IRMCS2013 - INTERNATIONAL RECTIFIER

Encoder Based Low Voltage Servo Drive

Design Platform

IRMCS2013

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

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

Data and specifications subject to change without notice. 9/7/2004

PDF created with pdfFactory trial version www.pdffactory.com

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

REFERENCE DESIGN

IRMCS2013

Encoder Based Low Voltage Servo Drive

Design Platform

Features

 Low cost complete AC servo drive design platform

 IRMCK201 IC for complete servo control

 Simple design with IR2175 current sensing HVIC

 48V/350W output power with MOSFET inverter

 High bandwidth torque loop response

 Flexible drive configuration (PMAC or induction

motor)

 Quadrature encoder interface

 Low cost A/D interface with multiplexer

 ServoDesignerTM tool for easy operation

 RS232C and fast SPI interface (standard)

 Parallel interface for microcontroller expansion or

debug port

 Over-current and ground fault protection

 Over-voltage / Under-voltage protection

 Dynamic Braking control with brake MOSFET/FWD

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

SYNC, IFBCAL, PWMACTIVE)

 Configuration data retention at power up/down

Product Summary

Current loop bandwidth (-3dB) 5 kHz (typ)

Speed loop bandwidth (adjustable) 400 Hz (typ)

PWM carrier frequency 70 kHz max

Hardware current loop execution time 6 µsec

Enhanced low speed regulation by 1/T algorithm

Continuous output current 6 Arms @20KHz PWM

Overload output current 18 Arms (3 secs)

Max SPI comm. speed 6 MHz

Slave SPI configuration

Max RS232C speed 57.6 kbps

Input dc voltage range 22 to 50 V (typical)

Description

IRMCS2013 is a complete servo drive design platform for low voltage AC servo drive applications up to 350W. 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. IRMCS2013 contains advanced iMOTIONTM chipset such as IR2175 monolithic current

sensing ICs and IR2106 gate drive ICs, which enable simple and cost effective motion control design.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 2

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 ................................................................................................................................................. 7

3.4 Assembling Serial Connector.................................................................................................................................. 7

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

9.4 SPI Port ................................................................................................................................................................. 23

10. Specifications ............................................................................................................................................................ 24

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 3

List of Figures

Figure 1. IRMCS2013 System Block Diagram................................................................................................................. 4

Figure 2. Encoder Interface Connector, J3........................................................................................................................ 7

Figure 3. Location of Power Connector, J2 ...................................................................................................................... 9

Figure 4. Location of Motor Wiring Connection, J12 ...................................................................................................... 9

Figure 5. Location of Encoder Connector, J3 ................................................................................................................. 10

Figure 6. Location of RS232 Connector, J4.................................................................................................................... 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, J6 ............................................................................................................................ 19

Figure 15. RS232C Connector, J4 .................................................................................................................................. 19

Figure 16. Parallel Interface Port, J7............................................................................................................................... 20

Figure 17. Host Parallel Read Cycle Timing .................................................................................................................. 21

Figure 18. Host Parallel Write Cycle Timing ................................................................................................................. 22

Figure 19. SPI Timing..................................................................................................................................................... 23

List of Tables

Table 1. Serial Cable Connections .................................................................................................................................... 7

Table 2. Motor Connections.............................................................................................................................................. 9

Table 3. Microprocessor Interface Module Signal Definitions....................................................................................... 20

Table 4. Host Parallel Read Cycle Timing...................................................................................................................... 21

Table 5. Host Parallel Write Cycle Timing..................................................................................................................... 22

Table 6. SPI Timing ........................................................................................................................................................ 23

Table 7. IRMCS2013 Electrical Specification................................................................................................................ 24

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 4

1. Overview

The IRMCS2013 is a low voltage 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 IR2106 gate drive high voltage IC, 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 IRMCS2013 system block diagram. Since all control logic is implemented in hardware

logic as opposed to software program, 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 IRMCS2013

schematics and B/Ms.

Multi-Axis

Host

other host

controller

IR2175

IRMCK201

Motor

DC Power

iMOTION Chip Set

Encoder

RS232C

RS422

Quadrature

Decoding

1/T counter

speed

measurement

2/3

Ks dt ++

Dead

time

Host

Interface

Configuration

Registers

Monitoring

Registers

SPI

Interface

Space

Vector

PWM

Period/Duty

counters

Period/Duty

counters

BRAKE

FAULT

A/D

interface

A/D MUX

select

DC bus dynamic

brake control

Analog Speed

Reference

DC bus feedback

Parallel

Interface

IR2106

IRFB59N10D

MOSFET

Inverter

EEPROM

Figure 1. IRMCS2013 System Block Diagram

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 5

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 IRMCS2013 system may be 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 IRMCS2013 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. 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.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 6

ATTENTION: The IRMCS2013 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 IRMCS2013 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 IRMCS2013 system.

