IRMCS2033_技术文档

IRMCS2033

!

International Rectifier • 233 Kansas Street, El Segundo, CA 90245 USA

IRMCS2033

Low Voltage Sensorless Drive Design Platform

for Permanent Magnet Motors

IR WORLD HEADQUARTERS: 233 Kansas St., El Segundo, California 90245 Tel: (310) 252-7105

Data and specifications subject to change without notice. 4/13/2004

March 19, 2004 Rev 1.0

IRMCS2033

Low Voltage Sensorless Drive Design Platform

for Permanent Magnet Motors

Features

Product Summary

Low cost complete AC sensorless drive design

ꢀ

Speed operation range (typical)

5 to 100%

100,000 rpm (2 pole)

0.01%

platform

IRMCK203 IC for complete sensorless control

High speed operation

Speed accuracy

ꢀ

ꢀ Simple design with IR2175 current sensing HVIC

350W output power with MOSFET inverter

ꢀ

Speed resolution

15 bit

ꢀ Wide speed range and high speed operation

ꢀ Support any permanent magnet AC motors

ꢀ Low loss/EMI Space Vector PWM

PWM carrier frequency

Sensorless control computation time

Input dc voltage range

65 kHz max

10 usec

ꢀ No phase voltage feedback sensing

ꢀ Low cost A/D interface with multiplexer

ꢀ 4-channel D/A output for diagnostics/monitoring

22 to 50 V (typical)

Continuous output current

Overload output current

Continuous output power

Max RS232C speed

6 Arms @20KHz fPWM

18 Arms (3 secs)

350 W

ServoDesigner^TMtool for easy operation

ꢀ

RS232C/RS422 and fast SPI interface

Parallel interface for microcontroller expansion

Over-current and ground fault protection

Over-voltage / Under-voltage protection

57.6 kbps

ꢀ Dynamic Braking control with on-board brake

resistor

Optional RS422 communication

1 Mbps

ꢀ Discrete I/Os (START/STOP, FAULT, FLTCLR,

SYNC, ESTOP, DIR, PWM Enable)

ꢀ Configuration data retention at power up/down

Description

IRMCS2033 is a Sensorless drive design platform for low

voltage applications up to 350W output power. The

system contains the latest advanced motion control IC,

IRMCK203, and the ServoDesigner^TMsoftware. 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 the unique Motion Control Engine

implemented in the IRMCK203 IC. Users can readily

evaluate high performance Sensorless control without

spending the development effort usually required in the

traditional DSP or microcontroller based system.

IRMCS2033 contains advanced iMOTION chipset such as

IR2175 monolithic current sensing ICs and IRMCK203 full

Sensorless Permanent Magnet motor drive, 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.

IRMCS2033

Overview

The IRMCS2033 is a low voltage drive design platform for a complete Sensorless Permanent Magnet motor drive

system based on the IRMCK203 digital motion control IC. The system is based on a configurable control engine

implemented by hardware logic in the IRMCK203. The system has a simple and low cost structure, made possible by

advanced IR motion components including the IR2175 monolithic current sensing high voltage IC and IR2106 gate

driver IC. Instead of using IR2175 as current feedback option, IRMC2033 also supports Inverter Low side shunt

current feedback via A/D converter. These feedback options used in conjunction with the IRMCK203 simplify

hardware implementation. Since all control logic is implemented in hardware logic as opposed to programmed

software, unmatched parallel computation is achieved, resulting in higher bandwidth control and higher motor

operating frequency (15 usec minimum PWM loop cycle).

Despite hardware logic implementation, its design flexibility allows the user to configure Permanent Magnetic ac

motors (Sinusoidal Back EMF) with different motor parameters and different types of communication protocols.

DC Power

Analog

Monitor

Brake

Circuit

Brake

Analog Speed

Reference

EEPROM

IRMCS2033

IRMCK203

w

Resistor

select

A/D

4

A/D MUX

DC bus feedback

interface

channel

D/A

DC bus dynamic

BRAKE

brake control

RS232C

or

+

RAMP

Space

Dead

Vector

time

θ

e^j

-

RS422

MOSFET Inverter

IR2106

Host

+

PWM

Register

Interface

-

Host

Controller

SPI

FAULT

Interface

IRFB59N10D

Configuration

Registers

Rotor Angle/

speed

Parallel

Monitoring

Registers

Estimator

Interface

Period/Duty

counters

IR2175

θ

e^j

2/3

Period/Duty

counters

Motor

Figure 1. IRMCS2033 System Block Diagram

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

2

IRMCS2033

Safety Precautions

In addition to the precautions listed throughout this manual, please read and understand the following statements

regarding hazards associated with AC servo development system.

