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Tandem Motion-Power 48 V Board Reference Manual
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About the Tandem Motion-Power 48 V Board
The Tandem Motion-Power 48 V Board demonstrates control of DC-DC conversion and high-speed 12 to
48 V motors by a single FPGA. These applications are important in the automotive, medical, and
industrial markets.
The Tandem Motion-Power 48 V Board contains a bidirectional DC-DC boost-buck converter to generate
the DC link voltage and six half-bridge inverter outputs. The board sends three half-bridge outputs to each
output connector to create two three-phase motor inverters. You can use the half bridges in alternative
arrangements for motors with different numbers of phases. The board provides MOSFET power
electronics for DC-DC conversion and DC Link inversion, current and voltage sensing for DC-DC and
motor control feedback, and connections for motor position feedback. You can use the Tandem MotionPower 48 V Board to develop a single or dual-axis motor control application that supports multiple motor
types and multiple position feedback interfaces. The Tandem Motion-Power 48 V Board includes an
HSMC interface connector for connection to a variety of Altera FPGA and SoC-FPGA development kits.
© 2016 Intel Corporation. All rights reserved. Intel, the Intel logo, Altera, Arria, Cyclone, Enpirion, MAX, NIOS, Quartus and Stratix words and logos are
trademarks of Intel Corporation in the US and/or other countries. Other marks and brands may be claimed as the property of others. Intel warrants
performance of its FPGA and semiconductor products to current specifications in accordance with Intel's standard warranty, but reserves the right to make
changes to any products and services at any time without notice. Intel assumes no responsibility or liability arising out of the application or use of any
information, product, or service described herein except as expressly agreed to in writing by Intel. Intel customers are advised to obtain the latest version of
device specifications before relying on any published information and before placing orders for products or services.
www.altera.com
101 Innovation Drive, San Jose, CA 95134
ISO
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Registered
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About the Tandem Motion-Power 48 V Board
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Figure 1: Tandem Motion-Power 48 V Board
About Motor Control
Efficient control of torque and speed of AC motors requires corresponding control of voltage and current
that you supply to the motor. In a typical motor control system, you generate a DC voltage known as the
DC link or DC bus voltage. You then invert the DC voltage through switching of power electronics, such
as insulated-gate bipolar transistors (IGBTs) or MOSFETs to create the appropriate variable AC voltages
for the motor. Control algorithms such as field oriented control (FOC) require you to measure motor
current and voltages, to provide the required feedback to the controller.
Multiaxis drives achieve either a high degree of coordination of control across motors or, in some applica‐
tions, integrate control of multiple independent motors to reduce overall system cost. In servo drives,
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Tandem Motion-Power 48 V Board Features
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high-precision position feedback sensors, such as optical encoders, enable accurate position and speed
control.
Tandem Motion-Power 48 V Board Features
• Two motor axes, each with three-phase MOSFET power stages operating up to 125 kHz
• Input voltage range 9 to 16 V DC
• DC link voltage of 12 to 48 V from DC-DC boost-buck converter
•
•
•
•
•
• Variable 62.5 to 125 kHz switching frequency
• Two-phase conversion for smoother output
• Bidirectional, allowing regeneration with buck conversion to 12 V
Enpirion® switch mode power supplies for logic, position sensors, MOSFET gate drives and regulated
12 V output
Sigma-delta ADCs for sensing voltages and currents
Direct analog connection to suitable development kits such as the MAX® 10M50 Development Kit
Sensed motor phase currents and voltages to enable sensorless control
Position feedback interfaces for each axis:
•
•
•
•
•
Quadrature incremental encoder
Resolver with Tamagawa resolver-to-digital converter (RDC)
Hall effect (6-step position feedback)
EnDat absolute encoder
BiSS absolute encoder
Tandem Motion-Power 48 V Board Functional Description
Figure 2: Block Diagram
Power
Connectors
Power
Supplies
DC-DC Boost
Converter
Digital
Signals
HSMC
Connector
Analog
Signals
MAX 10 ADC
Connector
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Drive Inverters x2
Position
Encoder
Interfaces
Hall Sensor
Quadrature
Resolver
Serial
MOSFET HBridge x3
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Tandem Motion-Power 48 V Board Functional Description
Power Connectors
The DC inputs are a 6-pin Molex (up to 200W), 4-pin DIN (up to 100W) or 6-pin pluggable terminal
block to suit a range of standard power supplies. The board offers directly wired connection to other
power supplies or batteries and a direct connection to the DC link, bypassing the DC-DC boost converter.
