Atlas BLDC Motor. Technical Manual Product Code: OVU00247 Rev 1

Transcription

1 Atlas BLDC Motor Technical Manual Product Code: OVU00247 Rev 1 1

2 Contents 1. Introduction Product Features Precautions and Warnings Product Specification Motor Performance Data Product Breakdown Product Drawing Atlas BLDC Motor Packaging Specification Installation / Connection Motor PCBA Slip Ring and Interconnect PCBA Slip Ring Interconnect 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 Atlas 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 Atlas platform is 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 107mm diameter PCB. Configurable to provide continuous or limited rotational operating range. Includes high performance slip ring. 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 42V unless otherwise specified. Performance Data Value Operating Voltage 42V to 49V Current at Max Torque 1.12A Initialisation current 1.12A No Load Current 20mA Winding Resistance / Ph 16 Ω±10% Winding Inductance /Ph 48.5mH (@ 1kHz) Motor Constant 0.09 Nm/ w Resolution (deg) Max Speed (deg/s) 720 Min Speed (deg/s) 0.05 Rotor Poles 24 Number of Phases 3 Stator Slots 18 Table 2 : Motor rated values at 42V unless otherwise specified. Rated Values of the Motor Value Rated Voltage 48V Rated Current 1A Rated Temperature 25 C ± 10 C Rated Load Moment of Inertia Kgcm² Rated Load Moment of Inertia w/o Slip Ring Kgcm² Rated Speed 360 s ¹ Torque at Rated Speed 1.7Nm Rated Load MTBF >1,000,000 hours a a Refer to Hydra loading conditions 4

5 4.2. Motor Mechanical Data Table 3 : Motor environmental capabilities. Standard Values 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% Specification Weight Table 4 : Motor mechanical power and mechanical properties. Value 1.7Kg Weight w/o slip ring 1.6Kg Rotor moment of Inertia 12Kgcm² Rotor moment of inertia w/o slip ring 10.6Kgcm² Locked Rotor/Stall /Holding Torque 2.0Nm Cogging torque 0.2Nm(max) Moving Torque 1.7Nm Perpendicularity (deg) < +/-0.2 Maximum Radial load** 550N Maximum Axial load** 550N b Range Hardware: range continuous Software end-stops configurable between 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 Atlas motor showing DC Input current and phase current RMS. 6

7 5. Product Breakdown 5.1. Product Drawing Atlas BLDC Motor Figure 4 : Atlas BLDC Motor Limited Rotation- details 1. 7

8 Figure 5: Atlas BLDC Motor Limited Rotation- details 2. 8

9 6. Packaging Specification Atlas motor(ovu00247) is packed as one motor per box as per Figure 6 below. Figure 6 : Atlas Motor packaging instructions. Figure 7 : Atlas Motor packaging dimensions in mm. 9

10 7. Installation / Connection 7.1. Motor PCBA Figure 8 below highlights the position of the two Universal Access Connectors on the PCBA for interfacing with the slip ring and external systems. Both sockets have identical pinouts and connections, as specified in Table 5. Figure 8 : Motor PCBA top view with J1 & J4 (Universal Access Connectors IV & III) highlighted. 10

11 Table 5 : J1/J4 connector details. J1/J4 JST SM24B-ZPDSS-TF Pin Signal Pin Signal 1 48V in 2 GND 3 48V in 4 GND 5 48V in 6 GND 7 PASS THROUGH PAIR 1+ 8 PASS THROUGH PAIR 4+ 9 PASS THROUGH PAIR 1-10 PASS THROUGH PAIR 4-11 PASS THROUGH PAIR PASS THROUGH PAIR PASS THROUGH PAIR 2-14 PASS THROUGH PAIR 5-15 PASS THROUGH PAIR I 2 C SDA 17 PASS THROUGH PAIR 3-18 I 2 C SCL 19 PASS THROUGH AUX 1 20 I 2 C ADDRESS SELECT 21 PASS THROUGH AUX 2 22 NO-CONNECT 23 NO-CONNECT 24 EARTH (SPINDLE CONNECTION) Notes: - All signals are identically connected to both connectors - Differential impedance for pass through pairs is 100 ohms, 1A rating - Single ended impedance for pass through AUX 1 & 2 is approx. 50ohm, 2A rating - 48V and GND rated at 2A per pin - I 2 C Address Select to be connected to GND for address 0x29, open for 0x28 (7-bit address) - I 2 C interface uses 0/12V signal levels, see section 8.1 for details - Mating housing is JST part ZPDR-24V-S, contacts are SZPD-002T-P Slip Ring and Interconnect PCBA The standard configuration of the Atlas BLDC Motor includes a slip-ring and accompanying interconnect PCBA. These allow 20 of the 22 signal given in Table 5 to be passed through the rotating interface and made available on the Interconnect PCBA Slip Ring The slip ring (OVC00078) connects to socket J1 (Universal Access Connector IV) of the motor PCBA and J2 (Universal Access Connector II) of the Interconnect PCBA, as shown in Figure 5. Connections are rated to 2A per way, and pairs specified as differential in Table 5 and Table 6 are twisted to maintain appropriate differential impedance Interconnect PCBA Figure 9 below shows the location the two Universal Access Connectors (J1 and J2) for interfacing with the slip ring and external systems, as well as the earth connection tab J3. 11

