DC Motor Card HW Reference Manual and Datasheet...2.1 DC MOTOR CONTROL BOARD 2.2 Figure 2-4: DCM...

VEST-VIO-USG-002, REV A

APC Proprietary Information March 31, 2016

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 to another language without the prior written permission of Advanced Products Corporation Pte Ltd.



TABLE OF CONTENTS 1 Overview .........................................................................................................................................5

1.1 Introduction ........................................................................................................................................ 5 1.2 List Of Acronyms ................................................................................................................................. 5

2 System Architecture .........................................................................................................................6

2.1 DC Motor Control Board ..................................................................................................................... 8

3 DCM Card Hardware Specification ....................................................................................................9

3.1 BOARD SPECIFICATION ....................................................................................................................... 9 3.2 DC MOTOR DRIVER (U100) ................................................................................................................. 9 3.3 Main Board Connectors (JS100, JC100) ............................................................................................ 10

3.3.1 ViO Sensor Interface Connector (JS100) ................................................................................... 10 3.3.2 ViO Control Interface Connector (JC100) .................................................................................. 10

3.4 Output Connectors (JO100, JO101, JO102) ...................................................................................... 11 3.4.1 High Power Connector (JO100) ................................................................................................ 11 3.4.2 Low Power Connector (JO101) ................................................................................................. 11 3.4.3 Sensor Connector (JO102) ......................................................................................................... 12

4 DCM Card Component Location ...................................................................................................... 13

4.1 Key Components And Connectors .................................................................................................... 13

5 Revision History ............................................................................................................................. 15

6 Legal Notices ................................................................................................................................. 16



LIST OF TABLES

Table 3-1: DCM Card Specification ........................................................................................................................... 9 Table 3-2: Control Logic .......................................................................................................................................... 10 Table 3-3: ViO Sensor Interface Connector ............................................................................................................ 10 Table 3-4: ViO Control Interface Connector ........................................................................................................... 11 Table 3-5: High Power Connector .......................................................................................................................... 11 Table 3-6: Low Power Connector ........................................................................................................................... 11 Table 3-7: Sensor Connector .................................................................................................................................. 12



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: DCM Card Block Diagram ....................................................................................................................... 8 Figure 4-1: Component Location (Top) .................................................................................................................. 13 Figure 4-2: Component Location (Bottom) ............................................................................................................ 14



1 OVERVIEW

1.1 INTRODUCTION The DC Motor (DCM) daughter card would be mounted on the ViO Main Board and allows users to evaluate wide range of DC motors and a comprehensive DC 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

DCM DC Motor

Table 1-1: List Of Acronyms



2 SYSTEM ARCHITECTURE

Below is the block diagram of ViO system and provides users the visualization for the whole product.

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

MCU DSPIC33EP512M

U814

LDO LD1117S33TR

USB Mini-B

CAN1 CAN1 TX/RX

3.3V 800mA

DC Jack 5V

USB Type A

USB OTG DP/DN

CAN2 CAN2 TX/RX

RESET

FW SET

Debug Port

PC Serial

UART2

UART1

APU Serial

Swit

ch, S

W2

APU SPI FW c

on

figu

re t

o e

ith

er

SPI2

or

UA

RT1

+I2

C2

SPI2

APU I2C I2C2

MUX

ICSP

LCD UI Conn

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

7 PWMs

SPI1

GPIOs

Card IDs

Card Types

Card Detect

Power LED(1x) Status LED (2x)

SPI1

GPIOs

PGC

PGD



Figure 2-2: ViO Assembly (Top)

Figure 2-3: ViO Assembly (Bottom)

DCM 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.



2.1 DC MOTOR CONTROL BOARD

2.2 Figure 2-4: DCM Card Block Diagram

Above picture is the block diagram of DCM card which comprises motor driver, A3950, and 3 output interfaces for user access. The DC Motor Control Board offers the ability to drive wide range of DC motor with output power up to +/-2.8A and 36V. It also supports QEI encoders (ENC_A and ENC_B), sensor and three GPIOs to give users flexibility to design with their intention.