HSMC Connector
Signals connecting the Tandem Motion board to the development kit are buffered and level shifted for
compatibility with a number of development kits. A configurable I/O power supply allows interfacing with
common I/O standards implemented on Altera FPGAs.
MAX 10 ADC Connector
Analog signals are available on a 20-pin header for connection to a suitable development kit that includes
ADCs. The pinout matches that of J20 on the Altera MAX 10 10M50 development kit.
DC-DC Boost Converter
The DC-DC boost converter hardware consists of two phases that both provide bidirectional power flow
from a low voltage power source or battery (typically 12 V DC) to a DC bus (typically 48 V DC) that feeds
the motor drive inverters. The DC-DC provides the boost function to increase the voltage of the DC link.
It also provides a buck function during periods of regenerative braking to deliver power from the DC bus
back to the low voltage source (i.e. battery in this case). Enable regeneration by pulling down pin 3 of the
battery connector, J1. If you do not attach an energy storage element to the DC bus, disable regeneration.
The DC input voltage, DC link voltage, DC link current and the currents in each DC-DC phase are sensed
and converted to digital signals which must be used to implement a control loop for the DC-DC boost
function in the FPGA on the attached development kit. Altera reference designs targeting the Tandem
Motion board contain a controller developed using Altera’s DSP Builder Advanced Blockset for Simulink,
which enables model-based design, automatic HDL code generation and automatic ModelSim testbench
generation.
Power Supplies
A switch-mode buck-boost converter provides a 24 V supply, which drives a number of downstream
regulators. This arrangement enables the board to operate with variable DC link voltages or with power
input through the DC-DC bypass connector.
Multiple Enpirion ER3125 devices provide 12 V, 5 V and 3.3 V supplies to logic and other circuits on the
board.
The board provides a configurable I/O voltage for the connections to the development kit. You configure
I/O voltage by populating one or more zero-ohm resistors.
Drive Inverters
The board has six N-channel MOSFET half bridges, nominally arranged as two three-phase inverters for
driving three-phase motors. You can use the half bridges in other arrangements, e.g. to drive stepper
motors.
Encoder Interfaces
The encoder interfaces apply the appropriate voltage translation and buffering for each encoder type.
Quadrature and Hall sensor encoders use three differential pairs to connect to the board.
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Tandem Motion-Power 48 V Board Functional Description
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EnDAT and BiSS encoders are connected via an RS-485 serial bus.
A Tamagawa AU6805 Resolver-Digital Converter (RDC) provides the resolver interface for each drive
axis. The AU6805 supports 12- and 16-bit absolute position over a serial interface together with
quadrature equivalent and Hall sensor equivalent feedback signals in parallel.
Analog Signal Conditioning and Conversion
In addition to the analog connector for MAX10 ADCs, the board also includes sigma-delta modulators to
support digital connections to FPGAs that do not have integrated ADCs. You must implement a suitable
demodulator in the FPGA, as described in Altera application note AN 773 and datasheet DS-1038.
The board implements current sensing with low Ohmic value shunt resistors. The board connects the
resulting sense voltage directly to the sigma-delta modulator or through a sense amplifier to the MAX10
ADC input.
You can add a low-pass filter to the inputs to the sigma-delta ADCs but in all cases the demodulator IP in
the FPGA filters them.
For the direct MAX10 inputs, sense amplifiers scale and offset the inputs to allow bipolar signals (e.g.,
bidirectional current flow) to be sampled with the MAX 10 ADC that can only convert signals between 0
V and its reference voltage. Remove the offset during processing of the samples in software. The sense
amplifier circuit has a low-pass filter, scaled by five times and offset by 1.25 V.
The input current and DC bus current are only available via sigma-delta ADCs. Both sense circuits employ
analog anti-aliasing circuitry with cut-off frequencies around 7 kHz before the sigma-delta ADC, for
consistency with other DC-DC converter signals that are sampled at 16 kHz.
