IRMCS2011 [INFINEON]
Complete Encoder Based Servo Drive Design Platform iMOTION Development System; 完成基于编码器的伺服驱动器设计平台的iMOTION开发系统
| 型号： | IRMCS2011 |
| 厂家： | 
Infineon |
| 描述： | Complete Encoder Based Servo Drive Design Platform iMOTION Development System |
| 文件： | 总25页 (文件大小：678K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
IRMCS2011
!
International Rectifier • 233 Kansas Street, El Segundo, CA 90245 USA
IRMCS2011
Complete Encoder Based Servo Drive Design Platform
iMOTIONTM Development System
IR WORLD HEADQUARTERS: 233 Kansas St., El Segundo, California 90245 Tel: (310) 252-7105
Data and specifications subject to change without notice. 3/18/2004
REFERENCE DESIGN
IRMCS2011
Complete Encoder Based Servo Drive Design Platform
iMOTIONTM Development System
Features
ꢀ
Product Summary
Low cost complete AC servo drive design platform
Current loop bandwidth (-3dB)
Speed loop bandwidth (adjustable)
PWM carrier frequency
5 kHz (typ)
400 Hz (typ)
70 kHz max
6 µsec
IRMCK201 IC for complete servo control
ꢀ
ꢀ Simple design with IR2175 current sensing HVIC
230V/750W maximum output power with 600V/16A
ꢀ
advanced Plug-N-DriveTM IGBT module
Hardware current loop execution time
ꢀ High bandwidth torque loop response
ꢀ Flexible drive configuration (PMAC or induction
Enhanced low speed regulation by 1/T algorithm
motor)
Continuous output current
Overload output current
Max SPI comm. speed
Slave SPI configuration
Max RS232C speed
5.0 Arms (750W)
ꢀ Quadrature encoder interface
ꢀ Low cost A/D interface with multiplexer
15 Arms
6 MHz
ServoDesignerTM tool for easy operation
ꢀ
ꢀ
ꢀ
RS232C/RS422 and fast SPI interface (standard)
Parallel interface for microcontroller expansion or
debug port
57.6 kbps
ꢀ
ꢀ
Over-current and ground fault protection
Over-voltage / Under-voltage protection
ꢀ Dynamic Braking control with brake IGBT/FWD
ꢀ Discrete I/Os (START, STOP, FAULT, FLTCLR,
SYNC, IFBCAL, PWMACTIVE)
ꢀ Configuration data retention at power up/down
Description
IRMCS2011 is a complete servo drive design platform for AC servo drive applications up to 750W. The system contains the
latest advanced motion control IC, IRMCK201, and the ServoDesignerTM software. The complete B/Ms and schematics are
provided so that the user can adapt and tailor the design per application needs. The system does not require any software
code development due to unique Motion Control Engine implemented in the IRMCK201 IC. User can readily evaluate high
performance servo control without spending development effort usually required in the traditional DSP or microcontroller
based system. IRMCS2011 contains advanced iMOTIONTM chipset such as IR2175 monolithic current sensing ICs and
IRAMX16UP60A intelligent power module which enables simple and cost effective motion control design.
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
REFERENCE DESIGN
IRMCS2011
Table of Contents
1. Overview.......................................................................................................................................................................4
2. Getting Started ..............................................................................................................................................................5
2.1 Safety Precautions...................................................................................................................................................5
2.2 Unpacking and Inspecting.......................................................................................................................................6
3. Preparing the Motor ......................................................................................................................................................7
3.1 Readily Drivable Motor List ...................................................................................................................................7
3.2 Assembling Encoder Connector..............................................................................................................................7
3.3 Motor Power Cable .................................................................................................................................................8
4. Hardware Installation....................................................................................................................................................8
4.1 Safety Precautions...................................................................................................................................................8
4.2 Input Power Wiring.................................................................................................................................................9
4.3 Motor Wiring ..........................................................................................................................................................9
4.4 Encoder Connection..............................................................................................................................................10
4.5 RS232 Connection ................................................................................................................................................10
5. Software Installation ...................................................................................................................................................11
5.1 Installing from the CD ..........................................................................................................................................11
5.2 ServoDesigner Startup ..........................................................................................................................................11
Step 1. RS232 Connection ......................................................................................................................................11
Step 2. Numeric Format ..........................................................................................................................................11
6. Running the System ....................................................................................................................................................13
6.1 Power-On ..............................................................................................................................................................13
6.2 Running motor with ServoDesigner......................................................................................................................13
Step 1. Opening the Configuration File ..................................................................................................................13
Step 2. Checking Communication Status................................................................................................................13
Step 3. Motor Configuration ...................................................................................................................................14
Step 4. Starting Angle .............................................................................................................................................14
Step 5. Running the Motor......................................................................................................................................14
Step 6. Reference Speed..........................................................................................................................................14
Step 7. Drive Status.................................................................................................................................................15
7. Motion Control Engine ...............................................................................................................................................16
