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ATLAS User`s Manual - Performance Motion Devices

1. 15 22 Physical Characteristics amp Mounting 16 2 3 Mounting Options scere ERE P VERRE EAR PUE C se 18 3 lt 19 3 1 iDrive Ratiligs o cs ne ation cp Ere re en ede e b tacet le so Ca tn 19 3 2 Absolute Maximum Ratings eee 19 3 3 Environmental RatingS 0 cece cece cee ene eee nnne 20 34 Safety and men 20 35 DGcCharacteristiCS oii eo RUE UHR EVER RU CE RUE 20 6 AG Characteristics s c ool ota n dates OSEE EE TRIER VERS YN 22 3 7 lt lt 22 3 8 Signal Interfacing secere hehehe 25 39 Connection Overview cence ee e hen 26 4 Operation oe e be ave 31 4 1 Functional Overview eee 31 42 Internal Block Diagram meme 32 43 COMMUTATION ee ter yo ORDRE RE edes Pe d Cone Det mea 33 44 Current Lo0p coo Re t RR ER ERI e rg RET meine reas 34 4 5 PowerStage eps Dh DI Pe aa AT RD e CP Dele Beh e di bt 40 4 6 Status Registers 0 cece ccc cece 42 47 Safety Processing FUNCTIONS een eneeenees 42 4 8 Step Motor Control
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3. ehem 29 4 1 High Level System Diagram cece cee cece cece cece ehh meme heme hem heme 31 4 2 Internal Block Diagram dada AUR RC RUE RA 32 4 3 Commutation Control Sequence isses eee 33 4 4 Current Loop Control Flow 34 4 5 Individual Phase Control Calculation Flow Ime 35 4 6 Field Oriented Control Calculation Flow 37 4 7 Third Leg Floating Control 39 4 8 Power Stage Control Flow nent asa eee 40 4 9 Current Foldback Processing Example ehe meme 45 4 10 Pulse and Direction Signal Input Mode Control Flow 4 47 4 11 User Memory Space and Buffers 0 0 cece cece cece ehem eee 49 4 12 SPI Communications Protocol Overview 53 4 13 Sending a Voltage or Torque Output Value cece eee ee ehem 54 A 1 Developer Kit Components four axis version shown 55 A 2 Connecting DB9 Cable to Carrier Card emen 56 A 3 Component Placement of Vertical and Horizontal DK Carrier Cards four axis version shown 58 A 4 Vertical Unit PilioUts reti Ns aod 60 A 5 Horizontal Unit Pinouts
4. azanva SE sor Loe 80 e _ 201 28 a gt iswwa LSE 28 _ Apvay 28 21 aya Loch T yor geyBoyouy aera ESE agqouss 99 ayqougpoay 26 _ 04323 4 P lt lt lt lt lt lt lt lt lt lt lt pue 38888888888 88888888888 In AGE pialus 73 User s Manual ier tal Ampl igi Atlas D Application Notes B 2 DC Brush amp Step Motor Atlas With Multi Axis Magellan The following schematic shows a two axis application with one DC Brush Atlas Amplifier and one step motor Atlas amplifier controlled by a multi axis Magellan B 2 1 Atlas Power Input and Motor Output Atlas is powered through pin pairs HV and Pwr_Gnd and the power source is a transformer isolated DC power supply In this application the two Atlases share the same power supply Alternatively they could be powered independently so that different motor voltages could be used For DC Brush motors pins MotorA and MotorB are wired to motor windings Motor and Motor respectively Pins MotorC and MotorD are left un connected For step motors pins MotorA MotorB MotorC and MotorD are wired to motor windings A A B and B respectively P
5. 229 9 9 05 14 6 __ 4X 5 6H 24 558 10X 5 6H THRU ALL TT TT 4 S 72 3 57 2 2 85 2 25 tote t t t E 6 1 23 56 4 56 4 56 4 56 4 121 _ 2 22 222 2 22 2 22 48 247 7 9 75 60 2 60 2 60 2 mE d 11 2 44 9 12 2 48 __ 30 5 4 8 1 20 19 E 8X 5 6H 76 2 3 00 3 00 4 1 10 26 Y 12 FROM OPPOSITE SIDE 247 7 9 75 Atlas Digital Amplifier User s Manual Figure A 9 Top and Front Views of Four Axis Horizontal Atlas DK L bracket Base Plate Figure A 10 Top and Front Views of Four Axis Horizontal Atlas DK L bracket Vertical Plate 67 4 Atlas Developer s Kit Figure A 11 Top Front and Side Views of One Axis Atlas DK Vertical Carrier Card Figure A 12 Top Front and Side Views of One Axis Horizontal Atlas DK Carrier Card 68 76 5 3 01 S 42 17 0 00 5 2 44 5 __ 21 1 75 2 2 09 O MIN H 479 37 7 CLEARANCE H 189 1 49 i H A ee a UV V T V Y 55 2 __ 194 83 8 2 18
6. Generally the most frequently used header transaction is an instantaneous voltage or torque output request for output by the drive If Atlas is used as part of a higher level velocity or position controller then these values are continuously sent to Atlas at the servo sampling speed of the main motion controller typically between 1 kHz and 10 kHz Figure 4 13 shows the overall format of the header words when voltage or torque commands are being sent Depending on the motor type and command mode being used the data words will be loaded one of several different ways For a complete description of these fields along with many other details of Atlas SPI operation refer to the Adas Digital Amplifier Complete Technical Reference Atlas Digital Amplifier User s Manual A Atlas Developer s Kit In This Appendix Overview Installation and Getting Started Atlas Carrier Card Reference Information L Bracket Mechanical Drawings A 1 Overvievv ATLAS AMPLIFIER ATLAS DK CARRIER CARD ASSEMBLY L BRACKET ASSEMBLY ATLAS DK DB9 COMMUNICATIONS CABLE To simplify development with Atlas Amplifiers Developer s Kit DK is available In addition to documentation and software distribution media the major elements of the DK are Atlas carrier card comes in 1 or 4 axis version Atlas DK DB9 communications cable Atlas Digital Amplifier User s Manual Figure A 1 Developer Kit Components four axis versi
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9. heme ened 61 A 6 Mounting Atlas to L bracket Plates four axis vertical version 63 A 7 Top Front and Side Views of Four Axis Atlas DK Vertical Carrier 65 A 8 Top Front and Side Views of Four Axis Horizontal Atlas DK Carrier Card 66 A 9 Top and Front Views of Four Axis Horizontal Atlas DK L bracket Base 67 A 10 Top and Front Views of Four Axis Horizontal Atlas L bracket Vertical Plate 67 A 11 Top Front and Side Views of One Axis Atlas DK Vertical Carrier Card 68 A 12 Top Front and Side Views of One Axis Horizontal Atlas DK Carrier Card 68 A 13 Top and Front Views of One Axis Horizontal Atlas DK L bracket Base Plate 69 A 14 Top and Front Views of One Axis Horizontal Atlas DK L bracket Vertical Plate 69 B 1 Brushless DC Atlas With Single Axis Magellan cesses mme 73 B 2 DC Brush amp Step Motor Atlas With Multi Axis Magellan ccc cece cece cece cence en e 75 B 3 Step Motor Atlas Operating In Pulse amp Direction Mode 77 B 4 DC Brush Atlas With PIC Microcontroller 79 B 5 Step Motor Atlas With ARM Microcontroller cece 81 B 6 Atlas Interfacing via a Daughter
10. Continuous Continuous Current Limit Current Limit Energy Limit Energy Limit Motor Type Default Maximum Default Maximum Brushless DC 9 0 Amps 10 0 Amps 139 Amp Sec 139 Amp Sec DC Brush 12 0 Amps 14 0 Amps 144 144 Amp Sec Step Motor 8 0 Amps 9 0 Amps 149 Amp Sec 149 Amp Sec Setting continuous current limit and energy limit to less than the maximum supported by the Atlas is useful if the current limit is due to the motor or to some other factor external to Atlas 4 7 9 1 Current Foldback in Voltage Mode Atlas unit s current foldback mechanism still operates when Atlas is in voltage mode current loop disabled When in this mode the I t energy calculations and condition testing are identical as when Atlas is operating in current control mode Nevertheless when in voltage mode there is an important operational difference In particular if the limit is exceeded rather than clamping the maximum current output to the programmable maximum continuous current limit setting Atlas disables the power stage module thereby halting further motor output Atlas Digital Amplifier User s Manual 45 Operation 4 7 9 2 Example 12 Calculations The following example may help illustrate use of current foldback A particular motor has an allowed continuous current rating of 3 amps In addition this motor can sustain a temporary current of 5 amps for 2 seconds In this example the continuous current limit would be set
11. cece cece ehe 46 4 9 User Memory Space amp 49 4 10 Trace Captute cesse RI IR IR de dale sees 49 4 11 Power up amp Non Volatile Initialization 5 52 4 12 SPI Communications Overview 52 A Atlas Developer s 55 OVGIWIOW cota hea 55 A 2 Installation and Getting 5 56 Atlas Carrier Card Reference 58 NT Ree 62 A5 Mechanical Drawings 65 B Application 71 B 1 Brushless DC Atlas With Single Axis Magellan 71 B 2 DC Brush amp Step Motor Atlas With Multi Axis Magellan 74 B 3 Step Motor Atlas Operating In Pulse amp Direction Mode 76 84 DC Brush Atlas With PIC Microcontroller 78 B 5 Step Motor Atlas With ARM 80 Atlas Interfacing via a Daughter 82 Index BN esclusi uen eue es desees eee pn d
12. V Positive going input threshold voltage 1 6 V 2 0 V V Negative going input threshold voltage 0 9 V 1 2 V VT Hysteresis V V 0 6 V 10 3 5 5 FaultOut Min Max Conditions Output impedance with Logic output 148 Kohm 152 Kohm lop 100 uA Vor Logic 0 output voltage 0 25 V log 710 mA 3 5 6 5V Min Max Conditions Voltage tolerance 5 5 Output current 0 100 mA Short circuit protection Not available Atlas Digital Amplifier User s Manual 21 Electrical Specifications AC Characteristics Figure 3 1 Timing i Diagrams x NE Es 2 14 95 SPICS T5 e T6 SPISO dat lid Q YY SKY T8 e spisi SARK must be val PR See Figure 3 1 for timing numbers Timing Interval No Min Max Tsp SPI clock cycle time TI 125 nsec Pulse duration SPICIk high T3 0 5 Tspj 10 nsec Pulse duration low T4 0 5 Tspj 10 nsec SPICIk high to SPISO valid delay time 5 30 nsec SPISO date valid time after SPICIk low T6 0 75 Tspj 2 2 nsec SPISI setup time before SPICIk low T7 30 nsec SPISI valid time after SPICIk low T8 0 5 Tspj 6 nsec SPICS low to first SPICIk high T2 400 nsec Last low SPICS high T9 0 5 Tsp 3 7 Pin Descriptions and Pinouts 22 Atlas Digital Amplifier User s Manual Electrical
13. 83 Atlas Digital Amplifier User s Manual vi This page intentionally left blank Atlas Digital Amplifier User s Manual List of Figures 1 1 Atlas Model Numbering s sceso deresinin cece esee eere 10 1 2 Developer Kit Components nnn ehem eem 11 1 3 Developer Kit Numbering cece cece cece nnn nnn ehem eme emere 12 2 1 Physical Characteristics Vertical W Tabs I een 16 2 2 Physical Characteristics Vertical w o Tabs ener meme 16 2 3 Physical Characteristics Horizontal w Tabs lisse een 17 2 4 Physical Characteristics Horizontal w o Tabs 17 2 5 Horizontal amp Vertical Unit Mounting Options 18 3 1 Timing Diagrams 4o eer ser ine e eti 22 3 2 Vertical Unit Piliouts oes re donee pret desee 23 3 3 Horizontal Unit 23 3 4 Signal Interfacing Enable ehh 25 3 5 Signal Interfacing FaultOut eee 25 3 6 Brushless DG GOnnectiONns isis ete 26 3 7 DC Brush Conn ctioris 27 3 8 Step Motor Pulse and Direction Mode Connections cece cece een 28 3 9 Step Motor SPI Communi cation Connec tions
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16. Specification Value Operating ambient temperature 0 to 40C Maximum base plate temperature 75 C Storage temperature 20 to 85 C Reflow soldering temperature 300 C 1 5mm for 10 seconds Humidity 0 to 95 non condensing Altitude Up to 2 000 meters without derating Contamination Pollution Degree 2 3 4 Safety and Compliance Specification Standard CE LVD EN60204 EMC D EN61000 6 1 EN61000 6 3 EN5501 Electrical safety Designed to UL508C UL840 and EN60204 Hazardous materials RoHS compliant Flammability UL94 HB or VO Enclosure IP20 3 5 DC Characteristics 3 5 1 SPISI SPICIk Schmitt trigger Input Min Max Conditions V4 Positive going input threshold voltage 1 6 V 2 0 V V Negative going input threshold voltage 0 9 V 1 2 V VT Hysteresis V V 0 6 V 1 0 V lin input current 1 uA voltage is 5 5 V or GND 20 Atlas Digital Amplifier User s Manual Electrical Specifications 3 5 2 SPISO Min Max Conditions Vo output voltage 0 33 Logic output voltage 3 2 V 100 uA 24V 16 mA Vor Logic 0 output voltage 0 1 V lo 7100 uA 0 7 V 516 mA loz input current when SPICS is Vo 0to3 7V 3 5 3 SPICS Min TYP Max Conditions Vin Logic input voltage 2V Logic 0 input voltage 0 8 lin pull up current 500 uA 3 5 4 Enable Schmitt trigger input Min Max Conditions
17. separate programmable torques The first is called the drive current and is used during normal step motor operations Atlas Digital Amplifier User s Manual 47 Operation 48 The second is called the holding current and is used when the motor is stationary as indicated by the AtRest signal This signal is typically set when the external controller s trajectory generator completes its move or shortly thereafter AtRest is an active low signal meaning when no motion is occurring this signal should be is set low and set high when motion is occurring 4 8 1 2 Pulse amp Direction Signal Mode Operation Setup Because Atlas shares SPI bus signal pins with the Pulse Direction and AtRest pins it is not possible to operate the Atlas in the pulse amp direction signal input mode while communicating via the SPI communication bus To resolve this Atlas is first connected in SPI mode and the SPI interface is used to optimize the motion control application during application development and to download desired drive parameters to Atlas unit s non volatile initialization storage memory See Section 4 11 Non Volatile Initialization Storage for more information on non volatile initialization storage Atlas is then switched to pulse amp direction signal input mode and this mode change is stored into non volatile initialization storage memory so that upon the next power up Atlas will operate in pulse amp dire
18. 2 DC Brush Vertical tabs 6 Step motor Vertical no tabs A Brushless DC Horizontal no tabs 3 Step motor Vertical tabs 7 Brushless DC Horizontal tabs DC Brush Horizontal no tabs Atlas units to be included with the DK are specified via an Atlas Type Code as shown in Figure 1 3 Each of twelve possible Atlas types are specified via a letter code 1 C A zero 0 code indicates no Atlas Note that there is no requirement for the Atlas units to be the same type although for a given carrier card they must all be horizontal or vertical versions The L bracket is specified by size 1 or 4 Atlas carrier card mounting slots the hardware configuration no L bracket base only base amp vertical wall and whether or not PMD should install the Atlas units and carrier cards on the L bracket If no L bracket is specified then each Atlas will be provided with a carrier card only 12 Atlas Digital Amplifier User s Manual Introduction 1 4 2 Atlas DK Part Number Examples Part Number Atlas Units L Bracket Carrier Contents MDK4LI7777 Four Brushless DC horizontal package with tabs 4 axis carrier card with all four Atlas units installed on the L bracket base amp wall MDKIN3000 One step motor vertical package with tabs No L bracket one axis vertical DK carrier card MDK4BI8800 Two DC Brush horizontal package with tabs 4 axis carrier card with both Atlas units installed on the L brack
19. Operation 4 4 1 3 Individual Phase Control Voltage Mode If Atlas is operated in individual phase control mode with the current loop disabled then after commutation Brushless DC motors or microstep signal generation step motors the phase specific commands are output directly to the power stage with no current loop performed For example if the incoming torque command provided by the external controller is 25 full scale then for an Atlas that is operating with a bus voltage of 24V the average voltage presented at the motor coil will be 25 of 24 or 6 For single phase motors such as DC Brush the PWM generator directly outputs this external controller commanded value to the power stage For multi phase motors such as brushless DC or step motor the PWM generator outputs this commanded value after commutation brushless DC motors or microstep signal generation step motors to the power stage See Section 4 5 Power Stage for more information on power stage operations 4 4 2 Field Oriented Control 4 6 Motor Reference Field Oriented ILimitq Calculation AOutput Flow qFeedback 44 256 256 q Integrator Inverse sum Transform BOutput dReference 0 zero dError ILimitd 256 d Integrator dFeedback sum Eee Phase A Actual Current Clarke Park Transform Phase B Actual Current Figure 4 6 pr
20. 1116 __ 440 330 130 TiN 1 1 3 81 __ 150 111111 E mm L 48 26 B inch is 1200 2 2 4 Horizontal Unit Without Tabs Figure 2 4 Physical Characteristics Horizontal w o Tabs 17 Atlas Digital Amplifier User s Manual Functional Characteristics 2 3 Mounting Options Atlas amplifiers are provided in two separate mounting configurations vertical and horizontal In addition they are available with hardware attachment tabs and without There are a number of mounting options when the Atlas is used with additional heat sinking as shown in Figure 2 5 Note that all Atlas amplifiers no matter how they are mounted should be soldered onto the PC board in the production application Figure 2 5 SCREWS M2 5 Horizontal amp THERMALLY Vertical Unit CONDUCTIVE Mounting Options HEAT SINK STANDOFF HEX NUT M2 5 Horizontal Unit Mechanical Mount Through Heat Sink to PCB THERMALLY CONDUCTIVE TAPE SCREWS M2 5 HEAT SINK STANDOFF HEX NUT M2 5 Horizontal Unit Mechanical Mount to PCB THERMALLY CONDUCTIVE TAPE COLD PLATE Horizontal Unit Mechanical Mount to Cold Plate 18 THERMALLY CONDUCTIVE TAPE Vertical Unit Mechanical Mount to Cold Plate Atlas Digital Amplifier User s Manual 3 Electrical Specifications A In