The board implements voltage sensing with voltage dividers connected directly to the sigma-delta or MAX
10 ADC inputs, with low pass filtering.
The input current and DC bus current are not available as analog signals to the MAX 10 ADCs, so do not
have filter cut-off frequencies. The board samples motor phase currents at the quiet points of the PWM
waveforms (refer to Altera applicaztion notes AN669, AN773, and datasheet DS-1038). The filtering
inherent in the sigma-delta demodulation is sufficient, so the board uses no additional analog anti-aliasing
filters.
Table 1: Analog Low Pass Filtering
Shows details of cut-off frequencies for analog anti-aliasing filters.
Anti-aliasing cut-off frequency forAnti-aliasing cut-off frequency for
Signal
Sigma-delta ADCs (kHz)
MAX 10 ADCs (kHz)
Motor phase voltages
0.73
754
DC bus voltage
7.3
6.2
Input voltage
7.4
6.8
Input current
7.7
N/A
Boost inductor current
7.7
6.8
DC bus current
7.7
N/A
Motor phase currents
N/A
14
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Tandem Motion-Power 48 V Board Connectors
Tandem Motion-Power 48 V Board Connectors
Table 2: Tandem Motion-Power 48 V Board Connectors
Jumper
Axis
Function
J1
-
Power – battery
J2
-
Power – low power (100 W) DIN
J4
-
Power – DC link
J5
DRV0
Motor
J9
DRV0
Encoder
J19
DRV1
Motor
J23
DRV1
Encoder
J33
-
HSMC interface
J34
-
Power – Output 1.1 A
J35
-
Analog feedback signals
J44
DRV0
Resolver
J45
DRV1
Resolver
J46
-
Power – high power (200 W) Molex
Table 3: Battery Power Connector (J1) Pin Assignments
You can connect a rechargeable battery to J1 a 6-pin 5.08 mm pitch pluggable terminal block.
Note: Using Battery requires you to load a suitable design, which supports regeneration, in the develop‐
ment kit FPGA. To enable regeneration, you must link pins 3 and 5 of the battery power connector.
Pin
Function
1
9 – 16 V
2
9 – 16 V
3
REGEN_EN
4
VDD_IO
5
0V
6
0V
Table 4: Low Power Connector (J2) Pin Assignments
You can connect a power supply of 9 – 16 V DC, up to 100 W to the DIN connector J2 using a KYCON
KPPX-4P, or equivalent, DIN connector.
Pin
1
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Function
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Tandem Motion-Power 48 V Board Connectors
Pin
7
Function
2
9 to 16 V
3
0V
4
9 to 16 V
Table 5: High Power Connector (J46) Pin Assignments
You can connect a power supply of 9 – 16 V DC, up to 200 W to the Molex connector J46 using a MOLEX
39-01-2061, or equivalent. Always use all power poles and ground poles in the chosen connector.
Note: Connect only one power supply to either J2 or J46.
Pin
Function
1
9 to 16 V
2
9 to16 V
3
9 to 16 V
4
0V
5
0V
5
0V
Table 6: DC Link Connector (J4) Pin Assignments
You can use the DC link power connector, J4, a 4-pin 5.08mm pitch pluggable terminal block, to inject
power into the DC link, bypassing the DC-DC boost converter.
Note: Only use J4 if you disable the DC-DC boost converter.
Pin
Function
1
12 to 48 V
2
12 to 48 V
3
0V
4
0V
Table 7: Output Power Connector (J34) Pin Assignments
You can use the output power connector, J34, a 2-pin 3.81mm pitch pluggable terminal block to supply
12V DC power to the attached FPGA development kit. The power output has a 1.1 A fuse.
Note: Ensure that the attached FPGA development kit power requirement is less than 1.1 A before using
J34.
Pin
Function
1
12 V, 1.1 A
2
0V
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Tandem Motion-Power 48 V Board Connectors
Table 8: HSMC Connector Pin Assignments
The table lists direction relative to the Tandem Motion-Power 48 V Board. This table only lists signal pins;
power pins are not listed.
