um2653 - stmicroelectronics

IntroductionThe EVALKIT-ROBOT-1 is an evaluation kit offering a ready-to-use brushless servomotor solution composed of aSTSPIN32F0A control board and a maxon EC-i 40 brushless DC motor.

Figure 1. EVALKIT-ROBOT-1

Getting started with the EVALKIT-ROBOT-1

UM2653

User manual

UM2653 - Rev 1 - November 2019For further information contact your local STMicroelectronics sales office.

www.st.com

1 Hardware and software requirements

The EVALKIT-ROBOT-1 is a ready-to-use evaluation kit for servo brushless applications.The following material is required to make the system operative:• A 36 V / 120 W DC power supply(1)

• An RS485 2-wire serial port• A communication software based on MODBUS protocol

1. The operating range of the control electronics is between 12 V and 45 V. However, the system provides best performancewith a supply voltage of 36 V ± 20 %.

It is also possible to customize the system operation modifying the source code. In this case the following toolsare needed:• An IDE chosen among the IAR Embedded Workbench for ARM, Keil microcontroller development kit and

STM32CubeIDE.• An SWD programmer/debugger supporting the STM32F0 family, like the STLINK-V3 from

STMicroelectronics.

UM2653Hardware and software requirements

UM2653 - Rev 1 page 2/24

2 Getting started

Start working with the EVALKIT-ROBOT-1 following the steps below:1. Connect the motor to J10 (motor phases and Hall-effect sensors) and J4 (encoder).2. Connect the DC power supply to J7 taking care of the polarity (negative connected to GND and positive

connected to VM).3. Connect the RS-485 communication line to J8 according to the indication on the bottom silkscreen.

– If termination is needed, short A+ and TERM inputs with a wire (see Section 4.1 ).4. Power-up the system.

UM2653Getting started

UM2653 - Rev 1 page 3/24

Figure 2. Connection diagram

UM2653Getting started

UM2653 - Rev 1 page 4/24

3 Test points and connectors description

This section lists the connector and the test points available on the board.

Table 1. Supply screw terminal (J7)

Pin Connection

1 DC supply voltage 36 V

2 DC supply ground

Table 2. Motor and Hall-effect sensors connector (J10)

Pin Row Connection

1 Bottom (front view, right corner) Hall-effect sensor 1

2 Bottom Hall-effect sensor 2

3 Bottom Hall-effect sensor 3

4 Bottom (front view, left corner) Hall-effect sensors supply (+5 V)

5 Top (front view, right corner) Motor winding 1 (U)

6 Top Motor winding 2 (V)

7 Top Motor winding 3 (W)

8 Top (front view, left corner) Hall-effect sensors ground

Table 3. Encoder connector (J4)

Pin Connection

1 Not connected

2 Encoder supply (+5 V)

3 Encoder ground

4 Not connected

5 Quadrature output channel A-

6 Quadrature output channel A+

7 Quadrature output channel B-

8 Quadrature output channel B+

9 Zero index channel I-

10 Zero index channel I+

Table 4. RS485 screw terminal (J8)

Pin Connection

1 B- communication line

2 Ground/shield connection

3 A+ communication line

UM2653Test points and connectors description

UM2653 - Rev 1 page 5/24

Pin Connection

4Termination.

To be shorted to A+ (pin #3) if termination is required (see Section 4.1 ).

Table 5. Debug connector (J12)

Pin Connection

1 VDD (+3.3 V)

2 SWD interface – SWDIO

3 Ground

4 SWD interface – SWCLK

5 Ground

6 Not connected

7 Not connected

8 Not connected

9 Ground

10 Reset


UM2653 - Rev 1 page 6/24

Figure 3. Test points positioning

Table 6. Test points list

Pin Connection

TP3 VM supply voltage (36 V)

TP4 Gate driver supply voltage (12 V)

TP5 Motor phase U current sensing (winding 1)

TP6 Motor phase V current sensing (winding 2)

TP7 Motor phase W current sensing (winding 3)

TP8 Supply voltage monitoring

TP9 Overcurrent comparator input

TP11 Encoder and Hall-effect sensors supply (5 V)


UM2653 - Rev 1 page 7/24

Pin Connection

TP12 Logic supply voltage (3.3 V)

TP13 RS485 RX signal

TP14 RS485 TX signal

TP15 RS485 DE/nRE signal

TP16 Bootloader – BOOT0

TP17 Bootloader – RX line

TP18 Ground

TP19 Bootloader – TX line


UM2653 - Rev 1 page 8/24

4 Operation

The following paragraphs describe the details about the operation of the EVALKIT-ROBOT-1 reference design.