ATTENTION: The ground potential of the IRMCS2033 system is biased to a negative DC

bus voltage potential. 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 LEDs is not an indication that capacitors have discharged to safe voltage

levels.

!

ATTENTION: The IRMCS2033 system contains dc bus capacitors which take time to

discharge after removal of main supply. Before working on drive system, wait three minutes

for capacitors to discharge to safe voltage levels. Failure to do so may result in personal injury

or death.

Darkened display LEDs 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.

!

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

3

IRMCS2033

ATTENTION: The IRMCS2033 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 DC voltage, or excessive ambient temperatures may result in system malfunction.

ATTENTION: Remove dc power input to IRMCS2033 while disconnecting or reconnecting

wires or performing 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: 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.

!

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

4

IRMCS2033

Debris When Unpacking

The IRMCS2033 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.

!

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

5

IRMCS2033

Hardware Installation

Check All Hardware

The following hardware pieces are contained in the IRMCS2033 system.

•

IRMCS2033 board with integrated heat sink

Serial RS232C cable with 9-pin Dsub connectors for ServoDesigner^TMdevelopment tool

Two 10 m Ohms shunt resistors

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

6

IRMCS2033

Installation Procedure

Step 1.

Visually inspect IRMCS2033 board to check for loose wiring, loose or damaged components or other abnormalities.

Step 2.

Connect Motor cable and DC power to IRMCS2033 J1 connector.

DC+ VSS

W

V

U

J1

+

-

DC Power

Supply

Motor

Figure 2. Power Connector, J1

Step 3. (Optional) J6 Connector RS232C

Connect the RS232C cable between 9-pin D-sub connector and PC.

Step 4. (Optional) J7 Connector, External I/O

Connect External I/O Connector (J7) as needed. All inputs are 5V tolerant.

Pin Definition

10k ohm

Pin 1: Analog speed reference input

potentiometer

Pin 2: +10V

Pin 3: N/A (open)

Pin 4: N/A (open)

Pin 5: N/A (open)

Pin 6: GND

10V

1

2

Pin 7: FAULT status output (high when FAULT)

Pin 8: SYNC status output (2 usec width of active low pulse at every

carrier frequency period)

GND

5V

Pin 9: PWM Enable status output (high when PWM is enabled)

Pin 10: +5V

STARTSTOP

DIR

Pin 11: STARTSTOP input (positive edge transition to start; negative

edge transition to stop)

Pin 12: DIR input (high = fwd; low = rev)

Pin 13: ESTOP input (high to activate emergency stop)

Pin 14: FAULT CLR input (1usec pulse to clear fault)

Pin 15: N/A (open)

ESTOP

FAULT CLR

GND

15

16

Pin 16: GND

Figure 3. J7 Connector

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

7

IRMCS2033

Step 5. (Optional) J8 Connector, Analog Output monitoring

1

8

J8 Top View

Figure 4. J8 Connector

Pin Definition

Pin 1: Channel 1 Analog output (0-5V)

Pin 2: GND

Pin 3: Channel 2 Analog output (0-5V)

Pin 4: GND

Pin 5: Channel 3 Analog output (0-5V)

Pin 6: GND

Pin 7: Channel 4 Analog output (0-5V)

Pin 8: GND

Step 6. (Optional) Rescale bus voltage range

The default voltage levels are:

Over voltage trip = 63.2 V

Under voltage trip = 18.4 V

Dynamic brake voltage = 58.7V

If a different voltage range is desired, the user can modify hardware (resistors) to obtain a different voltage range.

Resistors R31 and R43 (R31 = R43) can be replaced to accommodate a different voltage range.

Over voltage trip = 402 / R31 * 5 * 3360 / 4095 volts (must not exceed 70 Volts)

Under voltage trip = 402 / R31 * 5 * 976 / 4095 volts (must be above 15 Volts)

Dynamic brake voltage = 402 / R31 * 5 * 3120 / 4095 volts

After determining the value of R31 (R43 = R31), the dc bus scaling in the Excel Spreadsheet (drive commissioning

tool) need to be updated by the following equation:

Dc bus scale = R31 * 4095 / (5 * 402) where R31 is in Kohm.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

8

IRMCS2033

Installing the Software

The ServoDesigner^TMtool is distributed on the CD-ROM. Load the CD into the CD-ROM drive on a PC and double-

click “IRMCS2033.exe”. The installation requires a password, which can be found in the file “iMOTION Install

IRMCS2033.pdf” on the same CD-ROM. The automated procedure installs all necessary software on the PC. The

default location for the installation is “C:\Program Files\iMOTION”.