7.1 Motion Control Engine (MCE) Based Complete Servo Control...........................................................................16
8. New Motor Adaptation ...............................................................................................................................................17
9. Appendix.....................................................................................................................................................................19
9.1 External I/O...........................................................................................................................................................19
9.2 RS232C Connector ...............................................................................................................................................19
9.3 Parallel Interface Port............................................................................................................................................20
10. Specifications............................................................................................................................................................23
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
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REFERENCE DESIGN
IRMCS2011
List of Figures
Figure 1. IRMCS2011 System Block Diagram.................................................................................................................4
Figure 2. Encoder Interface Connector, J2........................................................................................................................7
Figure 3. Power Terminal Block, J1 .................................................................................................................................9
Figure 4. Motor Wiring Connection .................................................................................................................................9
Figure 5. Encoder Connector, J2.....................................................................................................................................10
Figure 6. RS232 Connector, J6 .......................................................................................................................................10
Figure 7. The Connection Dialog....................................................................................................................................11
Figure 8. The Numeric Display Format Dialog ..............................................................................................................12
Figure 9. Open a Configuration File ...............................................................................................................................13
Figure 10. Communication Status Indicator ...................................................................................................................14
Figure 11. Setup for Reference Speed Function .............................................................................................................15
Figure 12. IRMCK201 Based Complete Servo Control .................................................................................................16
Figure 13. EXCEL Spreadsheet Inputs...........................................................................................................................18
Figure 14. External I/O Connector, J7 ............................................................................................................................19
Figure 15. RS232C Connector, J6 ..................................................................................................................................19
Figure 16. Parallel Interface Port, J9...............................................................................................................................20
Figure 17. Register Write/Read Timing (Intel)...............................................................................................................21
Figure 18. Register Write/Read Timing (Motorola) .......................................................................................................22
List of Tables
Table 1. Motor Connections..............................................................................................................................................9
Table 2. Microprocessor Interface Module Signal Definitions.......................................................................................20
Table 3. IRMCS2011 Electrical Specification................................................................................................................23
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3
REFERENCE DESIGN
IRMCS2011
1. Overview
The IRMCS2011 is a design platform for a complete servo drive system based on IRMCK201 IC. The system is based
on configurable Motion Control Engine implemented by hardware logics in the IRMCK201. The system has a simple
and low cost yet very flexible structure, made possible by advanced IR motion components including the
IRAMX16UP60A IGBT module, and IR2175 monolithic current sensing high voltage IC. These components together
with IRMCK201 IC simplify hardware construction, and perform complete servo amplifier functions. Figure 1 shows
the IRMCS2011 system block diagram. Since all control logic is implemented in hardware logic as opposed to
programmed software, unmatched parallel computation is achieved resulting in high bandwidth torque control.
Despite the fact that technology is based on hardware logic implementation, its design flexibility allows the user to
configure different types of motors, position feedback devices, and communication protocols. The system also allows
feedforward control in addition to existing PI control.
Design cycle time can be greatly shortened. Unlike a traditional DSP or microcontroller, the architecture is based on
configurable register interface, and does not require any programming to complete customization for specific
application needs. The user only has to configure the drive using ServoDesignerTM interactive design tool and it takes
just a matter of hours instead of months and years.
Once the user become satisfied with function and performance, he can generate his own design using IRMCS2011
schematics and B/Ms.
AC Power
EEPROM
Analog Speed
Reference
TM
iMOTION Chip Set
select
IRMCK201
A/D
interface
A/D MUX
DC bus feedback
DC bus dynamic
brake control
RS232C
or
RS422
IGBT
module
BRAKE
Multi-Axis
Host
+
+
IRAMX16UP60A
Space
ejθ
Dead
time
-
-
Vector
PWM
Host
Register
Interface
SPI
Interface
+
or
-
FAULT
other host
controller
Parallel
Interface
+
+
Configuration
Registers
Ks
dt
Monitoring
Registers
Period/Duty
counters
IR2175
IR2175
ejθ
2/3
Period/Duty
counters
1/T counter
speed
measurement
Quadrature
Decoding
Encoder
Motor
Figure 1. IRMCS2011 System Block Diagram
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REFERENCE DESIGN
IRMCS2011
2. Getting Started
2.1 Safety Precautions
In addition to the precautions listed throughout this manual, you must read and understand the following statements
regarding hazards associated with AC servo development system.
ATTENTION: Some ground potential of the IRMCS2011 system is biased to a negative
DC bus voltage potential and kept high voltage potential while power is on. When measuring
voltage waveform by oscilloscope, the scope ground needs to be isolated. Failure to do so
may result in personal injury or death.
Darkened display LED is not an indication that capacitors have discharged to safe voltage
levels.
!
ATTENTION: The IRMCS2011 system contains high voltage capacitors which take time to
discharge after removal of main supply. Before working on drive system, ensure isolation of
mains supply from line inputs [R, S, T]. Wait three minutes for capacitors to discharge to
safe voltage levels. Failure to do so may result in personal injury or death.
