Leto BLDC Motor. Technical Manual Product Code: OVU00243/OVU00244 Rev 1 OVU00243 Leto BLDC Motor Endstop

Transcription

1 Leto BLDC Motor OVU00243 Leto BLDC Motor Endstop OVU00244 Leto BLDC Motor Continuous Technical Manual Product Code: OVU00243/OVU00244 Rev 1 1

2 Contents 1. Introduction Product Features Precautions and Warnings Product Specification Motor Performance Data Product Makeup Product Drawing Leto BLDC Motor Limited Rotation Exploded View Limited Rotation Motor Packaging Specification Installation / Connection PCBA Mechanical Software Set-up I 2 C Interface Physical Layer Communications Layer Startup I 2 C Control Commands Compliance & Testing Specification Product Testing Specification CE Compliance Specification

3 1. Introduction The Leto BLDC direct drive motors have been designed to be integrated into a number of environments that require a combination of high positional accuracy as well as smooth and silent motion. These include video conferencing, broadcast and CCTV PTZ applications. The Leto platform creates a standalone intelligent motor with integral low level motor control and integrated optical feedback. It is robust to external dynamic disturbances, especially impulses and vibrations. 2. Product Features Wide dynamic speed range from 0.05 s -1 to 720 s -1. Rapid and precise positional control to accuracy. Near silent operation. Integral DSP based motor controller. High level control commands fed through a simple, 2-wire I²C bus. PCBA connections conveniently arranged for use in a pan/tilt camera product. All control and drive components are contained within the 56mm by 63mm PCB. Configurations to provide continuous or limited rotation as necessary. Hollow/non-magnetic shaft for slip ring integration. User configurable gains and accelerations as well as the ability to in-field upgrade firmware. 3. Precautions and Warnings Please study this technical manual thoroughly. To prevent the risk of hazards such as fire or shock, do not expose this product to water. Do not drop or shake the carton, avoid impacts and crash, take care when handling. The box cannot give complete protection against heavy shocks. Ensure appropriate ESD preventative actions are taken when handling this product. Do not install the product in wet or high humidity areas without adequate protection. Moisture can corrode the electrical components inside the product over time. The product is guaranteed for use within temperatures of -20 C and +70 C and not suitable outside those limits and for environments with extreme temperatures. Do not disassemble the product, this will void the warranty. This product is not suitable for the following environments: Explosive atmospheres, Life critical systems, 3

4 4. Product Specification All electronic components are of industrial grade, with temperature ratings of at least -20 C and +70 C Motor Electrical Data This section includes the electrical parameters of the motor including motor data, design specifications, test results and nominal values shown in Table 1 and Table 2. Table 1 : Motor electrical data at 24V unless otherwise specified. Performance Data Value Operating Voltage 21.6V to 26.4V Current at Max Torque) 540mA Initialisation current 540mA No Load Current 30mA Max. Input Voltage Ripple 250mV@100kHz Winding Resistance / Ph 15 Ω±10% Winding Inductance /Ph 6.8mH (@ 1kHz) Motor Constant Nm/ w Resolution (deg) Max Speed (deg/s) 720 Min Speed (deg/s) 0.05 Rotor Poles 16 Number of Phases 3 Stator Slots 12 Table 2 : Motor rated values at 24V unless otherwise specified. Rated Values of the Motor Value Rated Voltage 24V Rated Current 500mA Rated Temperature 25 C ± 10 C Rated Load Moment of Inertia 16,570 gcm² Rated Speed 360 s ¹ Torque at Rated Speed 79mNm Rated Load MTBF a >1,000,000 hours a Refer to product chassis camera loading conditions. 4

5 4.2. Motor Mechanical Data Table 3 : Motor environmental capabilities. Specification Temperature rated (standard operation) Value -20 C to +70 C Humidity range (standard operation) 5% to 90% RH at 40 C Storage Conditions -20 C to +70 C Storage Humidity (% RH non-condensing) 5% - 85% Table 4 : Motor mechanical power and mechanical properties. Specification Value Weight 102g Rotor moment of Inertia 140gcm² Locked Rotor/Stall /Holding Torque 91mNm Cogging torque 4.1mNm max Moving Torque 79mNm Perpendicularity (deg) < +/-0.1 Maximum Radial load 65N Maximum Axial load 65N b Range Configurable between including continuous rotation b When either the axial or radial load is 0N, the other axis can be loaded more. 5

6 4.3. Motor Performance Data Figure 1 : 180 degree move profile with varying accelerations. Figure 2 : 180 degree move profile with varying maximum speeds. Figure 3 : Current vs torque curves of the Leto motor showing DC Input. 6

7 5. Product Makeup 5.1. Product Drawing Leto BLDC Motor Limited Rotation Figure 4 : Leto BLDC Motor Limited Rotation. 7

8 5.2. Exploded View Limited Rotation Motor Figure 5 : Leto BLDC Motor Limited Rotation including part names and materials. 8

