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Table Of Contents

Sirius Digital Servo Drivers

Revision: 0.19

July 24, 2014

Summary of content (38 pages)

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Sirius Digital Servo Drivers Revision: 0.
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Digital Servo Drivers version 0.18 0.19 date author Marco Trentarossi Francesco Trentarossi description first deploy FCC / Industry Canada Statements fw version DRV0-00.39 DRV0-00.39 Table 1: revision history 2 Sirius Electronic Systems s.r.l.
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Contents 1 General information 5 1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Hardware MOH 5 6 2.1 Operational description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.1.1 MOH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 Product images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2.1 MOH .
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Digital Servo Drivers 2.7.2 CON2 - I/O connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.7.3 CON3 - Encoder connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.7.4 CON4 - CANopen connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.7.5 CON5 - Power supply connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.7.6 CON6 - Motor connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 1 General information 1.
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Chapter 2 Hardware MOH 2.1 2.1.1 Operational description MOH Sirius MOH is a compact servo driver. It can operate in position, speed or torque control mode, driving brushless DC or AC motors, stepper or brushed DC motors. It can be used in network or stand alone environments. Standard feedback is provided by Hall sensors and incremental encoders. It can be configured, tested and be driven from a PC via serial TTL connection.
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Digital Servo Drivers 2.2 2.2.1 Product images MOH Figure 2.1: MOH-D Figure 2.2: MOH-D Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.3 Configurations MOH-A MOH-B - - MAXIMUM CURRENT 10 NOMINAL CURRENT CAN MOH-C √ MOH-D √ U.M. 20 10 20 A 5 10 5 10 A 20-55 20-55 20-55 20-55 V - ETHERNET VDC 2.4 Specifications 2.4.1 Output power MOH-A,C MOH-B,D U.M. Peak current * 10 20 A Constant current 5 10 A 480 960 W MOH-A,C MOH-B,D U.M.
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Digital Servo Drivers 2.4.4 PWM output Type Brushless Stepper/Brush DC U.M. 3-phase mosfet inverter centered 20 kHz PWM double H bridge 40kHz PWM microstepping - 20k 40k Hz PWM frequency PWM CONFIGURATION The possible configurations are shown below. In fig. 2.3 two coils are controlled independently so it is possible to control individual bipolar stepper motors. hall sensor hall sensor Figure 2.3: Double H bridge In fig. 2.
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Digital Servo Drivers 2.4.5 Inputs CANopen Speed TTL serial MOH-A,B MOH-C,D - Position and homing profiles 0-5V Position, speed, torque, and homing profiles Figure 2.5: analog inputs 10 Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.4.6 Digital inputs MOH-A,B,C,D Number, type Inputs Logical levels MS [IN1,2] MS [IN0] Current consumption 3, not insulated, programmable active from 24V with RC filter Vin-LO < 5.6V, Vin-HI > 13V 2 inputs @ 22us RC 1 input @ 22us RC with the possibility of reading through interrupt (homing) 10mA @ 24V Figure 2.6: MS inputs Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.4.7 Digital outputs MOH-A,B,C,D Number, type [OUT0,1] Current consumption 2, not insulated, programmable Current-sourcing MOSFET at 24V (PNP) 200mA with PTC protection Figure 2.7: Outputs 12 Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.4.8 UART port MOH-A,B,C,D Signals RX, TX, GND Modes full-duplex, serail port for motor control and setup, 115200 - 1250000 baud Binary Protocol 2.4.9 2.4.10 2.4.11 CAN port MOH-A,B MOH-C,D Signals - CANH, CANL, GND Insulation - Optically insulated power and interface circuits +5 Vdc CAN Format - conforming to the CAN V2.