21. 77 3 30 BOARD BOARD DIMENSION DIMENSION rm Gar 76 5 73 5 3 01 2 90 55 2 2 18 4 2 17 0 0 00 00 2 2 gt 09 i MIN CLEARANCE E 55 2 83 8 2 18 3 30 BOARD BOARD DIMENSION DIMENSION Atlas Digital Amplifier User s Manual Atlas Developer s Kit d e AX M3X0 5 6H 7 24 OPPOSITE SIDE 1 72 3 ee 2 85 __ 8 6 4 4 34 10 46 _ 40 1 81 4 5 6H THRU ALL Lig 66 9 5 2 60 38 MAXO 7 2B THRU ALL 10 3 __ 45 5 6 4 40 1 79 5 fol 2 78 8 1 46 XI C 183 gt 72 19 _ 2X M2 5x0 45 28 1 Ne 2 1 26 v 12 64 __ 53 3 FROM OPPOSITE SIDE 25 2 10 6 4 25 Atlas Digital Amplifier User s Manual Figure A 13 Top and Front Views of One Axis Horizontal Atlas DK L bracket Base Plate Figure A 14 Top and Front Views of One Axis Horizontal Atlas DK L bracket Vertical Plate 69 PAN Atlas Developer s Kit This page intentionally left blank 70 Atlas Digital Amplifier User s Manual B Application Notes In This Appendix Brushless DC Atlas With Single Axis Magellan DC Brush amp Step Motor Atlas With Multi Axis Magellan Step Motor Atlas Operating In Pulse amp Direction Mode DC Brush Atlas With PIC Microcontroller Step Motor Atla
22. Card 81 n eee ene eee een encase 84 B 7 Atlas Interfacing via Daughter Card 2 85 Atlas Digital Amplifier User s Manual vii This page intentionally left blank viii Atlas Digital Amplifier User s Manual 1 Introduction In This Chapter Atlas Digital Amplifier Overview Features and Functions Atlas Model Numbering Atlas Developer s Kits 1 1 Atlas Digital Amplifier Overview Atlas Digital Amplifiers are single axis amplifiers that provide high performance torque control of brushless DC step motor and DC brush motors They accept digital torque commands from an external source and are used directly for motor torque control applications or in conjunction with higher level controllers for velocity or positioning applications Their very compact size and high power output make them an ideal solution for single card machine controllers that require high performance in a small envelope Atlas digital amplifiers provide many advanced control features including user programmable gain parameters performance trace field oriented control and I t current management Atlas amplifiers are powered from a single supply voltage and provide automatic protection from overcurrent undervoltage overvoltage overtemperature and short citcuit faults The Atlas family has been designed to work seamlessly with PMD s Magellan family of motion processor ICs Alternatively they c
23. Overvoltage Fault Atlas provides the capability to continually monitor and detect excessive voltages on the incoming voltage supply Such a condition may occur if there is a fault in the system power supply if a large back EMF electro motive force is generated during motor deceleration or if some other problem results in an elevated bus voltage To detect this condition a programmable bus voltage threshold is continuously compared to the bus voltage sensor If the value read from the internal sensor exceeds the programmed threshold an overvoltage fault occurs The maximum allowed setting for the overvoltage threshold is 60 0 volts which is also the default value The minimum allowed threshold is 10 0 volts An overvoltage fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault In most cases it is desirable to power down Atlas to correct the condition If the overvoltage condition has been resolved when restart is attempted Atlas will resume normal operations If the overvoltage condition has not been resolved the condition will immediately occur again Overvoltage faults indicate that a serious safety condition has occurred It is the responsibility of the user to op erate Atlas within safe limits 4 7 4 Undervoltage Fault Atlas also provides the capability to sense undervoltage condi
24. SPI operations See the Azas Digital Amplifier Complete Technical Reference for more information on the format of Atlas commands 4 11 3 Using NVRAM as General Purpose Memory There may be situations where it is convenient for the external controller to utilize the Atlas unit s non volatile memory for its own parameters or data Atlas supports this however there are some restrictions Such data must be stored at the end of the initialization command sequence In addition the first data word of such a memory sequence must be stored after a separator sequence consisting of four consecutive Oxffff words Refer to the Atlas Digital Amplifier Complete Technical Reference for details 4 12 SPI Communications Overview Atlas uses an SPI Serial Peripheral Interface digital connection to communicate with the external controller This connection is used to setup Atlas parameters specify voltage or torque output values monitor Atlas operation as well as other functions SPI is a convenient interface because it is available on many microprocessors provides relatively high speed communications and uses only 4 signals SPICIk Clock SPICS chip select SPISI slave in and SPISO slave out 52 Atlas Digital Amplifier User s Manual Operation Atlas utilizes standard SPI signaling and timing control for the hardware interface and implements higher level protocol on top of this See Section 3 6 AC Characteristics to learn more
25. User s Manual 27 Electrical Specifications 3 9 3 Step Motors in Pulse amp Direction Signal Mode Figure 3 8 Step Motor Enable FaultOut Pulse and Direction Mode HV Motor A gon es Connections 2 Phase Step Atlas External tla Amplifier Optional Encoder Feedback The following table summarizes the recommended connections when connecting Atlas amplifiers to two phase step motors when using the pulse amp direction signal mode In this mode the external controller provides position commands to Atlas via pulse and direction signals Optional Type Required Connections Connections Power HV 2 pins Pwr_Gnd 2 pins Communication Pulse Direction GND AtRest Motor Phase A Motor A 2 pins Motor Phase Motor B 2 pins Motor Phase Motor 2 pins Motor Phase B Motor D 2 pins Miscellaneous Enable FaultOut These connections apply to bipolar motors If connecting to unipolar motors do not connect the center tap In this configuration the external controller generally consists of an off the shelf motion control card or module a programmable microprocessor or DSP type device or a FPGA field programmable gate array The external controller provides a continuous stream of pulse and direction commands along with optionally an AtRest signal to control the torque To initially set up and store its application specific configuration parameters Atlas is p
26. amplifiers to brushless DC motors Optional Type Required Connections Connections Power 2 pins Pwr Gnd 2 pins Communication SPICS SPISO SPISI SPICIk GND Motor Motor A 2 pins Motor B 2 pins Motor C 2 pins Miscellaneous Enable FaultOut If Atlas is used as part of a higher level position controller as shown in the Figure 3 6 the Brushless DC motor provides feedback signals to the external controller Commonly both Hall sensor signals and a position encoder are used but only one or the other is needed in a minimal configuration In this configuration the external controller generally consists of a PMD Magellan Motion Processor or a programmable microprocessor or DSP type device Alternatively Atlas can be operated by an external controller as a standalone device driving the motor at commanded voltage or totque levels and not part of a higher level servo controller In this configuration the external controller can be either a microprocessor type device or a logic device such as an FPGA field programmable gate array Atlas functions as a power block providing amplification current control and safety management of the amplifier and motor Atlas does not directly accept Hall signals or encoder signals so to operate with a brushless DC motor the motor s current phase angle must be provided by the external controller through the SPI interface The Atlas does not support direct Hall signal in
27. and other portions of the system Enable is an active low input that must be tied or driven low for the Atlas power output to be active Its input buffer is shown in Figure 3 4 The circuit accepts signals in the range of 0 24V and has TTL compatible Schmidt trigger thresholds It has a pull up to 5V to allow direct interfacing to open collector enable sources without external pull up resistor and a 1 3kHz R C low pass filter to reject noise 5V 5V A V Figure 3 4 Signal Interfacing Enable 10k EnableS 22k 5 6n 3 8 2 FaultOut FaultOut is asserted high when a fault occurs Fault conditions can be programmed by the external controller to control the FaultOut output An Atlas FaultOut output circuit is shown in diagram Figure 3 5 This circuit can continuously sink 50mA when pulled low It has a 150kohm pull up resistor to 5V Its voltage range is 0 to 24V 5V Figure 3 5 Signal Interfacing FaultOut 150k gt gt FaultOut Qi Atlas Digital Amplifier User s Manual 25 Electrical Specifications Figure 3 6 Brushless DC Connections 26 3 9 Connection Overview 3 9 1 Brushless DC Motors Optional 3 Phase FaultOut Brushless DC Motor Enable Pwr Gnd External Atlas Controller Digital Amplifier Optional Hall Sensors Hall amp Encoder Optional Encoder Feedback The following table summarizes the recommended connections when connecting Atlas
28. commands to control the motor position Atlas Digital Amplifier User s Manual 29 Ly Electrical Specifications This page intentionally left blank 30 Atlas Digital Amplifier User s Manual 4 Operation In This Chapter Functional Overview Internal Block Diagram Commutation Current Loop Power Stage Status Registers Safety Processing Functions Step Motor Control User Memory Space amp Buffers Trace Capture Power up Non Volatile Initialization Storage SPI Communications Ovetview 1 Functional Overview FaultOut Brushless DC waa Sa r Atlas Controller Command ae Protocol External Optional Encoder Feedback Atlas Digital Amplifiers are single axis devices for torque or voltage mode control of three phase brushless DC motors DC Brush motors or two phase step motors They accept a stream of desired torque or voltage values from an external controller and perform all current loop processing and switching bridge control to continuously drive the motor coils to the specified commanded values In addition to providing a stream of torque or voltage commands the external controller is used to set up operational parameters needed by Atlas such as control gains safety related parameters and other information These parameters may be provided to Atlas at each power up or stored non volatilely on Atlas so that they no longer need to be loaded at each
29. drives motor windings with pulse width modulated PWM signals Although the sum of the average winding currents is zero the high frequency PWM signal may couple to the ground plane and induce noise into other circuits Therefore depending on your application you may consider utilizing a motor shield cable to provide a current return path If utilized its ground point should be very close to or the same as Pwr_Gnd For Brushless DC motors pins MotorA MotorB and MotorC are wired to motor windings A B C respectively Pins MotorD are left un connected B 1 2 Atlas SPI Interface Atlas receives control commands through an SPI interface and functions as an SPI slave Atlas SPI communication is enabled when SPICS is pulled down Atlas Digital Amplifier User s Manual 71 Application Notes To ensure optimal SPI communication please consider the following layout recommendations 1 2 4 Keep traces short and use 45 degree corners instead of 90 degree corners All SPI signal traces should be located next to a continuous ground plane or if possible between two continuous ground planes Keep traces away from other noisy and high speed signal traces Alternatively run ground traces along with these signals as a shield When multiple Atlas modules are used keep the SPI signal stubs short Note that the Atlas Development Kit layout can be used as a layout reference B 1 3 Atlas Enable and FaultOut Signals Atlas has
30. error for Phase B Atlas Digital Amplifier User s Manual Operation Variable ID Name Description 31 Phase A Actual Current The current loop actual current for Phase A 36 Phase B Actual Current The current loop actual current for Phase B 33 Phase A Integrator Contribution The current loop integrator contribution for Phase A 38 Phase B Integrator Contribution The current loop integrator contribution for Phase B 34 Phase A Current Loop Output The current loop output for Phase A 39 Phase B Current Loop Output The current loop output for Phase B Field Oriented Control 40 d Reference The FOC reference for d direct loop 46 q Reference The FOC reference for q quadrature loop 4l d Error The FOC d direct loop error 47 q Error The FOC q quadrature loop error 42 d Feedback The d direct feedback current 48 q Feedback The q quadrature feedback current 44 d Integrator Contribution The FOC integrator contribution for d direct 50 q Integrator Contribution The FOC integrator contribution for q quadrature 45 d Output The FOC output for d direct 51 9 Output The FOC output for q quadrature 52 FOC phase A Output The FOC output for phase A 53 FOC phase B Output The FOC output for phase B 73 Alpha Current The FOC a current component stationary frame 74 Beta Current The FOC current component stationary frame 31 P
31. if the fault condition is still present when recovery is attempted Atlas will immediately again disable itself and a recovery procedure must once again be requested If the fault has been corrected however a recovery request will result in resumption of normal Atlas operation 4 8 2 SPI Pulse amp Direction Mode The SPI pulse amp direction mode allows emulated pulse amp direction information to be transmitted via the SPI bus In this mode an incremental signed move distance is specified via the SPI command protocol at each external controller command For example a value of 7 specified by the external controller means the Atlas will move the step motor position forward 7 microsteps and a command of 3 will cause the Atlas to move the step motor position backwards 3 microsteps To accommodate the AtRest signal the SPI protocol incorporates a bit which is utilized by Atlas in the same manner as the AtRest signal when in the hardware pulse amp direction mode See the A as Digital Amplifier Complete Technical Reference for a complete description of the SPI command format As was the case for pulse amp direction signal mode both a drive current and a holding current should be specified when using the SPI pulse amp direction mode Atlas Digital Amplifier User s Manual Operation 4 8 3 Current Control with Step Motors Current control when driving step motors occurs using either field oriented control or independent phase control
32. low 74 Atlas Digital Amplifier User s Manual Application Notes N 2 2555 o 52 245 0 5 DO 5 Landes T _ 3 T 32294 v a M nee n SIXY IHNW 5949 423 usnag 20 uo 59149 Jq 51044405 DUI sa aq 090 vaisnduy sony usnag 20 75 ano S noras H 15185 AH 05185 50145 40304 E 40304 anomnos ayqou3 gt anavua 3e A 4 04413 days sjouzu0d _ _ ass EOD Age 81 090 4 S 24234250 40108 das 1499114950 mm 60400 Jano onmes 80400 Sv papua AS pup 4nd N d 30 255 9890 82 341 ven suet 88 05145 f ome 26 50145 9 semen 88
33. one dedicated input signal Enable which must be pulled low for the Atlas output stage to be active FaultOut is a dedicated output During normal operation it outputs low When a fault occurs it will go into a high impedance state In this example FaultOut is pulled up by Vpullup through resistor R1 Vpullup can be up to 24V to meet the system requirement For example if the fault signal is wired to a 5V TTL input Vpullup can be 5V B 1 4 Magellan MIC58110 Configuration In this schematic the SPI master is a single axis Magellan MC58110 Only the connections with Atlas are shown For complete Magellan wiring please refer to the MC58110 electrical specifications The MC58110 is configured to default to Atlas motor output by tying pin 7 OutputModeO to ground The 58110 inputs encoder signals implements motion control and commutation functions and sends torque commands to Atlas through the SPI interface Depending on the Magellan commutation method selected the feedback signals HallA HallB HallC and Index are optional 72 Atlas Digital Amplifier User s Manual Application Notes 2 s p 25245 5 DD DISSEL lt 0 2 1 J T 1354 y a 4uaun2oq 2219 uoja89Q sixy a 6uls 9149 20 55914504 3j DUT sa3i aq AE E Pic EH on E 91 lt lt AGE
