Skip to content

Latest commit

 

History

History
808 lines (612 loc) · 31.2 KB

Getting Started.adoc

File metadata and controls

808 lines (612 loc) · 31.2 KB
Raw

STMBL Getting Started Guide

Description

STMBL is a motor drive controlled by the STM32 microprocessor. It can power motors of up to 2.2kW and up to around 380V DC bus voltage.

The name "STMBL" is based on the combination of the STM32 microprocessor and BrushLess motor. However the drive is also capable of powering AC induction or DC motors. The hardware is also capable of driving 3-phase stepper motors.

The drive is configurable for a wide range of command and feedback types through a hardware abstraction layer (HAL) analagous to that used by LinuxCNC.

Currently supported command interfaces are:

  • Mesa Smart-Serial

  • Step-Dir

  • Quadrature

  • Serial

+/-10V control is not supported, though the hardware capability exists.

Currently supported feedback interfaces are:

  • Encoder

  • Resolver

  • sin/cos 1vpp

  • Hall sensors

  • Mitsubishi absolute encoder

  • Yaskawa absolute encoder

  • Sanyo Denki absolute encoder

  • Fanuc serial encoder

The hardware has the capability to support other protocols like:

  • EnDat

  • BiSS

  • SSI

  • Modbus

  • Profibus

  • Hiperface

  • CANopen

Encoder power is 5V by default but 12V can be selected by jumper pads on the PCB.

In addition to motor control and dual feedback each STMBL drive has two +/-30V analogue inputs and three 24V / 2A digital outputs.

To use the STMBL you will need to:

Anatomy of the STMBL

The STMBL consists of two separate PCBs that are made as one then assembled and split to be connected in the manner shown below. The vertical (top) board is the low-voltage (LV) board and this handles the command, feedback and configuration tasks. The STM32F405 microprocessor is in charge of these tasks. The lower board is the high-voltage (HV) board and this is where the power driver is situated. The only connection between the two boards is a serial connection through a 2.5kV isolation IC. To make this possible there is a second STM32 chip on the lower board. This is an STM32F303 and is referred to as the "F3" in the remainder of this document. The processor on the upper board is referred to as "F4".

ISO1

The connectors on the HV board are 5.08mm and 3.5mm pitch. Those on the LV board are 3.5mm pitch. Mating part numbers are:

If preferred 2 x 3 position or 3 x 2 position plugs can be inserted in the 6-position sockets.

Logic power to the LV board should be 24V. A green LED will light adjacent to the socket when power is supplied.

Warning
 The LV board is safe up to about 26V but take care that 0V is common with the PC GND before connecting a USB cable.

Motor power should be 30 to 350V, though the logic parts of the HV board may work at 24V for firmware flashing etc. Again a green LED adjacent to the connector confirms that the board is powered-up.

Warning
 The HV and LV boards are isolated in normal use but it is easy to accidentally connect them. One way to do this is via USB cables which can easily tie GND lines together through the setup PC. It is imperative that the HV board should be powered from an isolated, low voltage supply when flashing firmware.
ISO2

The command and feedback connectors use standard 8P8C (RJ45) connectors and standard CAT5 or CAT6 cables can be conveniently used. To connect to cables with larger conductors than supported by CAT5 it is possible to use, for example, Industrial CAT6a connectors which can accept core wires up to 1.6mm and overall cable diameters up to 9.0mm.

Feedback 0 will typically be the encoder or resolver mounted on the motor and feedback 1 can be used to connect either Hall sensors for initial commutation or (potentially) scales mounted directly to the axes. See the Pinouts section of this document for pin assigments and typical wiring colour codes.

The 6-way socket below the 24V logic power connector contains the three digital outputs. These are current-sinking (switch-to-GND) and each is adjacent to a 24V suppply pin. DIO0 (nearest the top) is the one that is typically used to operate the holding brake on motors so-equipped.