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Digital Servo Drivers MOH-A,B,C,D U, V, W phases Braking 2.4.13 three-phase PWM or 2 H bridges output, ungrounded. dout[0].out can be configured as a brake without the needing of an external flyback diode. Status Lights MOH-C,D CAN status 2.4.14 Red and green lights, in accordance with CAN DR303-3 Protections MOH-A,B,C,D I²T current limit direct current HV undervoltage 2.4.15 HV < 18V programmable Mechanical and environmental MOH-A MOH-B Dimensions MOH-D 75.7 x 54 mm Height 16.5 mm 16.
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Digital Servo Drivers 2.5 Lights There are two leds to indicate the status of the drivers. Figure 2.8: Lights position The specifications of lights during operation of the device reflect what indicated in the document CiA DR 303-3 v1.2.
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Digital Servo Drivers 2.6 Selectors S2 S1 Figure 2.9: Position of selectors 16 Selector Description S1 Optional user defined function S2 CAN terminating resistor Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.7 Connectors Figure 2.10: MOH-D Connectors Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.7.1 CON1 - Hall sensors connector 6 5 4 3 2 1 Figure 2.11: M ICROFIT 3.0 430450600 pin name type description 1 5V OUT 5V sensors power supply 2 reference - 5V common reference 3 reference - 5V common reference 4 hallA IN hall sensor A 5 hallB IN hall sensor B 6 hallC IN hall sensor C * CON3 is not present on MOH-A and MOH-B models. In this case it is possible to configure and use CON1 as encoder connector 2.7.
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Digital Servo Drivers pin name type description 1 AI IN analog input 2 24V OUT 24V digital input 2 3 DI_2 IN digital input2 4 reference - common reference digital input 2 5 24V OUT 24V digital input 1 6 DI_1 IN digital input 1 7 reference - common reference digital input1 8 reference - common reference analog input / digital output 1 9 DO_1 OUT digital output 1 10 DO_0 OUT digital output 0 11 reference - common reference digital output 0 12 24V OUT 24V dig
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Digital Servo Drivers 2.7.4 CON4 - CANopen connector 8 7 6 5 4 3 2 1 Figure 2.14: M ICROFIT 3.0 430450800 pin name type description 1-5 CH+ IN/OUT CAN high 2-6 CH- IN/OUT CAN low 3-7 CAN reference - 0V CAN reference 4-8 CAN reference - 0V CAN reference * Questo connettore è presente solo nei modelli MOH-C e MOH-D 20 Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 2.7.5 CON5 - Power supply connector 10 9 8 7 6 5 4 3 2 1 Figure 2.15: M ICROFIT 3.
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Digital Servo Drivers FCC Statement Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment.
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Chapter 3 Hardware MQA 3.1 3.1.1 Operational description MQA Sirius MQA is a compact servo driver. It can operate in position, speed or torque control mode, driving brushless DC or AC motors, stepper or brushed DC motors. It can be used in network or stand alone environments. Standard feedback is provided by Hall sensors and incremental encoders. It can be configured, tested and be driven from a PC via serial TTL connection.
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Digital Servo Drivers 3.2 3.2.1 Product images MQA Figure 3.1: MQA-D Figure 3.2: MQA-D 24 Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 3.3 Configurations MQA-C MQA-D √ √ MAXIMUM CURRENT 10 20 A NOMINAL CURRENT 5 10 A 20-55 20-55 V MQA-C MQA-D U.M. Peak current * 10 20 A Constant current 5 10 A 480 960 W MQA-C MQA-D U.M. Input voltage 20-55 20-55 V Peak current 10 20 A Constant current 5 10 A CAN - ETHERNET VDC 3.4 U.M. Specifications 3.4.1 Output power Peak power * * these limits are due to Molex Microfit connectors 3.4.2 3.4.
