DC MOTOR SPEED CONTROLLER
Contents
1. a3s LON AS YIMOd a38N LON 193130 aasn LON INV HLM USAIN 30S O HDIH Wz aasn LON aqasn LON O sn LO aasn LON O i VV JAIJO Ba i Q zino 0111080 9AS ONO UNO Es E JAS O At E AS 22 gt m m I Gasn LON a Ah S S JONS Alddns O buno AlddNs YIMOd AMALLVE YAMOd SVIS OL NOILDSANNOS dqaL_v10sI TYNOILAO UIAIVO 1LVO USARIO VO YAA ALYD Yara iva EMO UA O 6 4 aalyvios daLv10 1 aayos daLW1051 15 0311081 y AA A APA O ATddNS YJIMOd 0 m LLIVG l B Age 6 Alddns YIMOd o d AMSLLVa LO O gt JAHA YOLOM O 390149 J3M0d l x lt o LLVg lt Q AAA AA IRA E Output Specifications H bridge 150A O 24VDC nominal for 2 minutes 100A O 24VDC nominal for 5 minutes 50A O 24VDC nominal for 1 hour Output to Motor Overcurrent protection is provided Short circuit protection is provided 250A factory configurable 1 on off 2A The digital output can be used to drive a load i e brake release or an indicator lamp to show when the motor is on or off or to flag an error pA ae i When using CAN the DOUT control message drives the digital output By default this message is expe2. Miha MNIC Global Electronic Solutions Preliminary TECHNICAL DATASHEET TDAX100050 DC MOTOR SPEED CONTROLLER Speed Control Drives a brushed DC motor up to 150A 1 Digital VO CAN SAE J1939 RS 232 High efficiency Rugged with Electronic Assistant P N AX100050 Features e Unidirectional or bi directional brushed DC motor control e Upto 150A output current to the motor e Highly efficient and robust design with isolation between drive and processing circuits e Operation from 9 to 36VDC 24VDC nominal e digital input can be used as the control signal for a motor enable motor direction selected or for the digital output e The control input to drive the motor responds to CAN messages e 4configurable and independent ramps soften changes in motor voltage and current e A configurable E stop shutdown ramp parameter is provided The 2A digital output can be used as a brake release or to drive an indicator lamp to show the motor on off state or to flag an error A 5V reference voltage is provided to power an external sensor or potentiometer CAN SAE J1939 and RS 232 ports are provided Compact size for easy mounting on a vehicle Corrosion resistant aluminum housing Operational from 40 to 85 C 40 to 185 F e Electronic Assistant runs on a Windows operating system for user configuration of the motor controller An Axiomatic USB CAN converter links the PC to the CAN bus Applications Mobile Equi
3. relationship between the motor command message and the motor speed is always linear as shown in the blue in Figure 2 However the user can choose to set the output at the minimum command to be higher than the output at the maximum command in order to get an inverse profile as shown in the red line TDAX100050 4 Max Speed Minimum Minimum Maximum Command Command Figure 2 Motor Command vs Speed Output Relationship Ramps To limit the inrush current the motor controller has independent configurable up and down ramps for both forward and reverse directions 1000 to 10 000 mSec The ramp up setpoint determines the time it takes the output to go from the lowest point on the curve above to the highest in the corresponding direction It is the opposite for the down ramps For more details refer to the user manual General Specifications DSP56F8346 Thermal Protection Thermal protection is built in Control Logic Standard embedded software is provided Refer to the User Manual for details There are up to seven messages that give status feedback to the network Motor Enable Status Motor Direction Motor Duty Cycle Motor Speed RPM Motor Current Din1 State and Dout1 State By default all these messages will be sent on the first Proprietary B PGN OxFFOO if the user selects a non zero transmission rate However the user has full configuration over the feedback messages so the motor controller can be easily integrate
4. 1 Status Feedback Fault Feedback TDAX100050 9 1 CAN port SAE J1939 The software was designed to provide flexibility and provides the following Configurable ECU Instance in the NAME for multiple ECU s on the network Configurable Motor Control Logic Configurable Digital Output Logic Configurable Transmit Messaging Parameters Configurable Receive Messaging Parameters Configurable Diagnostic Messaging Parameters as required Diagnostic Log maintained in non volatile memory Setpoints are accessed using standard Memory Access Protocol MAP with proprietary addresses The Electronic Assistant allows for quick and easy configuration of the unit over the CAN network The motor controller is compliant with Bosch CAN protocol specification Rev 2 0 Part B and the following J1939 standards Table 1 J1939 Compliance OSI Network Model Layer J1939 Standard J1939 11 Physical Layer 250K bit s Twisted Shielded Pair Physical J1939 15 Reduced Physical Layer 250K bits sec Un Shielded Twisted Pair UTP J1939 21 Data Link Layer Request PGN 59904 Data Link Transport Protocol Connection Management PGN 60416 Transport Protocol Data Transfer Message PGN 60160 Proprietary A Default Control Message PGN 61184 Proprietary B Default Feedback Message PGN 65280 Proprietary B available messages PGN s 65281 to 65535 J1939 81 Network Management J1939 Appendix B Address and Identity Assig
