EVALKIT-ROBOT-1

EVALKIT-ROBOT-1 Data brief Compact reference design kit for robotics and automation based on STSPIN32F0A Features • 36 V/6 Apeak power stage • • • • • • • • STSPIN32F0A advanced 3-phase motor controller embedding Cortex-M0 MCU STL7DN6LF3 60 V, 35 mΩ Dual N-channel MOSFETs Hall sensors Position control loop based on Field Oriented Control MODBUS communication protocol through RS-485 Extremely compact footprint (40 mm x 40 mm) maxon EC-i 40 100 W 3-phase brushless DC motor maxon ENX 16 EASY 1024-pulse incremental encoder Description The EVALKIT-ROBOT-1 is an evaluation kit offering a ready-to-use servo brushless solution. Thanks to the high integration level of the STSPIN32F0A, the control board provides a powerful power stage, the analog circuitry implementing current sensing and overcurrent protection and a Cortex-M0 microcontroller performing a Field-Oriented Control with closed-loop positioning. All packed into a 40 mm x 40 mm footprint. Product status link The maxon EC-i 40 motor, thanks to the optimized magnetic circuit, offers a very high torque density and very low cogging torque. In combination with the maxon ENX 16 EASY 1024 pulses incremental encoder, it is an excellent choice for reliable, robust and high-precision position and speed control. EVALKIT-ROBOT-1 DB4049 - Rev 3 - February 2020 For further information contact your local STMicroelectronics sales office. www.st.com EVALKIT-ROBOT-1 Specifications 1 Specifications Table 1. Control board specifications Parameter Supply voltage Maximum current Nominal Full operating range Encoder inputs 36 V from 12 V to 45 V DC(1) 3A Peak 6A RS485 maximum baud rate RS485 differential input voltage Value 20 Mbps Differential Common mode ± 12 V - 7 V to 12 V Differential ±7V Common mode ±7V 1. Actual maximum current may be limited by power dissipation Table 2. Motor specifications Parameter Nominal voltage Speed Torque Current 36 V Nominal 3950 rpm No load 4550 rpm Nominal 207 mNm Stall 3160 mNm Nominal 2.72 A Stall 42.2 A Phase resistance 0.853 Ω Phase inductance 0.675 mH Rotor inertia Pole pairs DB4049 - Rev 3 Value 44 gcm2 7 page 2/15 EVALKIT-ROBOT-1 Specifications Figure 1. Motor operating range Table 3. Encoder specifications Parameter Supply voltage 5V Supply current 22 mA Pulses per turn 1024 Max speed DB4049 - Rev 3 Value 30 krpm page 3/15 EVALKIT-ROBOT-1 Specifications Figure 2. Motor and encoder connectors drawings Table 4. Motor and Hall-effect sensors connector Pin DB4049 - Rev 3 Connection 1 Hall-effect sensor 1 2 Hall-effect sensor 2 3 Hall-effect sensor 3 4 Hall-effect sensors supply 5 Motor winding 1 6 Motor winding 2 7 Motor winding 3 8 Hall-effect sensors ground page 4/15 EVALKIT-ROBOT-1 Specifications Table 5. Encoder connector Pin Connection 1 Not connected 2 Encoder supply 3 Encoder ground 4 Not connected 5 Quadrature output channel A- 6 Quadrature output channel A+ 7 Quadrature output channel B- 8 Quadrature output channel B+ 9 Zero index channel