Darkened display LED is not an indication that capacitors have discharged to safe voltage
levels.
!
ATTENTION: Only personnel familiar with the drive and associated machinery should
plan or implement the installation, start-up, and subsequent maintenance of the system.
Failure to comply may result in personal injury and/or equipment damage.
!
ATTENTION: The surface temperatures of the drive may become hot, which may cause
injury.
!
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REFERENCE DESIGN
IRMCS2011
ATTENTION: The IRMCS2011 system contains ESD (Electrostatic Discharge) sensitive
parts and assemblies. Static control precautions are required when installing, testing,
servicing or repairing this assembly. Component damage may result if ESD control
procedures are not followed. If you are not familiar with static control procedures, reference
applicable ESD protection handbook and guideline.
!
!
ATTENTION: An incorrectly applied or installed drive can result in component damage or
reduction in product life. Wiring or application errors such as undersizing the motor,
supplying an incorrect or inadequate AC supply, or excessive ambient temperatures may
result in system malfunction.
2.2 Unpacking and Inspecting
The IRMCS2011 system is shipped with packing materials that need to be removed prior to installation.
ATTENTION: Failure to remove all debris and packing materials, which are unnecessary
for system installation, may result in overheating or abnormal operating condition.
!
After unpacking, check the items. The following hardware pieces are contained in the IRMCS2011 system.
•
•
•
IRMCS2011 board with integrated heat sink
Serial RS232C cable with 9-pin D-sub connectors for ServoDesignerTM development tool
Installation CD
Before you install and start up the system, check if there is any damaged component. In that case, stop proceeding and
contact our technical support.
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REFERENCE DESIGN
IRMCS2011
3. Preparing the Motor
3.1 Readily Drivable Motor List
If the motor is one of the following, it can be run immediately without commissioning.
•
•
•
•
•
•
•
•
•
Sanyo Denki 400W 8-pole servo motor with 2000-pulse encoder (P30B06040DXS00M,)
Sanyo Denki 750W 8-pole servo motor with 2000-pulse encoder (P30B08075DXS00M)
Sanyo Denki 1.5kW 8-pole servo motor with 2000-pulse encoder (P20B10150DXS00M)
Glentek 160W 4-pole servo motor with 2000-pulse encoder (GMB2010-17-E-02100005)
Glentek 1.0kW 6-pole servo motor with 5000-pulse encoder (GMB3530-24-E-02200109)
Glentek 1.2kW 6-pole servo motor with 5000-pulse encoder (GMB3530-37-E-02200109)
Glentek 600W 6-pole servo motor with 5000-pulse encoder (GMB3530-48-E-02200109)
Pacific Scientific 800W 8-pole servo motor with 2048-pulse encoder (PMB23C-00114-00)
Reliance Electric 2HP 4-pole induction motor with 1024-pulse encoder (P14A5805)
If any other motor is used, adaptation and re-configuration is required, which can be accomplished using the
ServoDesignerTM tool.
3.2 Assembling Encoder Connector
Prepare the connector assembly to the encoder cables.
•
•
Assemble 15-pin male D-Sub connector, referring to Figure 2.
Make sure that the encoder is a 5V type. If it is not a 5V type, proper modification is required.
For permanent magnet motors:
•
Eleven pins are used: A+ (pin 2), A- (pin 3), B+ (pin 4), B- (pin 5), Z+ (pin 6), Z- (pin 7), HALL_A (pin 10),
HALL_B (pin 11), HALL_C (pin 12), 5V(pin 1 or pin 9) and GND (pin 8 or pin 15).
•
If hall sensors have differential output, connect only positive sides and leave negative sides open.
For induction motors:
•
Only six pins are used because z-pulse is not necessary for an induction machine. The six pins are: A+ (pin
2), A- (pin 3), B+ (pin 4), B- (pin 5), 5V(pin 1 or pin 9) and GND (pin 8 or pin 15).
•
Disable Z_pulse by connecting Z+ to GND and Z- to 5V.
J2
1
2
3
4
5
6
7
8
Sanyo Denki’s encoder cable wire
HVDD
A+
A-
B+
B-
Z+
A+ = Blue
A- = Brown
B+ = Green
B- = Purple
Z+ = White
Z- = Yellow
Z-
8
1
VSS
HVDD
HALL-A
HALL-B
HALL-C
NA
9
10
11
12
13
14
15
15
9
+5V_BB (5V) = Red
VSS (0V) = Black
NA
VSS
DSUB-15
Figure 2. Encoder Interface Connector, J2
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REFERENCE DESIGN
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3.3 Motor Power Cable
Prepare the motor power cable, which has four wires: U, V, W and E (earth ground). Proper size and length of cable
should be used.
4. Hardware Installation
4.1 Safety Precautions
ATTENTION: Remove and lock out power from the drive before you disconnect or reconnect
wires or perform service. Wait three minutes after removing power to discharge the bus voltage.
Do not attempt to service the drive until bus voltage has discharged to zero. Failure to do so may
result in bodily injury or death.