On the top of the drive are two analogue inputs, with 0V and 24V on either side to that a active sensors can be connected. These are typically used as variable-threshold digital inputs and are used, for example, for axis limit switches. However it is relatively simple to configure them for other uses in the HAL.

Three LEDS on top of the unit indicate drive status. Red displays error codes (using blink codes). Amber indicates that all is well but the drive is not enabled, and green shows that the drive is active and operating normally.

If no LEDs on the top of the board are illuminated, and the green power LEDs near the power connectors are illuminated then it is probably necessary to flash the firmware. If there are LEDs lit on top of the drive then it is probably safe to assume that firmware is loaded.

HAL (Hardware Abstraction Layer)

STMBL uses a data flow graph to configure the drive for different types of motor, feedback and operation mode. This is conceptually similar to the HAL in LinuxCNC but the format and commands are different. Also, all pins are floating point so no data conversion is needed.

An Application called Servoterm is used to interact with the HAL interface and configure the drive. You will need to install and launch this before it is possible to configure the STMBL.

STMBL HAL configuration does not use any commands other than the = sign and the servoterm commands

Assuming that there is already a motor connected to the drive and that the drive it powered up the Servoterm display should already be indicating the motor position feedback. Rotating the motor shaft by hand might produce something like:

servoterm3

Though it equally well might not if the configuration is set up for a resolver and the motor has an encoder.

It should be possible to make the motor turn at this point without any further configuration. The commands that follow will set the hv0 module up to simply rotate the motor open-loop in direct-mode. (like a stepper motor) with an excitation current of 0.5A. This should be safe for most motors that the STMBL is a good match for, but you should choose your own value. For an explanation of direct and quadrature current see the section on motor control basics

hv0.pos = sim0.vel hv0.d_cmd = 0.5 hv0.en = 1

The rotation speed can be altered by changing the sim0 frequency:

sim0.freq = 5

STMBL v4 HAL contains a number of components that have built-in linking behaviour.

Resolvers

resolver phase - Setting the phase is very importatnt to get resolver output. 'res0.phase = X' sets the phase. The number is between 0 and 1. Set for the highest output. Resolver speed - In motor drives resolver speed is typically 1. one rotation of the resolver = one rotation of the motor. You will want to add these settings to the config, so that the drive powers up with the settings as default.

Motor pole count / setting motor feedback offset

Motor pole count in data sheets is often a total pole count rather than stmbl required 'pole pair' count. This is easy to see when running the com_test: type 'link com_test' This should start the motor turning slowly in open loop, while displaying on the graph. Ideally the green and black lines will match closely. If they are not the same speed (same number of peaks) then the motor poles setting is wrong. 'conf0.polecount' can be set without stopping the test. Set it till the number of green and black peaks are the same.

Now the peaks may be offset on the graph. 'conf0.motor_fb_offset' will set this. Adjust this number till the black and grean lines match. You’ll want to add these settings to the config so the drive starts with these defaults.

Jogging test

If you set the jogging checkbox at the top of servo term and then enable the drive with: 'fault0.en = 1' Then using the left and right cursor keys should jog the motor. the escape key will disable the drive quickly if something is not quite right. If there is a fault then you will need to toggle the enable pin to 0 and back to 1 again. If the drive oscallates try adjusting the 'conf0.j' setting for inertia.

Drive the motor with a sine wave #

  1. Connect it rev0.in = sim0.msin

  2. Set amplitude sim0.amp = 1 (in rad)

  3. Set frequency sim0.freq = 0.5 (in Hz)

  4. Enable fault0.en = 1

Or constant velocity #

  1. Connect it rev0.in = sim0.vel

  2. Set frequency sim0.freq = 0.5 (in Hz)

  3. Enable fault0.en = 1

pressing esc at any time will disable the drive. to reenable, press reset or type fault0.en = 0 followed by fault0.en = 1

Servoterm

Servoterm (servo terminal) provides an interface which allows editing of the drive HAL configuration. It also provides a rolling graphical representation of any chosen parameter in the HAL which can be a great aid to tuning and motor setup.