Pin
Signal
Direction
Function
1 – 38 -
-
Not used
39
SD_MCLK
Input
Sigma Delta Clock
40
DRV1_SER_TX_EN
Input
Motor 2 FB Serial CLK
41
REGEN_EN
Input
Regen Enable Signal
42
BOOST_DRV0_PWM_H
Input
Boost Phase 1 Gate PWM +
43
OUTPUT_CURRENT_MDAT
Output
Input Current SD Data
44
BOOST_DRV0_PWM_L
Input
Boost Phase 1 Gate PWM -
47
OUTPUT_VOLTAGE_MDAT
Output
Input Voltage SD Data
48
BOOST_DRV1_PWM_H
Input
Boost Phase 2 Gate PWM +
49
BOOST_DRV0_CURRENT_
MDAT
Output
Boost Phase 1 Current SD Data
50
BOOST_DRV1_PWM_L
Input
Boost Phase 2 Gate PWM -
53
BOOST_DRV1_CURRENT_
MDAT
Output
Boost Phase 2 Current SD Data
54
DCBUS_CURRENT_MDAT
Output
DC Bus Current SD Data
55
DCBUS_VOLTAGE_MDAT
Output
DCBUS Voltage SD Data
56
VOLTAGE_FAULT
Input
Voltage Fault LED
59
DRV_SCLK
Input
Motor Drive SPI Clock
60
DRV_SOMI
Output
Motor Drive SPI
61
DRV0_FAULTn
Output
Motor Drive 1 Fault
62
DRV_SIMO
Input
Motor Drive SPI
65
DRV0_SER_RX
Output
Motor 1 FB Serial RX
66
DRV0_CSn
Input
Motor Drive 1 Chip Select
67
DRV0_SER_TX
Input
Motor 1 FB Serial TX
68
DRV0_SER_CLK
Input
Motor 1 FB Serial CLK
71
DRV0_EN_GATE_P
Input
Motor Drive 1 Gate Enable +
72
DRV0_EN_GATE_N
Input
Motor Drive 1 Gate Enable -
73
HSMC_DRV0_PWM_UH
Input
Motor Drive 1 Phase U Gate +
74
HSMC_DRV0_PWM_UL
Input
Motor Drive 1 Phase U Gate -
77
HSMC_DRV0_PWM_VH
Input
Motor Drive 1 Phase V Gate +
78
HSMC_DRV0_PWM_VL
Input
Motor Drive 1 Phase V Gate -
79
HSMC_DRV0_PWM_WH
Input
Motor Drive 1 Phase W Gate +
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Tandem Motion-Power 48 V Board Connectors
Pin
Signal
Direction
Function
80
HSMC_DRV0_PWM_WL
Input
Motor Drive 1 Phase W Gate -
83
DRV0_U_VOLTS_MDAT
Output
Motor Drive 1 U Phase Voltage FB
84
DRV0_U_CURRENT_MDAT
Output
Motor Drive 1 U Phase Current FB
85
DRV0_V_VOLTS_MDAT
Output
Motor Drive 1 V Phase Voltage FB
86
DRV0_V_CURRENT_MDAT
Output
Motor Drive 1 V Phase Current FB
89
DRV0_W_VOLTS_MDAT
Output
Motor Drive 1 W Phase Voltage FB
90
DRV0_W_CURRENT_MDAT
Output
Motor Drive 1 W Phase Current FB
91
DRV0_QR_A
Output
Motor 1 FB Quad/Resolver A
92
DRV0_QHR_U
Output
Motor 1 FB Quad/Hall/Resolver U
95
DRV0_QR_B
Output
Motor 1 FB Quad/Resolver B
96
DRV0_QHR_V
Output
Motor 1 FB Quad/Hall/Resolver V
97
DRV0_QR_Z
Output
Motor 1 FB Quad/Resolver Z
98
DRV0_QHR_W
Output
Motor 1 FB Quad/Hall/Resolver W
101
CURRENT_FAULT
Input
Current fault LED
102
BOOST_STATUS
Input
Boost Status LED
103
DRV1_FAULTn
Output
Motor Drive 2 fault
104
REGEN_STATUS
Input
Regen status LED
107
DRV1_SER_RX
Output
Motor 2 FB Serial RX
108
DRV1_CSn
Input
Motor drive 2 chip Select
109
DRV1_SER_TX
Input
Motor 2 FB serial TX
110
DRV1_SER_CLK
Input
Motor 2 FB serial CLK
113
DRV1_EN_GATE_P
Input
Motor drive 2 gate Enable +
114
DRV1_EN_GATE_N