4.1 Power-up sequence

As soon as the EVALKIT-ROBOT-1 powers up, i.e. when all the supply voltages are asserted and the MCUinitializations are completed, the motor position is initialized using the zero-index signal from the encoder.When the system ends the initialization, the discrete input bit 1 at address 0 is set high (see Section 4.3.1 ).

4.2 Sending a new motion command

Sending a new motion command requires the following steps:• Step 1 Check if the previous command had been completed reading the discrete input bit 0 at address 0

(see Section 4.3.1 ).• Step 2 Write the target position and the expected positioning time in the respective holding registers

(see Section 4.3.2 ).• Step 3 Set the coil bit 0 at address 0 high to start the motion (see Section 4.3.3 ). The discrete input bit 0 at

address 0 is forced low during operation.

4.2.1 Motion profileStarting from the target position and the motion duration, the algorithm calculates a trajectory pattern in order toobtain a smooth movement divided into 3 phases of the same duration (see Figure 4):1. Acceleration2. Cruise3. DecelerationDuring the acceleration phase the speed of the motor is increased in an S shape way. This means there is noabrupt acceleration variation, but the acceleration value is constantly increased according to the use of a jerk. Thejerk is calculated in order to divide the acceleration phase in 3 equal sub-phases as shown in Figure 4.The cruise is a constant speed motion phase.The final deceleration phase is complementary to the acceleration and ends when the target point is achieved.

Figure 4. Motion trajectory

4.3 MODBUS RTU inputs, coils and holding registers list

The EVALKIT-ROBOT-1 firmware is controlled using MODBUS RTU standard.The default slave address is #1, but it can be easily modified in the source code of the firmware.

UM2653Operation

UM2653 - Rev 1 page 9/24

4.3.1 Discrete inputsThe device provides 2 discrete inputs at address 0 (bits 0 and 1).

Table 7. Discrete input address 0

BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0

X X X X X X ALIGN DONE

ALIGN (BIT 1) indicates if the initial alignment procedure succeeded:• 1 => alignment procedure completed• 0 => alignment procedure not completed

DONE (BIT 0) indicates if the target position is achieved:• 1 => target position reached• 0 => target position not achieved

4.3.2 Holding registersThe device provides 3 holding registers used for defining the next motion command.

Table 8. Holding registers

Address Connection

0 Target position in degrees (least significant bytes)

1 Target position in degrees (most significant bytes)

2 Movement duration in milliseconds (1)

1. The target movement duration should be multiple of 9 (e.g. 45, 9000, 999, etc.)

4.3.3 CoilsThe device provides 1 coil at address 0 (bits 0).

Table 9. Discrete input address 0

BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0

X X X X X X X DONE

Setting high the MOVE (BIT 0) coil executes the motion command defined into the holding registers.

4.4 RS485 communication

The RS-485 is a differential serial interface widespread in industrial environment. The 2-wire implementationprovided by the EVALKIT-ROBOT-1 allows half-duplex communication with high data rate through long cables.

4.4.1 Point-to-point connectionIn point-to-point configuration the EVALKIT-ROBOT-1 is the only slave connected to the host device (master).In this case, both sides of the communication line must be terminated using a 120 Ω resistor. To use thetermination resistance embedded in the EVALKIT-ROBOT-1, the TERM pin of J8 must be shorted with A+ througha wire jumper

UM2653RS485 communication

UM2653 - Rev 1 page 10/24

Figure 5. RS-485 point-to-point connection

4.4.2 Daisy-chain connectionMultiple devices can be connected on the same RS-485 bus using daisy chain configuration.In this case, only the first and the last devices of the chain must be terminated.