!
ATTENTION: The drive is intended to be commanded by control input that will start and stop
the motor. A device that routinely disconnects then reapplies input power to the drive for the
purpose of starting and stopping the motor should not be used. Failure to follow this guideline
may result in damage of equipment, and/or bodily injury or death.
!
ATTENTION: Do not connect power factor correction capacitors to drive output terminals U,
V, and W. Failure to do so may result in equipment damage or bodily injury.
!
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REFERENCE DESIGN
IRMCS2011
4.2 Input Power Wiring
Connect AC 115V or single-phase 230V or three-phase 230V power. For single phase 100V-230V AC power, use R
and T for connection. For three phase 230V power, use R/S/T for connection as shown in Figure 3. Insert a power
contactor switch rated at 250V/30A in series with AC power cables.
Figure 3. Power Terminal Block, J1
If full power rating is needed, use three-phase 230V power. Otherwise output power should be de-rated. Proper size
and length of cable should be used.
4.3 Motor Wiring
Connect motor power and ground wires to terminal block J1 of IRMCS2011 board as shown in Figure 4.
Figure 4. Motor Wiring Connection
For Sanyo Denki, Glentek or Pacific Scientific motors, the colored wires should be connected to the associated
Terminal Block pins of the IRMCS2011 board as shown in Table 1.
Sanyo Denki’s motor
cable wire
Glentek motor
cable wire
Pacific Scientific motor
cable wire
Terminal block pin
RED
WHITE
BLACK
RED (pin A)
BLUE
VIOLET
BROWN
U
V
W
E
BLUE (pin C)
BLACK (pin B)
GREEN (pin D)
GREEN/YELLOW
GREEN/YELLOW
Table 1. Motor Connections
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REFERENCE DESIGN
IRMCS2011
4.4 Encoder Connection
Plug the encoder connector into J2 as shown in Figure 5. Make sure that encoder signals are connected properly.
Incorrect connection of encoder signals will result in improper rotor position and/or incorrect communication. The
shell of the connector is grounded to the chassis for shield termination.
Figure 5. Encoder Connector, J2
4.5 RS232 Connection
Connect the serial cable between the computer COM port and J6 as shown in Figure 6. If there is more than one COM
port, please remember which one you are using. Make sure that the cable is connected properly. Incorrect connection
of the serial cable will result in communication errors and/or incorrect communication. The shell of the connector is
grounded to the chassis for shield termination.
Figure 6. RS232 Connector, J6
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REFERENCE DESIGN
IRMCS2011
5. Software Installation
5.1 Installing from the CD
The distributed CD contains all necessary documents and software files. Load the CD into the CD-ROM drive on your
PC and double-click “IRMCS2011.exe”. It will ask you for a password, which is in the file “iMOTION Install
IRMCS2011.pdf”. After you enter the password, an automated procedure will install all necessary software on your
PC. The default location for the installation is “C:\Program Files\iMOTION”.
5.2 ServoDesigner Startup
You should follow the instructions in this section the first time you use ServoDesigner to verify your installation and
test the reference design. These “quick start” instructions assume that you’re using one of the supported motors
listed in section 3.1. If not, you’ll need to enter motor configuration parameters before you can begin testing. Refer to
“ServoDesigner User’s Guide” and “IRMCK201 Application Developer’s Guide” for more information.
Step 1. RS232 Connection
ServoDesigner communicates with the IRMCS2011 using a COM port on your PC. Before you start the application,
you should attach an RS232 cable to the DB9 connector on the reference platform and connect it to an available COM
port on your PC.
The first time you start ServoDesigner, a Connection dialog (shown in Figure 7) appears and presents you with a list of
available COM ports on your system. Select the COM port to which you have connected the RS232 cable.
Figure 7. The Connection Dialog
The Connection dialog also allows you to enable and disable product ID and version checking and status polling. You
should have “Product ID and version checking” disabled and “Status polling” enabled!
When you click OK in the Connection dialog, your selections are saved so they can be used next time you start the
application. (The dialog won’t appear on startup again.) If you want to change your selections later on, you can access
the Connection dialog through the Preferences menu.
The currently configured COM port is shown on the status bar at the bottom of ServoDesigner’s main display.
Step 2. Numeric Format
The first time you start ServoDesigner, the Numeric Display Format dialog appears, as shown in Figure 8. This dialog
allows you to select either decimal or hexadecimal format for numeric display. Click the blue button to switch between
hexadecimal and decimal. When you click OK, your setting is saved so it can be used next time you run
ServoDesigner. (The dialog won’t appear on startup again.) If you want to change the setting later on, you can
access the Numeric Display Format dialog through the Preferences menu.
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REFERENCE DESIGN
IRMCS2011
Figure 8. The Numeric Display Format Dialog
Note: Regardless of which display option you choose, you can always enter values in decimal or hexadecimal.
ServoDesigner interprets a value you enter as hexadecimal if it begins with “0x” (0x222), and otherwise as decimal
(222).