• IRMCS2013 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.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 7

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 70W 8-pole servo motor with 2000-pulse encoder (P50B05007AXS7Z)

• Glentek 160W 4-pole servo motor with 2000-pulse encoder (GMB2005-8-N-02121109)

If any other motor is used, adaptation and re-configuration is required, which can be accomplished by using the

ServoDesignerTM tool and the “IRMCx201-DriveParams.xls” file

3.2 Assembling Encoder Connector

Prepare the connector assembly to the encoder cables.

• Assemble 14-pin male connector (Digikey part number WM18046-ND), 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 14).

• 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 14).

• Disable Z_pulse by connecting Z+ to GND and Z- to 5V.

Figure 2. Encoder Interface Connector, J3

3.3 Motor Power Cable

If necessary, prepare the motor power cable. Proper size and length of cable should be used.

3.4 Assembling Serial Connector

Prepare the connector assembly. One side is female D-sub 9 connector and the other side is 3-pin receptacle (Digikey

part number A19491-ND). Connect two connectors as shown in Table 1.

Signal Female D-sub 9 3-pin receptacle

Tx Pin 2 Pin 1

Rx Pin 3 Pin 2

GND Pin 5 Pin 3

Table 1. Serial Cable Connections

Sanyo Denki’s encoder cable wire:

A+ = Blue, A- = Brown

B+ = Green, B- = Purple

Z+ = White, Z- = Yellow

5V = Red, VSS (GND) = Black

This is a wire-saving type encoder. Hall signals are

multiplexed with encoder A, B and Z

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 8

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.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 9

4.2 Input Power Wiring

Connect DC 48V power to J2 (2-pin, green) as shown in Figure 3. Please pay attention to the polarity. Connecting

backward may cause damage to the board.

Figure 3. Location of Power Connector, J2

Proper size and length of cable should be used.

4.3 Motor Wiring

Connect motor power wires to J12 (3-pin, green) of IRMCS2013 board as shown in Figure 4.

Figure 4. Location of Motor Wiring Connection, J12

For Sanyo Denki (P50B05007AXS7Z) or Glentek (GMB2005-8-N-02121109), the colored wires should be connected

to the associated pins of the IRMCS2013 board as shown in Table 2.

Sanyo Denki’s motor

cable wire

Glentek motor

cable wire

J12 pin

RED RED (pin A) U

WHITE BLUE (pin C) V

BLACK BLACK (pin B) W

GREEN/YELLOW GREEN (pin D) Not available

Table 2. Motor Connections

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 10

4.4 Encoder Connection

Plug the encoder connector into J3 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 nuisance faults.

Figure 5. Location of Encoder Connector, J3

4.5 RS232 Connection

Connect the serial cable between the computer COM port and the connector assembly made as described in chapter

3.4. Connect the other side to J4 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.

Figure 6. Location of RS232 Connector, J4

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 11

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 “IRMCS2013.exe”. It will ask you for a password, which is in the file “iMOTION Install

IRMCS2013.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 IRMCS2013 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.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 12

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).

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 13

6. Running the System

6.1 Power-On

Apply DC 48V power to the system. Immediately after power-on, the red LED (surface mount LED D17 located close

to the IRMCK201) 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 IRMCS2013 product is named “IRMCS2013- P50B05007AXS7Z ”. The files are located in

the iMOTION\ServoDesigner directory. 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

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 IRMCS2013 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 .

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 14

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.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 15

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.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 16

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 IRMCS2013 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.

Quadrature

Decoding

2/3

dt ++

Dead

time

Space

Vector PWM

IR2175

interface

IR2175

interface

CLK

BRAKE

FAULT

A/D

interface

DC bus dynamic

brake control

I1 x I2

RAMP

DATA

CNVST

MUX

Optional

CurrentSense

Gate

Signals

Encoder

A/B/Z

Encoder

Hall A/B/C

Motor

Phase

Current V

Motor

Phase

Current W

Current

Offset W

Current

Offset V

ID scale

IQ scale 4096

4096

VDLIM+

VDLIM-

CURKP

CURKI

VQLIM-

VQLIM+

IDREF

INT_REF

Velocity

Control

Enable

Reference

Select

Feedforward

path enable

Slip gain

enable

EncType

Accel Rate

Decel

Rate

4096Slip gain

IQLIM+

IQLIM-

SPDKP

SPDKI

8 channel

Serial

A/D

Interface

EXT_REF

DCV_FDBK

RS232C/

RS422

Interface

SPI

Slave

Interface

START

STOP

DIR

FLTCLR

SYNC

FAULT

PWM ACTIVE

RCV

SND

RTS

CTS

SCK

SDO

SDI

Data

Address

Control

Host Register

Interface

Sequence

Control

IQREF

VQ VQS

VDS

Parallel

Interface

Configuration

Registers

Monitoring

Registers

MaxEncCount

InitZval

AngleScale

InitZ Zpol

SpdScale

PWMmode

PWMen 2Pen

GSenseU

GSenseL

ModScl

Dtime

Closed Loop Current Control

Update Rate = PWM carrier frequency x1 or x 2

Closed Loop Velocity Control, Sequencing Control

Update Rate = PWM carrier frequency / 2

Communication Modules

Optional

CurrentSense

I2C

EEPROM

Interface

Serial

EEPROM

Figure 12. IRMCK201 Based Complete Servo Control

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 17

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.