Servoterm is supplied as a Google Chrome extension. This might seem somewhat odd, but does provide for good cross-platform availability.

Servoterm can be downloaded from this link. Use the green button to download as a ZIP file and then extract on your PC (Linux / Mac / PC). Open Google Chrome and click the three-dots icon → more-tools → extensions.

Extensions

Click "developer mode" and then "Load Unpacked Extension". Then navigate to the downloaded files and select the "Servoterm" folder. You should then be presented with the following, including an option to launch the application.

Extensions2

If you do not get the option to launch servoterm you can visit chrome://apps and click on the servoterm logo.

To connect to the STMBL you will need a mini-USB B cable.

WARNING:Be sure that the 24V PSU is floating or shares a ground reference with the PC.(Maybe even check the voltage between the connector and socket before inserting the plug)

You can then click the "connect" button and you should get something like the image below. what if I can not connect

servoterm1

Taking the buttons from left to right:

  • Connect / Disconnect - Should be fairly self-evident

  • Clear - simply clears the screen

  • Reset - Reenables the drive and clears faults. Does not reset the STMBL. To do that type the reset command

  • Capture - Allows the output of the graphs to be saved and exported as CSV. First click starts the recording, second click stops and saves the file.

  • Jog - when ticked the left-right arrow keys on the keyboard can be used to jog the motor.

  • Trigger - stops the graph plot until the trigger condition is met.

  • Trigger Status Indicator - not a button

  • Edit Config - Brings up a sub-window in which the basic system config can be edited.

Other than the buttons described above the ramainder of servoterm (and the STMBL HAL) is controlled by a command-line interface at the bottom.

Servoterm uses the up and down arrow keys to scroll through previous commands, but there is no tab-completion.

This is mainly described in the HAL section of this document. The graphing display is controlled by the "term0" interface. Typing term0 at the prompt will show output similar to:

servoterm2

The first two entries are internal information about the HAL component and can be ignored for now. The next 8 lines say what internal signal each of the wave plots is connected to. In this case wave0 (the black one) is connected to a sim signal, in this case the sine wave. (as you might have guessed, typing "sim0" will show you the parameters of the simulated signals.)

To connect wave1 (red) to the sawtooth output (which simulates both encoder feedback and a position command for steady rotation) then simply type term0.wave1 = sim0.vel Each wave has an associated offset and gain parameter that can be used to adjust vertical scale and position. The term0.send_step parameter functions like the time-base of an oscilloscope.

Servoterm Commands

The servoterm command list can be obtained at the command line by using the help command.

Commands to be used by the user:

  • bootloader: enter bootloader

  • reset: reset STMBL

  • about: show system infos

  • help: print this

  • link: load config template

  • hal: print HAL stats

  • hv_update: update the F3 firmware

  • show_config: show config templates

  • show: show comps in flash

  • list: show comp instances

  • hv FOOBAR XYZ: send "FOOBAR XYZ" to the HV board

Commands for internal use:

  • confcrc: Shows the CRC checksum of the loaded config.

  • flashloadconf: load config from flash

  • flashsaveconf: save config to flash

  • loadconf: parse config

  • showconf: show config - pressing the Edit config button is better.

  • appendconf: append string to config - also redundant with the config editor

  • deleteconf: delete config

  • load: load comp from flash

  • start: start rt system

  • stop: stop rt system

  • fault: trigger fault

Flashing Firmware

Requirements to build firmware

The GCC cross-compiler for Arm: gcc-arm-none-eabi-gcc https://launchpad.net/gcc-arm-embedded/+download

You will also need the STMBL source code, available from https://github.com/rene-dev/stmbl You can either clone this as a git archive or just download a current snapshot as a zip file.

In order for the STMBL Makefiles to be able to find the gcc binaries you may need to create the file toolchain-user.mak to point to the correct folder and version number.

Requirements to flash firmware

The STM32 chips have a built-in ROM bootloader, this means that it should be impossible to "brick" the boards. Each of the two CPUs in the STMBL drive needs both a dedicated bootloader to start the STMBL firmware and the firmware itself.