Figure 6. RS-485 daisy-chain connection

UM2653RS485 communication

UM2653 - Rev 1 page 11/24

5 Motor and encoder data

Table 10. Motor specifications

Parameter Value

Nominal voltage 36 V

SpeedNominal 3950 rpm

No load 4550 rpm

TorqueNominal 207 mNm

Stall 3160 mNm

CurrentNominal 2.72 A

Stall 42.2 A

Phase resistance 0.853 Ω

Phase inductance 0.675 mH

Rotor inertia 44 gcm2

Pole pairs 7

Hall-effect sensors supply voltage 4.5 V to 24 V

Figure 7. Motor operating range

UM2653Motor and encoder data

UM2653 - Rev 1 page 12/24

Table 11. Encoder specifications

Parameter Value

Supply voltage 5 V

Supply current 22 mA

Pulses per turn 1024

Max. speed 30 krpm

Figure 8. Motor and encoder connectors drawings


UM2653 - Rev 1 page 13/24

Table 12. Motor and Hall-effect sensors connector

Pin Connection

1 Hall-effect sensor 1



4 Hall-effect sensors supply

5 Motor winding 1

6 Motor winding 2

7 Motor winding 3

8 Hall-effect sensors ground


UM2653 - Rev 1 page 14/24

6 Bill of material

Table 13. EVALKIT-ROBOT-1 bill of material

Item Q.ty Ref. Description Part/Value Order code Manufact.

