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Atlas Digital Amplifier User's Manual

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1. BHBHEHHBEEHE Top Outline View of is L Horizontal and Vertical DK 135 44115 ss 2 J2 M SSS ARR 8 5 8 8 8 ress 968 DIO DIO A 3 1 J1 amp J2 Jack Screw Connectors 1 and J2 provide jack screw style connections to various Atlas signals The following table shows this J1 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 Motor supply voltage J2 Connector Carrier Card Label Name Description Atlas Digital Amplfier User s Manual 59 A Atlas Developer s Kit 60 Enab Enable Enable input Fit FaultOut FaultOut output GND GND Ground return for Enable and FaultOut signals A 3 1 1 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 3 2 J4 amp J5 DB9 Connectors A 3 2 1 SPI Communications J4 and J5 are used to provide SPI communications between multiple Atlas DK cards and a Magellan DK card or the user s motion control system 5 is female and 4 is male This arrangement
2. HV DC power to Atlas module referenced to Pwr_Gnd The DC power source should be a transformer 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 bu
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5. 3 0189 0 28 62 090 41910 soy 4010 days AS pup 2185 AH 15195 AH 05195 52145 840308 840308 940308 219903 199 3 40308 dnyndA TIW LA 95 sr IW 53 i 20 days 75 tal Amplifier User s Manual igi Atlas D Application Notes This page intentionally left blank 76 Atlas Digital Amplfier User s Manual Index 1 Symbols Enable 21 SPICS 21 A absolute maximum ratings 19 AC characteristics 22 application notes 65 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 65 brushless DC motors 26 buffers 49 carrier card reference information 59 commutation 33 compliance 20 connecting to the Magellan DK Card 58 connection brushless DC motors 26 DC brush motors 27 overview 26 power 58 connections 61 motor 58 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 68 DC brush Atlas PIC microcontroller 72 Atlas Digital Amplifier User s Manual DC
6. Logic 0 input voltage 0 8 lin pull up current 500 uA 3 5 4 Enable Schmitt trigger input Min Max Conditions 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 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 Amplfier User s Manual 21 Electrical Specifications AC Characteristics Figure 3 1 Timing i Diagrams fe x NEM aes 2 HE T4 SPICS 5 e T6 SPISO dat lid Q Re T8 e spist SS be vatia 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 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
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8. 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 module 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 Amplfier User s IVlanual 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
9. 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 brush 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 Amplfier 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 mo
10. Optional Encoder Feedback The following table summarizes the recommended connections when connecting Atlas 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 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 brushless DC motor the motor s current phase angle must b
11. upnoda 6 widen 10 5814 8 141504 auxras EE 9 o mias HE 80 azanva SE sor Loe 01 26 _ 201 28 a gt iswwa LSE 28 _ Apvay 28 21 aya Loch T yor geyBoyouy aera ESE aqous 99 ayqougpoay 26 _ 04323 4 P lt lt lt lt lt lt lt lt lt lt lt pue 38888888888 88888888888 In AGE pialus 67 User s Manual ler tal Amplf 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
12. 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 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 5 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 MC58110 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 66 Atlas Digital Amplfier User s IVlanual Application Notes 2 p 25245 oco 20mg00 DISSEL lt 0 2 1 J T 45294 12790 y a 4uaun2oq 2219 uoja89Q s xy ajBuis 9149 20 5
13. 1 All voltage values are with respect to GND unless otherwise noted 3 3 Environmental Ratings 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 9576 non condensing Altitude Up to 2 000 meters without derating Contamination Pollution Degree 2 3 4 Safety and Compliance Specification Standard CE LVD 60204 EMC D EN61000 6 1 EN61000 6 3 EN5501 Electrical safety Designed to UL508C UL840 and EN60204 Hazardous materials RoHS compliant Flammability UL94 V2 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 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 Amplfier 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
14. Brushless DC Horizontal no tabs B DC Brush Horizontal no tabs 3 Step motor Vertical 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 Horizontal Atlas units are provided with a horizontal version of the carrier card and vertical Atlas units are provided with a vertical version of the carrier card The L bracket is specified by size 1 2 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 Atlas Digital Amplfier User s IVlanual 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 L bracket base amp wall with all four Atlas units installed on the L bracket MDKONS3990 One step motor vertical package with tabs No L bracket one vertical DK carrier and Two step motor horizontal package with tabs two horizontal Atlas carriers MDK2BI8800 Two DC Brush horizontal package with tabs 2 axis L bracket
15. Enable and FaultOut signals are typically used to implement a safety interlock between the Atlas module 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 gt 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 Amplfier 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
16. described in Section 4 4 1 Individual Phase Control are set and the readable parameters are also the same Atlas Digital Amplfier User s IVlanual 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 24V 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 Integrator Inverse sum Transform BOutput dReference 0 zero dError
17. ILimitd 256 d Integrator dFeedback sum Eee Phase A Actual Current Clarke Park Transform Phase B Actual Current Figure 4 6 provides 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 Amplfier User s IVlanual 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 loop The vatiables 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 meas
18. 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 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 additi
19. Enable 16 FaultOut 17 GND 18 SPICS AtRest 19 SPISO 20 SPISI Direction 21 SPICIk Pulse 22 GND The pins are 0 1 inch spacing and 0 025 inch pin width 3 5 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 L brackets that provide 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 two axis configuration and four axis configuration Normally the Atlas units and carrier cards are fully assembled into the L brackets If you ordered your DK components not assembled however you can assemble these components yourself To assist with this an assembly Atlas Digital Amplfier User s Manual Atlas Developer s Kit drawing is shown in Figure A 8 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 cards Atlas units and L bracket together ATLAS AMPLIFIERS Figure A 8 Mounting Atlas to Vertical Plate SCREWS M2 5 SCREWS M3 L BRACKET ASSEMBLY A 4 1 Mounting Atlas to Ve
20. To Input Mode lv current AtRest Asserted power stage Control Flow Drive Current Phase B Command Pulse irection Counter Microstep 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
21. applications that utilize Atlas to specify a desired output value just once after power up or only occasionally as required by the application To 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 EX Bus Voltage Bus Monitoring 5 3 3 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 Amplfier User s IVlanual Operation Commutation this module utilizes internally generated information or information provided by the external controller to split up the desired overall torque comman
22. for a detailed discussion of step motor control with Atlas amplifiers DC Brush motors are single phase devices and do not require commutation Once commutated 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
23. 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 means 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 Amplfier User s IVlanual
24. total of twelve different versions in all 10 Atlas Digital Amplfier 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 ATLAS AMPLIFIER Figure 1 2 Developer Kit Components L BRACKET ASSEMBLY ATLAS DK CARRIER CARD ASSEMBLY VERTICAL PLATE COMMUNICATIONS CABLE 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 Amplfier User s Manual 11 Introduction Figure 1 3 Developer Kit Numbering 12 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 and vertical versions L bracket base with optional vertical plate for heat sink attachment comes in 1 2 or 4 axis version The L bracket is optional but highly recommended because it provides a stable mechanical base from which you can conveniently connect and operate y
25. 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 Generally the most frequently used header transaction is an instantaneous voltage 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 Amplfier User s Manual A Atlas Developer s Kit In This Appendix Overview Installation and Getting Started Atlas Cartier Card Reference Information L Bracket A 1 Overvievv ATLAS AMPLIFIER Figure A 1 Developer Kit Components L BRACKET ASSEMBLY ATLAS DK CARRIER CARD 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 e Atlas carrier card At
26. 9 User Memory Space amp Buffers 0 49 4 10 Trace us cepe tien hese Sab ata ee mds 49 4 11 Power up amp Non Volatile Initialization Storage 52 4 12 SPI Communications Overview 52 A Atlas Developer s Kit de Vivi e eed urs eA etes 55 EET 55 A 2 Installation and Getting 5 56 Atlas Carrier Card Reference 1 59 4 iis die dad die eros ma egret taka 62 B Application 65 B 1 Brushless DC Atlas With SinglesAxis Magellan 65 8 2 DC Brush amp Step Motor Atlas With Multi Axis Magellan 68 B 3 Step Motor Atlas Operating In Pulse amp Direction Mode 70 84 DC Brush Atlas With PIC Microcontroller 72 B 5 Step Motor Atlas With ARM 74 DI cm p A Atlas Digital Amplfier User s IVlanual This page intentionally left blank Atlas Digital Amplfier User s Manual List of Figures 1 1 Atlas Model Numbering 10 1 2 Developer Kit Com
27. ACE 09 19 k 90959079 3559195 n 73 tal Amplfier User s Manual igi Atlas D Application Notes B 5 Step Motor Atlas With ARM Microcontroller 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 de
28. Field Oriented Control Calculation Flow 37 4 7 Third Leg Floating Control 39 4 8 Power Stage Control Flow 40 4 9 Current Foldback Processing Example 45 4 10 Pulse and Direction Signal Input Mode Control Flow 47 4 11 User Memory Space and Buffers 49 4 12 SPI Communications Protocol Overview 53 4 13 Sending a Voltage or Torque Output Value 54 A 1 Developer Kit Components 55 A 2 Setting ATLAS SPI Bus 56 A 3 Chain of DK Carrier Cards 57 A 4 Top Outline View of Horizontal and Vertical DK 59 A 5 JG Address Selector ys 61 A 6 Vertical Unit Pinouts cece cece heme ean 61 A 7 Horizontal Unit Pinouts cece cece cnn eect heme 62 A 8 Mounting Atlas to Vertical 63 B 1 Brushless DC Atlas With Single Axis Magellan 67 B 2 DC Brush amp Step Motor Atlas With Multi Axis Magellan 69 B 3 Step Motor Atlas Operating In Pulse amp Direction Mode 71 B 4 DC Brush Atlas With PIC Microcontroller 73 B 5 Step Motor Atlas W
29. 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 Parameter 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 5 SPI Communications for more information on t
30. and Pro Motion is installed and running you are ready to provide power to the Atlas units Atlas Digital Amplfier User s Manual Atlas Developer s Kit d 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 powet 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 Heference Information The following sections provides detailed information on the electrical characteristics of the Atlas DK carrier card There are two different designs of carrier card one for the vertical Atlas units and one for horizontal units Electrically these two cards are similar differing only in the socket connections to the Atlas unit O J3 Figure 4
31. any 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 Amplfier User s IVlanual Table of Contents 4 1 Introduction ccc cece cc ccc ccc eene 9 1 1 Atlas Digital Amplifier 9 1 2 Features and 5 2 100 9 1 3 sec e cence eee Ie 10 14 Atlas Developer s Kit cece 11 2 Functional Characteristics AVID Mets 21 Operational 15 2
32. control for the hardware interface and implements higher level protocol on top of this See Section 3 6 AC Characteristics to learn more 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 falling edge of the chip select begins the packet and a rising edge of the chip select ends the packet 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 are 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
33. facilitates connection of multiple Atlas units in a direct physical chain Here are the pinouts for J4 amp J5 when used for SPI communications J4 amp J5 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 2 2 Pulse amp Direction J4 or J5 are also used to provide pulse amp direction signals to a single Atlas In this mode multiple Atlas DKs can not be connected to each other and the J6 address selector jumper should be set to an address of 1 In this mode either J4 or J5 may be used for connection the only difference being the gender of the connector Here are the pinouts for J4 amp J5 when used in pulse amp direction signal mode J4 amp J5 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 AtRest signal 7 not used Atlas Digital Amplfier User s Manual Atlas Developer s Kit d 8 Pulse Pulse amp direction mode Pulse signal 9 Direction Pulse amp direction mode Direction signal A 3 3 J6 Address Selector 16 is a jumper that programs the address of a particular carrier card when using the SP
34. field programmable gate array The external controller provides a continuous stream of position commands or individual phase torque output commands to control the motor position Atlas Digital Amplfier User s Manual 29 Ly Electrical Specifications This page intentionally left blank 30 Atlas Digital Amplfier User s Manual 4 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 in
35. 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 microprocessor based controllers SPlinterface eliminates analog 10V signals Atlas Digital Amplfier User s IVlanual 9 Introduction 1 3 Rugged solderable 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 ver
36. high T2 400 nsec Last low SPICS high T9 0 5 Tsp 3 7 Pin Descriptions and Pinouts 22 Atlas Digital Amplfier User s Manual Electrical Specifications 3 7 1 Pinouts Atlas Vertical Unit V J 1917151311 9 7 5 3 1 Figure 3 2 ee Vertical Unit 2018 16 14 1210 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 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 dG H 12108 6 4 2 Pinouts M 2 3 27 000 1 Pin Name Pin Name Motor D 2 Motor D 3 Motor C 4 Motor C 5 Motor B 6 Motor B Atlas Digital Amplfier User s Manual 23 Electrical Specifications Pin Name Pin Name 7 Motor 8 Motor 9 HV 10 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 are 0 1 inch spacing and 0 025inch pin width 3 7 3 Pin Descriptions Pin Name Direction Description
37. number of amplifier control features that automatically detect and manage safety related conditions In addition Atlas can signal when various conditions safety or otherwise occur 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 i
38. 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 voltage that control the power stage s switching bridge Figure 4 5 Individual Phase Control Calculation Flow 35 Atlas Digital Amplfier User s IVlanual 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 ph
39. 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 receive 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
40. 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 negative 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 SPL Phase B Control interface on Gnd 1 shown
41. vertical Atlas units you can set the jumper without removing the Atlas from the carrier card For horizontal Atlas units you must remove Atlas from the socket select a jumper and then carefully remount the Atlas into the socket Refer to Figure A 2 to select an address i Each Atlas must have unique address from 1 to 4 and this number directly corresponds to the axis number addressed by the Magellan Motion Processor Figure A 2 Setting ATLAS SPI Bus Addresses A 2 2 SPI Bus Connections If you are using L bracket you should plug in the provided 12 DB9 cable at J5 the female DB9 connection of the cartier card Do not plug in at the male DB9 connection J4 Doing so will mean that you will not be able to connect your Atlas units to the Magellan DK card Once you have plugged in the DB9 cable you can skip forward to Section 2 3 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 If you did not order an L bracket you will need to first connect the Atlas units together and then connect the provided 12 cable 56 Atlas Digital Amplfier User s IVlanual Atlas Developer s Kit Connecting Atlas units together is easily accomplished by plugging them directly into each other in a chain without any intervening cable at the J5 female a
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44. 2 Physical Characteristics amp Mounting 16 2 3 Mounting Options tea EUER ET see 18 3 Electrical Specifications 19 31 Drive 19 3 2 Absolute Maximum lt 19 3 3 enne 20 3 4 Safety and esses hens 20 3 5 DCCharacteristics cobi Up RIDERE ca ea 20 3 6 AC Characteristics uei 22 3 7 Descriptions and lt 22 3 8 Signal Interfacing rr e 25 3 9 Connection 26 4 Operation sse ie re nh 31 4 1 Functional Overview e ees ver eoe b des ese opea 31 42 Internal Block meme 32 43 COMMUTATION esses hys Nek he eek Fue ea epa 33 44 Current ver eta eese reta DOE V ed Ed 34 45 PowetrStage s cedem trees eeu teen rd ee tote o ee 40 4 0 Status Registers our dee Y ete ees dr Ves E E ES 42 47 Safety Processing FUNCTIONS 6 ccc cece eee teen ence ence eens 42 48 Step Motor Control er rete reed aee nne en a 46 4
45. 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 each 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 1110 9 8 7 6 5 4
46. 5914504 3j DUT sa3i aq AE E Pic EH on E 53195 6 AGE 090 4161 soy 20 55845044 AS MNIIdS 15185 05145 91 ngonoa 1 pug AH AH 84030N 84030N 940308 940308 40308 403084 4aMod 24 20 ssayusnug 41990 10400 HE etma 22 amog 22 _ mozog LOEO L _ 6900 ru soog E 19400 5 goo 5__ _ ar 2554 popoa 1 copog 3S 242314550 2990 HE 01 314250 eet H4 6 PEL E Unteson crappy 227 EL oravumanosoa voy LE x 1 S etuppy HE E amo ztuppy 6 Hj ymo LE saras 8L otuppy LS 69 Guppy LS _ 18 tyxnypons guppy S _ nopo lt 88 LARRY eo tapono guppy HE aqua suppy 8 _ 281 18 guppy L 9 Ta amp IU ISHAd euppy 1 1 5 guppy 11 E Tuppy HE ouppy 84 _ 384 jursixy 08 01
47. 68 8888888 ii ji 1 ACE tal Amplfier User s Manual igi Atlas D Application Notes B 3 Step Motor Atlas Operating In Pulse amp Direction Mode The following schematic shows Atlas operated 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
48. Atlas Digital Amplifier User s Manual gt Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 0 January 2013 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 2013 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 Amplfier 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 product
49. Hz or 80 kHz sinusoidal space vector modulation standard single phase 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 Amplfier 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 Vertical w Tabs 204 360 38 61 1829 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 1 520 Y 23 30 918 4 89 __ 193 i I 1 1 400 __ 158 15 24 600 mm inch 16 Atlas Digital Amplfier User s Manual Functional Characteristics 2 2 3 Horizontal Unit With Tabs 44 45 B 150 Figure 2 3 3854 Physical Characteristics Horizontal w Ta