5. cted to be sent on the Proprietary A PGN OxEFO00 However the user has full configuration over the control message that the motor controller will respond to so it can be easily integrated into existing systems without requiring changes on the network Digital Ground 1 Digital GND connection is provided Reference Voltage 5V 10 mA is available to power a sensor or potentiometer Motor Direction is user configurable as Not Used J1939 Message or mapped to Digital Input 1 Motor Direction The Direction Method is configurable as Unidirectional Bi directional where forward is ON or Bi directional in reverse Configurable E stop shutdown ramp parameter It determines the time it will take the motor controller to ramp from max RPM 100 DC to 0 The same rate would be used in either direction If the control input goes into error mode over temperature shutdown loss of communication etc or the CAN message disables the motor the controller uses the E stop ramp to shut off the motor Inputs There are three inputs that will affect how the motor responds which are the control enable and direction inputs The enable or direction input can be selected as either Not Used J1939 Message or Digital Input 1 When J1939 Message is selected the corresponding received CAN message setpoints take affect By default all these messages are expected to be sent on the Proprietary A PGN OxEFOO However the user has
6. d into existing systems without requiring changes on the network Motor Open Circuit Motor Over Current Unit Over Temperature Dout1 Fault Each fault could be used to shutoff the motor digital output or both Each fault could also be used to create a Diagnostic Trouble Code DTC and generate a DM1 on the J1939 network Configurable By default none of the faults that can be detected will generate Diagnostic Messages on the J1939 network If the setpoint is set to TRUE the user can select the SPN that will be used to Diagnostics generate the Diagnostic Trouble Code DTC There is also a setpoint that will allow the user to implement a delay before sending a DM1 message Diagnostic data is stored in a non volatile log to support requests for DM2 Each entry in the log is a record of the SPN FMI and OC for the fault that has occurred Refer to the user manual for details RS 232 User Electronic Assistant royalty free license for use P N AX070502 the Axiomatic Configuration KIT includes the following USB CAN Converter P N AX070501 1 ft 0 3 m USB Cable P N CBL USB AB MM 1 5 CAN User Interface 12 in 30 cm CAN Cable with female DB 9 P N CAB AX070501 AX070502IN CD P N CD AX070502 includes Electronic Assistant software EA USB CAN User Manual UMAX07050X USB CAN drivers amp documentation CAN Assistant Scope and Visual software amp documentation and the SDK Software Development Kit Refer to Figure
7. full configuration over the control messages that the motor controller will respond to so it can be easily integrated into existing systems without requiring changes on the network Motor Control Responses When Duty Cycle Control is selected the duty cycle applied to the motor will vary in proportion to the received control input data In Speed Control open loop the motor controller assumes that at 100 duty cycle the motor will be running at the maximum rated speed The duty cycle applied to drive the motor will be calculated based on this relationship Both control methods are effectively similar Output Control Logic For the Enable Response the user can select the input to either enable or disable the motor when it is on Additionally when the motor output is to be overridden due to the enable input state there are three responses that can be selected The motor can be shutoff ramp to zero using Ramp Off ramp such as in an emergency stop situation it can be ramped to the minimum output i e 0 using the down ramp or it can be ramped up to maximum output i e 100 The maximum output response is useful for situations where the load should be running at full when in an error condition i e if the m c is driving a cooling fan For the Direction Method refer to Motor Direction above Motor Speed The motor speed is always determined by a command message taken off of the J1939 bus The