Input
Motor drive 2 gate enable -
115
HSMC_DRV1_PWM_UH
Input
Motor drive 2 phase U gate +
116
HSMC_DRV1_PWM_UL
Input
Motor drive 2 phase U gate -
119
HSMC_DRV1_PWM_VH
Input
Motor drive 2 phase V gate +
120
HSMC_DRV1_PWM_VL
Input
Motor drive 2 phase V gate -
121
HSMC_DRV1_PWM_WH
Input
Motor drive 2 phase W Gate +
122
HSMC_DRV1_PWM_WL
Input
Motor drive 2 phase W gate -
125
DRV1_U_VOLTS_MDAT
Output
Motor drive 2 U phase Voltage FB
126
DRV1_U_CURRENT_MDAT
Output
Motor drive 2 U phase current FB
127
DRV1_V_VOLTS_MDAT
Output
Motor drive 2 V phase voltage FB
128
DRV1_V_CURRENT_MDAT
Output
Motor Drive 2 V phase current FB
131
DRV1_W_VOLTS_MDAT
Output
Motor Drive 2 W phase voltage FB
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Tandem Motion-Power 48 V Board Connectors
Pin
Signal
Direction
Function
132
DRV1_W_CURRENT_MDAT
Output
Motor Drive 2 W phase current FB
133
DRV1_QR_A
Output
Motor 2 FB quad/resolver A
134
DRV1_QHR_U
Output
Motor 2 FB quad/Hall/resolver U
137
DRV1_QR_B
Output
Motor 2 FB quad/resolver B
138
DRV1_QHR_V
Output
Motor 2 FB quad/Hall/resolver V
139
DRV1_QR_Z
Output
Motor 2 FB Quad/Resolver Z
140
DRV1_QHR_W
Output
Motor 2 FB quad/Hall/resolver W
143
GPIO_0
-
Supply Over Current LED
144
DRV0_SER_TX_EN
Input
Motor 1 FB serial CLK
145
DRV1_RESOLVER_SSCS
Input
Resolver
146
DRV0_RESOLVER_SSCS
Input
Resolver
149
DRV1_RESOLVER_SCSB
Input
Resolver
150
DRV0_RESOLVER_SCSB
Input
Resolver
151
DRV1_RESOLVER_OutputHB
Input
Resolver
152
DRV0_RESOLVER_OutputHB
Input
Resolver
155
DRV1_RESOLVER_ERRHLD
Input
Resolver
156
DRV0_RESOLVER_ERRHLD
Input
Resolver
157
DRV1_RESOLVER_ERRSTB
Input
Resolver
158
DRV0_RESOLVER_ERRSTB
Input
Resolver
160
HSMC_PRSNTn
Output
HSMC presence detect
Table 9: Motor Connector (J5, J19) Pin Assignments
The motor connectors (J5, J19) are 4-pole 5.08 mm pitch pluggable terminal blocks for motor phase U, V,
W and 0 V.
Pin
Function
1
Motor phase W
2
Motor phase V
3
Motor phase U
4
0V
Table 10: Encoder Connector (J9, J23) Pin Assignments
Pin
Function
1
Supply voltage
2
U_P
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Tandem Motion-Power 48 V Board Connectors
Pin
11
Function
3
U_N
4
V_P
5
V_N
6
W_P
7
W_N
8
A_P
9
A_N
10
B_P
11
B_N
12
Z_P
13
Z_N
14
CLK_P
15
CLK_N
16
TX_P
17
TX_N
18
RX_P
19
RX_N
20
0V
Table 11: Resolver Connector (J44, J45) Pin Assignments
Pin
Function
1
S1 In
2
S3 In
3
S2 In
4
S4 In
5
R1 Out
6
R2 Out
7
0V
8
0V
Table 12: Analog Feedback Connector (J36) Pin Assignments
You can use the analog feedback connector (J36) to connect analog feedback signals to a suitable
development kit with ADCs. The pinout of the analog feedback connector matches the pinout of the 2x10
way 0.1” pitch header, J20, on the Altera MAX 10 10M50 development kit.