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Digital Servo Drivers 3.4.4 PWM Outputs Type Brushless Stepper/Brush DC U.M. 3-phase mosfet inverter centered 20 kHz PWM double H bridge 40kHz PWM microstepping - 20k 40k Hz PWM frequency PWM CONFIGURATION The possible configurations are shown below. In fig. 2.3 two coils are controlled independently so it is possible to control individual bipolar stepper motors. hall sensor hall sensor Figure 3.3: In fig. 2.4 are driven the coils of a three-phase motor and a braking resistor.
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Digital Servo Drivers 3.4.5 Inputs MQA-C,D CANopen Speed TTL serial Position and homing profiles 0-5V Position, speed, torque, and homing profiles Figure 3.5: Analog inputs Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 3.4.6 Digital inputs MQA-C,D Number, type Inputs Logical levels MS [IN1,2] MS [IN0] Current consumption 3, not insulated, programmable active from 24V with RC filter Vin-LO < 5.6V, Vin-HI > 13V 2 inputs @ 22us RC 1 input @ 22us RC with the possibility of reading through interrupt (homing) 10mA @ 24V Figure 3.6: MS inputs 28 Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 3.4.7 Digital outputs MQA-C,D Number, type [OUT0,1] Current consumption 2, not insulated, programmable Current-sourcing MOSFET at 24V (PNP) 200mA with PTC protection Figure 3.7: Outputs Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 3.4.8 UART port MQA-C,D Signals RX, TX, GND Modes full-duplex, serail port for motor control and setup, 115200 - 1250000 baud Binary Protocol 3.4.9 CAN port MQA-C,D CANH, CANL, GND Signals Optically insulated power and interface circuits +5 Vdc CAN Insulation Format conforming to the CAN V2.0b physical layer for high speed connections in accordance with CANopen CIA DS301 Data dip-switch configurable Address selection 121 ohm selectable Stub 3.4.
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Digital Servo Drivers 3.4.13 Status lights MQA-C,D CAN status 3.4.14 Red and green lights, in accordance with CAN DR303-3 Protections MQA-C,D I²T current limit direct current HV undervoltage 3.4.15 HV < 18V programmable Meccaniche e ambientali MQA-C Dimensions 79.5 x 54 mm Height Weight Temperature 3.4.16 MQA-D 16.
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Digital Servo Drivers 3.5 Lights There are two leds to indicate the status of the drivers. Figure 3.8: Lights position The specifications of lights during operation of the device reflect what indicated in the document CiA DR 303-3 v1.2.
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Digital Servo Drivers 3.6 Connections Figure 3.9: MQA-C/D connectors Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 3.6.1 CON1 - Hall sensors connector 6 5 4 3 2 1 Figure 3.10: M ICROFIT 3.0 430450600 pin name type description 1 5V OUT 5V sensors power supply 2 reference - 5V common reference 3 reference - 5V common reference 4 hallA IN hall sensor A 5 hallB IN hall sensor B 6 hallC IN hall sensor C 3.6.2 CON2 - I/O connector 14 13 12 11 10 7 6 5 4 3 9 8 2 1 Figure 3.11: M ICROFIT 3.
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Digital Servo Drivers 3.6.3 CON3 - Encoder connector 6 5 4 3 2 1 Figure 3.12: M ICROFIT 3.0 430450600 pin name type description 1 5V OUT 5V encoder power supply 2 reference - 5V common reference 3 reference - 5V common reference 4 SA IN A signal 5 SB IN B signal 6 SC IN C sgnal (index) Sirius Electronic Systems s.r.l.
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Digital Servo Drivers 3.6.4 CON5 - Power supply connector 10 9 8 7 6 5 4 3 2 1 Figure 3.13: M ICROFIT 3.
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Digital Servo Drivers 3.6.6 CON1Z - Ethernet connector Figure 3.15: RJ45 Ethernet pin nome tipo descrizione 1 TX + OUT Transmit data + 2 TX - OUT Transmit data - 3 RX + IN Receive data + 4 NC - Not connected 5 NC - Not connected 6 RX - IN Receive data + 7 NC - Not connected 8 NC - Not connected Sirius Electronic Systems s.r.l.
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Digital Servo Drivers FCC Statement Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment.