Stepper Motor Card HW Reference Manual and Datasheet

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1 Stepper Motor Card HW Reference Manual and Datasheet VEST-VIO-USG-003 Copyright 2016 Advanced Products Corporation Pte Ltd. All rights reserved. No part of this document may be photocopied, reproduced, or translated to another language without the prior written permission of Advanced Products Corporation Pte Ltd. Page 1 APC Proprietary Information March 31, 2016

2 TABLE OF CONTENTS 1 Overview Introduction List Of Acronyms System Architecture Stepper Motor Daughter Card Stp Card Specification BOARD SPECIFICATION STEPPER MOTOR DRIVER (U200) Main Board Connectors (JS200, JC200) ViO Sensor Interface Connector (JS200) ViO Control Interface Connector (JC200) Output Connectors (JO250, JO251, JO252) High Power Connector (JO250) Low Power Connector (JO251) Sensor Connector (JO252) Stp Card Component Location Key Components And Connectors Revision History Legal Notices Page 2 APC Proprietary Information March 31, 2016

3 LIST OF TABLES Table 3-1: STP Card Specification... 9 Table 3-2: ViO Sensor Interface Connector Table 3-3: ViO Control Interface Connector Table 3-4: High Power Connector Table 3-5: Low Power Connector Table 3-6: Sensor Connector Page 3 APC Proprietary Information March 31, 2016

4 LIST OF FIGURES/DIAGRAMS Figure 2-1: Block Diagram... 6 Figure 2-2: ViO Assembly (Top)... 7 Figure 2-3: ViO Assembly (Bottom)... 7 Figure 2-4: STP Card Block Diagram... 8 Figure 3-1: Truth Table... 9 Figure 4-1: Component Location (Top) Figure 4-2: Component Location (Bottom) Page 4 APC Proprietary Information March 31, 2016

5 1 OVERVIEW 1.1 INTRODUCTION The Stepper Motor daughter card would be mounted on the ViO Main Board and allows users to evaluate wide range of stepper motors and a comprehensive motor solution. It enables the development of a typical 3-axis motion control system as well as customization according to customer s requirements. 1.2 LIST OF ACRONYMS Acronym Abbreviation VEST Venture Embedded Solutions Technology V*EST Venture Embedded Solutions Technology The Logo VESS Venture Embedded System Solution MCU Microcontroller STP Card Stepper Motor Card Table 1-1: List Of Acronyms Page 5 APC Proprietary Information March 31, 2016

6 Switch, SW2 FW configure to either SPI2 or UART1+I2C2 VEST-VIO-USG-003, REV A 2 SYSTEM ARCHITECTURE Below is the block diagram of ViO system and provides users the visualization for the whole product. DC Jack 5V LDO LD1117S33TR 3.3V 800mA USB Mini-B USB OTG DP/DN USB Type A CAN1 CAN2 Debug PC Serial CAN1 TX/RX CAN2 TX/RX UART2 UART1 MUX RESET FW SET MCU DSPIC33EP512M U814 7 PWMs SPI1 GPIOs Card IDs Card Types Card Detect Functional Card Slot 1~7 Any combination of below cards 1. DC Motor Control Board 2. Stepper Motor Control Board 3. Power Control Board 4. Sensor Board APU Serial Power LED(1x) Status LED (2x) APU I2C APU SPI I2C2 SPI2 SPI1 GPIOs PGC PGD LCD UI Conn ICSP Figure 2-1: Block Diagram The ViO system consists of a VIO Main board with any combinations of the four types of daughter boards. A maximum of seven daughter boards can be plugged into one VIO Main board. The four types of daughter cards that can be connected are: 1. DC Motor Control Board 2. Stepper Motor Control Board 3. Power Control Board 4. Sensor Board Page 6 APC Proprietary Information March 31, 2016

Figure 2-2: ViO Assembly (Top) Figure 2-3: ViO

It works concurrently with other daughter cards

7 Figure 2-2: ViO Assembly (Top) Figure 2-3: ViO Assembly (Bottom) STP motor card is a daughter card to ViO system and can be mounted to any slot (up to seven) on ViO main board, as shown above. It works concurrently with other daughter cards without compromising the performance. Page 7 APC Proprietary Information March 31, 2016