34. power up See Section 4 11 Power up Non Volatile Initialization Storage for more information Atlas Digital Amplifier User s Manual Figure 4 1 High Level System Diagram 31 Operation Figure 4 2 Internal Block Diagram 32 Communication to from Atlas occurs via an SPI interface and associated protocol that uses packet oriented commands to specify various Atlas parameters and if desired request status information from Atlas This protocol has been designed for maximum speed and flexibility so that torque or voltage commands can be continuously sent to Atlas even while the external controller queries Atlas for various information Please refer to the Digital Amplifier Complete Technical Reference for information on the SPI interface At power up or reset Atlas checks for the presence of stored configuration information in its non volatile memory If no such configuration information is found default values are used When Atlas is used in a higher level system such as a servo based velocity or position controller torque commands are typically sent to Atlas continuously at the motion controller s sample servo rate For most systems this rate is in the 1 000 to 10 000 samples per second range However Atlas may also be used with direct voltage or torque control applications that utilize Atlas to specify a desired output value just once after power up or only occasionally as required by the application To
35. provide jack screw style connections to the Atlas motor signals J2 J5 J8 or J11 Connector Carrier Card Label Name Description Mtr D Motor D D Motor connection Mtr C Motor C C Motor connection Mtr B Motor B B Motor connection Mtr A Motor A A Motor connection GND Mtr Gnd Ground return for Motor and HV A 3 2 J1 J4 J7 J10 Power Connectors J7 and J10 provide jack screw style connections to supply the Atlas power signals J4 J7 and J10 Connectors Carrier Card Label Name Description HV HV Motor Supply Voltage Pwr_Gnd Pwr_Gnd Ground return for Motor Supply A 3 3 J3 J6 J9 J12 Signal Connectors 23 JO J9 and J12 provide jack screw style connections to supply the Atlas signal connections 43 J6 J9 and J12 Connectors Carrier Card Label Name Description Enab Enable Enable input Fit FaultOut FaultOut output GND GND Ground return for Enable and FaultOut signals A 3 4 Quick Connect Motor Type Chart Motor Type Connections Brushless DC Motor A Motor B Motor C DC Brush Motor A Motor B Step Motor phase A Motor A Motor B phase B Motor C Motor D Atlas Digital Amplifier User s Manual 59 A Atlas Developer s Kit Figure A 4 Vertical Unit Pinouts 60 3 5 J13 DBS Connector A 3 5 1 SPI Communications J13 is used to provide SPI communications between the Atlas DK card and a Magellan DK card or the user s motion control s
36. s SPI interface A wide variety of microcontrollers DSP type devices or FPGAs supporting SPI interfaces can control Atlas directly Microchip s dsPIC33FJ64GS606 is used in this example It supports encoder inputs and other feedback inputs Users design their own motion control algorithms on the microcontroller which in turn commands Atlas to drive the motor B 4 1 Atlas Power Input and Motor Output Atlas is powered through pin pairs HV and Pwr_Gnd and the power source is a transformer isolated DC power supply For DC Brush motors pins MotorA and MotorB are wired to motor windings Motor and Motor respectively Pins MotorC and MotorD are left un connected Please refer to B 1 for layout and wiring recommendation on power input and motor outputs B 4 2 Atlas SPI Interface Atlas functions as an SPI slace receiving control commands from the PIC through its SPI interface Atlas SPI communication is enabled when SPICS is pulled down Please refer to B 1 for layout recommendation on SPI interface B 4 3 Atlas Enable and FaultOut Signals Atlas has one dedicated input signal Enable which must be pulled low for the Atlas output stage to be active FaultOut is a dedicated output During normal operation it outputs low When a fault occurs it will go into a high impedance state In this example FaultOut is pulled up by Vpullup through resistor R1 Vpullup can be up to 24V to meet the system requirement For example if the fault signa
37. to 3 amps and the energy limit would be set to Energy Limit peak current continuous current limit time Energy Limit 5A 2 Sec Energy Limit 32A Sec Current foldback when it occurs may indicate a serious condition affecting motion stability smoothness and per formance It is the responsibility of the user to determine the appropriate response to a current foldback event 4 7 9 3 Current Foldback Event Processing Atlas provides a programmable mechanism related to the current foldback condition This can be useful for tailoring the response of the Atlas to best suit a specific application The Atlas facility that handles this type of programmable response is called an event Events allow event actions to be executed automatically once a specified condition occurs In this case the event condition is satisfied if Atlas is in a current foldback condition and the following table describes the event actions that can be selected by the external controller Action Name Description No Action No event related action taken current limited to continuous current limit Disable power stage and current loop Disables the power stage and the current loop module If a foldback event occurs when Atlas is in voltage mode current loop not enabled then the power stage will be disabled regardless of the setting of the event action The default action for the current foldback event is to dis
38. variables in the memory buffers Power up amp Non Volatile Initialization Storage this module manages the power up sequence and provides the ability to store selected parameters into the Atlas unit s non volatile memory SPI Command Processor This module manages all communications to from the external controller 4 3 Commutation Motor Output PWM or DAC Figure 4 3 Commutation Control SPI Voltage Sequence or To Torque Command current loop or power stage 1 1 1 Phase Angle Atlas Digital Amplifier User s Manual 33 Operation Brushless DC motors have three phases generally referred to as A B and C separated from each other by 120 electrical degrees The process of splitting up the overall torque command into constituent phase commands is called commutation Figure 4 3 provides an overview of the control sequence when a brushless DC motor is controlled by Atlas The first step is that the external controller specifies the desired motor voltage or torque command to the Atlas This command is then commutated into constituent phase specific values This process applies to step motors as well as Brushless DC motors however for step motors the process is called microstepping See Section 4 8 Step Motor Control for a detailed discussion of step motor control with Atlas amplifiers DC Brush motors are single phase devices and do not require commutation Once commutat
39. voltage that control the power stage s switching bridge Figure 4 5 Individual Phase Control Calculation Flow 35 Atlas Digital Amplifier User s Manual 36 Operation Three parameters are set by the user to control the current loop Kp Kz and I zzi Two of these are gain factors for the PI controller and the other is a limit for the integral contribution It is the responsibility of the user to determine control parameters that are suitable for use in a given application 4 4 1 1 Reading Current Loop Values To facilitate tuning there are a number of current loop values that can be read back as well as traced The variables within the current loop that can be read or traced when the control loop mode is set to individual phase control are summarized in the following table Refer to Figure 4 5 when viewing this table Variable Name Function Phase A Reference Phase B Reference Brushless DC amp microstepping motor These registers hold the commanded reference currents for the phase A and phase B coils DC Brush motor Phase A Current holds the commanded reference current for the motor Phase A Current Phase B Current Phase C Current Brushless DC These registers hold the measured actual currents for the phase A phase B and phase C coils Step motor These registers hold the measured currents for the phase A and phase B coils DC Brush motor Phase A Current hold
40. 3 209 290 643 1002 0 6 1 8 2113 620 821 380900A 4V2 58 gay sioenveny 938 HAd 893 01N2 01113 200s L38 HYHAd 2 J6DY TIND NISL 2IINAS 6114 2SS EY 9NI TV3IOV VEdWI I2dWI PNY 93 019 0 19333 2950 Sq3 LND 1830V 8E dHO SNV 2198 1419 1930 y38 3EH d SE 12394 S3Y HEWAd P L83 8t dW2 ZNV TI39d 283 YN2J ISSV V2dN2 JIdW2 2NV 81 TIW t 3U SNO TXINIV HZdW2 ENV be 38 81N9 81114 219 X12n ZE e38 H2WAd 083 2N2 2 9 183 2 814 11 8 62394 46 1337x119 038 8113 4 SS o 44 y 12NAS XMI2 lt lt lt lt 2 T3U THINAd 8 S999 2 8888 4 62 090 41110 sony usnag 20 LN AS 24 MIIS AH SE 1514 1 05185 ve 52143 nonno KL 3npin 4 940304 x usnug Sy 940404 Xx 3 219903 219943 qvozoW 2 Lv 89 ev 06 95 2 E A 9 1 29 9 9t zi ACE 09 19 k 90959 9 145 n 79 User s Manual ier tal Ampl igi Atlas D Application Notes B 5 Step Motor Atlas With ARM M
41. 5 AH 1 19 AH 05195 52145 4 40 940308 219903 199 3 dnyndA TIW LA 95 sr IW 3 i 20 days 81 User s Manual ier tal Ampl igi Atlas D Application Notes B 6 Atlas Interfacing via a Daughter Card The following schematic shows an example of Atlas interfacing via a daughter card B 6 1 Atlas application considerations via a daughter card Ground placement is critical for Atlas operation Atlas is powered through pin pairs HV and Pwr_Gnd with a transformer isolated DC power supply The Pwr_Gnd and GND pins are shorted inside the Atlas and at a system level they refer to the same ground Pwr_Gnd is the current return path for the power train while GND is the reference for the SPI signals and other digital control signals Also there is another current return path from the high frequency component of the motor winding current ensure optimal performance star grounding is recommended for component placement and layout That is Gnd and GND should be connected to the system ground very close to Atlas and the ground return paths should be kept away from each other Please refer to B 1 for general layout and wiring considerations on power input and motor outputs When Atlas is used with a da
42. Atlas Digital Amplifier User s Manual gt Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 2 April 2014 NOTICE This document contains proprietary and confidential information of Performance Motion Devices Inc and is pro tected by federal copyright law The contents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2014 by Performance Motion Devices Inc ATLAS Magellan ION Magellan ION Pro Motion C Motion and VB Motion are trademarks of Performance Motion Devices Inc Atlas Digital Amplifier User s Manual Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty Specific testing of all parameters of each device is not necessarily performed except those mandated by government requirements Performance Motion Devices Inc PMD reserves the right to make changes to its produc
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44. HV 4 HV 5 Motor A 6 Motor A 7 Motor B 8 Motor B 9 Motor C 10 Motor C Motor D 12 Motor D 13 Enable 14 FaultOut 15 5V 16 GND 17 SPICS AtRest 18 SPISI Direction 19 SPICIk Pulse 20 SPISO The pins 0 1 inch spacing and 0 025 inch pin width b A 3 6 2 Horizontal Unit Connections Figure A 5 Horizontal Unit Pinouts Pin Name Pin Name Motor 2 Motor D 3 Motor C 4 Motor C 5 Motor B 6 Motor B 7 Motor A 8 Motor A 9 HV 10 HV Pwr_Gnd 12 Pwr_Gnd 13 5V 14 GND 15 Enable 16 FaultOut 17 GND 18 SPICS AtRest 19 SPISO 20 SPISI Direction 21 SPICIk Pulse 22 GND Atlas Digital Amplifier User s Manual 61 4 Atlas Developer s Kit 1 The pins 0 1 inch spacing and 0 025 inch pin width A 3 7 LED Indicators The Atlas DK carrier card has two LEDs The green LED when lit indicates that Atlas is receiving valid power input power at HV The red LED when lit indicates that an Atlas FaultOut condition is active A 4 L Bracket The Atlas DK can be ordered with an L bracket that provides extra mechanical stability and heat sinking during prototyping Depending on the type of Atlas that you are using you may use just the base plate or the base plate and vertical plate in the L configuration L bracket hardware is available in a one axis configuration and four axis configuration Normally the Atlas units and carrier cards are f
45. MC58110 configured for pulse amp direction signal output Only the connections with Atlas are shown For complete Magellan wiring please refer to the MC581100 electrical specifications 76 Atlas Digital Amplifier User s IVlanual Application Notes o c o e 6 9 5o c 22995 502824 Dp P c lt T 55 T 3ssuq 39d a 2218 3 asing ur 04290 9235 21311 DUI sa3i aq 5 2222222 0000009900990 52222228 2922922922292 22222222 5555555585855 555558555 LS s roog 22 HZ 188 02 12 1 2 89354 19354 soot S 59394 s 455 Yoo Er exc DE 4250 zoroa 62 090 41910 H tapiso EE 13 4244 osoa OUR 25118 valgndwe 9149 4030u 9235 21 avund yluppy zh 2 ervppy 21 appy Se TEE gm zm 85 4aMog JM Pup Jnd 81 LS n dis 64
46. N 84 6 3 33 OVERALL DIMENSION II R I o9 Si 83 8 3 30 Atlas Digital Amplifier User s Manual BOARD DIMENSION Figure A 7 Top Front and Side Views of Four Axis Atlas DK Vertical Carrier Card 65 Atlas Developer s Kit Figure A 8 za Sz js 58 js Front and 5 2 ae Side Views of Four Axis Horizontal 765 pon Atlas DK 3 01 2 733 Carrier Card n 55 2 16 B5 36 4 2 17293 Lo O O Axisi qp O O Axis2 porou Axis 3 O O Axis 4 0 p segs EE 38 Be as ES RS vue Vy 9 9 V V 233 9 9 21 BOARD DIMENSION 36 6 1 44 _ alm 2 3 S 09 MIN 83 8 CLEARANCE 3 30 BOARD DIMENSION 66 Atlas Digital Amplifier User s Manual Atlas Developer s Kit d
47. Sd IN E Sd X17NV2 TSd xa Nv2 0 6d 013 od 218 ur 017 IIN Td 32 9 702 HW S Td IX1 HW v Id 9X1 HW E Td 2 OUXLIIW T Td 33 X3 IIN 0 Td 2 04 3197 IIN 9 0d X3 IIN S 0d 2UXN IIN v 0d 04 2 09 0199 7049 5197 X17 HW 0 0d yuaunsoq azig 914 19 2 4216315 15 1713838 5 101 x sur Ho usur 83 u Hi 31372x arx HER 2 LN 0199 28 0190 9489 SY 0190 6489 9 0199 29 S 4 He H mas rza 01497024 4 17013 01497 294 018vn DId9 9 9d 0189 6 98 O2LNIX3 9d 6T1NIX3 E 9d S11NIX3 2 94 LTANIX3 T9d 9TLNIX3 0 9d 0149 2493 0199 94 0149 53 0149 9 4 0149 94 0199 24 DId5 T d 01497094 1955 54 ISUW IdSS 9 Ed USIW IdSS G d 13571455 97 4 AXLTILYYN E Ed AXXTILIYN Z Ed 1 139 0 53 SSN DdSS L ed 0 14709 9 23 1508 OdSS S 2d 13570455 9 24 4 13 1497 24 23247 W13 U01d9 2 2d 4 3 0149 24 3 0189 0 28 62 090 41910 soy 4010 days vag AS pup 218
48. See Section 4 4 2 Field Oriented Control for a detailed description of field oriented control and see Section 4 4 Cur rent Loop for a detailed description of the Atlas unit s current loop 4 9 User Memory Space amp Buffers Start Address Function Figure 4 11 in Hexadecimal User Memory 0 0000 0000 Trace RAM 1 020 words Space and 0X0000 03FD Reserved Buffers 0X2000 0000 NVRAM 1 024 words 0X2000 0400 Reserved Atlas provides the ability to store or retrieve data from a User Memory Space Figure 4 11 shows the user memory space for Atlas There is a trace area and an area that is used to store non volatile setup commands that can be read back the external controller See Section 4 10 Trace Capture for more information on trace See Section 4 11 Power up amp Non Volatile Initialization Storage for more information on setup command storage Atlas provides access to the user memory space via a mechanism known as a buffer Atlas allows up to four different buffers to be defined allowing the overall user memory space to be partitioned in a manner most useful to the external controller Typically there will just be two buffers one for the trace area and one for the setup area However this additional flexibility may be useful for storing temporary application specific data or to set up multiple trace data storage areas Buffers describe a contiguous block of
49. Specifications 3 7 1 Pinouts Atlas Vertical Unit V J 1917151311 9 7 5 3 1 Figure 3 2 BOB Vertical Unit 2018 16141210 8 6 4 2 Pinouts Pin Name Pin Name Pwr_Gnd 2 Pwr_Gnd 3 HV 4 HV 5 Motor A 6 Motor A 7 Motor B 8 Motor B 9 Motor C 10 Motor C Motor 0 12 Motor D 13 Enable 14 FaultOut 15 5V 16 GND 17 SPICS AtRest 18 SPISI Direction 19 SPICIk Pulse 20 SPISO The pins 0 1 inch spacing and 0 025inch pin width 1 7 2 Pinouts Atlas Horizontal Unit M Y 7 N a 197531 gt Figure 3 3 Horizontal Unit E mu H 12108 6 42 Pinouts 22 21 20 19 18 17 16 15 14 1 E M A GB H M 2 3 27 000 1 2 Pin Name Pin Name Motor 2 Motor 3 Motor 4 Motor 5 Motor 6 Motor Atlas Digital Amplifier User s Manual 23 Electrical Specifications Pin Name Pin Name 7 Motor A 8 Motor A 9 HV 10 HV Pwr_Gnd 12 Pwr_Gnd 13 5V 14 GND 15 Enable 16 FaultOut 17 GND 18 SPICS AtRest 19 SPISO 20 SPISI Direction 21 SPICIk Pulse 22 GND 1 The pins 0 1 inch spacing and 0 025inch pin width 3 7 3 Pin Descriptions Pin Name Direction Description HV DC power to Atlas module referenced to Pwr_Gnd The DC power source should be a tr