1 3 C1, C7, C10 SMT ceramiccapacitor 100 nF

2 1 C2 SMT ceramiccapacitor 10 µF

3 1 C3 SMT ceramiccapacitor 10 µF


5 2 C8, C11 SMT ceramiccapacitor 10 nF


7 3 C12, C14, C16 SMT ceramiccapacitor 33 pF


9 1 C18 SMT ceramiccapacitor 2.2 nF

10 2 C20, C21 SMT electrolyticcapacitor 47 µF 865080645012 or

equivalent Wurth Elektronik


12 1 C23 SMT ceramiccapacitor 1.7 pF

13 1 C24 SMT ceramiccapacitor 4700 nF

14 1 C25 SMT electrolyticcapacitor 150 µF 865080243008 or


15 1 C26 SMT ceramiccapacitor 330 nF


17 3 C30, C31, C32 SMT ceramiccapacitor 220 pF

18 6 D4, D5, D6,D7, D8, D9

Small signal SchottkyDiode BAT30 BAT30KFILM or

equivalent STMicroelectronics

19 1 D10 Schottky Rectifier STPS0560Z STPS0560Z STMicroelectronics

20 1 J4

WR-MM femaleconnector with latchw/o polarization 10poles

Flat connector10 pole 690367191072 Wurth Elektronik

21 1 J7 Horizontal terminalblock pitch 3.50 mm

Terminal2P_screwp3.5mm

691214110002 Wurth Elektronik

UM2653Bill of material

UM2653 - Rev 1 page 15/24


22 1 J8 Terminal block T.H. 4positions, 2.54 mm

Terminal4P_screwp2.54mm


23 1 J10WR-MPC3 - 3.00MMmale dual-row rightangle 8 poles

Connector 8pole wpolarization


24 1 J12WR-PHD 1.27 mmDual Pin Header,H=3.80 mm

Header 10x2 62101021021 Wurth Elektronik

25 1 LED1 WL-SMCW SMT RedLED Red 150060RS75000 Wurth Elektronik

26 1 L1 WE-TPC SMD TinyPower Inductor 39 µH 744043390 or


27 3 Q2, Q3, Q4

Dual N-channel 60 V,35 mΩ typ., 6.5 ASTripFET™ F3 PowerMOSFET

STL7DN6LF3 STL7DN6LF3 STMicroelectronics

28 1 R1 SMT resistor 330 Ω

29 1 R2 SMT resistor 100 kΩ

30 4 R3, R6, R60,R62 SMT resistor 12 kΩ


32 3 R15, R24, R33 SMT resistor 10.5 kΩ

33 3 R16, R29, R40 Thick film chipresistors 0.100 Ω ERJ8BWFR100V Panasonic

34 6 R17, R22, R26,R30, R35, R39 SMT resistor 21 kΩ

35 6 R18, R20, R27,R28, R36, R38 SMT resistor 2.4 kΩ

36 6 R21, R23, R32,R34, R42, R44 SMT resistor 100 Ω

37 3 R43, R45, R49 SMT resistor 2.2 kΩ





42 1 R52 SMT resistor 60.4 kΩ

43 1 R53 SMT resistor NP NP


45 3 R59, R61, R63 SMT resistor 1 kΩ


47 16

TP3, TP4, TP5,TP6, TP7, TP8,TP9, TP11,TP12, TP13,TP14, TP15,TP16, TP17,TP18, TP19

40 mils PAD TP-SMD-diam1_016 mm


UM2653 - Rev 1 page 16/24


48 1 U1STSPIN32F0A 3-phase controller withMCU

STSPIN32F0A STSPIN32F0A STMicroelectronics

49 1 U3 Up to 3 A step-downswitching regulator ST1S14PHR ST1S14PHR STMicroelectronics