Motor Selection :

P30B06040DXS00M

(Type the number here!) password : 201

"=================== Motor Information ========================="

(RPM) Rated Speed 3000rpm

(Lq) L_phase 0.00644H (line to line Inductance) / 2

(R_Stator) R_phase 1.4ohms/ph (line to line Resistor) / 2

(Amps) Rated Amps 2.7Arms

(NLC)No Load Current 0Arms (necessary for IM)

(Jm) Inertia of Motor 2.55E-05Kg-m2

(Kt) Torque Constant 0.533N-m/Arms

(Ke) Voltage Constant 18.6V ln-rms/krpm voltage is line to neutral rms

Poles 8

(PPR) Encoder PPR 2000pulse/revolution

Wire-Saving Encoder? TRUE( TRUE / FALSE )

"================== Application Information ======================"

"-------------------------- General ---------------------------"

Max RPM 4500rpm

(Vdc_Nom) Nominal Vdc 310Volts

(OvLoad) Max pu motor current at rated speed 3pu

"--------------- Speed Regulator Tuning ---------------"

Speed Regulator BW 200rad/sec

Positive Speed Rate limit 1000rpm/sec

Negative Speed Rate limit 1000sec to rate speed

Inertia of Load (measured) 0Kg-m2

SpdLpRate 21 SpdLoop per this # of CurLoop

"--------------------- Current Limits ----------------------"

Motoring Limit 200%

Regen Limit 200%

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 18

"---------- 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 IRMCS2013 platform however can be changed for other

platform

(Clk) IRMCK201 clock freq 33.333MHz

DC Bus Scaling (Vdc_Scl) 8.1875cts/Volt

I_Torque (I_Trq_Rated) 4095cts for rated Amps

(Mod_Pk) - U_Alpha U_Beta max linear modulation 2355Cts

" ---------- Desired Speed feedback Scaling ---------"

(Spd_Scale) 16384cts/(Max RPM)

" -------------- Current Feedback Scaling -------------"

Current Shunt Resistor 10mOhm

Max H/W Current 26Apeak

"================== Commutation Information ===================="

Angle of Z-pulse (based on UV line to line voltage) 272degree

Mid Angle when Hall CBA is 001 120degree

Mid Angle when Hall CBA is 010 240degree

Mid Angle when Hall CBA is 011 180degree

Mid Angle when Hall CBA is 100 0degree

Mid Angle when Hall CBA is 101 60degree

Mid Angle when Hall CBA is 110 300degree

Figure 13. EXCEL Spreadsheet Inputs

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 19

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: Digital GND

Pin 4: FAULT status output (3.3V when FAULT)

Pin 5: SYNC status output (3usec width of active low

pulse at every carrier frequency period)

Pin 6: PWMACTIVE output (3.3V when PWM active)

Pin 7: +5V

Pin 8: START input (high to activate)

Pin 9: STOP input (high to activate)

Pin 10: Ifb offset calibration input (high to activate)

Pin 11: Fault Clear input (high to activate)

Pin 12: Digital GND

Figure 14. External I/O Connector, J6

9.2 RS232C Connector

IRMCS2013 has two serial RS232C connectors on the board. J4 is for IRMCK201 and J5 is for Microchip IC

(U19). Adaptation from D-sub 9 pin standard PC female connector to AMP 3 pin connector are required to be

directly connectable to PC serial port. As shown in Figure 15, pin 1 is send-signal and pin 2 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.

Figure 15. RS232C Connector, J4

GND

J6 Top View

FLTCLR

START

STOP

IFBCAL

User supplied

power supply

GND-10V +10V

10k ohm

potentiometer

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 20

9.3 Parallel Interface Port

IRMCS2013 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 16 shows the connection diagram. The connector J7 is a 2-by-8 connector.

Figure 16. Parallel Interface Port, J7

Each signal is 3.3V level and data bus is multiplexed. Table 3 summarizes each signal definition.