50. Symbols Enable 21 SPICS 21 A absolute maximum ratings 19 AC characteristics 22 al 58 application notes 71 Atlas Developer s Kit 11 55 getting started 56 installation 56 overview 55 part number 12 part number examples 13 Atlas model numbering examples 11 B brushless DC Atlas single axis magellan 71 brushless DC motors 26 buffers 49 C carrier card reference information 58 commutation 33 compliance 20 connecting to the Magellan DK Card 57 connection brushless DC motors 26 DC brush motors 27 overview 26 power 57 connections 60 motor 57 current control step motors 49 current foldback 44 event processing 46 voltage mode 45 current loop 34 D DC brush amp step motor Atlas multi axis magellan 74 Atlas Digital Amplifier User s Manual DC brush Atlas PIC microcontroller 78 DC brush motors 27 DC characteristics 20 Enable 21 SPICS 21 5V 21 FaultOut 21 20 SPISI 20 SPISO 21 disabling power stage 41 drive fault status register 44 ratings 19 E electrical specifications 19 Enable signal connection 57 environmental ratings 20 F fault overcurrent 42 overtemperature 42 FaultOut 21 FaultOut Signal 44 features 9 field oriented control 37 FOC loop values 38 step motors 38 voltage mode 38 functional overview 31 functions 9 H horizontal unit with tabs 17 without tabs 17 individual phase control 35 step motors 36 83 84 voltage mode 37 internal block
51. This Chapter Drive Ratings Absolute Maximum Ratings Environmental Ratings Safety and Compliance DC Characteristics Pin Descriptions and Pinouts Signal Interfacing Vvwvwwwww Connection Overview W 1 Drive Ratings DC Brush Brushless Step Specifications Motor Motor Motor Nominal supply voltage 12 56 VDC 12 56 VDC 12 56 VDC Continuous current 14 0 ADC 10 0 Arms 9 0 Arms Peak current per phase 25 0 25 0 25 0 Maximum continuous power 670 W 590 W 610 W transformer isolated power supply T lt 40 C A coldplate or a heatsink in an environment with sufficient airflow can be used to achieve the above drive ratings For temperature operation beyond the standard 0 40 C range above listed ratings may change Contact your PMD representative for additional information on Atlas extended temperature operation including higher temperature drive ratings 3 2 Absolute Maximum Ratings Parameter Rating HV voltage range to 60 V Enable voltage range 10 V to 24 V SPISI SPICIk SPICS voltage range 0 5 V to 6 5 V SPISO voltage range 0 5 37 V FaultOut voltage range 0 3 V to 24 V FaultOut output current 35 uA to 50 mA 5V output current 100 mA Atlas Digital Amplifier User s IVlanual 19 Electrical Specifications 1 All voltage values are with respect to GND unless otherwise noted 3 3 Environmental Ratings
52. able the power stage and current loop 4 8 Step Motor Control While many aspects of Atlas operation are similar between step motors and Brushless DC or DC Brush motors Atlas provides a number of special features for supporting step motors This section describes these special step motor specific features Atlas Digital Amplifier User s IVlanual Operation Overall Atlas provides two step motor specific position command methods These are summarized in the table below Position Command Mode Description Pulse amp direction signal input Atlas directly supports input of hardware Pulse Direction and AtRest sig nals to interface with traditional external controllers that provide these signals When operated in this mode SPI communication is not available SPI pulse amp direction This pulse amp direction interface utilizes the external controller SPI inter face to provide continuous position information to Atlas Compared to pulse amp direction signal input this approach allows full use of the SPI communication interface Note that this is the standard mode used when a Magellan motion processor serves as the external controller 4 8 1 Pulse amp Direction Signal Input Mode Figure 4 10 Pulse and Holding Current Command Direction Signal To Input Mode lv current AtRest Asserted loop power stage Control Flow Drive Current Phase B Command Pulse irection Counter Microst
53. about low level hardware SPI signal timing voltage levels etc Controller word 0 x t Header data 1 Atlas word 0 SPI Status word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Controller word 1 Header data 2 Atlas word 1 Atlas checksum Controller checksum 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Controller word 2 N Optional command Atlas word 2 N Optional command response Figure 4 12 SPI Communica tions Protocol Overview A 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 communications to and from Atlas are in the form of a packet Figure 4 12 shows the overall packet format A falling edge of the chip select begins the packet and a rising edge of the chip select ends the packet All Atlas SPI packets are comprised of a two word header and one or more optional command words 4 12 1 Packet Header The first two words of the packet called the header and are used to specify a desired motor voltage or torque along with certain other functions such as when a trace starts and when a command update should occur Here is a detailed description of the Atlas packet header Field Bit Name data 0 11 Header data Description Holds various data the format of which depends on the state of the Torque data flag 12 Reserved This field is reserved and should be loaded with a 0 u 13 Update flag A 0 in this field m
54. aiU 5 cm 5 solds 4 I 84010W 9 T 9t 40304 1 8 lo lt 240104 E ssajusnag arqou3 q40304 ANOMLIDEIATWENS 83 von Ha 013 62 si Z IT doy alus apis AEE apis uu eB 8 205 2383 1 apis AcE el 2d gt 21 asn m 19 1 605 66 09001 9 2 uaisnduy soy 20 ssajyusnug SI 0 81 98S Ln T lo an9 pug ang 2 252195 5 pugy amd s 1 2185 AH 1 2 ma I asn 15185 AH w 5 05145 L py 1 ve Lot TL 05145 9 152148 3 y HL 5 50148 5 1 2 0 ze 2 Ganson 8 ATAS w 5 8 EAN 4 20 rale 1514 I ecaa 137031103 lt noynoy 340108 m 1 A 240104 ssajusnug z i m 5130 1959 1v ZNS 1819903255 40304 X 40104 x i en ay 93 so v2 n Pialus V 8 o apis ACE a TAPE DER apis AE I V 2 apis cw osre o 5 56 lt gt 2205 lt 00 84 Application Notes 5 5 Do o zu 5955 55
55. an be used with dedicated FPGAs digital signal processors or general purpose microprocessors Communication to from Atlas amplifiers is via SPI Serial Peripheral Interface using a simple packet oriented protocol For step motors in addition to the SPI format a dedicated pulse amp direction input mode is provided Atlas amplifiers are packaged in a compact solderable module and utilize standard through hole pins for all connections They are provided in both vertical and horizontal mounting configurations and with and without heat sink attachment tabs This manual provides a description of the electrical and mechanical specifications for the Atlas Digital Amplifiers along with a summary of its operational features For complete documentation on all aspects of the Atlas Digital Amplifier including a programmers command reference refer to Atas Digital Amplifier Complete Technical Reference For more information on the Magellan Motion Processor IC consult the Magellan Motion Processor Users Guide 1 2 Features and Functions The Atlas family of amplifiers provide an extensive list of functions including Supports Brushless DC DC Brush and Step Motors High performance all digital power amplifier Works with Magellan ICs FPGAs or microprocessor based controllers interface eliminates analog 10V signals Atlas Digital Amplifier User s Manual 9 Introduction 1 3 Figure 1 1 Atlas Model Numbering Rugged s
56. ansformer isolated power supply Two Atlas pins carry this signal so care should be taken to connect both pins Pwr_Gnd Power return for HV Motor A Motor B Motor C and Motor D Two Atlas pins carry this signal so care should be taken to connect both pins Motor A Motor output pin A Used with Brushless DC DC Brush and Step Motors Two Atlas pins carry this signal so care should be taken to connect both pins Motor B Motor output pin B Used with Brushless DC DC Brush and Step Motors Two Atlas pins carry this signal so care should be taken to connect both pins Motor C Motor output pin C Used with Brushless DC and Step Motors Two Atlas pins carry this signal so care should be taken to connect both pins Motor D Motor output pin D Used with Step Motors Two Atlas pins carry this signal so care should be taken to connect both pins Enable Input Enable is an active low input Should be tied or driven low for Atlas motor output to be active FaultOut Output FaultOut is high impedance when active It provides programmable fault indication and is low when inactive SPICIk Pulse Input SPI input clock or Pulse signal Pulse is used when Atlas is set to pulse amp direction signal mode and causes a posi tion change command upon a high to low transition Selection of signal interpreta tion for this pin is via the SPI communications bus The default signal interpretation is SPISO Output SPI data master in slave out sig
57. ch SPI word sent from the external controller to Atlas results in a return word sent from Atlas to the external controller In fact at a signal level each outgoing bit is sent simultaneously with each incoming bit providing full duplex communications The external controller must receive and process data words sent to it by Atlas These return words depending on the context contain transmission integrity information status bits or other useful information The table below provides the contents of the data words returned by Atlas during header SPI transmissions Field Description SPI Status word Contains 16 bits of drive status signal status and event information that can be monitored by the external controller Atlas checksum Atlas checksum is the 8 bit ones complement checksum of four bytes the low byte of SPI Status Word the high byte of SPI Status Word the Controller Checksum byte see next field and the byte value OxAA Controller checksum is the 8 bit ones complement checksum of five bytes the low and high bytes of both previously received header words and the byte value Controller checksum 4 12 2 Sending a Voltage or Torque Output Value Controller word 0 0 t Data 1 Atlas word 0 SPI Status word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Controller word 1 Data 2 Atlas word 1 Atlas checksum Controller checksum 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
58. coils and uses the measured current feedback from each motor coil to develop PWM pulse width modulation output command values for the power stage The current loop module may be disabled in which case Atlas will drive the motor in voltage mode See Section 4 4 Current Loop for more information on the current loop module Power Stage this module receives desired voltages for each motor coil and manages the Atlas unit s high performance MOSFET based switching bridge to precisely drive the coils of the motor See Section 4 5 Power Stage for a detailed description of this module Status Registers this module holds various status registers including the Event Status Register the Drive Status register the Signal Sense register and the Drive Fault Status Register Safety Processing this module manages Atlas unit safety related functions including the internal temperature sensor bus voltage error the Enable input signal current foldback the FaultOut output signal event action processing and more Step Motor Processing this module implements step motor specific features including microstep signal generation holding current management and Pulse Direction and AtRest signal processing Memory Buffers this module provides 51 memory for trace and setup parameter configuration storage ry P y 5 5 Trace this module provides a facility for continuously storing up to four simultaneous Atlas
59. ct this condition a programmable temperature threshold is continuously compared to an internal temperature sensot If the value read from the internal sensor exceeds the programmed threshold an overtemperature fault occurs In addition a settable overtemperature hysteresis allows the user to ensure that the Atlas temperature drops by a specified number of degrees before allowing drive restart The maximum allowed setting for the temperature threshold is 75 0 C which is also the default value The maximum allowed value of the hysteresis parameter is 50 and the default value is 5 An over temperature fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault It is generally desirable to power down Atlas to correct the condition If the overtemperature condition has been resolved when restart is attempted Atlas will resume normal operations If the overtemperature condition has not been resolved the condition will immediately occur again Overtemperature faults indicate that the internal safe limit of the drive temperature range has been exceeded This potentially serious condition can result from incorrect motor connections excessive power demands placed on the Atlas amplifier or inadequate heat sinking It is the responsibility of the user to operate Atlas within safe limits 4 7 3
60. ction signal mode 4 8 1 3 Recovering from Pulse amp Direction Signal Mode It is possible to restore an Atlas that is functioning in pulse amp direction signal mode to SPI operation While this is an uncommon operation it may be useful for testing diagnosing a field problem or to allow a production Atlas to be used for prototyping with optimization software such as PMD s Pro Motion software Refer to the Digital Amplifier Complete Technical Reference for details on how this recovery is accomplished 4 8 1 4 Fault Processing While in Pulse amp Direction Signal Input Mode In order to allow recovery from safety related faults such as overtemperature or current foldback while operating in pulse amp direction signal input mode an automatic recovery mode is available While this mode is most often used when in pulse amp direction signal input mode it may in fact be selected even when SPI communications are available While in automatic recovery mode the Enable signal is used to request that the Atlas automatically attempt to reset a fault condition After the FaultOut signal goes active the external controller must delay a minimum of 150 uSec but thereafter may request that the Atlas attempt to automatically recover by deasserting and then asserting the Enable signal The Enable signal must be in the deasserted state for at least 150uSec for the request to be recognized When an automatic recovery request is recognized by Atlas
61. diagram 32 J amp J2 jack screw connectors 59 J4 connectors 60 J5 DB9 conectors 60 L L bracket 62 LED indicators 62 M Magellan DK Card connecting to 57 model numbering 10 examples 11 motor connection 57 current setting 47 mounting dimensions 16 options 18 to vertical plate 63 N non volatile initialization storage 52 operation 31 operational specifications 15 overcurrent fault 42 overtemperature fault 42 overview 9 overvoltage fault 43 packet header 53 physical characteristics 16 pin descriptions 22 24 pinouts 22 Atlas horizontal unit 23 Atlas vertical unit 23 power connections 57 stage 40 power stage disabling 41 powering up Atlas units 58 power up 52 pulse amp direction signal input mode 47 PWM output limiting 41 R ratings absolute maximum 19 drive 19 environmental 20 reading current loop values 36 reading third leg floating loop values 39 5 safety 20 safety processing functions 42 current foldback 44 drive fault status register 44 drive enable drive enable 44 FaultOut Signal 44 overcurrent fault 42 overtemperature fault 42 overvoltage fault 43 undervoltage fault 43 watchdog timeout 44 set motor current 47 signal interfacing 25 Enable 25 FaultOut 25 SPI bus connections 56 SPI communications overview 52 SPI pulse amp direction mode 48 SPICIk 20 SPISI 20 SPISO 21 status registers 42 step motor Atlas ARM microcontroller 80 step motor Atlas pulse amp direct
62. disable Atlas operations it may be powered down the Enable signal may be de asserted or various commands that result in Atlas operations being suspended may be sent by the external controller to Atlas through the SPI interface In addition there are several conditions where Atlas automatically shuts down for safety related reasons These may include short circuit detection under and over voltage protection Dt current limiting and amplifier over temperature detection See Section 4 7 Safety Processing Functions for more information on emergency stop and related functions 4 2 Internal Block Diagram Enable X FaultOut AtRest Bus Voltage Bus Voltage Bus Monitoring 5V 3 3V Logic Supply Atlas A Control Processor B Motor SPICS Power C _ Outputs SPICIk SPISI Stage D SPI Command SPISO Processor Commutation Digital FM Current B Control Loop Current Sense Pulse and Pulse Direction Figure 4 2 shows the internal block diagram of Atlas Here are summary descriptions of the major modules and functional areas Atlas Digital Amplifier User s Manual Operation Commutation this module utilizes internally generated information or information provided by the external controller to split up the desired overall torque command into individual phase commands to drive Brushless DC and step motors Current Loop this module inputs the desired current for each of the two motor