50. I bus The carrier card backplane supports up to four separate Atlas units via four individual chip select signals communicate to a particular carrier card the external controller s chip select signal must match the address selected via this jumper gt gn Figure 5 shows how this jumper is programmed to select addresses 1 through 4 Figure A 5 J6 Address Selector A 3 4 Atlas Connections The carrier cards connect to the Atlas unit via sockets at J3 The tables below show the Atlas connections for these connectors A 3 4 1 Vertical Unit Connections V J 1917151311 9 7 5 3 1 Figure A 6 Bo Vertical Unit 201816141210 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 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 are 0 1 inch spacing and 0 025 inch width 1 Atlas Digital Amplfier User s Manual 61 A Atlas Developer s Kit Figure A 7 Horizontal Unit Pinouts 62 A 3 4 2 Horizontal Unit Connections Pin Name Pin Name Motor D 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
51. 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 conditions 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 Amplfier User s IVlanual 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 timeo
52. 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 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
53. a microprocessor type device or a logic device such as an FPGA field programmable gate array Atlas Digital Amplfier 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 Motor 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 AtRe
54. ace and setup parameter configuration storage ry P y 5 5 Trace this module provides facility for continuously storing up to four simultaneous Atlas 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 Atlas Digital Amplfier 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
55. ase 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 holds 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
56. base only with both Atlas units installed on the L bracket Atlas Digital Amplfier User s IVlanual 13 Introduction This page intentionally left blank 14 Atlas Digital Amplfier User s Manual 2 Functional Characteristics 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 k
57. 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 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 70 Atlas Digital Amplfier User s IVlanual Application Notes o c o 9 5o c 52 2 502824 Dp P c lt 1 99 T 35594 ed a 2218 3 asing ur 04290 9235 21311 Sa2i e UO IZOW 2222222 0000009900990 52222228 2922292292292 22222222 5555585558585 65555555 adnuvazuipt LS roog DE emoa HZ 22 mozog 02 om 12 1 2 89354 19354 59394 455 AE HE 24231250 62 090 41910 11 12313250 toog EEL 13 4244 osoa 78 25118 9149 4030u 9235 21
58. brush motors 27 DC characteristics 20 Enable 21 SPICS 21 5V 21 FaultOut 21 SPICIk 20 SPISI 20 SPISO 21 disabling power stage 41 drive fault status register 44 ratings 19 E electrical specifications 19 Enable signal connection 58 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 voltage mode 37 internal block diagram 32 77 My 78 J J4 connectors 60 J5 DB9 conectors 60 J6 address selector 61 L L bracket 62 LED indicators 62 M Magellan DK Card connecting to 58 model numbering 10 examples 11 motor connection 58 current setting 47 mounting dimensions 16 L bracket to other hardware 63 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 58 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 driv
59. bs 1119 __ 440 3861 18 29 1 1 520 720 1 1116 __ 440 330 130 TiN 1 1 581 150 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 Amplfier User s Manual Functional Characteristics Figure 2 5 Horizontal amp Vertical Unit Mounting Options 18 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 THERMALLY CONDUCTIVE TAPE THERMALLY CONDUCTIVE TAPE HEAT SINK Horizontal unit adhesion mount to heat sink Vertical unit adhesion mount to heat sink THERMALLY CONDUCTIVE TAPE THERMALLY CONDUCTIVE TAPE SCREWS M2 5 SCREWS M2 5 Horizontal unit mechanical mount to heat sink Vertical unit mechanical mount to heat sink THERMALLY THERMALLY CONDUCTIVE TAPE COLD PLATE COLD PLATE SCREWS M2 5 Horizontal Unit mechanical mount to cold
60. ction 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 direction 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
61. d 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 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 tr
62. d 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 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 C respectively Pins MotorD 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 To ensure optimal SPI communication please consider the following layout recommendations 1 Keep traces short and use 45 degree corners instead of 90 degree corners Atlas Digital Amplfier User s IVlanual 65 Application Notes 2 AIL SPI signal traces should be located next to a continuous ground plane or if possible between two continuous ground planes 3 Keep traces away from other noisy and high speed signal traces Alternatively run ground traces along with these signals as a shield 4 When multiple Atlas modules