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Changing the Motors and Encoders
Pin
Function
1
Inductor current phase 0
2
Input voltage
3
Voltage feedback DRV0 phase V
4
Current feedback DRV0 phase V
5
Current feedback DRV0 phase U
6
Current feedback DRV0 phase W
7
Voltage feedback DRV0 phase U
8
Voltage feedback DRV0 phase W
9
0V
10
0V
11
DC link voltage
12
Inductor current phase 1
13
Current feedback DRV1 phase V
14
Voltage feedback DRV1 phase V
15
Current feedback DRV1 phase W
16
Current feedback DRV1 phase U
17
Voltage feedback DRV1 phase W
18
Voltage feedback DRV1 phase U
19
0V
20
0V
Changing the Motors and Encoders
Altera supplies the Tandem Motion-Power 48 V Board configured for Anaheim Automation
SMH40S-0010-30AAK-4DKH motors with quadrature encoders or Tamagawa TS4747N3200E600 motors
with resolver encoders.
1.
2.
3.
4.
5.
6.
7.
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Remove all power from the Tandem Motion-Power 48 V Board.
Unplug the existing motor and encoder cables.
Configure the jumpers to select the encoder power supply.
Configure the jumpers for the encoder type and signal connections.
Prepare the motor cable with the 4-way pluggable screw terminal block.
Prepare the encoder cable with the 8- or 20-way push fit pluggable terminal block.
Plug in the motor and encoder cables.
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Tandem Motion-Power 48 V Board Jumper Settings
13
Tandem Motion-Power 48 V Board Jumper Settings
Table 13: Tandem Motion-Power 48 V Board Jumper Settings
Jumper
Axis
Function
J6
DRV0
EnDAT operation
J7
DRV0
EnDAT operation
J8
DRV0
Encoder power supply selection
J10
DRV0
Quadrature encoder A source
J11
DRV0
Hall sensor U source
J12
DRV0
Serial encoder Rx source
J13
DRV0
Quadrature encoder B source
J14
DRV0
Hall sensor V source
J15
DRV0
Serial encoder Tx source
J16
DRV0
Quadrature encoder Z source
J17
DRV0
Hall sensor W source
J18
DRV0
Serial encoder CLK source
J20
DRV1
EnDAT operation
J21
DRV1
EnDAT operation
J22
DRV1
Encoder power supply selection
J24
DRV1
Quadrature encoder A source
J25
DRV1
Hall sensor U source
J26
DRV1
Serial encoder Rx source
J27
DRV1
Quadrature encoder B source
J28
DRV1
Hall sensor V source
J29
DRV1
Serial encoder Tx source
J30
DRV1
Quadrature encoder Z source
J31
DRV1
Hall sensor W source
J32
DRV1
Serial encoder CLK source
J39
DRV0
RDC BIST
J40
DRV0
Resolver excitation voltage
J42
DRV1
RDC BIST
J43
DRV1
Resolver excitation voltage
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Tandem Motion-Power 48 V Board Jumper Settings
Quadrature Encoder and Hall Sensor Operation
You can select quadrature encoder and Hall sensor motor feedback operation by populating these six
jumpers, per axis. You can set up the Tamagawa RDC to emulate a quadrature encoder.
Figure 3: DRV0 Motor Feedback Jumpers, Quadrature and Hall Operation
Located midboard.
J10, J13 and J16 select the A, B and Z quadrature paths for DRV0 motor.
J11, J14 and J17 select the U, V and W Hall sensor paths for DRV0 motor.
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Figure 4: DRV1 Motor Feedback Jumpers Quadrature and Hall operation
Located middle-bottom of board.
J24, J27 and J30 select the A, B and Z quadrature path for DRV1 motor.
J25, J28 and J31 select the U, V and W Hall sensor path for DRV1 motor.