63. ds In this example U1 and U2 are digital isolators Atlas refers to side ground and the host controller to side A ground Please note that the isolators have to meet the timing specification for Atlas communication because the isolator will add delay to the signals The buffer U5 and U6 are to boost the signal driving and sinking capability after the isolator output In this example DB9 connector with shielded DB9 cable is used When R3 is zero the shield is connected to side A ground at the daughter card end Similarly on the Magellan side on the mother board buffer U7 and U9 are used to boost the signal driving and sinking capability and when R4 is zero the shield is connected to side A ground at the host end Depending on the design layout Schmitt trigger input or standard termination practice might be necessary for the application with long cables B 6 3 HV and Pwr Gnd high frequency isolation When a single power supply powers multiple Atlas modules through long separate power cables the long cables establish a current loop because they shorted at both the power supply and the Atlas end It will result in ground currents that might interfere with normal Atlas operation 82 Atlas Digital Amplifier User s Manual Application Notes 4 In this case an L C L network can be used to provide high frequency isolations among the modules For example for Atlas U3 C1 is between the Atlas HV and Pwr_Gnd It serves as th
64. dule Two channels of phase current feedback are provided for brushless DC and step motor current loops For DC Brush motors feedback for one phase is provided Atlas Digital Amplifier User s Manual Operation Three selectable control methods are provided independent phase field oriented control and third leg floating The choice of control method affects the power stage in the selection of the PWM generation technique The table below shows this Control Mode PWM Output Method Independent Phase sinusoidal Field Oriented Control space vector modulation Third Leg Floating standard single phase 4 5 1 PWM Output Limiting In some applications it may be desirable to limit the maximum allowed output of the power stage PWM generator For example if the bus voltage is 36 volts and the desired voltage limit for a particular motor is 18 volts a PWM limit of 50 is programmed Depending on the Atlas unit bus voltage and the effective inductance of the system being controlled under some circumstances lowering the maximum PWM duty cycle may not fully limit the effective voltage experienced by the device If this is the case for your system you may consider increasing the Atlas unit PWM frequency adding an inductor to the motor circuit or consulting a PMD representative for more information The programmed drive limit value affects the PWM duty cycle only It does not limit the effective current that is delivered to
65. e bank capacitor for Atlas operation when necessary L1 is between Atlas HV and power supply positive output L2 is between Atlas Pwr_Gnd and power supply ground return The current rating of L1 and L2 has to fit the Atlas operation current L1 and L2 will bring in high impedance at high frequency to attenuate the ground current A separated L C L network is used for Atlas U4 for optimum performance Atlas Digital Amplifier User s Manual 83 Atlas Digital Amplifier User s Manual Application Notes 2 aro a 4aqunN 2249 abod 5947 DUI sa3i ag UO IZOW 151 0 2 090 sow od ssausnug tana y 82485 Ho 54 vem 12 pug X T I x X as X H 1 va x 519145 AH x H Ey 8 aon ISIdS aq 4 Sen ES x H ev za 05195
66. e is used to attach the Atlas Atlas Digital Amplifier User s Manual 63 4 Atlas Developer s Kit 64 A 4 2 Mounting L bracket to Other Hardware To maximize heat sinking capacity you may choose to mount the vertical L bracket piece to your own hardware For best thermal performance a material such as Sil Pad thermal grease or phase change material should be uti lized between metal interfacing layers To connect to the vertical plate use four 4 M4 screws threaded into the provided threaded holes in the vertical plate or use four 4 M3 screws with nuts and washers to fasten through from the front Atlas Digital Amplifier User s Manual Atlas Developer s Kit d A 5 76 5 3 01 9 Mechanical Drawings Axs1 O O da Co 825232 8 E Axs2 __ 070 Axs3 o 0 0 178 70 117 4 61 229 7 9 05 108 3 4 26 124 1 4 88 168 5 6 63 184 3 7 26 228 7 9 01 e O 0 00 TRUE yyy U y V 0 V y V V yee V V 233 9 9 21 BOARD DIMENSION 240 2 2 3 09 MIN CLEARANCE la 9 46 OVERALL DIMENSIO
67. eans that a buffered command update is not commanded A in this field results in an update of all buffered parameters Trace active flag This field controls various trace related activities See Section 4 10 Trace Capture for details A 0 in this field means that trace is not active A signals that a trace is active or that a capture is requested Torque data flag in this field means the header will contain a desired voltage or torque output value A means that it will con tain a request for a disable operation or a NOP operation data2 0 15 Header data 2 Holds various data the format of which depends on the state of the Torque data flag The x bit field affects the format of other fields in particular the data 1 and data 2 fields Therefore care should be taken to correctly select the value of this field and associated data 1 and data 2 fields The and the w bit fields do not affect the format of other fields and may be set to any value at any time as desired by the external controller These fields are a means for the external controller to synchronize activities for trace and update related functions of Atlas See Section 4 10 Trace Capture for more information on use of the trace active flag Atlas Digital Amplifier User s Manual 53 Operation Figure 4 13 Sending a Voltage or Torque Output Value 54 4 12 1 1 Header Return Words As shown in Figure 4 12 ea
68. ecause it provides a stable mechanical base from which you can conveniently connect and operate your prototype system motors With the vertical plate option selected the Atlas units have additional heat sinking which can be extended further by connecting the vertical plate to your own heat sink or cold plate Electrical connection to the Atlas DK carrier card is made by DB9 connector and by jack screw connectors Designers who plan to use the Atlas in conjunction with PMD s Magellan Motion Processor can connect the Atlas DK to the Magellan DK card purchased separately For more information on this product see the Magellan Motion Processor Developers Kit Manual Refer to Appendix A Atlas Developer s Kit for complete information on setting up and operating the Atlas DK 1 4 1 Atlas Developer s Kit Part Number 1 eveloper Kit Numbering Carrier Card Size L bracket Atlas Atlas 2 Type Code Atlas 4 Type Code Minor Version 1 1 axes Installation 0 0 Contact PMD 4 4 axes install 0 9 S don t install Configuration Atlas 1 Type Code Atlas 3 Type Code Major Version of L bracket 0 0 Contact PMD base only 0 9 amp wall L bracket Atlas Type Codes 0 4 Brushless DC Vertical no tabs 8 DC Brush Horizontal tabs C Step motor Horizontal no tabs 1 Brushless DC Vertical tabs 5 DC Brush Vertical no tabs 9 Step motor Horizontal tabs
69. ed the individual commands for the A B and C phases are output either directly to the power stage or to the current loop module depending on whether current control has been requested If output to the current loop module additional calculations are performed using the measured current through each winding to determine a final phase command See Section 4 4 Current Loop for details Atlas does not directly accept commutation inputs such as Hall sensors so phase angle information must be provided by the external controller via the SPI interface When used with the Magellan Motion Processor all such phase information is provided automatically When used with other external controllers for detailed information on how to provide this phase angle information as well as other details of Atlas commutation operations refer to the Digital Amplifier Complete Technical Reference 4 4 Current Loop Figure 4 4 Voltage Current Loop Command Control Flow P Proportional Current Command Foldback motor Processing coil Integral Measured Current Digital current control is a technique used with DC brush brushless DC and step motors for precisely controlling the current through each winding of the motor By controlling the current response times improved and motor efficiency is increased Figure 4 4 provides an overview of Atlas unit s current controller For single phase motors such as DC brus
70. ep signal generation Figure 4 10 shows the control flow of the Atlas when used in pulse amp direction signal input mode The Atlas Pulse signal drives a counter which increments or decrements a step motor command position based on the state of the Direction signal Pulse signals are expected to be active low meaning that a position increment or decrement occurs when this signal transitions from high to low The Direction signal indicates that a pulse received while the Direction signal is low is interpreted as a negative direction command and a pulse received while this signal is high as a positive direction command Atlas provides programmable microstepping resolution which means that the incoming position data stream can be interpreted by the Atlas at various resolutions The maximum is 256 microsteps full step and the default interpretation is 64 microsteps per full step This means that in the default condition for a standard 1 8 two phase stepper Atlas provides a resolution of 12 800 microsteps per mechanical motor rotation or roughly 028 degrees of mechanical motion per incoming pulse Note that this control resolution may not equal the actual system accuracy When actually connected to Atlas in pulse amp direction signal mode SPI communication is not available 1 4 8 1 1 Setting the Motor Current When operating in pulse amp direction input mode the current output by Atlas must be specified Atlas supports two
71. er to control when trace capture starts and stops Two overall conditions are supported starting and stopping immediately via a command or via the trace bit of the SPI communication header 4 10 1 1 Trace Variables When traces are running one to four Atlas parameters may be stored to the trace buffer for each occurrence of the trigger The four trace variable registers are used to define which parameters are stored The following table shows all of the Atlas variables that can be traced along with the variable ID code that is used to select this variable for tracing Variable ID Name Description Status Registers 12 Event Status The Event Status register 14 Signal Status The Signal Status register 56 Drive Status The Drive Status register 79 Drive Fault Status The Drive Fault Status register 80 SPI Status The SPI Status word Commutation Phasing 7 Active Motor Command The external controller commanded voltage or torque com mand 17 Phase A Command The output command for phase A 18 Phase Command The output command for phase B 19 Phase C Command The output command for phase C 29 Phase Angle Scaled The phase angle scaled from 0 to 360 rather than in encoder counts Current Loop 66 Phase A Reference The current loop reference for Phase A 67 Phase B Reference The current loop reference for Phase B 30 Phase A Error The current loop error for Phase A 35 Phase B Error The current loop
72. ertical and horizontal Atlas mount options in both a one axis and four axis configuration J14 15 J16 J17 E O O O O LJ 0 22 15 9 J8 J7 212 LI LI LI LI i LI 3551 8 51555881 0811 09 881 998519 5989 9 o 00 Ais1 oO Axis 2 Axis 3 Axis 4 J148 J15B J16B J178 3 1 1 1 1 1 1 1 1 1 1 1 O 1 1 1 1 1 1 1 1 1 1 1 O 313 5 1 1 1 1 1 15 1 1 1 1 1 15 1 1 1 1 1 15 3 E C3 3 C C 1 1 1 1 1 1 1 1 1 1 1 1 1 3 E 2 E O O O NN E JIO Axis 4 The following descriptions apply for the 4 axis carriers however the one axis are similar only missing axes 2 4 Atlas Digital Amplifier User s Manual Atlas Developer s Kit d 1 J2 J5 38 and J11 Motor Connectors 12 J5 J8 and J11
73. esistor R1 Vpullup can be up to 24V to meet the system requirement For example if the fault signal is wired to 5V TTL input Vpullup can be 5V B 5 4 Microcontroller configuration In this schematic the host controller is ST s STR912FAZ44HOT The microcontroller s SPI port is used for SPI communication In this example output pin K7 of the U1 ARM processor is used to control Atlas SPICS input SPICS has an internal pull up therefore during power up and after reset the control pin should be in high impedance or output high state to disable the SPI 80 Atlas Digital Amplifier User s Manual Application Notes 588 a 5 5 3 Oe Ln lt Microcontroller ARM 43 943u02042 4 YHA 59149 YOROW 9235 DU UO ZOW 4100713535 6v ord gw 8 85 4850 4850 u3JATIW3 5198 IN3 ULIVATIN3 H IN3 IWS Wihya ane in3 SITQV IN3 Z 6d YIIV IN3 9 6d 514971 3 5 63 210v IN3 6d S 1 219 6H ar IN3 E 6d 01 71 3 2 69 60 71 3 69 80V IN3 0 6d LUV IN3 8d 90V IW3 9 8d S V IN3 e 8d vv IN3 v 8d V IN3 E 8d 0 71 3 2 84 10 1 3 1 84 UESQ IN3 Sd u2s2 IN3 9 Sd UISI IN3 S Sd YOSO IN3
74. et Atlas Digital Amplifier User s Manual 13 Introduction This page intentionally left blank 14 Atlas Digital Amplifier User s Manual 2 Functional Characteristics In This Chapter Operational Specifications Physical Characteristics amp Mounting Dimensions Mounting Options 2 1 Operational Specifications Motor types supported Communication format SPI clock frequency range Torque command rate Current measurement resolution Current loop type Current loop resolution Current loop rate Current loop modes Safety functions Output limiting Command modes PWM PWM generation modes Pulse amp direction rate Microsteps per full step Trace capture modes Trace trigger modes Trace buffer size NVRAM storage size Number of traceable variables Number of commands Brushless DC DC Servo Step Motor SPI Serial Peripheral Interface up to 8 0 MHz up to 10 0 kHz 12 bits P proportional integral with Integral limit 16 bits 19 530 kHz individual phase field oriented control third leg floating over current detect programmable over temperature detect programmable overvoltage detect programmable under voltage detect programmable l t current foldback watchdog timeout programmable energy current and voltage limit SPI voltage SPI torque pulse amp direction signal 20 kHz 40 kHz or 80 kHz sinusoidal space vector modulation standard single p
75. f two mounting orientations vertical and horizontal and the choice of tab or no tab mounting hardware slots This is a total of twelve different versions in all 10 Atlas Digital Amplifier User s Manual Introduction 1 3 1 Atlas Model Number Examples Motor Mounting Part Number Type Orientation Tab No Tab MD131P 56 25 VT Brushless DC vertical tabs MD111P 56 25 HN DC brush horizontal no tabs MD141P 56 25 VT step motor vertical tabs 1 4 Atlas Developer s Kit To simplify development an Atlas Developer s Kit is available shown in Figure 1 2 Figure 1 2 Developer Kit Components ATLAS AMPLIFIER ATLAS DK CARRIER CARD ASSEMBLY L BRACKET ASSEMBLY ATLAS DK DB9 COMMUNICATIONS CABLE 2 The following software and hardware components are included in every Atlas Developer s Kit Pro Motion CD and User s Guide e C Motion and VB Motion SDK CD including PDFs of all Atlas documentation Atlas DK DB9 communications cable Atlas Digital Amplifier User s Manual 11 Introduction For the following components you will provide information that will specify how you want the DK tailored for your exact development needs Specific Atlas units to be included Atlas carrier card horizontal or vertical versions L bracket base with optional vertical plate for heat sink attachment comes in 1 or 4 axis version The L bracket is optional but highly recommended b