I- 10 Zero index channel I+ Figure 3. Schematic board 1 BOTTOM SIDE P F0 VDD VDD VDD BOOT0 RX P A15 R1 330 1 3 5 7 9 TP 19 2 NRS T TP 17 TP 18 TX P A14 P F0 P F1 C2 10uF 1 2 3 4 5 6 7 8 9 10 11 12 OP 2P OP 2N OP 2O NRS T VDD P A0 P A1 OP 3O OP 3N OP 3P C30 220p NRS T OP 2P OP 2N OP 2O P F0 P F1 VREG12 NRS T VM SW VDDA P A0 P A1 R61 36 35 34 33 32 31 30 29 28 27 26 25 LS U C4 470nF P A2 C5 470nF HS V LS W C6 470nF TP 13 TP 14 TP 15 R60 12k 1k J 10 H1 1 H2 2 H3 3 H2 1k 5 6 7 8 4 C8 R62 12k OUTU OUTV OUTW 10nF 5V H3 C32 220p OUTU HS U LS V R63 OUTV OUTW 5V HS W C11 10nF J4 2 4 ENC_A 6 ENC_B 8 ENC_I10 1 3 5 ENC_nA 7 ENC_nB 9 ENC_nI Plug: Wurth Elektronik 690157001072 VDD C10 Plug: Wurth Elektronik 662008113322 VDD OP 1O OP 1N OP 1P OCCOMP P A2 P A3 P A4 P A5 P A6 P A7 P B1 13 14 15 16 17 18 19 20 21 22 23 24 C7 100nF H1 VDD C31 220p LS U VBOOTU OUTU HS U LS V VBOOTV OUTV HS V LS W VBOOTW OUTW HS W S TS P IN32F0A R3 12k 1k EP AD TP 3 R59 49 C3 10uF P A0 P A1 VDD OP 3O OP 3N OP 3P GND RES ERVED BOOT0 P B7 P B6 P A15 P A14 P A13 VM U1 TP 4 P A13 P A14 He a de r 10x2 P A2 P A3 P A4 P A5 P A6 P A7 P B1 TES TMODE OP 1O OP 1N OP 1P OCCOMP 12V 2 4 6 8 10 48 47 46 45 44 43 42 41 40 39 38 37 C1 100nF BOOT0 VDD 1 C9 1nF R2 100k J 12 P A14 P A13 LED1 RED RX P B7 TX P B6 DE P A15 100nF VDD R53 NP R54 0R VDD P B6 TX P A15 DE VL R DE nRE D VCC B A S RL GND S TR485 10 9 8 7 6 1 2 3 4 R64 120R J8 BGND A+ TERM 1 2 3 4 5 6 7 8 U6 AM26LV32E 1B 1A 1Y G 2Y 2A 2B GND VCC 4B 4A 4Y nG 3Y 3A 3B 16 15 14 13 12 11 10 9 C29 100n ENC_nB ENC_B P A7 P F1 ENC_I ENC_nI 17 RX 11 P B7 EP U5 1 2 3 4 5 ENC_nA ENC_A P A6 EP AD R6 12k DEBUG TP 16 R14 10k DB4049 - Rev 3 page 5/15 EVALKIT-ROBOT-1 Specifications Figure 4. Schematic board 2 Gain = 15, Max sensed current = 5.5 A R15 VDD R16 0.100R R18 IS NS U R20 R17 21k 10.5k - TP 5 OP 2N 2.4k OP 2O + P A3 Q2 1 R21 100R OP 2P R22 21k R28 R26 21k OP 3N OP 3O + P A4 R29 0.100R OP 3P IS NS V 2.4k IS NS W 3 OUTV 10.5k - TP 7 56 R34 100R OP 1O + VM 4 HS V OP 1N 2.4k 78 2 LS V R33 R38 1 R32 100R VDD R35 21k Q3 BAT30 D6 C14 33p R36 C13 150nF S TL7DN6LF3 TP 6 - 2.4k R30 21k 56 R23 100R D5 BAT30 10.5k VDD VM 4 HS U R24 R27 3 OUTU C12 33p 78 2 LS U 2.4k IS NS V IS NS U BAT30 D4 P A5 OP 1P C15 150nF S TL7DN6LF3 D7 BAT30 2.4k R39 21k C16 33p R40 0.100R BAT30 D8 VM R42 100R VDD IS NS U IS NS V IS NS W R43 R45 R49 2.2k 2.2k OC Comp OCREF DB4049 - Rev 3 - R47 TP 9 18k OCCOMP RB RLP RS Ith P B1 R50 10k C18 2.2nF 78 3 OUTW VM 56 4 HS W OC + C19 1nF TP 8 R46 180k Q4 1 2 LS W 2.2k IS NS W R44 100R D9 BAT30 S TL7DN6LF3 C17 150nF 18.0E+3 2.2E+3 20.0E-3 3.77 A @ VREF 250mV page 6/15 EVALKIT-ROBOT-1 Specifications Figure 5. Schematic board 3 VM J7 C20 + 47uF 47uF VM Wurth Elektronik 744043390 2 3 SW PG VIN EN1 GND FB EN2 8 1 L1 39uH TP 11 5V 2 VDD 5V 7 6 5 TP 12 U4 L78L33ABUTR C23 1.7p C24 4700n + C25 150u R52 60k4 2 C28 3 R51 187k D10 S TP S 0560Z 9 4 BOOT EP AD 1 S T1S 14P HR 1 U3 Wurth Elektronik 865080243008 IN C26 330n OUT 1 TAB 100n Nominal