Linux/Unix

To flash the boards with USB you will need the dfu-utils package http://dfu-util.sourceforge.net

To flash the boards with a stlink programmer over SWD you will need the stlink package https://github.com/texane/stlink

Windows

And the DfuSe USB device firmware upgrade STMicroelectronics extension to flash the firmware over USB https://www.st.com/en/development-tools/stsw-stm32080.html

Checking for Existing Firmware - F4 board

Before flashing firmware it is worth trying to figure out if your board is completely blank or has been pre-flashed with a bootloader or firmware.

If the board will connect with Servoterm then it already has a firmware and STMBL bootloader. "about" will show the firmware information of the F4 board. "hv about" will give the same information about the F3 board. Go to the Updating Firmware section to flash new firmware.

If the board lights any LEDs other than the green power-good ones near to the power input connectors then there is likely to already be a firmware installed. Go to the Updating Firmware section if you need to update the firmware.

If the board is powered with 24V to the LV board and connected with USB to a PC then it will report as "STMBL Virtual ComPort:" in the Apple System Profiler, "ID 0483:5740 STMicroelectronics STM32F407" in lsusb in Linux and "STMBL Virtual COM Port" in the Windows device manager if there is a full firmware + STM32 bootloader installed.

If the board shows "STM32 BOOTLOADER" (Mac) "0483:df11 STMicroelectronics STM Device in DFU Mode" (Linus lsusb) or "STM32 BOOTLOADER" (Windows Device Manager) when powered up (without using the boot pads) then this indicates that it already has an STMBL bootloader. (though no harm is done by re-flashing this)

If the LV board does not show up at all on the USB bus then attempt to put it in ROM boot mode by shorting the boot pads together while connection the 24V, you should see "STM32 Bootlader" (Mac), "STMicroelectronics STM Device in DFU Mode" (Linux lsusb) or "STM32 BOOTLOADER" (Windows Device Manager) In this case you will need to flash both the STMBL bootloader and the STMBL firmware. Go to the Flashing the LV board with no bootloader section.

Checking for existing firmware - F3 board

With 24V to the F3 board and with the F4 board unpowered look at the red LED under the fan, near the USB connector.

If the HV board has both an STMBL bootloader and an STMBL Firmware installed then it will illuminate only the green power LED and will flash the red LED slowly to indicate no comms with the F4 board (which is why this check should be done with the F4 board unpowered). Go to the Updating Firmware section in this scenario.

If the F3 board does not flash the red LED when the F4 is unpowered then there is no bootloader and no firmware flashed. Go to the Flashing the HV board with no bootloader section.

If the F3 board has only a bootloader flashed and no or broken firmware then the red LED will flash rapidly. Use the instructions in Updating Firmware in this case.

The boards can also be flashed with a SWD programmer, but that process is not documented here.

It can be convenient to flash the boards to test them before separating the halves and before installing the IRAM module and bus capacitors if you have a self-built or part-assembled board.

Precompiled Binary versions of the firmware can be downloaded from https://github.com/rene-dev/stmbl/releases

When compiling from the source code firmware flashing is handled by specifying a makefile target for each of the firmware sections.

Updating Firmware

The firmware on both the F3 and F4 board can be updated through the F4 USB port and without access to the boot pads.

Connect 24V to both the F3 and F4 boards.

In the source software folder type

git pull

to get the latest software version

make clean

to ensure that all files are freshened

make
make binall

to create the binary files to be flashed

make btburn

to program the F4 firmware and transfer a copy of the F3 software or

make all_btburn

to program the F4 firmware + bootloader and transfer a copy of the F3 software (Warning: this will overwrite your config).