76. h one current loop per axis is used For brushless DC motors two current loops are used and the third phase command is derived from the other two phases When driving step motors two current loops are used one for the phase A coil and one for the phase B coil There are three overall methods of current control provided by Atlas however not all methods are used with all motor types The first method is individual phase control See Section 4 4 1 Individual Phase Control for a description See Section 4 4 2 Field Oriented Control for a description of the second method FOC Field Oriented Control 34 Atlas Digital Amplifier User s Manual Operation See Section 4 4 3 Third Leg Floating Control for a description of the third approach called third leg floating The table below summarizes which current control modes are available with the three motor types supported by Atlas along with the default configuration for that motor type Current Control Brushless DC Step Method DC Brush Motor Individual Phase Control Y A default v Field Oriented Control A default default Third Leg Floating The large majority of applications will use FOC to drive Brushless DC or step motors FOC usually provides the highest top speeds and more energy efficient operation of the motor compared to individual phase control Third leg floating is an option that should generally only be considered for Ha
77. hase 1 0 M Pulses sec up 256 per full step one time rolling buffer mode internal external by controller 1 020 16 bit words 1 024 16 bit words 35 68 Atlas Digital Amplifier User s Manual 15 Functional Characteristics 2 2 Physical Characteristics amp Mounting Dimensions 2 2 1 Vertical Unit With Tabs 44 45 Ni Figure 2 1 1 750 Physical 38 54 Characteristics 2222 w Tabs 204 360 38 61 18 29 FTN 1 520 720 1 1 23 30 918 489 __ 193 1 I Ug Uu 4 00 158 15 24 600 inch 085 2 2 2 Vertical Unit Without Tabs 38 58 Figure 2 2 1 519 Physical Characteristics Vertical w o Tabs dpe 1 520 Y 23 30 918 4 89 __ 193 i I 1 1 4 00 __ 158 15 24 600 mm inch 16 Atlas Digital Amplifier User s Manual Functional Characteristics 2 2 3 Horizontal Unit With Tabs 44 45 B 150 Figure 2 3 3854 Physical Characteristics Horizontal w Tabs 1119 __ 440 3861 1829 1 1 520 720 1
78. hase A Actual Current The FOC actual current for phase A 36 Phase B Actual Current The FOC actual current for phase B Motor Output 54 Bus voltage The bus voltage 55 Temperature The temperature of Atlas 68 Energy Accumulated I t foldback energy 75 Terminal A Output The PWM duty cycle for terminal A 76 Terminal B Output The PWM duty cycle for terminal B 77 Terminal C Output The PWM duty cycle for terminal C 69 Leg Current A The measured current in lower leg A 70 Leg Current B The measured current in lower leg B 71 Leg Current The measured current in lower leg C 72 Leg Current D The measured current in lower leg D 78 Clip Factor Actual output as a fraction of commanded output Miscellaneous 0 None No trace variable is selected 8 Atlas Time Atlas unit s processor time in units of cycles For further information on how to set up control and download traces refer to the Digital Amplifier Complete Technical Reference Atlas Digital Amplifier User s Manual 51 Operation 4 11 Power up amp Non Volatile Initialization Storage After receiving stable power at the HV pins Atlas begins its initialization sequence In a power up where no user provided initialization parameters have been stored this takes approximately 250 mSec At the end of this sequence all parameters are at their default values and both the current loop module and the power stage module are disabled At this point Atlas is ready to rece
79. icrocontroller The following schematic shows a step motor Atlas amplifier connected to an STMicroelectronic s ARM microcontroller Atlas receives torque commands through the ARM s SPI interface A wide variety of microcontrollers DSP type devices or FPGAs supporting SPI interfaces can control Atlas directly STMicroelectronic s STR912FAZ44HOT is used in this example Users design their own motion control algorithms on the microcontroller which in turn commands Atlas to drive the motor B 5 1 Atlas power input and motor outputs Atlas is powered through pin pairs HV and Pwr_Gnd and the power source is a transformer isolated DC power supply For step motors pins MotorA MotorB MotorC and MotorD are wired to motor windings A A B and B respectively Please refer to B 1 for layout and wiring recommendations on power input and motor outputs B 5 2 Atlas SPI Interface Atlas functions as an SPI slace receiving control commands from the ARM through its SPI interface Atlas SPI communication is enabled when SPICS is pulled down Please refer to B 1 for layout recommendation on SPI interface B 5 3 Atlas Enable and FaultOut Signals Atlas has one dedicated input signal Enable which must be pulled low for the Atlas output stage to be active FaultOut is a dedicated output During normal operation it outputs low When a fault occurs it will go into a high impedance state In this example FaultOut is pulled up by Vpullup through r
80. ion mode 76 step motor control 46 step motors pulse amp direction signal mode 28 SPI communications 29 T third leg floating control 39 loop values reading 39 voltage mode 40 trace Atlas Digital Amplifier User s Manual nn A capture 49 parameters 50 U undervoltage fault 43 user memory space 49 vertical unit with tabs 16 without tabs 16 voltage or torque output 54 watchdog timeout 44 Atlas Digital Amplifier User s Manual 85 86 This page intentionally left blank Atlas Digital Amplifier User s Manual
81. ive commands and begin operation 4 11 1 Power up with Non Volatile Initialization Storage Atlas supports a 1 024 word memory segment that is non volatile NVRAM meaning the data stored will be available even after power to the Atlas is removed Figure 4 11 shows the user memory space and the location of the NVRAM segment The primary purpose of the NVRAM is to allow Atlas configuration information to be stored so that upon power up it can be automatically loaded rather than requiring an external controller to perform this configuration initialization function The configuration information stored in the NVRAM takes the form of Atlas command packets however rather than being sent via SPI these packet words are stored in memory If the non volatile initialization memory has been loaded with information the power up sequence detects this and begins executing the commands stored in the non volatile memory Note that processing stored commands may increase the overall initialization time depending on the command sequence stored If there are errors in the stored command sequence then an instruction error will be loaded so that the error can later be diagnosed Atlas will abort initialization if it detects any error while processing commands 4 11 2 Initialization Storage Format Atlas parameter data stored into NVRAM for initialization is formatted exactly as if it were being sent by the external controller using the SPI protocol during normal
82. l is wired to a 5V TTL input Vpullup can be 5V B 4 4 Microcontroller configuration In this schematic the host controller is Microchip s dsPIC33FJ64GS606 The microcontroller s SPI port SDI1 SDO1 SCK1 is used for SPI communication In this example output pin 12 of U1 PIC processor is used to control Atlas SPICS input SPICS has an internal pull up therefore during power up and after reset the control pin should be in high impedance or output high state to disable the SPI Resistor R2 is optional 78 Atlas Digital Amplifier User s Manual Application Notes 5 m PIN 1 20 o 5 Bots T 3o T 42294 15100 8 azig JId UHA 9149 usnag 20 aru DUI SaDd Aag ges 3333 L93 6N2 11113 211S a 5 994 eN9 211 14 2398 513 109 30 948 01NI TIOS SLYIN YOS ETND 19HAd 48 100S XLIN 55 5 1113 101 38 1 51010 2113 221 S 3 vINJ H9W d 0144 1 1 113 1 4 17 ES G14Y 21N9 4 390 0 dWI SINY 1103 10 9113 1939 921 26 155 0 003 5113 1939 190 184 02dH9 EINV ICL 198 1N2 1 13505 20394 z 214Y 01AWI 2INY JIL V 198 0N2 x211 D9SDS 22304 48 31 1 148 9171
83. lease refer to B 1 for layout and wiring recommendations on power input and motor outputs B 2 2 Atlas SPI Interface Atlas receives control commands through an SPI interface and functions as an SPI slave Atlas SPI communication is enabled when SPICS is pulled down Only one Atlas can be enabled at any given time Please refer to B 1 for layout recommendation on SPI interface B 2 3 Atlas Enable and FaultOut Signals Atlas has one dedicated input signal Enable which must be pulled low for the Atlas output stage to be active FaultOut is a dedicated output During normal operation it outputs low When a fault occurs it will go into a high impedance state In this example FaultOut is pulled up by Vpullup through resistor R1 Vpullup can be up to 24V to meet the system requirement Each Atlas may use a different Vpullup voltage for example if the fault signal is wired 5V TTL input Vpullup can be 5V B 2 4 Magellan MIC58420 Configuration In this schematic the SPI master is a four axis Magellan MC58420 Only the connections with Atlas are shown For complete Magellan wiring please refer to the MC58420 electrical specifications The MC58420 is configured to default to Atlas motor output by tying pin 7 OutputMode to ground In this example axis 2 and axis 3 are under control The MC58420 sends torque commands to the DC Brush Atlas by pulling SPIEnable2 low and sends position commands to the step motor Atlas by pulling SPIEnable3
84. ll commutated motors In that configuration third leg floating can sometimes provide a higher top speed than FOC Finally individual phase control is always used with DC Brush motors and may under certain specialized conditions provide improved performance for Brushless DC motors over FOC If during normal operation the current loop is disabled then the output from the commutation module will pass directly to the power stage module with no current control being performed The most common use of this is to run the amplifier in voltage mode which may be useful under some conditions for calibration or testing 4 4 1 Individual Phase Control Kp 64 PWM Limit EZ Output ILimit Command Reference Error 44 256 gt Ki 256 Integrator OOH HO n Actual Current When individual phase control mode is selected Atlas utilizes the commanded current for each motor winding provided by the commutation module along with the actual measured current provided by circuitry within the power stage to perform current loop calculations As can be seen in Figure 4 5 the desired current and measured current are subtracted to develop a current error which is passed through a PI proportional integral filter to generate an output voltage command for each motor coil The output command for each coil is then passed to the power stage module to generate precise PWM pulse width modulation output signals representing the applied
85. memory and are defined by specifying a base address for the memory block and a block length Once a buffer s base address and length have been defined data values may be written to and read from the buffer Refer to the Digital Amplifier Complete Technical Reference for detailed description of Atlas buffer management 4 10 Trace Capture Trace capture is a powerful Atlas feature that allows parameters and registers to be continuously captured and stored to the user memory space The captured data may later be downloaded by the external controller using standard memory buffer access commands Data traces are useful for optimizing current loop performance diagnosing SPI communications capturing signal data or assisting with any type of monitoring where a precise time based record is required Broadly speaking there are three phases associated with data trace operations In the first phase the external controller specifies which parameters will be captured and how the trace will be executed In the second phase Atlas captures the trace data This can occur autonomously or under external controller control Finally in the third phase the external controller retrieves the data This can occur after the trace is complete or concurrently with capture Atlas Digital Amplifier User s Manual 49 Operation 50 4 10 1 Trace Parameters To start a trace the external controller must specify a number of parameters They are Para
86. meter Description Trace buffer The external controller must initialize and specify the memory buffer that will be used for the trace data storage area See Section 4 9 User Memory Space amp Buffers for more information on buffers Trace period Atlas can capture the value of the trace variables for every single time cycle every other cycle or at any programmed frequency This trace period of data collection and storage must be specified Trace variables There are dozens of separate variables and registers within Atlas that may be traced for example the phase A current command the current loop error etc The user must specify the variables that will be traced by Atlas Trace mode Atlas can trace in one of two modes one time or rolling mode This determines how the data is stored and whether the trace will stop automatically or be stopped explicitly by the external controller Trigger mode Atlas supports two different methods for determining the moment when data cap ture actually occurs The first is internally via the Atlas unit s internal clock cycle and the trace period defined above The second is externally commanded by the external controller via the SPI communication protocol See Chapter 4 12 SPI Communications Overview for more information on the SPI protocol Note that when external trigger mode is selected the trace period is not used Trace Start Stop Atlas allows the external controll
87. nal It goes to high impedance when SPICS is high This pin is not used if Atlas is operating in pulse amp direction signal mode SPISI Direction Input SPI data master out slave in signal or Direction signal Direction is used when Atlas is set to pulse amp direction signal mode and indicates the step direction Low means the position decreases upon a high to low transition of the Pulse signal and high means the position increases Selection of signal inter pretation for this pin is via the SPI communications bus The default signal interpre tation is SPISI SPICS AtRest Input SPICS signal or AtRest signal SPICS enables SPI communication when transitioning low The SPI block is dis abled when SPICS is high AtRest is used when Atlas is set to pulse amp direction signal mode and indicates that the step motor holding current should be used rather than the drive current Selection of signal interpretation for this pin is via the SPI communications bus The default signal interpretation is SPICS 24 Atlas Digital Amplifier User s Manual Electrical Specifications Pin Name Direction Description GND Ground return for Enable FaultOut SPI or pulse amp direction signals and 5V 5V 5V output used to drive external circuitry Maximum output current is 100 mA 3 8 Signal Interfacing 3 8 1 Enable Enable and FaultOut signals are typically used to implement a safety interlock between the Atlas module
88. nformation on power stage operations Atlas Digital Amplifier User s Manual Operation 4 4 3 Third Leg Floating Control Kp 64 PWN m utput i Pir Limit p Figure 4 7 q Output Third Leg x EZ Floating Control C Output qReference Command TPO 2 Anti y Leg A Current Actual Current Sel lt Leg B Current Leg C Current Figure 4 7 provides an overview of the calculation flow when third leg floating control mode is selected Compared to individual phase control or FOC third leg floating uses a different method in that only two of three legs are driven at any instant with the third non driven leg floating The actual driven and non driven legs continuously change based on the phase as does the leg current used as input to the current loop In this way as the motor rotates each motor leg will go through a sequence of being driven for two cycles and then left floating for one Other than the method by which the motor phases are driven and the leg current is sensed third leg floating is similar to FOC however with only the q loop calculated For the q current loop three parameters are set by the user Kp Ki and Ilimit Two of these are gain factors for the PI proportional integral controller that comprises the heart of the third leg floating controller and the other is a limit for the integral contribution It is the responsibility of the user to determine control parameters
89. olderable format uses standard through hole pins Total power output to 1 Kilowatt Very compact size 1 5 1 5 x 0 6 Comes in horizontal and vertical mount configurations Available with rugged mechanical tab mounts Supply voltage range of 12V to 56V High current output to 14A continuous 25A peak Digital current loop with choice of standard A B or Field Oriented Control FOC Direct signal pulse and direction input current foldback limiting Selectable 20 kHz 40 kHz and 80 kHz PWM rate Overcurrent overvoltage undervoltage overtemperature and watchdog timeout protection Single supply operation Enable input and FaultOut output safety interlock signals 8 MHz SPI Serial Peripheral Interface communication Performance trace of up to 1 020 words and four simultaneous variables 1 024 word non volatile parameter storage Microstepping control with up to 256 microsteps per full step Signal conditioning buffers and analog filters on all I O signals High performance microprocessor style command interface Fully RoHS compliant and CE marked Atlas Model Numbering MD1 1P 056 25 0 d d Voltage Current Mounting Minor Version options Contact PMD T Tabs 0 9 Motor N no Tabs He Orientati Major Versi 1 DC brush rientation ajor Version 3 brushless DC H Horizontal Contact PMD 4 step V Vertical 0 9 Atlas units are provided in three different motor types DC brush brushless DC and step with the choice o