Power-On the System

Apply DC power 20 to 45V (recommended voltage range) to the system (IRMCS2033).

Immediately after power-on, the LED will turn green indicating successful configuration of the IRMCK203.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

9

IRMCS2033

Getting Started

For quick start with preconfigured parameters, the following motor is supported with a preconfigured motor file.

•

Maxon 118889 (80W, 11000rpm)

If any other motor is used, reconfiguration is required. Configurable parameters are required to tailor the design to

various applications (motor and load). These configurable parameters can be modified via the host register interface

(using the ServoDesigner tool) through the communication interface. In the IRMCS2033 product, a design

spreadsheet (Drive parameters translator) is provided to aid the user for ease of drive start-up. Using the spreadsheet,

the user enters high-level parameters such as motor nameplate information, maximum application speed, current limit,

and speed regulator bandwidth. This high-level user information is translated to engineering parameters (directly

used by the drive). Figure 5 gives an overview of the commissioning steps. Please refer to the IRMCK203 Application

Developer’s Guide for a detailed description of drive commissioning.

Enter high level design parameters

(Motor nameplate, Current limits,

Max speed, overload etc..)

User

parameters

Drive Parameters Translator

Translate input parameters to drive parameters

Engineering

parameters

ServoDesigner

Input and download drive parameters

Refine drive parameters

IRMCS2033

Figure 5. Overview of Drive Commissioning

Shunt Resistor and Current Rating

Two 20m Ohms current sensing shunt resistors are equipped as default resistors at factory shipment (R11 and R12

located on the top side of PCB). With these resistors, IRMCS2033 can deliver up to ±13A maximum peak current

(using IR2175) to the motor including overshoot of current regulation when using IR2175 as current feedback.

IRMCS2033 motor commissioning tool (IRMCS2033-DriveParams.xls) will calculate the appropriate resistor value

for a particular peak Ampere requirement.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

10

IRMCS2033

RS232C connector

IRMCS2033 has one serial RS232C connector (J6) on the board. The connector is a D-sub 9 pin standard PC

female connector and directly connectable to a PC serial port. As shown in Figure 6, pin 2 is the send signal and

pin 3 is the receive signal; both are 10V signal level. The baud rate is fixed at 57.6kbps. The signal format is 8 bits,

no parity, 1 stop bit configuration.

J6

1

TX1

RX1

2

3

4

5

6

7

8

9

No connection

DB9RF

Figure 6. RS232C Connector

RS-232 Register Access

The IRMCK203 includes an RS-232 interface channel that provides a direct connection to the host PC. The software

interface combines a basic "register map" control interface with a simple communication protocol to accommodate

potential communication errors. For more detailed information, please refer to the IRMCK203 Application

Developer’s Guide.

RS-232 Register Write Access

A Register write operation consists of a command/address byte, byte count, register data and checksum. When the

IRMCK203 receives the register data, it validates the checksum, writes the register data, and transmits and

acknowledgement to the host.

Command / Address Byte

Byte Count

1-6 bytes of register data

Checksum

Register Write Operation

Command Acknowledgement Byte

Checksum

Register Write Acknowledgement

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

11

IRMCS2033

Bit Position

7

6

5

4

3

2

1

0

1=Read/

0=Write

Register Map Starting Address

Command/Address Byte Format

Bit Position

7

5

4

3

2

0

1=Error/

0=OK

Register Map Starting Address

Command Acknowledgement Byte Format

The following example shows a command sequence sent from the host to the IRMCK203 requesting a two-byte

register write operation:

0x2F

0x02

0x00

0x04

0x35

Write operation beginning at offset 0x2F

Byte count of register data is 2

Data byte 1

Data byte 2

Checksum (sum of preceding bytes, overflow discarded)

A good reply from the IRMCK203 would appear as follows:

0x2F

Write completed OK at offset 0x2F

Checksum

An error reply to the command would have the following format:

0xAF

Write at offset 0x2F completed in error

Checksum

RS-232 Register Read Access

A register read operation consists of a command/address byte, byte count and checksum. When the IRMCK203

receives the command, it validates the checksum and transmits the register data to the host.