63. 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 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 Amplfier User s Manual Operation Atlas utilizes standard SPI signaling and timing
64. dicated 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 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 74 Atlas Digital Amplfier User s Manual Application Notes 588 5 5 3 Oe Ln lt Microcontroller ARM 43 943u02042 4 YHA 59149 OOW 9235 DU UO ZOW 4100713535 6v ord gw 85 4850 4850 u3ATIN3 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 1 3 2 68 6 v IN3 T6d 80V IN3 0 6d LUV IN3 8d 9
65. e 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 Atlas SPI bus addresses 56 motor current 47 signal interfacing 25 Enable 25 FaultOut 25 SPI bus addresses set 56 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 74 step motor Atlas pulse amp direction mode 70 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 Atlas Digital Amplifier User s Manual n 4 trace 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 79 80 This page intentionally left blank Atlas Digital Amplifier User s Manual
66. e provided by the external controller through the SPI interface The Atlas does not support direct Hall signal inputs 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 Amplfier User s IVlanual 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 1 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 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 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
67. ecting to different DC supplies While connecting power signals make sure that the power supply is off A 2 5 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 jackscrew plug J2 to the Enable input labeled Enab For safety reasons you may prefer to wire the enable input into a separate switch or E stop button Regardless of how it is accomplished the enable signal must be driven active ow for Atlas to operate A 2 6 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 Atlas DKs to the Magellan DK connect the SPI bus cable to 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 manuals 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 A 2 7 Powering Up the Atlas Units Once all connections are made
68. edance 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 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 72 Atlas Digital Amplfier User s IVlanual Application Notes 5 m 1 20 o 5 Bots T 3o T 42294 15100 8 vaquny 2218 214 UHA 9149 usnag 20 aru DUI SaDd Aag ges 888 2 94 6N9 11114 210S 2 14 2398 EUW IDONAS 2D 948 01NI TIOS SLYIN YOS ETND 19HAd 48 100S XLIN 55 5 1113 101 55 51 010 2113 231 S 3 vINJ H9W d 0144 1 1 113 1 4 17 ES JOD v dWO GINV 1103 10 9113 1939 921 26
69. 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 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 Amplfier 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
70. f heat sinking of the Atlas unit is inadequate or if some other problem results in elevated drive temperatures Atlas Digital Amplfier User s Manual Operation To detect 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 connection
71. formation 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 power up See Section 4 11 Power up Non Volatile Initialization Storage for more information Atlas Digital Amplfier 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
72. hase 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 error for Phase B Atlas Digital Amplfier User s Manual Operation Variable ID Name Description 3 Phase 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 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 o
73. he 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 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 Amplfier 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 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
74. he SPI protocol Note that when external trigger mode is selected the trace period is not used Trace Start Stop Atlas allows the external controller 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 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 P
75. ion The SPI bus is not designed to operate external modules by cable connection 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 Atlas Digital Amplfier User s Manual 57 4 Atlas Developer s Kit 58 A 2 3 Motor Connections For each Atlas connect the motor using the chart below and the J1 6 terminal jack screw plug on the carrier card Use copper wire gauge 14AWG or larger to ensure that all current output requirements can be met Motor Type Use Motor Connections J1 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 4 Power Connections For each Atlas connect the bus supply voltage HV and the associated return ground signal at the J6 jack screw plug 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 conn