8 2.1 STEPPER MOTOR DAUGHTER CARD Stepper Motor Daughter Card ViO Main Board 7 PWMs SPI1 GPIOs Card IDs Card Types Card Detect Motor Driver A4988 Op Amp (Current Sense) MOT_OUT1A MOT_OUT1B MOT_OUT2A MOT_OUT2B V3P3 GND V3P3_A AGND Motor Driving Port Low Power Port Motor Power Supply Input Stepper Motor System Encoder Sensor GPIOs GPIO Port Figure 2-4: STP Card Block Diagram Above picture is the block diagram of stepper motor card which comprises motor driver, A4988, and 3 output interfaces for user access. The STP daughter card offers the ability to drive wide range of stepper motor with output power up to +/-2 A and 35V. It also supports QEI encoders (ENC_A and ENC_B) and sensor to give users flexibility to design with their intention. Main features are as follows: Five selectable step modes: Full, Half, Quarter, Eighth and Sixteenth PWM-controlled speed and direction of motor In-built analog control loop Slow and Mixed current decay modes Overcurrent protection Shorted load protection and short-to-ground protection Thermal shutdown with hysteresis Undervoltage lockout (UVLO) Crossover-current protection Page 8 APC Proprietary Information March 31, 2016

9 3 STP CARD SPECIFICATION 3.1 BOARD SPECIFICATION This section covers the specifications and features of the board and provides a high level description of the major components and interfaces that make up the board. Feature Operating Conditions Power Source PCB Main Board Interface External Interface Table 3-1: STP Card Specification Description 3 ~ 3.6V (Digital Interface) 8 ~ 35V (Load Supply Voltage) Main Board (3.3V) External (Load Supply Voltage) 4-layer Board Board Sensor Connector Board Control Connector High Power Connector Low Power Connector Sensor Connector 3.2 STEPPER MOTOR DRIVER (U200) STP motor card consists of a DMOS microstepping driver, A4988, which is designed for five selectable step modes: Full-, Half-, Quarter-, Eight- and Sixteenth-step and built in translator. The driver is able to deliver peak output currents up to +/- 2.8A and operating voltages to 36V. The fixed off-time current regulator within A4988 also allows it to select Slow or Mixed decay modes automatically. The other features that the driver offers are as follows: Low Rds(ON) Overcurrent protection Short-to-supply and short-to-ground protection Sleep function Thermal shutdown with hysteresis Undervoltage lockout (UVLO) The microstepping resolution truth table is as follows: MS1 MS2 MS3 Microstep Resolution Excitation Mode L L L Full Step 2-Phase H L L Half Step 1-2 Phase L H L Quarter Step W1-2 Phase H H L Eighth Step 2W1-2 Phase H H H Sixteenth Step 4W1-2 Phase Figure 3-1: Truth Table Page 9 APC Proprietary Information March 31, 2016

10 3.3 MAIN BOARD CONNECTORS (JS200, JC200) STP motor card connected to Main Board via two connectors, ViO Sensor Interface Connector and ViO Control Interface Connector ViO Motor Sensor Interface Connector (JS200) Pin Signals Description 1 QA Quadrature Encoder Interface Phase A 2 QB Quadrature Encoder Interface Phase B 3 HOME_P6 Sensor Input 4 STEP_PULSE Step Input 5 GND Ground 6 CARD_ID1 Card ID Bit 0 7 CARD_ID2 Card ID Bit 1 8 CARD_ID3 Card ID Bit 2 9 Reserved Reserved 10 GND Ground 11 END_P3 Sensor Input 12 AGND Analog Ground 13 CurrentSense_P4_A Current Sensing 14 AGND Analog Ground 15 DAC_CurrentCTRL DAC current control 16 V3P3_A Analog 3.3-V Supply Table 3-2: ViO Sensor Interface Connector ViO Motor Control Interface Connector (JC200) Pin Signals Description 1 V5P0 5V Supply 2 GND Ground 3 V3P3_M Digital 3.3-V Supply 4 DIR Direction Input 5 STEP Step Input 6 nsleep 0: Sleep mode 1: Normal operation 7 MS3 Microstep Select 3 8 MS2 Microstep Select 2 Page 10 APC Proprietary Information March 31, 2016