There should then be a quantity of text output culminating with a progress bar like:

Downloading to address = 0x08000000, size = 2756
Download	[=========================] 100%         2756 bytes

You can now re-connect with servoterm and check the firmware version with

about

Updating the F3 firmware is done via Servoterm using the

hv_update

command. This should give output similar to:

hv_update: SEND_TO_BOOTLOADER
hv_update: ERASE_FLASH
hv_update: SEND_APP
hv_update: status: 4%
...
hv_update: status: 95%
hv_update: CRC_CHECK
hv_update: status: 100%
hv_update: FLASH_SUCCESS
hv_update: status: 100%
hv_update: SLAVE_IN_APP
If this fails multiple times go to the <<Flashing the HV board with no bootloader>> section.

Flashing the LV board with no bootloader

To flash the initial bootloader and firmware it is necessary to put the STM32 CPU into ROM bootloader mode. You do this by shorting together the two pads marked "boot" on the LV board while connection the 24V supply. This is a bit of a fiddle but should only need to be done once when the board is first built. For the exact location of these pads see the illustration in the Anatomy section. Typically a small screwdriver can be used for this purpose. At this point the board should appear as an "STM32 Bootloader" in the USB tree of the attached PC.

Follow the Updating Firmware instructions and use the

make all_btburn

command.

Flashing the HV board with no bootloader

Connect the USB cable to the HV board and short the boot pads on the HV board while connection 24V to the HV input. to put it into bootloader mode. Again it should appear in the USB device tree.

Follow the Updating Firmware instructions but use the

make f3_all_btburn

command.

conf Pins

Motor

[Here is a quick tutorial to measure AC servo parameters](https://github.com/rene-dev/stmbl/wiki/motor-parameters)

  • conf0.r phase-neutral resistance (ohm)

  • conf0.l phase-neutral inductance (henry)

  • conf0.j inertia (kg*m^2)

  • conf0.psi torque constant (V*s/rad)

  • conf0.polecount number of pole pairs

  • conf0.max_vel max velocity (rad/s)

  • conf0.max_acc max acceleration (rad/s^2)

  • conf0.max_force max torque (Nm)

  • conf0.max_ac_cur max AC current (A)

adc0.sin_offset adc0.cos_offset adc0.sin_gain adc0.cos_gain#

Offsets and gains for analog inputs of FB0. Only needed for sin/cos or if high precision with resolvers is required.

Motor parameters

Unfortunately servo motor datasheets often lack a good description of the parameters. There is a difference between line-to-line and phase values. Here are listed the most important motor parameters and how to determine them.

resistance conf0.r (ohm)

  1. measure line-to-line resistance R

  2. convert to phase resistance conf0.r = R/2

inductance conf0.l (henry)

  1. measure line-to-line inductance L

  2. convert to phase inductance conf0.l = L/2

If you can’t measure this set it to 0.001/(phase resistance).

moment of inertia conf0.j (kg*m^2)

  1. read moment of inertia from datasheet

polepair count conf0.polecount ()

  1. attach a power supply to the motor (limit the current)

  2. turn the motor one rotation and count the number N of positions it snaps in conf0.polecount = N

torque constant conf0.psi (V*s/rad)

The default value works for most motors. Normaly you don’t have to measure this! There is no common ground for the toque constant. Some manufacturers state the current in RMS, others in peak-to-peak. We also stumbled over values that were neither.

How to determine psi:

Scope

  1. Drive motor at constant speed (lathe, power drill, …​)

  2. Connect an oscilloscope between two phases and measure frequency F (Hz) and peak, line-to-line voltage U0 (V)

  3. Convert to line-to-neutral voltage U1 = U0/sqrt(3)

  4. Convert to amplitude U2 = U1/2

  5. Convert to torque constant conf0.psi = U2/F/2.0/PI

STMBL

It’s also possible to measure psi directly with STMBL. Maybe even automatically in a future version.

  1. Disconnect the HV power, leave the servo connected.

  2. Connect with Servoterm, drag&drop this file into Servoterm: https://github.com/rene-dev/stmbl/blob/master/conf/template/psi.txt

  3. Type stop and start

  4. Turn the shaft of the motor. You can use your hand for a rough estimation, but it’s probably better to drive with a cordless drill. The closer to the nominal RPM rating, the more accurate the result will be. There is no need to turn the shaft continuously, a quick short turn of one revolution is sufficient.