76. ith ARM Microcontroller 75 Atlas Digital Amplfier User s Manual vii This page intentionally left blank viii Atlas Digital Amplfier 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 14 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 can be used with dedicated FPGAs digital signal processors or general purpose microprocessors Communication to
77. las DK DB9 communications cable Optional L bracket base and vertical member for heat sink attachment with associated mounting hardware comes in 1 2 ot 4 axis vetsion Atlas Digital Amplfier User s Manual 55 4 Atlas Developer s Kit 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 Setting Atlas SPI Bus Addresses If your Atlas DK came with an L bracket the Atlas units are pre loaded on the L bracket hardware and each Atlas is pre addressed with axis number labeled You can therefore skip to Section A 2 2 SPI Bus Connections of these getting started instructions If you are not using an L bracket you will need to set the SPI bus address using jumper J6 on each Atlas carrier card For
78. lues 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 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 124 Calculations The following example may help illustrate use of current foldback A particular motor has an allowed con
79. 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 information on power stage operations Atlas Digital Amplfier 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 t
80. nd J4 male DB9 connections Up to four Atlas units can be plugged together in this manner Once this has been accomplished the male end of the 12 DB9 cable should be connected at the open Atlas carrier card J5 female connector Note that there is no termination required for the opposite J4 male DB9 connector at the end of the chain This connector is simply left unconnected This is shown in Figure A 3 Figure A 3 Chain of DK Carrier Cards When assembling the Atlas unit chain the position in the chain has no bearing on the selected Atlas address This address is determined entirely by the jumper See Section A 2 1 Setting Atlas SPI Bus Addresses for a description In assembling your own chain you may therefore find it useful to label the carrier cards with an easily readable axis to avoid confusion when connecting motors A 2 2 1 Connecting an Atlas Chain By Cables There may be circumstances where you prefer not to connect all of the Atlas carrier cards directly to each other but rather via cables If this is the case care should be taken not to exceed the total cable length specification for the SPI bus of 2 0 feet This is the total length from the Magellan DK card connection point to the last Atlas in the chain including the length of the carrier cards and all connecting cables The maximum allowed SPI bus length is 2 0 feet Exceeding this specificaiton may result in communication errors and unreliable Atlas operat
81. 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 separate programmable torques The first is called the drive current and is used during normal step motor operations Atlas Digital Amplfier 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 dire
82. onal 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 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 Amplfier
83. oop 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 disable 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 Amplfier 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
84. our 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 connections to the Atlas DK carrier cards are 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 Mage lan 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 NOE L bracket Size V L bracket Atlas Atlas 2 Type Code Atlas 4 Type Code Minor Version 0 L bracket Installation 0 C 0 C Contact PMD 1 1 axes 1 install 0 9 2 2 axes don t install 4 4 Configuration Atlas 1 Type Code Atlas 3 Type Code Major Version of L bracket 0 C 0 C Contact PMD B base only 0 9 L base amp wall no L bracket Atlas Type Codes 0 None 4 Brushless DC Vertical tabs 8 DC Brush Horizontal tabs C Step motor Horizontal no tabs 1 Brushless Vertical tabs 5 DC Brush Vertical no tabs 2 DC Brush Vertical tabs 6 Step motor Vertical no tabs 7 Brushless DC Horizontal tabs 9 Step motor Horizontal tabs
85. plate Vertical unit mechanical mount to cold plate Atlas Digital Amplfier User s Manual 3 Electrical Specifications A In 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 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 Amplfier User s IVlanual 19 Electrical Specifications