11 Pin Signals Description 9 MS1 Microstep Select 1 10 nenable Enable Input 11 Card_nDetect Card Detection 12 Card_Type1 Card Type Bit 0 13 Card_Type2 Card Type Bit 1 14 Card_Type3/nRESET Card Type Bit 2/RESET Table 3-3: ViO Control Interface Connector 3.4 OUTPUT CONNECTORS (JO250, JO251, JO252) Please take note that Motor power supply input is through pin 1 and pin 2 of High Power connector High Power Connector (JO250) Pin Signals Description 1 Vmotor Motor Power Supply Input 2 GND Ground 3 NC No connection 4 NC No connection 5 OUT1B Motor Output 1B 6 OUT1A Motor Output 1A 7 OUT2A Motor Output 2A 8 OUT2B Motor Output 2B Table 3-4: High Power Connector Low Power Connector (JO251) Pin Signals Description 1 V3P3_M Digital 3.3-V Supply 2 GND Ground 3 V3P3_A Analog 3.3-V Supply 4 AGND Analog ground Table 3-5: Low Power Connector Page 11 APC Proprietary Information March 31, 2016

12 3.4.3 Sensor Connector (JO252) Pin Signals Description 1 V3P3_M Digital 3.3-V Supply 2 GND Ground 3 END Sensor Input 4 HOME Sensor Input 5 V3P3_M Digital 3.3-V Supply 6 GND Ground 7 ENC_QA Quadrature Encoder Interface Phase A 8 ENC_QB Quadrature Encoder Interface Phase B 9 V3P3_A Analog 3.3-V Supply 10 AGND Analog ground 11 AN_INPUT Analog Input 12 GND Ground 13 V5P0 5V Supply Table 3-6: Sensor Connector Page 12 APC Proprietary Information March 31, 2016

4 STP CARD COMPONENT LOCATION This section describes the key components on the board. It provides information on their location and function. 4.

13 4 STP CARD COMPONENT LOCATION This section describes the key components on the board. It provides information on their location and function. 4.1 KEY COMPONENTS AND CONNECTORS The picture below shows the locations of the connectors and jumper on the board. Low Power Conn High Power Motor Driver, A4988 Figure 4-1: Component Location (Top) Page 13 APC Proprietary Information March 31, 2016

14 Vio Motor Control Conn VEST-VIO-USG-003, REV A Sensor Conn Vio Motor Sensor Conn Figure 4-2: Component Location (Bottom) Page 14 APC Proprietary Information March 31, 2016

15 5 REVISION HISTORY Version Date Released Changes A March 31, 2016 First release Page 15 APC Proprietary Information March 31, 2016

16 6 LEGAL NOTICES The signed agreement between Purchaser and APC will govern the sale and purchase of APC s Venture Embedded Solutions Technology ( VEST ) products ( Products ). In the event that no agreement has been concluded, APC s terms and conditions of supply will apply. Testing and other quality control techniques are used to the extent that APC deems necessary to support its warranty. Except where required by law, specific testing of all parameters of each Product is not necessarily performed. Purchaser must provide adequate design and operating safeguards to minimize inherent or procedural and technical risks associated with Purchaser products and applications. Purchaser is solely responsible for its selection and use of APC Products. APC assumes no liability for applications assistance, Purchaser product design or any incompatibility of the Product with Purchaser product. Products supplied by APC are not designed, intended or authorized for use in life support, life sustaining, medical systems or devices, aircraft navigation, nuclear, or other applications, including, but not limited to, public transportation operating systems, in which the failure of such Products could reasonably be expected to result in personal injury, loss of life or severe property or environmental damage. Purchaser acknowledges that use of APC s Products in such product applications is understood to be fully at the risk of Purchaser and that Purchaser is responsible for verification and validation of the suitability of APC s Products in such applications. Purchaser agrees that APC is not and shall not be liable, in whole or in part, for any claim or damage arising from use in such applications. Purchaser agrees to indemnify, defend and hold APC harmless from and against any and all claims, damages, losses, costs, expenses and liabilities arising out of or in connection with any such use or application. APC retains all rights to all proprietary intellectual property in the Products and associated manufacturing processes and has the right to file for and obtain intellectual property protection for same. Page 16 APC Proprietary Information March 31, 2016

DC Motor Card HW Reference Manual and Datasheet

DC Motor Card HW Reference Manual and Datasheet VEST-VIO-USG-002 Copyright 2016 Advanced Products Corporation Pte Ltd. All rights reserved. No part of this document may be photocopied, reproduced, or translated