Command / Address Byte

Byte Count

Checksum

Register Read Operation

Command Acknowledgement Byte

Register Data (Byte Count bytes)

Checksum

Register Read Acknowledgement (transfer OK)

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

12

IRMCS2033

Command Acknowledgement Byte

Checksum

Register Read Acknowledgement (error)

The following example shows a command sequence sent from the host to the IRMCK203 requesting four bytes of read

register data:

0xA0

0x04

0xA4

Read operation beginning at offset 0x20 (high-order bit selects read operation)

Requested data byte count is 4

Checksum

A good reply from the IRMCK203 might appear as follows:

0x20

0x11

0x22

0x33

0x44

0xCA

Read completed OK at offset 0x20

Data byte 1

Data byte 2

Data byte 3

Data byte 4

Checksum

An error reply to the command would have the following format:

0xA0

Read at offset 0x20 completed in error

Checksum

RS-232 Timeout

The IRMCK203 receiver includes a timer that automatically terminates transfers from the host to the IRMCK203 after

a period of 32 msec.

RS-232 Transfer Examples

The following example shows a normal exchange executing a register write access.

The example below shows a normal register read access exchange.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

13

IRMCS2033

The following example shows a register write request that is repeated by the host due to a negative acknowledgement

from the IRMCK203.

In the final example, the host repeats a register read access request when it receives no response to its first attempt.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

14

IRMCS2033

SPI interface Connector

IRMCS2033 has one SPI interface connector (J4) on the board. The connector is a 6-pin header and its pin

assignments are shown below. The signal level is 3.3V with 5V tolerant input. Maximum transmission speed is 6

MHz.

J4

MISO

1

SPI

SCLK

2

3

4

5

Interface

MOSI

SYNC

CS

6

HDR6

Figure 7. SPI Interface Connector

SPI Register Access

When configured as an SPI device read only and read/write operations are performed using the following transfer

format:

…………….

Data Byte N

Command Byte

Data Byte 0

Data Transfer Format

Bit Position

7

6

5

4

3

2

1

0

Read

Only

Register Map Starting Address

Command Byte Format

Data transfers begin at the address specified in the command byte and proceed sequentially until the SPI transfer

completes. As in the Host Parallel Access, the internal address register is incremented after each SPI byte is

transferred. Note that accesses are read/write unless the “read only” bit is set.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

15

IRMCS2033

Parallel Interface Port

IRMCS2033 provides an 8-bit parallel interface port to facilitate microprocessor interface. The interface is generic and

compatible with most common 8-bit parallel interfaces such as MCS8051, some Motorola 8-bit uP, Microchip, etc.

Figure 8 shows the connection diagram. The connector, J5, is a 2-by-10 header connector.

VCC

J5

1

2

3

HP_D0

HP_D1

HP_D2

HP_D3

HP_D4

HP_D5

HP_D6

HP_D7

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

NA

HP_nCS

HP_nWE

HP_nOE

HP_A

HEADER 20

Figure 8. Parallel Interface Port

Each signal is 3.3V level and the data bus is multiplexed. Table 1 summarizes each signal definition.

Signal

HP_nCS

HP_nOE

HP_nWE

HP_A

I/O¹Description

I

Active low Host Port Chip Select

I

Active Low Host Port Output Enable

I

Active low Host Port Write Enable

I

Host Port Register Address. 1 = Address register, 0 = Data Register

Bidirectional Host Port data bus, where n = data bit 0 - 7

HP_Dn

I/O

Table 1. Microprocessor Interface Module Signal Definitions

The IRMCK203 contains an address register that is updated with the Host Register address when HP_A = 1. After

each subsequent data byte is either read or written, the internal address register is incremented. The diagram below

shows that Data Bytes 0 to N would access register locations initially specified by the Address Byte. The Address

Byte with the HP_A signal can be asserted at any time.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

16

IRMCS2033

…………….