  5. Type psi0.max_psi and you will get the peak psi value that was measured. You can set conf0.psi to the measured peak psi value now. If you did not drive the motor reasonably fast, the proper psi value is probably a couple percent higher.

KV

psi = 60.0 / #POLE_PAIRS / sqrt(3) / 2.0 / PI / KV

Nm/A

psi = (Nm/A) / 3.0 * 2.0 / #POLE_PAIRS

PID

The default values work for most motors. Normaly you don’t have to tune this. The STMBL PID works differnt than common PID loops. Understand the code and it’s interaction with the motor model first!

  • conf0.pos_p position pid proportional gain (1/s)

  • conf0.vel_p velocity pid proportional gain (1/s)

  • conf0.vel_i velocity pid integral gain

  • conf0.cur_p current pid proportional gain (V/A)

  • conf0.cur_i current pid integral gain

  • conf0.cur_ff current pid resistance feedforward gain

  • conf0.cur_ind current pid BEMF feedforward gain

Command

  • conf0.cmd_rev command reverse

  • conf0.cmd_res command resolution (1/rev)

Limits

Exceeding a limit results in an action.

  • conf0.max_dc_volt voltage limit (V): disable drive

  • conf0.high_dc_volt brake resistor limit (V) : activate brake resistor (Note: there is no build in brake resistor in STMBL V3 or V4)

  • conf0.low_dc_volt voltage limit (V): disable drive

  • conf0.max_hv_temp temperature limit (°C): disable drive

  • conf0.high_hv_temp temperature limit (°C): reduce max current

  • conf0.fan_hv_temp temperature limit (°C): activate fan

  • conf0.max_pos_error max positon error (rad): disable drive

  • conf0.max_sat max saturation time (s): disable drive

Pinouts

Command connector wiring:

Pin Colour Smart Serial Step/Dir Quadrature

1

Orange Stripe

RX+

Step+

A+

2

Orange

RX-

Step-

A-

3

Green Stripe

TX+

Dir+

B+

4

Blue

Err-

5

Blue Stripe

Err+

6

Green

TX-

Dir-

B-

7

Brown Stripe

Enbl+

8

Brown

Enbl-

Feedback connector wiring - encoders etc

Pin Colour Resolver Encoder 1Vpp UVW Mitsubishi Sanyo-Denki Yaskawa Omron

1

Orange Stripe

Sin+

A+

Sin+

U+

2

Orange

Sin-

A-

Sin-

U-

3

Green Stripe

Cos+

B+

Cos+

V+

4

Blue

Ref-

Z-

W-

2

Blue

6

4

5

Blue Stripe

Ref+

Z+

W+

1

Brown

5

7

6

Green

Cos-

B-

Cos-

V-

7

Brown Stripe

AIN

VCC

VCC

VCC

VCC

Red

1

6

8

Brown

GND

GND

GND

GND

GND

Black

2

3

Connector wiring - serial protocols

Pin Colour RS485 RS422 UART USART UART HD USART HD SPI SPI HD

1

Orange Stripe

A

RX+

RX+

MISO+

CS+

2

Orange

B

RX-

RX-

MISO-

CS-

3

Green Stripe

CLK+

CLK+

CLK+

CLK+

4

Blue

B

Z

TX-

TX-

TX/RX-

TX/RX-

MOSI-

MOSI-

5

Blue Stripe

A

Y

TX+

TX+

TX/RX+

TX/RX+

MOSI+

MOSI+

6

Green

CLK-

CLK-

CLK-

CLK-

7

Brown Stripe

VCC

VCC

VCC

VCC

VCC

VCC

VCC

VCC

8

Brown

GND

GND

GND

GND

GND

GND

GND

GND

linuxcnc

STMBL supports Mesa Smartserial to communicate with LinuxCNC. http://linuxcnc.org/docs/html/man/man9/sserial.9.html

Version 3

Version 3 can connect via rj45 to our db25 bob: https://github.com/rene-dev/stmbl/tree/master/hw/kicad/bob/db25_bob

It plugs into any DB25 mesa card, and provides full isolation.