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IRMCS2011
6. Running the System
6.1 Power-On
Apply AC 115V – AC 230V power to the system. Immediately after power-on, the red LED (surface mount LED
located at the right side of the board) will lit on/off indicating the on-board DC bus has been established.
6.2 Running motor with ServoDesigner
Step 1. Opening the Configuration File
You need to open a configuration file. The configuration file contains the register, functional and monitor definitions
that make up ServoDesigner’s tree view. To start, you should open one of the default files that are shipped with the
release. Later, when you’ve modified the register values, function definitions and/or tunable parameters, you’ll want to
save your custom configuration in another file.
A default configuration file for each supported motor is shipped with the release. The file names include the part
number of your product and the part number of the motor, with the file extension “.irc”. For example, one of the
configuration files for the IRMCS2011 product is named “IRMCK201-GMB2010-17-E.irc”. The files are located in
the iMOTION\ServoDesignerdirectory. To open a configuration file, select Open from the File menu or click the
toolbar button that shows an open folder. Browse for the file you want and click OK. An example is shown in Figure
9.
Figure 9. Open a Configuration File
Note: Configuration files are saved in text format, but you should not edit the files manually. If you need to make
changes to a configuration file, open the file in ServoDesigner, make the changes as described later in this document,
and then save the changes by selecting Save or Save As… from the File menu.
Step 2. Checking Communication Status
Until you open a configuration file, the COM port status at the bottom of ServoDesigner’s main display shows
“Inactive”. When you open a file, ServoDesigner attempts to establish contact with the IRMCS2011 by executing a
read operation. If ServoDesigner receives a reply to its request, the COM port status shows “Up.” If no reply is
received, the status changes to “Down.” A “Down” status usually means the reference platform is not powered on, the
RS232 cable is not connected, or the cable is connected to the wrong COM port. Figure 10 shows how communication
status should appear before you continue your testing .
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REFERENCE DESIGN
IRMCS2011
Figure 10. Communication Status Indicator
Note: If you disable status polling in the Connection dialog, ServoDesigner does not attempt to establish contact
with the reference platform, and the COM port status shows “Inactive” even after you open a configuration file.
Step 3. Motor Configuration
The Configure Motor function is one of the pre-defined operations in ServoDesigner’s Function Definitions section.
This function initializes the host registers for normal operation. If you click the Configure Motor entry in the tree
view, a list of the registers that are written when this operation is executed is displayed in the right pane of the main
window. The “Value to Write” column shows the value that will be written to each register. You can click the “+”
symbol to the left of the Configure Motor function to access detailed information about each of the registers.
To execute the Configure Motor function, click the Configure Motor toolbar button (the icon shows a hammer
and wrench) or double-click on the Configure Motor entry in the tree view.
Once this function is executed correctly, the LED will turn to blinking green.
Step 4. Starting Angle
For induction motor operation, skip this step. This function reads the Hall A, B, C inputs and uses the motor magnet
position data read from your configuration file to determine the starting position of the motor. (See “ServoDesinger
User’s Guide” for more information about motor configuration parameters.)
To execute the function, click the Starting Angle toolbar button (the icon shows the characters “ABC”) or
double-click the Starting Angle entry in the tree view.
Step 5. Running the Motor
Start Motor and Stop Motor functions are also pre-defined Function Definitions.
To start the motor, click the Start Motor toolbar button (the green traffic signal) or double-click the Start Motor
entry in the tree view.
To stop the motor, click the Stop Motor toolbar button (the red traffic signal) or double-click the Stop Motor
entry in the tree view.
When the motor is running, the far right hand status bar pane should show drive status “Run” with a green indicator.
When the motor is stopped, the drive status should be “Stop” with a yellow indicator. If a drive fault occurs, the
status changes to “Fault” with a red indicator. The status is “Inactive” (blue indicator) when the COM port status is
“Down” or “Inactive.”
Step 6. Reference Speed
ServoDesigner provides a special built-in function that allows you to easily control the motor’s reference speed and
direction. To modify the settings, see Figure 11. First, locate the Reference Speed entry in the Function Definitions
section of the tree view. Right-click on the entry and select Properties. In the Properties dialog, you can enter the
desired speed in RPM and the direction (forward or reverse). In the dialog, you can also specify the host register to
which the speed/direction setting is written. You should not modify this setting unless you redefine the host register
map.
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IRMCS2011
After entering a speed and selecting forward or reverse, click OK in the dialog and then double-click the Reference
Speed entry in the tree view to execute the operation. ServoDesigner calculates the appropriate value to be written the
host register (based on your specified speed and direction) and performs the write operation.
Figure 11. Setup for Reference Speed Function
Step 7. Drive Status
The Info button on the toolbar (letter “i”) executes the pre-defined Drive Status function, which reads a group of host
registers associated with the function.
To get drive status, click the Info button or double-click the Drive Status entry in the tree view. After you’ve
executed the function, click on Drive Status in the tree view (if it’s not already selected). In the right pane of
the main window, the values read from the Drive Status registers are shown in the Current Value column.