9 6. Packaging Specification Motors are packaged, 100 motors per box, 20 motors per tray. Each motor is individually packaged in a durable plastic bag, and placed within an antistatic foam tray. On top of the 5 foam trays is an antistatic lid. The box dimensions are 260mm(d) x 400mm(w) x537mm(l). Figure 6 : Foam partition and tray views from different planes. Table 5 : Foam partition, tray and box details. # Part Name Qty Specification 1 Cardboard Outer Box 1 Double thickness corrugated cardboard 2 Foam Partition 1 3 Foam Tray 5 Anti-static foam Figure 7 : Pictures of the box, foam partition and tray group of 5 placed top of each other in the box. 9

10 7. Installation / Connection 7.1. PCBA Figure 10 and Figure 11 below highlight the position of the three sockets and one switch on the PCBA for interfacing with external systems. Figure 8 : PCBA rear view with J3 & J4 highlighted. Figure 9 : PBCA front view with J2 & SW1 highlighted. Table 6 : J4 Connector details. J4 Molex Pin Signal 1 V in 2 I 2 C SDA 3 I 2 C SCL 4 GND 5 PASS THROUGH 1 6 PASS THROUGH 2 7 GND 8 PASS THROUGH 3 9 PASS THROUGH 4 Table 7 : J2 Connector details. J2 Molex Pin Signal 1 GND 2 GND 3 NO CONNECTION 4 NO CONNECTION 5 I 2 C SCL 6 I 2 C SDA 7 NO CONNECTION 8 V IN 9 V IN Table 8 : J3 Connector details. J3 JST S8B-SM4A-TF (LF)(SN) Pin Signal 1 V in 2 I 2 C SDA 3 I 2 C SCL 4 PASS THROUGH 3 5 PASS THROUGH 4 6 PASS THROUGH 2 7 PASS THROUGH 1 8 GND Table 9 : SW1 Switch details. SW1- Switch Position Signal ON ADDRESS 0 LOW 1 (OFF) ADDRESS 0 HIGH 10

11 7.2. Mechanical The two mounting faces of the motor have four M2 threaded holes provided for mechanical interfacing with the motor. Appropriate thread engagement calculations should be carried out to prevent stripping of threads during installation. 11

12 8. Software Set-up 8.1. I 2 C Interface NB Full I 2 C specification available from Physical Layer A standard, 3.3V, two wire, I 2 C interface is provided by the motor consisting of a clock, SCL, and data, SDA, line. Both SDA and SCL need to be pulled up to 3.3V. When the bus is not busy both lines will be high. The SCL signal is always generated by the master and the BLDC motor will always be a slave on the bus. SDA can be controlled by either the master or the slave being communicated to Communications Layer With two exceptions all transitions of SDA will occur when SCL is low. The exceptions are the start condition and the stop condition. Start condition (STX): All messages must start with this transition. SDA is set from high to low while SCL is high. Stop condition (ETX): All messages must end with this transition. SDA is set from low to high while SCL is high. Messages are of variable length but are split into 1 byte blocks, most significant bit first, after which an acknowledge bit (ACK /NACK) is required from the receiving party. An ACK bit is low and a NACK bit high Startup To allow the motor firmware to be upgraded remotely, the device can be run in In-Field Programming (IFP) mode. This mode will be activated if the HOLD LAUNCH" command (0xF0) is received in the first 500ms after power up. Figure 10 shows an outline of timings of the startup procedure. Figure 10 : Leto motor start-up procedure. Grey boxes indicate when the motor may not be guaranteed to respond to I 2 C messages. 12

13 8.2. I 2 C Control Commands Table 10 : Accessible I 2 C commands / Full details available from Commands Details 0x01 Reset 0x02 Calibration complete 0x03 Is motor moving 0x04 Return current location 0x05 Goto absolute location 0x06 Goto relative location 0x07 Travel at velocity 0x08 Set acceleration 0x09 Goto absolute location in set time 0x0A Goto relative location in set time 0x0B Get acceleration 0x0C Set tuning algorithm proportional gain 0x0D Get tuning algorithm proportional gain 0x0E Set tuning algorithm integral gain 0x0F Get tuning algorithm integral gain 0x10 Set tuning algorithm differential gain 0x11 Get tuning algorithm differential gain 0x12 Set first endstop distance from mechanical endstop 0x13 Set mechanical motor range 0x14 Start calibration 0x15-0x18 Factory use only 0x19 Set pan continuous 0x1A Get pan continuous 0x1B Get firmware version 0x1C Wake up 0x1D Set sleep on power up mode 0x1E-0x22 Factory use only 0x23 Save settings to flash 0x24 Reload factory defaults 0x25-0x2E Factory use only 0x2F Get sleep on power up mode 0x30 Is sleeping 0x31-0x3F Factory use only 0x40 Goto relative position 360 0x41 Goto relative position at speed 0x42 Goto absolute position at speed 0x45 Get serial full 0x4A Get first endstop distance 0x4B Get mechanical motor range 0x4E Set use hall sensor 0x4F Get use hall sensor 13