Main features are as follows:

• PWM-controlled speed and direction of motor

• In-built analog control loop

• Overcurrent protection

• Short-to-supply and short-to-ground protection

• Sleep function

• Thermal shutdown with hysteresis

• Undervoltage lockout (UVLO)

• Crossover-current protection

7 PWMs

SPI1

GPIOs

Card IDs

Card Types

Card Detect

Motor Driver A3950SEUTR-T

Motor Driving

Port

Low Power Port

GPIO Port

Encoder Sensor GPIOs

V3P3

GND

V3P3_A

AGND

Op Amp

(Current Sense)

DC Motor Daughter Card

ViO Main Board

DC Motor System

DCM_OUTA

DCM_OUTB

Motor Power Supply Input



3 DCM CARD HARDWARE 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 Description

Operating Conditions 3 ~ 3.6V (Digital Interface) 8 ~ 36V (Load Supply Voltage)

Power Source Main Board (3.3V) External (Load Supply Voltage)

PCB 4-layer Board

Main Board Interface Board Sensor Connector Board Control Connector

External Interface High Power Connector Low Power Connector Sensor Connector

Table 3-1: DCM Card Specification

3.2 DC MOTOR DRIVER (U100) DCM daughter card consists of a DMOS full-bridge motor driver, A3950, for DC motor. It is designed for PWM control and able to deliver peak output currents up to +/- 2.8A and operating voltages to 36V. It also offers the following features:

• Low Rds(ON)

• PWM-controlled speed and direction of motor

• Overcurrent protection

• Short-to-supply and short-to-ground protection

• Sleep function

• Thermal shutdown with hysteresis

• Undervoltage lockout (UVLO)

• Crossover-current protection

The control logic is as follows:

DIR PWM MODE nSLEEP OUTA OUTB Function

1 1 X 1 H L Forward

0 1 X 1 L H Reverse

X 0 1 1 L L Brake (slow decay)

1 0 0 1 L H Fast Decay Synchrounous Rectification2

0 0 0 1 H L Fast Decay Synchrounous Rectification2



DIR PWM MODE nSLEEP OUTA OUTB Function

X X X 0 Z Z Sleep Mode

Table 3-2: Control Logic

1. X indicated "don't care", Z indicates high impedance

2. To prevent reversal of current during fast decay synchronous rectification, outputs go to the high impedance state as the current approaches zero ampere.

3.3 MAIN BOARD CONNECTORS (JS100, JC100) DCM daughter card connected to Main Board via the following connectors, ViO Sensor Interface Connector and ViO Control Interface Connector.

3.3.1 ViO DC Motor Sensor Interface Connector (JS100)

Pin Signals Description

1 QA Quadrature Encoder Interface Phase A

2 QB Quadrature Encoder Interface Phase B

3 HOME_P6 Sensor Input

4 MODE 0: Fast Decay Mode 1: Slow Decay Mode

5 GND Ground

6 CARD_ID1 Card ID Bit 0



9 Reserved Reserved

10 AGND Analog Ground

11 END_P3 Sensor Input


13 CurrentSense_P4_A Current Sensing


15 Reserved Reserved

16 V3P3_A Analog 3.3-V Supply

Table 3-3: ViO Sensor Interface Connector

3.3.2 ViO DC Motor Control Interface Connector (JC100) Pin Signals Description

1 V5P0 5V Supply

2 GND Ground

3 V3P3_M Digital 3.3-V Supply

4 DIR Direction Control 0: Reverse 1: Forward

5 PWM Speed control




6 nSLEEP 0: Sleep mode 1: Normal operation

7 nFAULT 0: Faulty condition - Motor fault, undervoltage or TJ> 160DegC

8 GPIO1 General purpose I/O



11 Card_nDETECT Daughter card detection

12 Card_Type1 Card Type Bit 0



Table 3-4: ViO Control Interface Connector

3.4 OUTPUT CONNECTORS (JO100, JO101, JO102)

Please take note that Motor power supply input is through pin 1 and pin 2 of High Power connector

3.4.1 High Power Connector (JO100)


1 Vmotor Motor Power Supply Input

2 GND Ground

3 NC No connection

4 NC No connection

5 DC_MOTA DC Motor Output A

6 DC_MOTB DC Motor Output B

7 NC No connection

8 NC No connection

Table 3-5: High Power Connector

3.4.2 Low Power Connector (JO101)



2 GND Ground


4 AGND Analog ground

Table 3-6: Low Power Connector



3.4.3 Sensor Connector (JO102)



2 GND Ground

3 END Sensor Input

4 HOME Sensor Input


6 GND Ground

7 ENC_QA Quadrature Encoder Interface Phase A

8 ENC_QB Quadrature Encoder Interface Phase B


10 AGND Analog ground




Table 3-7: Sensor Connector



4 DCM 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.

Figure 4-1: Component Location (Top)

High Power Conn

Low Power Conn

DC Motor Driver, A3950



Figure 4-2: Component Location (Bottom)

Sensor Conn

Vio

Mo

tor

Co

ntr

ol C

on

n

Vio

Mo

tor

Senso

r Co

nn



5 REVISION HISTORY

Version Date Released Changes

A March 31, 2016 First release



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.

DC Motor Card HW Reference Manual and Datasheet...2.1 DC MOTOR CONTROL BOARD 2.2 Figure 2-4: DCM...

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