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IRMCS2011
7. Motion Control Engine
7.1 Motion Control Engine (MCE) Based Complete Servo Control
Figure 12 shows the detailed algorithm block diagram including various parameters which can be configured
through the host register interface.
Closed loop current and velocity control are implemented in the IRMCK201 IC on the IRMCS2011 board. The
closed loop current control algorithm is based on a synchronously rotating frame. The velocity control is available
as an outer loop control of the current control and can be disabled in order to configure torque control mode.
Additional configuration allows feedforward control, selection of the position feedback devices, induction machine
vector control, and selection of communication protocol.
2
Closed Loop Velocity Control, Sequencing Control
Closed Loop Current Control
MUX
Update Rate = PWM carrier frequency / 2
Update Rate = PWM carrier frequency x1 or x 2
8 channel
Serial
A/D
EXT_REF
CNVST
CLK
DCV_FDBK
A/D
interface
Interface
Feedforward
path enable
DATA
2
VQLIM+
VQLIM-
CURKI
Optional
CurrentSense
SPDKI
DC bus dynamic
brake control
Velocity
Control
BRAKE
SPDKP
Enable
IQREF
GSenseL
GSenseU
CURKP
INT_REF
ModScl
+
+
Reference
Select
6
VQS
VDS
+
+
VQ
Gate
Signals
START
PI
PI
PI
RAMP
-
-
ejθ
STOP
DIR
Space
Vector PWM time
Dead
VD
Sequence
Control
+
IQLIM-
IQLIM+
FLTCLR
SYNC
IDREF
FAULT
Accel Rate
-
FAULT
VDLIM-
VDLIM+
Decel
Rate
PWMmode
PWMen
2Pen
Dtime
PWM ACTIVE
AngleScale MaxEncCount
Slip gain 4096
I2I1 x I2I3
Slip gain
enable
RCV
SND
SpdScale InitZval
RS232C/
RS422
Interface
3
+
+
RTS
CTS
Encoder
A/B/Z
I1
O
dt
Configuration
Registers
Quadrature
Decoding
I3
Encoder
Hall A/B/C
3
0
SCK
SDO
SDI
CS
SPI
Slave
Interface
EncType
IQ scale
4096
Zpol
InitZ
Optional
CurrentSense
Motor
Phase
Current V
IQ
IV
Host Register
Interface
I2I1 x I2I3
I3
IR2175
interface
O
O
I1
Monitoring
Registers
ejθ
Data
Address
Control
2/3
17
Motor
Phase
Current W
ID
IW
Parallel
Interface
I1 x I2
I3
IR2175
interface
I1
I2
I3
4096
ID scale
I2C
EEPROM
Interface
2
Current
Offset V
Serial
EEPROM
Current
Offset W
Communication Modules
Figure 12. IRMCK201 Based Complete Servo Control
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
16
REFERENCE DESIGN
IRMCS2011
8. New Motor Adaptation
New motor can be configured by simple EXCEL spreadsheet. EXCEL spreadsheet template is provided in the
shipment with the filename “IRMCx201-DriveParams.xls”.
This spreadsheet facilitates configuration of parameters which need to go into each host registers inside of the
IRMCK201 IC. The spreadsheet calculates current feedback/speed feedback scaling, Proportional plus Integral (PI)
gains of current and speed regulators, PWM carrier frequency, deadtime, etc, based on simple motor nameplate and
published data input. The output of this spreadsheet is text file containing one-to-one corresponding each registers’
values. User can use the ServoDesignerTM to read this output into the associated registers.
For detailed operation, please refer to “3.1 Drive Parameter Setup” in IRMCK201 Application Developer’s Guide.
1
P30B06040DXS00M
password : 201
Motor Selection :
(Type the number here!)
"=================== Motor Information ========================="
(RPM) Rated Speed
3000rpm
0.00644H
(Lq) L_phase
(line to line Inductance) / 2
(line to line Resistor) / 2
(R_Stator) R_phase
(Amps) Rated Amps
(NLC)No Load Current
(Jm) Inertia of Motor
(Kt) Torque Constant
(Ke) Voltage Constant
Poles
1.4ohms/ph
2.7Arms
0Arms
(necessary for IM)
2.55E-05Kg-m2
0.533N-m/Arms
18.6V ln-rms/krpm
8
voltage is line to neutral rms
(PPR) Encoder PPR
Wire-Saving Encoder?