90. on shown 55 4 Atlas Developer s Kit Optional L bracket base and vertical member for heat sink attachment with associated mounting hardware comes in 1 or 4 axis version The L bracket is optional but highly recommended because it provides a stable mechanical base from which you can connect and operate your prototype system With the vertical plate option installed the Atlas units have additional heat sinking which can be extended further by connecting the vertical plate to your own heat sink or cold plate A 2 Installation and Getting Started In these instructions it is assumed that you have purchased a Magellan DK Developer s Kit which comes with the Pro Motion exerciser and tuning software If you have not purchased a Magellan DK then you will still find these instructions useful however you will use the detailed connections detailed in Section A 3 Atlas Carrier Card Reference Information to connect your system and begin operation A 2 1 SPI Bus Connection You should plug in the provided 12 DB9 cable at J13 the DB9 connection of the carrier card Once you have plugged in the DB9 cable you can skip forward to Section A 2 2 Motor Connections and continue from there The DB connections used with the Atlas DK are not compatible with standard RS232 serial ports Do not at tempt to plug this connector directly into your PC The SPI bus is not designed to operate external modules by cable c
91. onnection and therefore in production appli cations it is recommended that Atlas units be located on the same printed circuit card Regardless of where Atlas is located it is the responsibility of the user to ensure that SPI signals are noise free and within Atlas unit s timing specifications Figure A 2 Connecting DB9 Cable to Carrier Card 56 Atlas Digital Amplifier User s Manual Atlas Developer s Kit d A 2 2 Motor Connections Refer to Figure A 3 for detailed information on connector placement For each Atlas connect the motor using the chart below and the correct axis specific 6 terminal jack screw plug on the carrier card either J2 J5 J8 or J11 for axis 1 2 3 or 4 respectively Use copper wire gauge 14AWG or larger to ensure that all current output requirements can be met If you are using a one axis Atlas DK for motor connections and all other connections described in subsequent sections refer to the descrption for axis numbers Motor Type Use Motor Connections Jackscrew Plug Labels Brushless DC Motor A Motor B Motor C Mtr A Mtr B Mtr C DC Brush Motor A Motor B Mtr A Mtr B Step Motor phase A Motor A Motor B Mtr A Mtr B Mtr C Mtr D phase B Motor C Motor D A 2 3 Power Connections For each Atlas connect the bus supply voltage HV and the associated return ground signal at the correct axis specific jack screw plug either J1 J4 J7 or J10 for axis 1 2 3 or 4 respectivel
92. op measured value q Integrator Sum d Integrator Sum Are the integrator sums for the d and q loops q Output d Output Are the output commands of the q and the d loops FOC a Output FOC f Output Are the FOC outputs in the a reference frame Phase A Actual Current Phase B Actual Current Are the measured currents for the phase A and phase B coils 4 4 2 2 FOC with Step Motors The Atlas unit s field oriented control algorithm is designed to work with both 3 phase brushless DC motors and 2 phase step motors When operating step motors in this mode see Section 4 8 Step Motor Control for more information on operations with step motors the basic method is identical The same three FOC parameters described in Section 4 4 2 Field Oriented Control are set and the readable parameters are also the same gt 4 4 2 3 FOC in Voltage Mode If Atlas is operated in FOC mode with the current loop disabled then after commutation Brushless DC motors or microstep signal generation step motors the phase specific commands are output directly to the power stage with no current loop performed However unlike the independent phase control mode a space vector modulation scheme is used to generate the PWM signals and control the switching bridge Space vector modulation is recommended for most applications because it provides a larger effective range of voltage drive capacity See Section 4 5 Power Stage for more i
93. ovides an overview of the calculation flow when field oriented control FOC is selected Instead of separating phases as individual phase control mode does FOC combines them and re references them to what are known as d direct torque and q quadrature torque reference frames Atlas Digital Amplifier User s Manual 37 Operation For each control loop d and 4 three parameters are set by the user Kp Ki and I limit Two of these are gain factors for the PI proportional integral controller that comprises the heart of the FOC controller and the other is a limit for the integral contribution It is the responsibility of the user to determine control parameters that are suitable for use in a given application 4 4 2 1 Reading FOC Loop Values To facilitate tuning there are a number of FOC loop values that can be read back as well as traced Refer to Figure 4 6 for an overview of the FOC loop The variables within the FOC loop that can be read or traced are summarized as follows Variable Name Function q Reference d Reference Are the commanded values input into the q and d loops Note that d is always set to 0 zero q Feedback d Feedback Are the measured values for the q quadrature and d direct force after re referencing from the actual measured current in the phase A phase B coils q Error d Error Are the differences for the q loop and the d loop between the loop reference and the lo
94. perated in pulse amp direction mode controlled by a single axis Magellan Note that any source of pulse amp direction signals such as a microprocessor or other dedicated motion control IC may be substituted for the Magellan in this schematic B 3 1 Atlas power input and motor outputs Atlas is powered through pin pairs HV and Pwr_Gnd and the power source is a transformer isolated DC power supply For step motors pins MotorA MotorB MotorC and MotorD are wired to motor windings A A B and B respectively Please refer to B 1 for layout and wiring recommendations on power input and motor outputs B 3 2 Atlas Pulse amp Direction Interface When in pulse amp direction signal mode Atlas receives pulse direction and AtRest signals as shown in the schematic When operated in pulse amp direction signal mode SPI communications are not available B 3 3 Atlas Enable and FaultOut Signals Atlas has one dedicated input signal Enable which must be pulled low for the Atlas output stage to be active FaultOut is a dedicated output During normal operation it outputs low When a fault occurs it will go into a high impedance state In this example FaultOut is pulled up by Vpullup through resistor R1 Vpullup can be up to 24V to meet the system requirement For example if the fault signal is wired to 5V TTL input Vpullup can be 5V B 3 4 Magellan MIC58110 configuration In this schematic the SPI master is a single axis Magellan
95. puts To operate the Atlas with a Brushless DC motor continuous motor phase angle is provided by the external controller via either Hall inputs or an encoder Atlas Digital Amplifier User s Manual Electrical Specifications 3 9 2 DC Brush Motors Optional Figure 3 7 DC Brush FaultOut Connections Enable DC Brush Motor PLN Pwr Gnd Motor A Atlas Digital Controller Amplifier d Optional Encoder Feedback The following table summarizes the recommended connections when connecting Atlas amplifiers to DC Brush motors Optional Type Required Connections Connections Power HV 2 pins Pwr_Gnd 2 pins Communication SPICS SPISO SPISI SPICIk GND Motor Motor A 2 pins Motor B 2 pins Miscellaneous Enable FaultOut If Atlas is used as part of a higher level servo controller as shown in Figure 3 7 an encoder provides position or velocity feedback signals to the external controller In this configuration the external controller generally consists of a PMD Magellan Motion Processor or a programmable microprocessor or DSP type device Alternatively Atlas can be operated by an external controller as a standalone device driving the motor at commanded voltage or torque levels In this configuration the external controller can be either a microprocessor type device or a logic device such as an FPGA field programmable gate array Atlas Digital Amplifier
96. qoustds 10400450H 55 184 cursed ames 62 jo26 wAd g2u6IS NA d 23 523 v 82 171949 5 Wee 3 48 HE 280190 sous S8 LS 88 201145 2 LE 85019 39 1 14 stuppyaa 128 801 2 18 crosegaa HS 0 A2MMS 89 ouppvaa Et HH 59 HE 321SNVB 91 21035449 aqoussag HE A SIT o8owuy 321549424 OL 2 H 21 8 eros adnauasuj3 ES a R 1 axwasog 24 5 avion ee Sl aqoa S 81 00 Ace 6 042 Apuasog 26 aqou3a4I4A 2v 8 2 pug3soH Ze 8888858 18 eet 8888888 User s Manual ier ii ACE tal Ampl igi Atlas D Application Notes B 3 Step Motor Atlas Operating In Pulse amp Direction Mode The following schematic shows Atlas o
97. r The subsequent sections describe these features 4 7 1 Overcurrent Fault Atlas supports automatic detection of excessive current output This fault occurs when the motor the wiring leading from Atlas or Atlas unit s power stage becomes short circuited An overcurrent fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault It is generally desirable to power down Atlas to check connections or otherwise correct the Atlas attached hardware so that the problem does not occur again If the overcurrent condition has been resolved when restart is attempted Atlas will resume normal operations If the overcurrent condition has not been resolved the overcurrent condition will immediately occur again Over current faults are serious conditions and warrant the utmost precaution before re enabling amplifier oper ation It is the responsibility of the user to determine the cause and corrective action of any electrical fault 4 7 2 Overtemperature Fault Atlas provides the capability to continually monitor and detect excessive internal temperature conditions Such a condition may occur if excessive current is requested if heat sinking of the Atlas unit is inadequate or if some other problem results in elevated drive temperatures Atlas Digital Amplifier User s Manual Operation To dete
98. re enabled both the power stage and the current loop module should be enabled at the same time This is normally the case when recovering from all safety processing conditions See Section 4 7 Safety Processing Functions for more information Atlas Digital Amplifier User s Manual 41 42 Operation It is the responsibility of the user to manage the operation of the power stage so that appropriate safety conditions are maintained at all times 4 6 Status Registers In addition to various numerical registers that may be queried by the external controller there are four bit oriented status registers These status registers conveniently combine a number of separate bit oriented fields into a single register These registers Event Status Drive Status Signal Status and SPI Status Register The external controller may directly query these four registers or the contents of these registers may be utilized by other functional portions of Atlas such as FaultOut signal processing See Section 4 7 8 FaultOut Signal for more information on FaultOut processing Refer to the Atlas Digital Amplifier Complete Technical Reference for a description of these status registers 4 7 Safety Processing Functions Atlas provides a number of amplifier control features that automatically detect and manage safety related conditions In addition Atlas can signal when various conditions safety or otherwise occu
99. re of the fault In most cases it is desirable to power down Atlas to correct the condition Watchdog timeout faults indicate that a serious safety condition has occurred It is the responsibility of the user to operate Atlas within safe limits 4 7 6 Drive Enable Atlas supports an Enable input signal that must be active for proper amplifier operation This signal is useful for allowing external hardware to automatically shut Atlas down The signal has an active low interpretation If the Enable signal becomes inactive goes high the current loop and power stage modules are disabled thereby halting further motor output To recover from this condition the user should determine the nature of the fault It may be desirable to power down Atlas to correct the condition 4 7 7 Drive Fault Status Register To simplify recovery from drive related faults Atlas provides a Drive Fault Status register Refer to the 4 45 Digital Amplifier Complete Technical Reference for more information on this register 4 7 8 FaultOut Signal The Atlas unit s FaultOut signal is used to indicate an occurrence of one or more drive faults This signal is active high meaning it is high when a fault has occurred and it is low when a fault has not occurred The FaultOut signal is programmable so that the user may determine what fault states result in the FaultOut signal becoming active In particular any bit condition of the Drive Fault Status register ma
100. rogrammed using the SPI interface and then commanded to convert to pulse amp direction signal mode 28 Atlas Digital Amplifier User s Manual Electrical Specifications 3 9 4 Step Motor Using SPI Communications Optional Figure 3 9 Step Motor SPI Communi cation Connec Motor A BeOS tions FaultOut 1 2 Phase Step 1 Atlas Motor B Motor External Controller Digital Amplifier Optional Encoder Feedback The following table summarizes the recommended connections when connecting Atlas amplifiers to two phase step motors when using the SPI communications channel In this mode the external controller provides position commands to Atlas via the SPI interface Optional Signal Type Required Signal Connections Connections Power HV 2 pins Pwr_Gnd 2 pins Communication SPICS SPISO SPISI SPICIk GND Motor Phase Motor A 2 pins Motor Phase Motor B 2 pins Motor Phase Motor C 2 pins Motor Phase Motor D 2 pins Miscellaneous Enable FaultOut These connections apply to bipolar motors If connecting to unipolar motors do not connect the center tap In this configuration the external controller generally consists of a PMD Magellan Motion Processor a programmable microprocessor or DSP type device or a FPGA field programmable gate array The external controller provides a continuous stream of position commands or individual phase torque output
101. s With ARM Microcontroller Atlas Interfacing via a Daughter Card B 1 Brushless DC Atlas With Single Axis Magellan The following schematic shows a Brushless DC Atlas Amplifier connected to a single axis Magellan B 1 1 Atlas Power Input and Motor Output Atlas is powered through pin pairs HV and Pwr_Gnd and the power source is a transformer isolated DC power supply When unregulated DC power supply is used the output voltage with respect to its output power current should meet the full Atlas operating range specification The power supply should be able to absorb the recovered energy when Atlas is in regeneration mode If a regulated DC power supply is used but it cannot dump the regenerated energy a blocking diode between the power supply and HV can be used The Pwr_Gnd and GND pins are shorted inside the Atlas and at a system level they refer to the same ground Pwr_Gnd the current return path for the power train is paired with HV and may therefore be noisy GND is the reference for the SPI signals and other digital control signals These signals require a quiet ground reference To ensure optimal performance star grounding is recommended for component placement and layout That is Pwr_Gnd and GND should be connected to the system ground very close to Atlas and the two ground paths should be kept away from each other There is a third current return path stemming from the high frequency component of the motor winding current Atlas