50 1 U4 Positive VoltageRegulator L78L33ABUTR L78L33ABUTR STMicroelectronics

51 1 U5

3.3 V RS485compatible with 1.8 VI/Os and selectablespeed 20 Mbps or 250kbps

STR485 STR485LV STMicroelectronics

52 1 U6 Quadruple differentialline receiver AM26LV32E AM26LV32EIRGYR TI


UM2653 - Rev 1 page 17/24

7 EVALKIT-ROBOT-1 schematic diagram

Figure 9. EVALKIT-ROBOT-1 schematic diagram 1

DEH1H2H3

DE

RX

Plug:Wurth Elektronik662008113322

TXRX

TX

Plug:Wurth Elektronik690157001072

DEBUG

TERMA+

B-GND

BOTTOM SIDE

TX

RX

NRST

NRST

BOO

T0

PA13

PA0

PF0

PA15

PA15

PB6

PB7

OUTUOUTVOUTW

ENC_nAENC_nBENC_nIENC_I

ENC_AENC_B

PF1ENC_IENC_nI

ENC_nBENC_B

PA7

ENC_AENC_nA

PA6

PB6

PB7

PA14

PF0PF1

PA6

PA7

H1

PA0PA1

PA2

PA1 H2

PA2 H3

NRST

PA13PA14PA14

PA15BOOT0

12V

VM

VDD

VDD

VDD

VDD

VDD

VDD

5V

VDD

VDD

VDD

5V

VDD

HSW

LSWHSV

LSVHSU

LSU

OUTU

OUTV

OUTW

PA3

PA4

PA5

PB1

OP3

PO

P3N

OP3

O

OP2POP2NOP2O

OP1

OO

P1N

OP1

PO

CC

OM

P

R6012k

R2100k

TP17 R312k

R63 1k

U1

STSPIN32F0A

OP2P1

OP2N2

OP2O3

PF04

PF15

VREG126

NRST7

VM8

SW9

VDDA10

PA011

PA112

PA2

13

PA3

14

PA4

15

PA5

16

PA6

17

PA7

18

PB1

19

TEST

MO

DE

20

OP1

O21

OP1

N22

OP1

P23

OC

CO

MP

24

HSW25OUTW26VBOOTW27LSW28HSV29

VBOOTV31LSV32

OUTV30

OUTU34

LSU36

HSU33

VBOOTU35

PA13

37PA

1438

PA15

39PB

640

PB7

41BO

OT0

42R

ESER

VED

43G

ND

44O

P3P

45O

P3N

46O

P3O

47VD

D48

EPAD

49

C31220p

U5

STR485

VL1

R2

DE3

nRE4

D5

GND6SRL7A8B9VCC10

EP11

TP15

TP16

R6212k

C7100nF

C91nF

R1330R6

12k

LED1RED

12

C32220p

J413579

2468

10

J81234

U6 AM26LV32E

1B1

1A2

1Y3

G4

2Y5

2A6

2B7

GND8

3B93A103Y11nG124Y134A144B15VCC16

EPAD

17

TP3

C310uF

C30220p

C4 470nF

J12

Header 10x2

1 23 45 67 89 10

C29 100n

C5 470nF

R540R

C10 100nF

R53NP

C8 10nF

C6 470nF

TP19

R64 120R

J10

1234

5678

R1410k

C1100nF

TP14

TP18

TP4

R61 1k

C11 10nF

C210uF

R59 1k

TP13

UM2653EVALKIT-ROBOT-1 schematic diagram

UM2653 - Rev 1 page 18/24


-

+

OC Comp

OCREF

OC

+

-

+

-

+

-

Gain = 15, Max sensed current = 5.5 A

RB 18.0E+3RLP 2.2E+3RS 20.0E-3Ith 3.77 A @ VREF 250mV

ISNSU

ISNSV

ISNSW

ISNSU

ISNSV

ISNSW

ISNSU

ISNSV

ISNSW

VM

VM

VM

VDD

VDD

VM

VDD

VDD

HSU

LSU

OUTU

HSV

LSV

OUTV

LSW

HSW

OUTW

OCCOMP

OP2O

OP2N

OP2P

PA3

PB1

OP3N

OP3O PA4

OP3P

OP1N

PA5OP1O

OP1P

C1633p

R2221k

C15150nF

R4718k

R46180k

D8BAT30

D4BAT30

R3021k

R2621k

TP5

TP9

TP6

R32 100R

R3921k

R28

2.4k

R21 100R

R45 2.2k

Q3

STL7DN6LF3

56

78

4

2

3

1

TP8

R27

2.4k

Q2

STL7DN6LF3

56

78

4

2

3

1

R34 100R

R24

10.5k

C13150nF

C1433p

D5BAT30

R16 0.100R

R5010k

D6BAT30

R42 100R

Q4

STL7DN6LF3

56

78

4

2

3

1

C191nF

D9BAT30

R43 2.2k

R29 0.100R

R44 100R

TP7

R49 2.2k

R15

10.5k

C17150nF

C182.2nF

R1721k

C1233p

R40 0.100R

R3521k

R38

2.4k

D7BAT30

R36

2.4k

R23 100R

R18

2.4k

R33

10.5k

R20

2.4k


Nominal supply voltage 36 VOperating range from 12 V to 45 V

Wurth Elektronik744043390

Wurth Elektronik865080243008

VDD5V

VM

5V

VM itle

C28

100n

R51187k

J7

1

2

C244700n

L1 39uH1 2

C26330n

U4 L78L33ABUTR

IN3

OUT1

GN

D2

TAB

4

TP11

C27100n

R5260k4

C22 100n

+C2047uF

+ C2147uF

U3 ST1S14PHR

BOOT1

EN25

EPAD

9

FB4

GND6

PG2

SW8

VIN7

EN13

C231.7p

D10STPS0560Z

12

+ C25150u

TP12

UM2653EVALKIT-ROBOT-1 schematic diagram

UM2653 - Rev 1 page 19/24

Revision history

Table 14. Document revision history

Date Version Changes

20-Nov-2019 1 Initial release.

UM2653

UM2653 - Rev 1 page 20/24

Contents

1 Hardware and software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

2 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

3 Test points and connectors description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

4 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

4.1 Power-up sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.2 Sending a new motion command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.2.1 Motion profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.3 MODBUS RTU inputs, coils and holding registers list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.3.1 Discrete inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.3.2 Holding registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.3.3 Coils . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.4 RS485 communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.4.1 Point-to-point connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.4.2 Daisy-chain connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

5 Motor and encoder data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

6 Bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

7 EVALKIT-ROBOT-1 schematic diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

List of tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

List of figures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

UM2653Contents

UM2653 - Rev 1 page 21/24

List of tablesTable 1. Supply screw terminal (J7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 2. Motor and Hall-effect sensors connector (J10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 3. Encoder connector (J4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 4. RS485 screw terminal (J8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 5. Debug connector (J12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Table 6. Test points list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 7. Discrete input address 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Table 8. Holding registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Table 9. Discrete input address 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Table 10. Motor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Table 11. Encoder specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Table 12. Motor and Hall-effect sensors connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Table 13. EVALKIT-ROBOT-1 bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Table 14. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

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List of figuresFigure 1. EVALKIT-ROBOT-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Figure 2. Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 3. Test points positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Figure 4. Motion trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Figure 5. RS-485 point-to-point connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Figure 6. RS-485 daisy-chain connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Figure 7. Motor operating range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 8. Motor and encoder connectors drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Figure 9. EVALKIT-ROBOT-1 schematic diagram 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 10. EVALKIT-ROBOT-1 schematic diagram 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Figure 11. EVALKIT-ROBOT-1 schematic diagram 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

UM2653List of figures

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