supply voltage 36 V Operating range from 12 V to 45 V GND C22 + C21 C27 100n 4 2 2 1 100n Table 6. Bill of materials Item DB4049 - Rev 3 Quantity Part reference Part description Value 1 3 C1, C7, C10 SMT ceramic capacitor 100 nF 2 1 C2 SMT ceramic capacitor 10 µF 3 1 C3 SMT ceramic capacitor 10 µF 4 3 C4, C5, C6 SMT ceramic capacitor 470 nF 5 2 C8, C11 SMT ceramic capacitor 10 nF 6 2 C9, C19 SMT ceramic capacitor 1 nF 7 3 C12, C14, C16 SMT ceramic capacitor 33 pF 8 3 C13, C15, C17 SMT ceramic capacitor 150 nF 9 1 C18 SMT ceramic capacitor 2.2 nF 10 2 C20, C21 SMT electrolytic capacitor 47 µF 11 2 C22, C28 SMT ceramic capacitor 100 nF 12 1 C23 SMT ceramic capacitor 1.7 pF 13 1 C24 SMT ceramic capacitor 4700 nF 14 1 C25 SMT electrolytic capacitor 150 µF 15 1 C26 SMT ceramic capacitor 330 nF 16 2 C27, C29 SMT ceramic capacitor 100 nF 17 3 C30, C31, C32 SMT ceramic capacitor 220 pF 18 6 D4, D5, D6, D7, D8, D9 Small signal Schottky diode BAT30 19 1 D10 Schottky rectifier STPS0560Z 20 1 J4 WR-MM female connector with latch w/o polarization 10 poles Flat connector 10 pole page 7/15 EVALKIT-ROBOT-1 Specifications Item DB4049 - Rev 3 Quantity Part reference Part description Value 21 1 J7 Horizontal terminal block pitch 3.50 mm Terminal 2P_screw p3.5mm 22 1 J8 Terminal block T.H. 4 positions, 2.54 mm Terminal 4P_screw p2.54mm 23 1 J10 WR-MPC3 - 3.00MM male dualrow right angle 8 poles Connector 8 pole w polarization 24 1 J12 WR-PHD 1.27 mm dual pin header, H=3.80 mm Header 10x2 25 1 LED1 WL-SMCW SMT red LED red 26 1 L1 WE-TPC SMD Tiny Power Inductor 39 µH 27 3 Q2, Q3, Q4 Dual N-channel 60 V, 35 mΩ typ., 6.5 A STripFET™ F3 power STL7DN6LF3 MOSFET 28 1 R1 SMT resistor 330 Ω 29 1 R2 SMT resistor 100 kΩ 30 4 R3, R6, R60, R62 SMT resistor 12 kΩ 31 1 R14 SMT resistor 10 kΩ 32 3 R15, R24, R33 SMT resistor 10.5 kΩ 33 3 R16, R29, R40 Thick film chip resistors 0.100 Ω 34 6 R17, R22, R26, R30, R35, R39 SMT resistor 21 kΩ 35 6 R18, R20, R27, R28, R36, R38 SMT resistor 2.4 kΩ 36 6 R21, R23, R32, R34, R42, R44 SMT resistor 100 Ω 37 3 R43, R45, R49 SMT resistor 2.2 kΩ 38 1 R46 SMT resistor 180 kΩ 39 1 R47 SMT resistor 18 kΩ 40 1 R50 SMT resistor 10 kΩ 41 1 R51 SMT resistor 187 kΩ 42 1 R52 SMT resistor 60.4 kΩ 43 1 R53 SMT resistor NP 44 1 R54 SMT resistor 0Ω 45 3 R59, R61, R63 SMT resistor 1 kΩ 46 1 R64 SMT resistor 120 Ω 47 16 TP3, TP4, TP5, TP6, TP7, TP8, TP9, TP11, TP12, TP13, TP14, TP15, TP16, TP17, TP18, TP19 40 mils PAD TP-SMDdiam1_016mm 48 1 U1 STSPIN32F0A three-phase controller with MCU STSPIN32F0A 49 1 U3 Up to 3 A step-down switching regulator ST1S14PHR 50 1 U4 Positive Voltage Regulator L78L33ABUTR 51 1 U5 3.3V RS485 compatible with 1.8V I/Os and selectable speed STR485 20Mbps or 250kbps page 8/15 EVALKIT-ROBOT-1 Specifications Item 52 DB4049 - Rev 3 Quantity 1 Part reference U6 Part description Value Quadruple differential line receiver AM26LV32E page 9/15 EVALKIT-ROBOT-1 Waste and Recycling 2 Waste and Recycling The evaluation board is not to be