102. s the measured current for the motor Phase A Error Phase B Error Brushless DC amp microstepping motor These registers hold the difference between the current loop reference and the measured current value Phase A Current Phase B Current DC Brush motor The Phase A Error register holds the difference between the current reference and the measured current value Phase A Current Phase A Integrator Sum Phase B Integrator Sum Brushless DC amp microstepping motor These registers hold the sum of the integrator for the phase A and B current loops DC Brush motor Phase A Integrator Sum holds the sum of the integrator for the current loop Phase A Output Phase B Output Brushless DC amp microstepping motor These registers hold the output command for the phase A and B current loop DC Brush motor Phase A Output holds the output command for the current loop 4 4 1 2 Individual Phase Control with Step Motors The Atlas unit s individual phase control mode is designed to work with both 3 phase brushless DC motors and 2 phase step motors When operating step motors in this mode see Section 4 8 Step Motor Control for more information on operations with step motors the basic method is identical The same three current loop parameters described in Section 4 4 1 Individual Phase Control are set and the readable parameters are also the same Atlas Digital Amplifier User s Manual
103. that are suitable for use in a given application The third leg floating control mode is applicable to Brushless DC motors only b 4 4 3 1 Reading Third Leg Floating Loop Values To facilitate tuning there are a number of third leg floating loop values that can be read back as well as traced Refer to the diagram in Section 4 4 3 Third Leg Floating Control for an overview of the control loop The variables that can be read or traced are summarized as follows Variable Name Function q Reference Is the commanded value input into the q loop q Feedback Is the measured value of the q component of the current Atlas Digital Amplifier User s IVlanual 39 Operation Figure 4 8 Power Stage Control Flow 40 Variable Name Function q Error Is the difference between the measured q component of the current and the commanded q component q Integrator sum Is the integrator sum for the q loop 4 Output Is the output command of the q loop q Actual Current Is the measured current for the q current 4 4 3 2 Third Leg Floating in Voltage Mode If Atlas is operated in third leg floating mode with the current loop disabled then the external controller provided torque command is used to specify PWM duty cycle voltage to two out of the three motor output terminals one positive and one negative The third terminal is put into a high impedance floating state Which terminal is positive nega
104. the Magellan DK card via the DB9 cable to J14 of the Magellan DK card Once all connections have been made you should power up the PC but not the Atlas units and follow the manual s direction for installing Pro Motion software You can run Pro Motion check for encoder feedback etc but for axes that utilize Atlas amplifiers motor output will not yet be operational Atlas Digital Amplifier User s Manual 57 4 Atlas Developer s Kit Figure A 3 Component Placement of Vertical and Horizontal DK Carrier Cards four axis version shown 58 A 2 6 Powering Up the Atlas Units Once all connections are made and Pro Motion is installed and running you are ready to provide power to the Atlas units Upon doing so verify that there is no motor movement all power LEDs are lit and none of the fault out LED indicators are lit If any of these conditions is not true power the Atlas units down and recheck connections Once a normal power up is achieved the Atlas units are ready for operation You may now use Pro Motion s Axis Wizard to install and operate your motors or perform direct manual operations using Pro Motion s various control menus Congratulations You have successfully installed the Atlas DK A 3 Atlas Carrier Card Reference Information The following sections provides detailed information on the electrical characteristics of the Atlas DK carrier cards There are four different designs of carrier card representing v
105. the motor To explicitly limit the current the current foldback mechanism can be used See Section 4 7 9 Current Foldback for more information 4 5 2 Disabling the Power Stage During normal operation the Atlas unit s primary function is to drive the motor at the torque or voltage requested by the external controller However there are a number of circumstances where it may be desirable to disable the power stage In particular the power stage may be disabled if certain safety related conditions occur or for system calibration See Section 4 7 Safety Processing Functions for more information on Atlas safety processing g 5 If the power stage module is disabled all external controller provided voltage or torque commands ignored and all bridge FETs are turned off This has the effect of free wheeling the motor which means the motor may stop coast or even accelerate if a constant external force exists such as a gravitational load depending on the load inertia and configuration of the axis mechanics A previously disabled power stage module may be re enabled At the time that the re enable operation is requested the power stage module will immediately begin normal operations Care should therefore be taken to re enable the power stage when the motor axis is in a stable condition such that no abrupt motion occurs If Atlas is in a condition where the current loop module also needs to be
106. tions This value is compared to the value read from the drive DC bus and if the value read is less than the programmed threshold an undervoltage fault occurs The minimum allowed value for this threshold is 10 0 volts which is also the default value The maximum allowed value is 56 0 volts All other aspects of this feature are the same as for overvoltage sense Just as for overvoltage conditions it is the user s responsibility to determine the seriousness of and appropriate response to an undervoltage condition Atlas Digital Amplifier User s Manual 44 Operation 4 7 5 Watchdog Timeout Atlas provides a programmable watchdog timer that can detect an unexpected lack of activity from the external controller Typically such a condition is due to an SPI communication problem or an external controller malfunction Particularly when the external controller is used to provide higher level velocity or position control a watchdog timeout may therefore represent a very serious condition To effect the watchdog function Atlas monitors the amount of time between successive valid SPI torque or voltage commands from the external controller If the amount of time between commands exceeds the programmed watchdog timer the watchdog fault is triggered A watchdog timeout fault will cause the current loop and power stage modules to be disabled thereby halting further motor output To recover from this condition the user should determine the natu
107. tive or floating depends on the controller provided phase angle 4 5 Power Stage Atlas contains a high performance MOSFET based power stage that utilizes one or more switching bridges to drive the motor coils A slightly different configuration is used for each motor type DC Brush motors are driven with H bridge consisting of 4 FETs Brushless DC motors are driven with a 3 phase bridge consisting of 6 FETs Step motors are driven with two H bridges one for each phase for a total of 8 FETs The use of 3 phase and H bridge topologies provides full 4 quadrant operation for all motor types In addition Atlas uses an advanced PWM switching scheme that minimizes the ripple current on the motor windings while maximizing the current loop performance The fundamental frequency of the ripple current is twice the PWM frequency and well out of the audible range in all cases The PWM frequency is selectable between 20 kHz 40kHz and 80kHz to cover a broad range of motor inductances PWM output selection sinusoidal HV space vector single phase T PWM oltage bridge command Phase signal coil PWM generator SPL Phase B Control interface on A brace Mtr_Gnd 1 1 shown for clarity In addition to the output bridge function Atlas provides a current measurement function for use by the current loop module as well as by the safety processing mo
108. ts or to discontinue any product or service without notice and advises customers to obtain the latest version of relevant information to verify before placing orders that information being relied on is current and complete All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement including those pertaining to warranty patent infringement and limitation of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage These products are not designed authorized or warranted to be suitable for use in life support devices or systems or other critical applications Inclusion of PMD products in such applications is un derstood to be fully at the customet s risk In order to minimize risks associated with the customer s applications adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other in tellectual property right of PMD covering or relating to any combination machine ot process in which such products ot services might be or are used PMD s publication of information regarding an
109. ughter card above grounding requirements might be difficult to implement at system level For example Atlas is installed close to the motor on a daughter card while the host controller resides in the mother board The host controller controls Atlas through a cable and too long a cable might compromise the module performance Another example is that a single power supply powers multiple Atlas daughter card at different locations through long separate power cables The long cables establish a current loop and the ground current might interfere with normal Atlas operation This application note provides some examples to address above issues In the example schematic PMD s Magellan IO and CP chips are used to control the two Atlas units on the daughter card s Because of the length of the connecting cable between the host board and daughter board s there are buffers added on the SPI bus on the host board in order to boost the signal driving and sinking capabilities B 6 2 Atlas SPI though Isolator Atlas receives control commands through an SPI interface and functions as an SPI slave The SPI signals refer to its local ground However when Atlas is on a daughter card with a cable to the host controller the host controller s local ground might be different and SPI communication might see errors due to the ground difference noise Isolator can be used to break the ground so that Atlas and the host controller refer to their own groun
110. ully assembled into the L brackets If you ordered your DK components not assembled however you can assemble these components yourself assist with this an assembly drawing is shown in Figure A 6 All needed assembly components should be included with the shipment In addition you will need 1 5 mm and 2 mm hex wrenches to assemble the carrier card Atlas units and L bracket together 62 Atlas Digital Amplifier User s Manual Atlas Developer s Kit ATLAS AMPLIFIER 4X Figure A 6 Mounting Atlas to L bracket Plates four axis vertical version shown SCREWS M2 5 8X SCREWS M3 10X L BRACKET ASSEMBLY A 4 1 Mounting Atlas to Vertical Plate For vertical units with mounting tabs two M2 5 BHCS Button Head Cap Screws or similar are used to attach the Atlas units to the vertical plate assuming it has been included with the DK This is shown in Figure A 6 While optional mechanically connecting the Atlas units to the L bracket is highly recommended to provide the best heat flow from the Atlas unit and to increase the mechanical robustness of the development system For best thermal performance a material such as Sil Pad thermal grease or phase change material should be utilized between metal interfacing layers For horizontal units and for vertical units without mounting tabs the Atlas unit is seated in the carrier via a socket No mechanical hardwar
111. y Once again utilize AWG 14 or larger to ensure that full current demand can be met while operating the unit The power signals are labeled HV and GND For most installations you will use a single common power supply to power all Atlas units However this is not required If desired you can operate different Atlas units at different voltages by connecting to different DC supplies While connecting power signals make sure that the power supply is off A 2 4 Enable Signal Connection You must provide an active enable signal to allow Atlas to operate There are a few options to accomplish this depending on how you plan to operate your system The simplest approach is to use a short piece of AWG 20 or larger wire to connect the GND signal of the correct axis specific jackscrew plug to the Enable input labeled Enab either 3 J6 J9 or J12 for axis 1 2 3 or 4 respectively For safety reasons you may prefer to wire the enable input into a separate switch or E stop button Regardless of how itis accomplished the enable signal must be driven active low for Atlas to operate A 2 5 Installing and Connecting to the Magellan DK Card set up and install the Magellan DK card refer to the Magellan Motion Processor Developers Kit Manual This manual will help you select jumper settings and make connections to the motor s encoders and other connections To install the Atlas DK to the Magellan DK connect the SPI bus cable to
112. y be used to trigger activation of the FaultOut signal For complete information on FaultOut signal programming and the Drive Fault Status register refer to the Azas Digital Amplifier Complete Technical Reference 4 7 9 Current Foldback Current foldback also known as rt foldback is a general purpose tool to protect the drive output stage or the motor from excessive current current foldback works by integrating over time the difference of the square of the actual motor current and the square of a user settable continuous current limit When the integrated value reaches user settable energy limit Atlas Atlas Digital Amplifier User s Manual Operation goes into current foldback When in this condition Atlas will attempt to clamp the maximum current to the continuous current limit value Note that the Atlas unit s ability to do so depends on a properly functioning current loop Atlas will stay in foldback until the integrator returns to zero This is shown in Figure 4 9 Continuous Integrated Figure 4 9 current limit energy limit Current exceeded exceeded Foldback Processing 10 Commanded Amps Example Current p Output Current Amps Integrated Energy Amp sec Each Atlas amplifier motor type has particular default and maximum allowed values for both the continuous current limit and energy limit These values are designed to protect the Atlas from excessive heat generation The table below shows these values
113. y third party s products or services does not constitute PMD s approval warranty or endorsement thereof Atlas Digital Amplifier User s IVlanual Related Documents Atlas Digital Amplifier Complete Technical Reference Complete electrical and mechanical description of the Atlas Digital Amplifier with detailed theory of operations Magellan Motion Processor User s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of operations Magellan Motion Processor Developer s Kit Manual How to install and configure the DK58000 series and DK55000 series developer s kit PC board Pro Motion Uset s Guide User s guide to Pro Motion the easy to use motion system development tool and performance optimizer Pro Motion is a sophisticated easy to use program which allows all motion parameters to be set and or viewed and allows all features to be exercised iv Atlas Digital Amplifier User s Manual Table of Contents 4 1 Introduction ccc cece cc ccc ccc cece 9 1 14 Atlas Digital Amplifier 9 1 2 Features and Functions nee hee 9 1 3 Atlas Model tence era er eria 10 14 Atlas Developer s Kit cece cece cece cece II mmn 11 2 Functional lt 15 2 1 Operational
114. ystem Here are the pinouts for J13 when used for SPI communications J13 Connector Pin Name Description SPICS3 SPI chip select for Atlas 3 2 SPICS2 SPI chip select for Atlas 2 3 Shield Cable shield connection 4 GND Ground 5 SPISO SPI Slave Out 6 SPI chip select for Atlas 1 7 SPICS4 SPI chip select for Atlas 4 8 SPICIk SPI Clock 9 SPISI SPI Slave In A 3 5 2 Pulse amp Direction Mode J13 can also be used to provide pulse amp direction signals to a single Atlas Here are the pinouts for J13 when used in pulse direction signal mode J13 Connector Pin Name Description not used 2 not used 3 Shield Cable shield connection 4 GND Ground 5 not used 6 AtRest Pulse amp direction mode signal 7 not used 8 Pulse Pulse amp direction mode Pulse signal 9 Direction Pulse amp direction mode Direction signal A 3 6 Atlas Connections The carrier card connects to the Atlas units via sockets at J14 J15 J16 and J17 The tables below show the Atlas connections for these connectors 6 1 Vertical Unit Connections U J 19171513119 7 5 3 1 a E E HE EH BH 642 N e A Atlas Digital Amplifier User s Manual Atlas Developer s Kit d Pin Name Pin Name Pwr_Gnd 2 Pwr_Gnd 3

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