14 9. Compliance & Testing Specification 9.1. Product Testing Specification Test pass parameter: 100% rated performance achievable after the following tests Mechanical Specific Test Test Description Standard Functional Life (360 Pan) Functional Life (180 Pan) The product shall be able to continually operate for the duration of an accelerated life test equivalent to: - Typical 3-position tour = 48 seconds (6 travel + 10 dwell) - Warranty = 2 years = seconds = tours The product shall be able to continually operate for the duration of an accelerated life test equivalent to: - Typical 3-position tour = 48 seconds (6 travel + 10 dwell) - Warranty = 2 years = seconds = tours Electronic Specific Test None specified None specified Test Description Standard Noise and Sound Running / Locked rotor overload test Dynamic Testing Tested under rated voltages under no load and loaded conditions. Motors are tested with locked and unlocked rotors, at different temperatures and diff increasing load values. ISO 3746 BS EN :2006+A23:2 011 (Annex B) Test Description Standard Shock / Vibration Impact / bump test Product tested to Class 4M4 in the following variations: 1. 3,5mm, 10m/s², 5-200Hz, 10 sweep cycles, 3 perpendicular axis, one going with gravity m/s², 6ms, 100 shocks/axis, 6 perpendicular axis. 3. Non-operational. The Product is placed on a horizontal wooden support, which is allowed to fall 50 times from a height of 5 cm onto a wooden table. IEC (verification standards within) BS EN A12:2011 Guaranteed Performance No functional/ mechanical deviations No functional/ mechanical deviations Guaranteed Performance Sound power level stays below 32dBA Temperatures must not exceed Class H insulator Guaranteed Performance No functional/ mechanical deviations No visible damage Result Result Result 14

15 Environmental Testing Test Description Standard Climaticstandard Climatic-startup Climaticstorage Ingress Test Product can operate within the conditions described in 5 variations of time/temp/cycles: Temperature: -40 C to +85 C Relative humidity: 10%RH to 95%RH Absolute humidity: 0,9g/m² to 36g/m² Product can operate within the conditions described in 5 variations of time/temp/cycles: Temperature: -40 C to +85 C Relative humidity: 10%RH to 95%RH Absolute humidity: 0,9g/m² to 36g/m² Product can operate within the conditions described in 4 variations of time/temp/cycles: Temperature: -40 C to +85 C Relative humidity: 10%RH to 95%RH Absolute humidity: 0,1g/m² to 36g/m² Motor is tested with the shroud on and off, <75 gm particle size. ICE (verification standards within) ICE (verification standards within) ICE (verification standards within) BS EN ISO :2012 (Verification standards within) Guaranteed Performance No functional/ mechanical deviations No functional/ mechanical deviations No functional/ mechanical deviations es functional and encoder tests at each stage Result 9.2. CE Compliance Specification The Leto BLDC motor is designed to be incorporated into a complete product via a custom control interface. Therefore, for the purpose of CE compliance, the Leto motor is classified as a Component. As such the standalone Leto motor is not eligible for CE marking as it is CE certification of the final product that defines its compliance status. The purpose of the test data below along with the rest of this technical manual is to provide sufficient information to the manufacturer of any product incorporating an Leto motor to be able to include appropriate information regarding the Leto motor within the Technical Construction File for the whole product. 15

16 EMC Directive Testing Test Description Standard Emissions Radiated disturbances Immunity Electrostatic Discharge Immunity Measurements shall be made with a quasi-peak measuring receiver in the frequent range 30MHz to 1000MHz. 10 indirect then 10 direct discharges shall be applied at each test voltage to preselected parts of the product. Various tests ensuring the product is sufficiently Immune to voltage dips & bursts, short interruptions, and energy surges. BS EN 55022: 2010 Class B BS EN :2011 (Verification standards within) BS EN :2011 (Verification standards within) Guaranteed Performance Measurement within specification No mechanical damage, malfunction or change of status No mechanical damage, malfunction or change of status Result Machinery Directive Testing / IT Safety Testing (see above mechanical & dynamic testing) Test Description Standard Risk assessment Risk assessment and intended use/misuse documentation prepared. Other Regulatory/Directive Requirements BS EN 12100: 2010 Guaranteed Performance Reviewed for improvement to product Result N/A Directive/ Regulation ROHS REACH UL Description All components in an Overview product/subassembly meet the requirements of the ROHS Directive Material declarations are checked against the candidate list when published. Customers will be advised if a components status changes. All plastic parts HB classified or better according to UL94 Standard. (flame resistance). Directive/ Regulation # 2011/65/EU EC/1907/2006 SVHC (REACH Annex XIV) UL94 Guaranteed Performance Full compliancy Full compliancy Full compliancy Result Confirmed Confirmed Confirmed 16