8. h external termination resistors The resistors are 120 Ohm 0 25W minimum metal film or similar type They are placed between CAN_H and CAN _L terminals at both ends of the network Technical Specifications Input Specifications Power Supply Input A 12 or 24VDC nominal 9 36 VDC euler dled Under voltage Over voltage Protection Provided All inputs are isolated from the power supply driving the motor and current outputs Digital Input Active High switched to V Fully isolated with 5V threshold Switch to Battery The digital input can be used to enable disable the motor select the direction of the motor and or to control the digital output Alternatively the enable direction or DOUT control signals can be taken from the J1939 network Digital Inout GND 1 Digital GND connection is provided TDAX100050 2 Block Diagram a3sn LON a3sn LON NYD sna N D aasn LON aasn LON b SAMO TYLIDIO L ONS aa aasn LON ass LON asas LON a3sn LON NVO STVNIAY L ALLVOSN ANY JALLISOd AYALLYA NOY 03 101 Suv UNO NOWWOS SVAYV ANOTOD AVUD LON UNO TVLISIO a 3sm LON a38N LON aasn LON b LNd NI TWLDId YOLOIW FHOLO N
9. nments Network Layer Arbitrary Address Capable ECU It can dynamically change its network address in real time The controller supports Address Claimed Messages PGN 60928 and Commanded Address Messages PGN 65240 J1939 71 Vehicle Application Layer Software Identification PGN 65242 None of the application layer PGN s are supported as part of the default configuration However the controller could be configured such that any of the transmitted messages to be sent will use a PGN from this section or for any of the received messages to recognize a PGN from this section It is the user s responsibility to configure the controller such that it will not Application Layer violate the J1939 standard J1939 73 Application Layer Diagnostics DM1 Active Diagnostic Trouble Codes PGN 65226 DM2 Previously Active Diagnostic Trouble Codes PGN 65227 DM3 Diagnostic Data Clear Reset for Previously Active DTC s PGN 65228 DM14 Memory Access Request PGN 55552 DM15 Memory Access Response PGN 55296 DM16 Binary Data Transfer PGN 55040 TDAX100050 6 Refer to Table 2 Electrical Connections Wires should be of the appropriate gauge to meet requirements of applicable electrical codes and suit the specifications of the connector s The controller has 4 mounting holes 0 281 H x 0 625 W inches 7 14 x 15 88 mm The holes are sized for inch or M6 bolts The bolt length will be determined by Mount
10. plication All our products carry a limited warranty against defects in material and workmanship Please refer to our Warranty Application Approvals Limitations and Return Materials Process as described on www axiomatic com service html TDAX100050 Form TDAX100050 07 14 09
11. pment Lift Equipment Electric Vehicles for Material Handling Ordering Part Numbers DC Motor Controller with CAN AX100050 AX070502 Configuration KIT includes the following USB CAN Converter P N AX070501 Accessories 1 ft 0 3 m USB Cable P N CBL USB AB MM 1 5 AX070105 Mating Plug Kit DT06 12SA W128 12 0462 12 in 80 cm CAN Cable with female DB 9 P N CAB AX070501 201 16141 3 plugs AX070502IN CD P N CD AX070502 includes Electronic Assistant software EA amp USB CAN User Manual UMAX07050X USB CAN drivers amp documentation CAN Assistant Scope and Visual software amp documentation and the SDK Software Development Kit NOTE To order this kit you need only to specify P N AX070502 In Europe In North America Axiomatic Technologies Oy Axiomatic Technologies Corporation Hoyt m ntie 6 5915 Wallace Street 33880 LEMPAALA Finland Mississauga ON Canada L4Z 1Z8 Tel 358 3 3595 600 Tel 1 905 602 9270 Fax 358 3 3595 660 Fax 1 905 602 9279 www axiomatic fi www axiomatic com Axiomatic Electronic Assistant EA AX070500 i l Other CAN Axiomatic Modules and USB CAN Termination AX070501 SAE J1939 Computer CAN bus Other CAN Modules an Termination Axiomatic Axiomatic Axiomatic Controller Controller Controller with CAN with CAN with CAN Figure 1 User Configuration Using Electronic Assistant EA NOTES Network Termination Itis necessary to terminate the network wit
12. the end user s mounting plate thickness Typically 20 mm 3 4 inch is adequate lid A grounding stud is also provided Ground the chassis for safety purposes and proper EMI shielding Make this connection using one of the mounting bolts holding the controller to the machine Aluminum extrusion with stainless steel end plates 8 50 x 12 22 x 3 82 inches W X L X H including connectors 215 9 x 310 3 x 97 2 mm Refer to Figure 3 0 The motor controller is not CE marked as it is not a self contained system Table 2 Electrical Pin Out Chart CAN and I O Connector 12 pin Deutsch P N DT04 12PA LE10 Mating Connector AX070105 Mating Plug Kit Packaging and Dimensions 8 RS 232Receive 9 RS 232GND __ Power and Motor Control Threaded Copper Rods 5 16 18 inches Refer to drawing for orientation of rods Battery Motor Battery Motor TDAX100050 7 _ be 3 82 97 15 aa 0 225 5 72 END Figure 3 Dimensional Drawing TOP aae 11 97 BOB A ee 078 1248 20 gt 1 88 47 63 SUPPLY OUT H 2 O gt o o un 7 50 190 50 MOUNTING HOLES BOTTOM 0 281 X 0 625 7 14 X 15 88 TO SUIT 1 4 20 OR M6 Dimensions inches mm Specifications are indicative and subject to change Actual performance will vary depending on the application and operating conditions Users should satisfy themselves that the product is suitable for use in the intended ap
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