disposed of as urban waste. At the end of its life cycle, differentiated waste collection must be followed. Consult the local authorities for more information on the proper disposal channels and recycling centers. It is mandatory to collect separately the evaluation board and make sure it is delivered to the appropriate waste management and recycling centers. As of 15 August 2018, in all countries belonging to the European Union, the evaluation board is subject to the requirements of WEEE Directive 2012/19/EU, and therefore it is forbidden to dispose of the evaluation board as undifferentiated waste or with other domestic waste. Incorrect disposal of the evaluation board may cause damage to the environment and may incur fines based on specific countries’ rules, regulations, and laws. DB4049 - Rev 3 page 10/15 EVALKIT-ROBOT-1 Revision history Table 7. Document revision history DB4049 - Rev 3 Date Version Changes 09-Oct-2019 1 Initial release. 16-Dec-2019 2 Cover image updated. 03-Feb-2020 3 Correct the unit of Maximum Current in Table 1 page 11/15 EVALKIT-ROBOT-1 Contents Contents 1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 2 Waste and Recycling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12 List of tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 List of figures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 DB4049 - Rev 3 page 12/15 EVALKIT-ROBOT-1 List of tables List of tables Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Table 7. Control board specifications . . . . . . . . . Motor specifications . . . . . . . . . . . . . . . Encoder specifications . . . . . . . . . . . . . Motor and Hall-effect sensors connector . Encoder connector . . . . . . . . . . . . . . . . Bill of materials . . . . . . . . . . . . . . . . . . Document revision history . . . . . . . . . . . DB4049 - Rev 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 . 2 . 3 . 4 . 5 . 7 11 page 13/15 EVALKIT-ROBOT-1 List of figures List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. DB4049 - Rev 3 Motor operating range . . . . . . . . . . . . . Motor and encoder connectors drawings Schematic board 1 . . . . . . . . . . . . . . . Schematic board 2 . . . . . . . . . . . . . . . Schematic board 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 4 5 6 7 page 14/15 EVALKIT-ROBOT-1 IMPORTANT NOTICE – PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of Purchasers’ products. No license, express or implied, to any intellectual property right is granted by ST herein. Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product. ST and the ST logo are trademarks of ST. For additional information about ST trademarks, please refer to www.st.com/trademarks. All other product or service names are the property of their respective owners. Information in this document supersedes and replaces information previously supplied in any prior versions of this document. © 2020 STMicroelectronics – All rights reserved DB4049 - Rev 3 page 15/15