Signal I/O1 Description

HP_nCS I Active low Host Port Chip Select

HP_nOE I Active Low Host Port Output Enable

HP_nWE I Active low Host Port Write Enable

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

HP_Dn I/O Bidirectional Host Port data bus, where n = data bit 0 - 7

Table 3. Microprocessor Interface Module Signal Definitions

Figure 17 and Table 4 show read cycle timing for the host parallel interface. Figure 18 and Table 5 show write cycle

timing.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 21

HP_nWE

HP_D[7:0]

HP_nOE

HP_A

HP_nCS

tHPCSN

VALID

tHPWENS

tHPAS

tHPDZ

tHPOEN

tAHPD

tHPOENS

tHPA

tHPOENH

tHPZD

Figure 17. Host Parallel Read Cycle Timing

SYMBOL DESCRIPTION MIN MAX UNIT

NOTE

tHPCSN HP_nCS Period 70 ns

tHPWENS HP_nWE Setup 10 ns

tHPAS HP_A Setup 10 ns

tAHPD HP_D [7:0] Access 60 105 ns

THPZD HP_D [7:0] Active 0 9 ns

tHPDZ HP_D [7:0] High Impedance 0 6 ns

tHPOENH HP_nOE Hold 10 ns Note 3

tHPOENS HP_nOE Setup 10 ns Note 3

tHPOEN HP_nOE Period 70 ns

Table 4. Host Parallel Read Cycle Timing

Note3 : HP_nOE must be stable before and after the high to low transition of HP_nCS.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 22

Figure 18. Host Parallel Write Cycle Timing

SYMBOL DESCRIPTION MIN UNITS NOTE

tHPCSN HP_nCS Period 70 ns

tHPWENS HP_nWE Setup 10 ns

tHPWEN HP_nWE Period 70 ns

tHPAS HP_A Setup -10 ns

tHPA HP_A Period 70 ns

tHPD[7:0] HP_D [7:0] Setup -10 ns

tHPOENS HP_nOE Setup 10 ns

tHPOEN HP_nOE Period 70 ns Note 4

Table 5. Host Parallel Write Cycle Timing

Note 4: HP_nOE must be asserted high while HP_nCS low during a Host Parallel Write Cycle.

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 23

9.4 SPI Port

IRMCS2013 provides an SPI port to facilitate microprocessor interface. It works only as a slave. The connector, J10,

is a 1-by-6 header connector.

SCLK

MOSI

MISO

SCLK

CSS

MOSIS

MISOZ

MISO

Figure 19. SPI Timing

SYMBOL DESCRIPTION MIN MAX UNITS

fSCLK ADC Clock Frequency 8 MHz

tSCLK ADC Clock Period 125 ns

tCSS CS to SCLK high Setup 20 ns

tMOSIS MOSI to SCLK low Setup 20 ns

tMISO SCLK to MISO Valid 72 ns

tMIOZ CS to MISO High Impedance 15 35 ns

Table 6. SPI Timing

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 24

10. Specifications

TC=25°C unless specified

Parameters Values Conditions

Input Power

Voltage 22 to 50V

Input current 6.1A rms @nominal output TA=40°C, RthSA=1.0 °C/W

Input line impedance 4%∼8% recommended

Output Power

Watt 350W continuous power

Vin=48V DC, fPWM=20kHz, fO=60Hz, TA=40°C,

RthSA=1.0 °C/W

Current 6.0 Arms nominal, 18 Arms Overload 3 secs overload

Host interface (SPI)

SCLK,CS,MISO,MOSI, SYNC 3.3V logic level Isolated, maximum 6MHz

Host interface (RS232C)

Tx, Rx 10V Maximum 57.6k bps, single ended,

configurable for RS422 up to 1Mbps

Host interface (Parallel Port)

HP_nCS, HP_nOE, HP_nWE,

HP_A, HP_DATA[8]

3.3V 8 bit parallel interface compatible with 8051,

MicroChip, other µP.

D/A

8 bit 4 Channel 0-3.3V output Output is buffered with 4mA drive capability

A/D

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

Output 3 bit, PWMACTIVE, FAULT, SYNC

Current feedback

Current sensing device IR2175, direct interface

Resolution 10 bit (7.5 nanoseconds counting

resolution)

133 MHz internal IRMCK201 clock

Latency 8.3 usec IR2175 PWM output (130 kHz)

Protection

Output current trip level 28A peak, ±10%

Ground fault trip level 28A peak, ±10%

Over-voltage trip level 63.3V

Under-voltage trip level 18.4

Dynamic Brake voltage

DB turn-on voltage 58.7V

DB turn-off voltage 55.6V

Encoder Interface

Incremental encoder 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 Devices

IRFB59N10D + IR2106 6 MOSFETs + 3 gate drivers Bootstrap power supply for high side circuit

System environment

Ambient temperature 0 to 40°C 95%RH max. (non-condensing)

Table 7. IRMCS2013 Electrical Specification

Reference Design

IRMCS2013

This document is the property of International Rectifier and may not be copied or distributed without expressed consent. 25

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.