2000pulse/revolution
TRUE( TRUE / FALSE )
"================== Application Information ======================"
"-------------------------- General ---------------------------"
Max RPM
4500rpm
310Volts
3pu
(Vdc_Nom) Nominal Vdc
(OvLoad) Max pu motor current at rated speed
"--------------- Speed Regulator Tuning ---------------"
Speed Regulator BW
200rad/sec
Positive Speed Rate limit
1000rpm/sec
Negative Speed Rate limit
1000sec to rate speed
0Kg-m2
Inertia of Load
SpdLpRate
(measured)
21 SpdLoop per this # of CurLoop
"--------------------- Current Limits ----------------------"
Motoring Limit
200%
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
17
REFERENCE DESIGN
IRMCS2011
Regen Limit
200%
"---------- Inverter Switching Frequency -------------"
(fc) Pwm carrier freq
10KHz
Dead_Time
0.5usec
" ------------ Current Regulator Tuning --------------- "
(Ireg_BW) Current Reg BW
2500rad/sec
"============== Advance Information (Platform fixed) ==============="
Note: Below values are fixed for IRMCS2011 platform however can be changed for other
platform
(Clk) IRMCK201 clock freq
DC Bus Scaling (Vdc_Scl)
33.333MHz
8.1875cts/Volt
4095cts for rated Amps
2355Cts
I_Torque
(I_Trq_Rated)
(Mod_Pk) - U_Alpha U_Beta max linear modulation
" ---------- Desired Speed feedback Scaling ---------"
(Spd_Scale)
16384cts/(Max RPM)
" -------------- Current Feedback Scaling -------------"
Current Shunt Resistor
Max H/W Current
10mOhm
26Apeak
"================== Commutation Information ===================="
Angle of Z-pulse (based on UV line to line voltage)
Mid Angle when Hall CBA is 001
Mid Angle when Hall CBA is 010
Mid Angle when Hall CBA is 011
Mid Angle when Hall CBA is 100
Mid Angle when Hall CBA is 101
Mid Angle when Hall CBA is 110
272degree
120degree
240degree
180degree
0degree
60degree
300degree
Figure 13. EXCEL Spreadsheet Inputs
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
18
REFERENCE DESIGN
IRMCS2011
9. Appendix
9.1 External I/O
Connect External I/O Connector (J7) as needed. All inputs are 5V tolerant and high true logic.
Pin definition
Pin 1: Analog input (+/-10V)
Pin 2: Analog GND
Pin 3: N/A (open)
User supplied
power supply
-10V +10V GND
10k ohm
Pin 4: N/A (open)
potentiometer
Pin 5: N/A (open)
Pin 6: Digital GND
J7 Top View
Pin 7: FAULT status output (3.3V when FAULT)
Pin 8: SYNC status output (3usec width of active low
pulse at every carrier frequency period)
Pin 9: PWMACTIVE output (3.3V when PWM active)
Pin 10: +5V
GND
1
2
GND
Pin 11: START input (high to activate)
Pin 12: STOP input (high to activate)
Pin 13: Ifb offset calibration input (high to activate)
Pin 14: Fault Clear input (high to activate)
Pin 15: N/A (open)
START
5V
STOP
FLTCLR
IFBCAL
GND
15
16
Pin 16: Digital GND
Figure 14. External I/O Connector, J7
9.2 RS232C Connector
IRMCS2011 has one serial RS232C connector (J6) on the board. The connector is D-sub 9 pin standard PC female
connector and directly connectable to PC serial port. As shown in Figure 15, pin 2 is send-signal and pin 3 is
receive-signal, and both are 10V signal level. The baud rate is fixed at 57.6 kbps. The signal format is 8 bits, no
parity, 1 stop bit.
J6
1
TX1
RX1
2
3
4
5
6
7
8
9
No connection
DB9RF
Figure 15. RS232C Connector, J6
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
19
REFERENCE DESIGN
IRMCS2011
9.3 Parallel Interface Port
IRMCS2011 provides an 8bit parallel interface port to facilitate microprocessor interface. Interface is generic and able
to interface most common 8bit parallel interface such as MCS8051, some Motorola 8bit uP, MicroChip, etc. Figure 16
shows the connection diagram. The connector, J5, is a 2-by-10 header connector pins.
Each signal is 3.3V level and data bus is multiplexed. Table 2 summarizes each signal definition.
+3.3V_BB
J5
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
HP_Data0
HP_Data1
HP_Data2
HP_Data3
HP_Data4
HP_Data5
HP_Data6
HP_Data7
NA
NA
NA
NA
HP_nCS
HP_nWE
HP_nOE
HP_A
HDR2X10
Figure 16. Parallel Interface Port, J9
Signal
HP_nCS
HP_nOE
HP_nWE
HP_A
I/O1
Description
Active low Host Port Chip Select
Active Low Host Port Output Enable
I
I
I
I
Active low Host Port Write Enable
Host Port Register Address. 1 = Address register, 0 = Data Register
Bidirectional Host Port data bus
HP_Data
I/O
Table 2. Microprocessor Interface Module Signal Definitions
Figure 17 and Figure 18 show detailed timing requirements for register read and write operations depending on the
type of microprocessor (Intel or Motorola type). All values are in nanoseconds. The data bus output is activated by
the logical combination (!nCS && !nOE && new), which allows read and write operations to be either nWe/nOE
(Intel) or nCS (Motorola) driven.