12 Both universal connectors have identical pinouts and connections, as specified in Table 6. The earth connection is a Keystone /2.67mm tab terminal, and is connected to pin 24 of J1/J2. This provides a chassis earth connection option via the slip-ring, electrically bypassing any conduction through the motor bearings. Figure 9 : Interconnect PCBA showing J1,J2 (Universal Access Connectors I & II) and J3 (Earth Connector). Table 6 : J1/J2 connector details. J1/J2 JST BM24B-ZPDSS-TF Pin Signal Pin Signal 1 48V in 2 GND 3 48V in 4 GND 5 48V in 6 GND 7 PASS THROUGH PAIR 1+ 8 PASS THROUGH PAIR 4+ 9 PASS THROUGH PAIR 1-10 PASS THROUGH PAIR 4-11 PASS THROUGH PAIR PASS THROUGH PAIR PASS THROUGH PAIR 2-14 PASS THROUGH PAIR 5-15 PASS THROUGH PAIR I 2 C SDA 17 PASS THROUGH PAIR 3-18 I 2 C SCL 19 PASS THROUGH AUX 1 20 NO-CONNECT 21 NO-CONNECT 22 NO-CONNECT 23 NO-CONNECT 24 EARTH (FOR ROTOR CONNECTION) Notes: - All signals are identically connected to both connectors 12

13 - Differential impedance for pass through pairs is 100 ohms, 1A rating - Single ended impedance for pass through AUX 1 is approx. 50Ω, 2A rating - 48V and GND rated at 2A per pin - I 2 C interface uses 0/12V signal levels, see section 8.1 for details - Mating housing is JST part ZPDR-24V-S, contacts are SZPD-002T-P Mechanical Refer to Figure 5 for installation details. Note: It is important to provide a retaining feature for the lower bearing as shown in Detail D. Attention should be given to the determining of the Zero position of the motor for positioning applications - see Figure 5. Where required a dynamic seal may be run against the spindle diameter (Ø33.5 g6). A seal (OVS0094) is available. Fixing screws to the stator are M4. Take care that the length of screw into the stator does not exceed 6mm or damage may be caused. 13

14 8. Software Set-up 8.1. I 2 C Interface Physical Layer The Atlas motor external control interface utilizes a 12V buffered I 2 C interface for increased noise immunity compared to standard 3.3V or 5V signal levels. Internally the motor board uses a standard 3.3V I 2 C interface, which is then buffered and level shifted to 12V through a Texas Instruments P82B96PW IC. These buffered I 2 C connections are made available on the motor connectors as noted in section 7.1. An example circuit using the P82B96 IC (available from NXP and Texas Instruments) is provided below: Figure 10 : Example I 2 C level shifter implementation Communications Layer The Atlas BLDC motor is always an I 2 C slave device at a 7-bit address of 0x28 or 0x29 (see section 7.1 for address selection details). Bus operation and command listings are specified in the Intelligent BLDC Motor I 2 C Protocol document, available on request or from (with registration). 14

15 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 11 shows an outline of timings of the startup procedure. Figure 11 : Atlas motor start-up procedure. Grey boxes indicate when the motor may not be guaranteed to respond to I 2 C messages. 15

16 8.2. I 2 C Control Commands Table 7 : 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 0x14-0x18 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 16

17 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 17

18 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 Atlas BLDC motor is designed to be incorporated into a complete product via a custom control interface. Therefore, for the purpose of CE compliance, the Atlas motor is classified as a Component. As such the standalone Atlas 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 Atlas motor to be able to include appropriate information regarding the Atlas motor within the Technical Construction File for the whole product. 18

19 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 19