86. ponents 11 1 3 Developer Kit Numbering 12 2 1 Physical Characteristics Vertical w Tabs 16 2 2 Physical Characteristics Vertical w o Tabs 16 2 3 Physical Characteristics Horizontal 17 2 4 Physical Characteristics Horizontal w o Tabs 17 2 5 Horizontal amp Vertical Unit Mounting Options 18 3 1 Timing Diagrams e e Ra dex 22 3 2 Vertical Unit 5 23 3 3 Horizontal Unit Pinouts cece e 23 3 4 Signal Interfacing Enable 25 3 5 Signal Interfacing FaultOut 25 3 6 Brushless DC Connections 26 3 7 DC Brush 27 3 8 Step Motor Pulse and Direction Mode Connections 28 3 9 Step Motor SPI Communication 5 29 4 1 High Level System 31 4 2 Internal Block Diagram 32 4 3 Commutation Control Sequence 33 4 4 Current Loop Control Flow ccc ccc cece cence 34 4 5 Individual Phase Control Calculation Flow 35 4 6
87. 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 may 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 Amplfier 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 va
88. re energy efficient operation of the motor compared to individual phase control Third leg floating is an option that should generally only be considered for Hall 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
89. roller The following schematic shows a DC Brush Atlas amplifier connected to a Microchip Technologies PIC microcontroller Atlas receives torque commands through the PIC 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 imp
90. rtical Plate For vertical units with mounting tabs two M2 5 BHCS Button Head Cap Screws similar are used to attach the Atlas unit to the vertical plate assuming it has been included with the DK This is shown in Figure A 8 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 hardware is used to attach the Atlas 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 utilized 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 ot use four 4 M3 screws with nuts and washers to fasten through from the front Atlas Digital Amplfier User s IVlanual 63 PAN Atlas Developer s Kit This page intentionally left blank 64 Atlas Digital Amplfier User s Manual B Application Notes Brushle
91. s The default signal interpretation is SPISO Output SPI data master in slave out signal 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 Amplfier User s IVlanual Electrical Specifications Pin 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
92. s 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 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
93. s 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 services might or are used PMD s publication of information regarding
94. 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 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 Amplfier User s Manual
95. ss 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 Atlas With ARM Microcontroller 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 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 an
96. st signal to control the torque To initially set up and store its application specific configuration parameters Atlas is programmed using the SPI interface and then commanded to convert to pulse amp direction signal mode 28 Atlas Digital Amplfier 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 Step 1 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
97. tical 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 11P 056 25 O Figure 1 1 Atlas Model Numbering d uL Voltage Current Mounting Minor Version options Contact PMD Tabs 0 9 Motor Tabs type 1 DC brush Orientation Major 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 of two mounting orientations vertical and horizontal and the choice of tab or no tab mounting hardware slots This is a
98. tinuous 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 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 l
99. ue commands to the DC Brush Atlas by pulling SPIEnable2 low and sends position commands to the step motor Atlas by pulling SPIEnable3 low 68 Atlas Digital Amplfier User s IVlanual Application Notes N 2 2555 22 lt a 5 m gozo 2 5 Landes 1 39 T 39244 v a ta sixy Iing UHA 50150 40304 deis usnag 00 uo 59149 Jq 51044405 DUI sa aq 090 vaisnduy sony usnag 20 69 pug und AS noras H 15185 AH 05145 50145 40304 E lt 3703175 usnug 2403 ayqou3 gt anavua oa q4030N dnyndA adnava3uror SIxy uo 59149 dazs s ouzUO0D UD a6oW 619194 355 19900 exe nee 25 pistes 62 090 9S 349314250 210400 uaigndue dais 011 112314550 pug 4Ad T 18 A dnaaesupison 69300 S 30 80400 St MILAS AH 331 49400 S2
100. un connected 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 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 to a 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 torq
101. ured 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 loop measured value 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 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
102. ut 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 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 A as 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
103. utput for phase B 73 Alpha Current The FOC a current component stationary frame 74 Beta Current The FOC current component stationary frame 3 Phase 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 Amplfier 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

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