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
20
REFERENCE DESIGN
IRMCS2011
Row
1
2
3
4
5
6
7
Name
Min
10
0
60
60
Max
Comment
C
C
C
C
C
D
D
TsuADDR
TsuData
Tpw_nCSnWE
ThData
ThAddr
Tacc
HP_A to HPnCS or HP_nWE (which ever occurs last) low setup time
HP_D to HPnCS or HP_nWE (which ever occurs last) low setup time
Minimum pulswidth for nCS and nWE
Minimum data hold time from HP_nWE or HPnCS (whichever occurs last) low
Minimum address hold time from HP_nWE or HPnCS (whichever occurs last) low
HP_nCS or HP_nOE (whichever occurs last) to Data access time
HP_nCS or HP_nOE (whichever occurs last) to Data invalid/Hi-
0
0
35
35
ThData
TsuADDR
TsuData
ThAddr
HP_A
Tpw_nCSnWE
ThData
HP_nCS
HP_nWE
HP_nOE
Tacc
ThData
HP_DATA
Figure 17. Register Write/Read Timing (Intel)
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
21
REFERENCE DESIGN
IRMCS2011
Row
1
2
3
4
5
6
7
Name
Min
10
0
60
60
Max
Comment
C
C
C
C
C
D
D
TsuADDR
TsuData
Tpw_nCSnWE
ThData
ThAddr
Tacc
HP_A to HPnCS low setup time
HP_D to HPnCS low setup time
Minimum pulswidth for nCS
Minimum data hold time from HPnCS low
Minimum address hold time from HPnCS low
HP_nCS to Data access time
0
0
35
35
ThData
HP_nCS to Data invalid/Hi-Z
TsuADDR
TsuData
ThAddr
HP_A
Tpw_nCSnWE
ThData
HP_nCS
HP_nWE
HP_nOE
Tacc
ThData
HP_DATA
Figure 18. Register Write/Read Timing (Motorola)
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22
REFERENCE DESIGN
IRMCS2011
10. Specifications
TC=25°C unless specified
Parameters
Values
Conditions
Input Power
Voltage
115V-230Vrms, -20%, +10%
50/60 Hz
Frequency
Input current
Input line impedance
Output Power
Watt
7A rms @nominal output
4%∼8% recommended
TA=40°C, RthSA=1.0 °C/W
750W continuous power
5.0 Arms nominal, 15 Arms Overload
3.3V logic level
Vin=230V AC, fPWM=10kHz, fO=60Hz,
TA=40°C, RthSA=1.0 °C/W
ZthSA limits ∆TC to 10°C during overload
Current
Host interface (SPI)
SCLK,CS,MISO,MOSI, SYNC
Isolated, maximum 6MHz
Host interface (RS232C/422)
10V
Maximum 57.6k bps, single ended,
configurable for RS422 up to 1Mbps
Tx, Rx
Host interface (Parallel Port)
3.3V
8 bit parallel interface compatible with 8051,
MicroChip, other µP.
HP_nCS, HP_nOE, HP_nWE,
HP_A, HP_DATA[8]
D/A
8 bit 4 Channel
A/D
0-3.3V output
Output is buffered with 4mA drive capability
12 bit 2 channel
±10V for reference input, 5V for DC bus
input
Discrete I/O
Input
4 bit, START, STOP, FLTCLR, IFBCAL 5V tolerant, Isolated, Active High logic
3 bit, PWMACTIVE, FAULT, SYNC
Output
Current feedback
Current sensing device
Resolution
IR2175, direct interface
10 bit (7.5 nanoseconds counting
resolution)
133 MHz internal IRMCK201 clock
IR2175 PWM output (130 kHz)
Latency
8.3 usec
Protection
Output current trip level
Ground fault trip level
Over-temperature trip level
Short circuit delay time
DC bus voltage
35A peak, ±10%
35A peak, ±10%
110°C, ±5%
Case temperature
line-to-line short, line-to-DC bus (-) short
2.5 µsec
Maximum DC bus voltage
Minimum DC bus voltage
Encoder Interface
Incremental encoder
400V
120V
Should not exceed 400V for > 30 sec
VCC=15V ± 10%, VDD=5V ± 5%
Maximum 2 MHz
All differential signals are converted to single
ended signals including index pulse
Hall A/B/C initialization
Programmable wire saving/dedicated
A/B/C
Power Module
IRAMX16UP60A
3-phase HVIC
System environment
Ambient temperature
6 IGBT/FRED + IR2136 gate driver,
integrated overtemp protection
Bootstrap power supply for high side circuit
95%RH max. (non-condensing)
0 to 40°C
Table 3. IRMCS2011 Electrical Specification
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23
REFERENCE DESIGN
IRMCS2011
IR WORLD HEADQUARTERS: 233 Kansas St., El Segundo, California 90245, Tel: (310) 252-7105
http://www.irf.com
Data and specifications subject to change without notice.
Sales Offices, Agents and Distributors in Major Cities Throughout the World.
This document is the property of International Rectifier and may not be copied or distributed without expressed consent.
24
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