RDC Quadrature Encoder Emulation Operation
You can setup the Tamagawa RDC to emulate a quadrature encoder and or Hall sensor encoder.
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Tandem Motion-Power 48 V Board Jumper Settings
Figure 5: DRV0 Motor Feedback Jumpers Quadrature Emulation Operation
Located mid board.
J10, J13 and J16 select the A, B and Z paths for DRV0 Resolver.
J11, J14 and J17 select the U, V and W paths for DRV0 Resolver.
Figure 6: DRV1 Motor Feedback Jumpers Quadrature Emulation Operation
Located middle-bottom of board.
J24, J27 and J30 select the A, B and Z paths for DRV1 Resolver.
J25, J28 and J31 select the U, V and W paths for DRV1 Resolver.
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Tandem Motion-Power 48 V Board Jumper Settings
17
BiSS and EnDAT Operation
You can select BiSS or EnDAT position feedback data coming from the motor.
Figure 7: DRV0 Motor Feedback Jumpers BiSS and EnDAT Operation
Located mid board.
J12, J15 and J18 select the RX, TX and CLK paths for the DRV0 motor.
Figure 8: DRV1 Motor Feedback Jumpers BiSS and EnDAT Operation
Located middle-bottom of board.
J26, J29 and J32 select the RX, TX and CLK paths for the DRV1 motor.
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Note: In addition to the feedback path jumpers, you must set some additional jumpers for EnDAT
operation. For BiSS operation you must remove these jumpers.
Figure 9: DRV0 Feedback Data Flow Control Jumpers EnDAT operation
Located mid board.
J6 and J7 select EnDAT for DRV0.
Figure 10: DRV1 Feedback Data Flow Control Jumpers EnDAT Operation
Located middle-bottom of board.
J20 and J21 select EnDAT for DRV1.
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RDC Serial Feedback Operation
The Tamagawa RDC can be set up to provide serial feedback data.
Figure 11: DRV0 Motor Feedback Jumpers RDC Serial Feedback
Located mid board
J12, J15 and J18 select the RX, TX and CLK paths for the DRV0 Resolver serial data.
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Figure 12: DRV1 Motor Feedback Jumpers RDC Serial Feedback
Located middle-bottom of board.
J26, J29 and J32 select the RX, TX and CLK paths for the DRV1 Resolver serial data.
Encoder Power Supply Selection
You can select the power supply voltage connected for the encoder interface. The available options are 24V,
12V, 5V and 3.3V.
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Figure 13: DRV0 Encoder Power Selector, mid board right edge
Mid board right edge.
J8 selects the voltage for encoders on DRV0.
Note: Do not fit more than one jumper link at a time to J8. Do not fit jumpers to J8 in any other orienta‐
tion.
Figure 14: DRV1 Encoder Power Selector
Bottom of board right edge.
J22 selects the voltage for encoders on DRV1.
Note: Do not fit more than one jumper link at a time to J22. Do not fit jumpers to J22 in any other
orientation.
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Tamagawa RDC Built-In Self Test (BIST)
The Tamagawa RDC has a BIST feature that you can access.
the population of the no BIST position is not required as the board has an internal pull-down resistor in
the RDC to disable BIST.
Altera reference designs do not support the RDC BIST feature.
Figure 15: DRV0 RDC BIST Jumper
Located mid board
J39 Selects BIST operation for DRV0 RDC. (DRV0) and J42 (DRV1).
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Figure 16: DRV1 RDC BIST Jumper
Located bottom of board
J42 Selects BIST operation for DRV1 RDC.
Resolver Excitation Voltage Selection
You can select the resolver circuitry excitation voltage to be either 12V or 24V.
Note: The default excitation voltage requirement for the Tamagawa motors supplied with the Tandem
Motion-Power 48 V Board Kit is 12 V.
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Figure 17: DRV0 Resolver Excitation Voltage Selection
Located mid board.
J40 selects the excitation voltage for DRV0.
Figure 18: DRV1 Resolver Excitation Voltage Selection
Located at bottom of board.
J43 selects the excitation voltage for DRV1.
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I/O Voltage Supply
R378, R377, R376
Tandem Motion-Power 48 V Board Reference Documents
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