current: 10A

Nominal Voltage: 48V

Case: Potted Plastic

Configuration: Dual Axis

Options

-Extended Operating Temperature

-Include I/O PCBA

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* Peak Sine Wave

M XXA YYYV P D -E -I

Servo DriveM – Mighty Mite

Continuous Current*01 – 1A02 – 2A05 – 5A

10 – 10A30 – 30A

Nominal Voltage012 – 12V028 – 28V048 – 48V075 – 75V

170 – 170V

ConfigurationD – Dual Axis

CaseP –Potted Plastic

Options - E Extended Operating

Temperature - I Include I/O PCBA

mighty mite servo drive - esi motion motion document 100236-00e 11/3/2014 ve esi motion’s mighty...

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