Supported are 5i25, 6i25, 7i92, 7i80DB, 7i76E.

To use stmbl with 7I74 or 7I44 you need to make a custom cable.

Mesa STMBL

1 Orange stripe

2 Orange

2 Orange

1 Orange stripe

3 Green stripe

5 Blue stripe

6 Green

4 Blue

Version 4

Version 4 can plug directly into a 7I74 or 7I44.

STMBL config

# At the end of your STMBL config, load sserial:
link sserial
    # set the scale
    linrev0.scale = 5
# Example: HAL config for Position mode with Position feedback ##

This is an example for one axis, Mesa 5i25 and one stmbl board, added to a .hal file in a machine config:

# This is an example for linuxcnc hal in position mode for the x-axis:
net xposcmd joint.0.motor-pos-cmd  => hm2_5i25.0.stbl.0.0.pos_cmd
net xvelcmd joint.0.vel-cmd        => hm2_5i25.0.stbl.0.0.vel_cmd
net xposfb  joint.0.motor-pos-fb  <=  hm2_5i25.0.stbl.0.0.pos_fb
net xenable joint.0.amp-enable-out => hm2_5i25.0.stbl.0.0.enable
net xfault  joint.0.amp-fault-in  <=  hm2_5i25.0.stbl.0.0.fault
net xindex  joint.0.index-enable  <=> hm2_5i25.0.stbl.0.0.index_enable

Example: Full Machine Config with STMBL boards, Mesa 7i80, Mesa 7i77, Analog Outputs, Encoder Inputs

Blink Codes

F4 Board

  1. Normal Operation

    • No Error (Green LED on top illuminated. Good!)

    • Drive disabled (Yellow LED on top. Drive ready to go but disabled.)

    • Autophasing (Green and Yellow)

  2. Errors

    • Soft fault, resettable (Red LED blinks according to the list below)

    • Hard fault, bad! (All LEDs on top blink.)

Count the number of blinks of the red LED. Each number indicates a different class of faults.

  1. Command Error. Common during setup. Only really relevant to smart-serial

  2. Motor Feedback Error

  3. Commutation Feedback Error

  4. Joint Feedback Error

  5. Position Error

  6. Saturation Error

  7. Motor temperature high

  8. HV Board serial CRC Error

  9. HV Board comms Timeout Error

  10. HV Board over-temperature

  11. HV Voltage out of range

  12. HV Board Fault

  13. HV current offset fault

  14. HV Overcurrent RMS

  15. HV Overcurrent Peak

  16. HV Overcurrent HW

F3 Board

  1. Normal operation

    • Green LED at power input

  2. Errors

    • Red LED under fan blinks fast - Bootloader but no or broken firmware

    • Red LED under fan blinks slow - No communication with F4

    • Red LED under fan does not blink AND F4 not plugged in - No firmware or bootloader

Specs

PCB Version 4

connector abs. MIN MIN TYP MAX abs. MAX unit note

24V

0

15

24

25

26

V

24V

0.2

3

6

A

1

HV

0

24

320

380

400

V

HV

-28

-17

17

28

A

2

CMD

-7

0

5

12

V

CMD

-250

-50

50

250

mA

FB VPP

0

0

12

24

V

FB VPP

0

0

500

1000

1500

mA

FB diff.

-7

0

5

12

V

FB diff.

-1.2

+1.2

Vpp

3

FB

-250

-50

50

250

mA

output

0

0

24

26

V

output

0

0

1

2

A

input

-36

-24

24

36

V

IO

0

0

5

5

V

UVW

0

0

380

400

V

UVW

-30

-28

28

30

A

UVW avg.

-17

17

A

2

note 1: depends on brake, fan and encoder consumption

note 2: depends on PCB and driver cooling

note 3: for analog input