Data Byte N

HP_A = 0

Address Byte

HP_A = 1

Data Byte 0

HP_A = 0

Host Parallel Data Transfer Format

Figure 9 and Table 2 show read cycle timing for the host parallel interface. Figure 10 and Table 3 show write cycle

timing.

t_HPCSN

HP_nCS

t_HPWENS

HP_nWE

t_HPA

t_HPAS

HP_A

HP_D [7:0]

HP_nOE

t_AHPD

VALID

t_HPDZ

t_HPZD

t_HPOENS

t_HPOEN

Figure 9. Host Parallel Read Cycle Timing

SYMBOL

DESCRIPTION

MIN

MAX

UNIT

S

NOTE

t_HPCSN

t_HPWENS

t_HPAS

HP_nCS Period

70

40

60

0

40

70

ns

HP_nWE Setup

ns

Note 3

HP_A Setup

ns

t_AHPD

HP_D [7:0] Access

HP_D [7:0] Active

HP_D [7:0] High Impedance

HP_nOE Setup

105

9

6

ns

t_HPZD

ns

t_HPDZ

ns

t_HPOENS

ns

Note 3

t_HPOEN

HP_nOE Period

ns

Table 2: Host Parallel Read Cycle Timing

Note:

1. HP_nOE, HP_nWE must be stable before the high to low transition of HP_nCS.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

17

IRMCS2033

t_HPCSN

HP_nCS

HP_nWE

HP_A

t_HPWENS

t_HPWEN

t_HPAS

t_HPA

t_HPD[7:0]

HP_D [7:0]

HP_nOE

t_HPD[7:0]S

t_HPOEN

t_HPOENS

Figure 10. Host Parallel Write Cycle Timing

SYMBOL

t_HPCSN

DESCRIPTION

HP_nCS Period

HP_nWE Setup

HP_nWE Period

HP_A Setup

MIN

70

MAX

UNITS NOTE

ns

t_HPWENS

t_HPWEN

t_HPAS

40

70

-10

70

t_HPA

HP_A Period

t_HPD[7:0]

t_HPOENS

t_HPOEN

HP_D [7:0] Setup

HP_nOE Setup

HP_nOE Period

-10

40

70

ns

Note 4

Table 3: Host Parallel Write Cycle Timing

Note:

2. HP_nOE must be asserted high while HP_nCS low during a Host Parallel Write Cycle.

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

18

IRMCS2033

Specifications

T^C= 25°C unless specified

Parameters

Values

Conditions

Voltage Level

dc bus voltage range

Over voltage trip

Under voltage trip

Dynamic brake voltage

Output Power

Watts

22 to 50V

63.2V

Maximum limited by Dynamic brake voltage

Re-scalable by R31 and R43 (70V max)

Re-scalable by R31 and R43 (15V min)

Re-scalable by R31 and R43

18.4V

58.7V

350W continuous power

6 Arms nominal, 18 Arms Overload

3.3V logic level

fPWM = 20kHz,

TA = 40°C, RthSA = 1.0 °C/W

3 secs overload

Current

Host interface (SPI)

maximum 6MHz

SCLK,CS,MISO,MOSI, SYNC

Host interface (RS232C)

10V

Maximum 57.6k bps, single ended,

configurable for RS422 up to 1Mbps

SND,RCV

Host interface (Parallel Port)

3.3V

8 bit parallel interface compatible with 8051,

Microchip, other uP.

HP_nCS,HP_nOE,HP_nWE,

HP_A,HP_DATA[8]

D/A

8- bit 4 Channel

0-3.3V output

Output are buffered with 4mA drive capability

ADS7818 compatible

A/D

12-bit

DC bus, Speed Ref and Leg shunt

current inputs

Discrete I/O

Input

START/STOP, ESTOP, DIR, FLTCLR

PWMEnable, FAULT, SYNC

5V tolerant, Active High logic

Output

Current feedback

Current sensing device

Resolution

IR2175, direct interface

10 bit (7.5 nanoseconds counting

resolution )

133 MHz internal IRMCK203 clock

2175 PWM output (120 kHz)

Latency

8.3 usec

Protection

Output current trip level

Ground fault trip level

Short circuit delay time

Detection from low side Leg Shunts

Detection from positive dc bus

28A peak, ±10%

2.5 usec

line-to-line short, line-to-DC bus (-) short

Power Device

IRFB59N10D

6 MOSFETs

System environment

Ambient temperature

95% RH max. (non-condensing)

0 to 40°C

Table 4. IRMCS2033 Electrical Specification

This document is the property of International Rectifier and may not be copied or distributed without expressed consent.

19

IRMCS2033

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.

20


型号：	IRMCS2033
厂家：	Infineon
描述：	Low Voltage Sensorless Drive Design Platform for Permanent Magnet Motors 低电压传感器驱动设计平台对永磁电机传感器电机驱动
文件：	总21页 (文件大小：625K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

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