mighty mite servo drive - esi motion motion document 100236-00e 11/3/2014 ve esi motion’s mighty...
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ESI Motion Document 100236-00E 11/3/2014
MIG
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ESI Motion’s Mighty Mite is the
latest innovation solution in our
highly capable servo drive line.
This extremely lightweight controller is the
only dual axis drive of this complexity on
the market today. The Mite incorporates
our rugged controller and power driver
modules, offers many feedback options,
and is packaged in a potted plastic case.
This versatile servo line is ideal for preci-
sion military, aviation, automotive, robotic,
and specialized industrial applications
where size and weight are critical.
Motor Types:
DC Brushless, Brushed, and Induction
Feedback:
Sensorless, Encoder, Resolver, Hall, and
BiSS-C
Cooling Options:
Chassis
Packaging:
Potted Plastic Case
Mighty Mite Servo Drive C
ON
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S 2” D x 3” W x 0.6” H in size
Independent Dual axis configuration
Light Weight and High Efficiency
Torque, Velocity, or Position Control
Configurable, user friendly GUI with enhanced
data collection capability
FE
AT
UR
ES
Bus Voltage (DC) 10 V to 170 V
Peak Current 40 A, Output Power 2 kW (per axis)
Operating Temperature –40ºC to 71ºC
Extended –55ºC to 100ºC (optional)
Maximum Electrical Speed 75K RPM
Operational Vibration +/- 20 grms
Weight 3.7 oz. / 105 g
SP
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AT
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2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected]
www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Mighty Mite Servo Drive M
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Overview
The following describes both the electrical and physical interfaces for the Mighty Mite Servo Drive. Included in this
document is information necessary to integrate the Mighty Mite Servo Drive with other system components.
In order to design a multi-use capability, networking has been emphasized in the Mighty Mite Servo Drive. The Mighty
Mite Servo Drive can be connected to the following two types of networks:
RS-422, Controller Area Network (CAN)
Both networks are ideal for real-time embedded networking. They have been proven to be stable and robust as well as
flexible. Thus, the Mighty Mite Servo Drive can easily be modified through software to accept commands and report
feedback without hardware modification.
This document discusses the system interconnect by functional group. The four groups are as follows:
Motor Power and Phases, Motor A and B Feedback, Communication, and Services Interfaces
Motor Power and Phases
Dedicated motor power pins are provided for each Motor A and B allowing for individual current loading, however
they are electrically equivalent.
The motor power and phase pins are designed to be soldered to a carrier printed circuit board. The motor power con-
sists of two Voltage DC in (VDC_IN) and two Voltage DC Return (VDC_RTN) pins. The Motor A and B phase pins A,
B, and C are located on opposite ends of the Mite module.
The Mite module has an integrated heat sink, which is located opposite to the motor pins and connectors J1 and J2.
Care must be taken when using the Mite module for high-power applications, motor currents greater than 5A will re-
quire an external heat sink. Proper heat sinking practices should be followed. Please refer to the Mighty Mite User’s
Manual for heat sinking instructions and thermal conductivity data.
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Electrical Interfaces M
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Motor A and B Feedback
The Mite has several types of motor position feedback that can be used: Resolver, Digital Encoder, BiSS-C,
Hall, and Sensorless. The feedback for Motor A is located on J2 and the feedback for Motor B is located on J1.
The feedback is selected and configured via the Host Interface for the Dragon Servo (HiDS) software. The Dig-
ital Encoder, BiSS-C, and Hall interfaces are 5V tolerant. External feedback sensors should be powered from
the same +5V supply used to power the Mite Controller. Below is the pin out configuration for J1 and J2.
Communication Interfaces
The Mite includes an RS422 physical interface compliant to the TIA/EIA-422-B specification. The Mite is capable
of a 1 Mbps data rate. The RS422 pins are short circuit protected from –7 V to +12 volts.
The Mite includes a CAN physical interface compliant to the ISO 11898-2 specification. The maximum data rate
is 1 Mbps for a bus length of 40 meters. The Mite CAN interface meets the extended common mode range of –
7 to +12 volts. No internal bus termination is provided. The HiDS functions may be accessed via the CAN in-
terface.
Heat SinkChassis x4
VDC_IN VDC_IN
VDC_RTN VDC_RTN
J1
J2
AB
C
AB
C
1
2
39
40
1
2
39
40
Motor BMotor A
The motor power and phase pins are shown below:
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Electrical Interfaces M
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The High Speed Serial Bus (HSSB) and Serial Communication Interface (SCI) is reserved for customer specific
applications.
Service Interfaces
The Analog Test Points may be configured through HiDS. The voltage range on the analog test points is +/- 3.0
volt. The analog test points are buffered with a 50 Ohm series resistor.
The DC Bus Voltage Regeneration, Inrush, and Discharge are TTL level control signals that are to be used in
conjunction with external hardware designed to specifically perform DC Bus Voltage Regeneration, Inrush, or
Discharge.
The DC Bus Voltage Monitor prior to Inrush is an analog voltage input for the DC Bus Voltage measured prior
to the Inrush hardware. The analog input needs to be scaled between 0 to 5V.
The Digital I/O is a TTL level input or output discrete that can be configured via the HiDS software.
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
System Diagram M
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A MotorA
CHASSIS
VDC_INVDC_RTNSpade Pins
Spade Pins
Mounting Hole
CMD+_MACurrent
CommandCMD-_MA
SIN+_MA
SIN-_MA
COS+_MA
COS-_MAEXE+_MA
EXE-_MA
Resolver Feedback
A+/BISS_CLK+_MA
A-/BISS_CLK-_MA
B+_MA
B-_MAI+/BISS_DATA+_MA
I-/BISS_DATA-_MA
Encoder/BiSS-C
Feedback
HALL_A_MAHALL_B_MA
HALL_C_MA
MOTOR_TEMP+_MA
MOTOR_TEMP-_MA
Hall Feedback
MotorTemperature
BRAKE_MA*Brake Command
* Logic level only, external circuit required.
A
C
MotorB
CHASSIS
VDC_INVDC_RTN Spade Pins
Spade Pins
Mounting Hole
CMD+_MBCurrent
CommandCMD-_MB
SIN+_MB
SIN-_MB
COS+_MB
COS-_MBEXE+_MB
EXE-_MB
Resolver Feedback
A+/BISS_CLK+_MB
A-/BISS_CLK-_MB
B+_MB
B-_MBI+/BISS_DATA+_MB
I-/BISS_DATA-_MB
Encoder/BiSS-C
Feedback
HALL_A_MBHALL_B_MB
HALL_C_MB
MOTOR_TEMP+_MB
MOTOR_TEMP-_MB
Hall Feedback
MotorTemperature
BRAKE_MB* Brake Command
RS422_TX_P
RS422_TX_NRS422
Transmit
RS422_RX_P
RS422_RX_NRS422
Receive
CAN_H
CAN_LCAN
HSSB_TX_CLK
HSSB_TX_SYNCHigh Speed Serial BusTransmit HSSB_TX_DATA
High Speed Serial BusReceive
BUF_ATP1
BUF_ATP2Analog Test Points and Reference
REGEN*
INRUSH*
DC Bus Voltage Regeneration,
Inrush, and Discharge
DISCHARGE*
VBUS_PRE_INRUSH
+5V_RTN
ANALOG_REF
DIGITAL_REF
SCI_TX
SCI_RX
Serial Communication
Interface
+5V_INController Voltage IN
Digital I/O and Reference
DIG_IO
Power Power
Motor B Motor A
Feedback Feedback
CommunicationService
USB_DP
USB_DNUSB
DC Bus Voltage Monitor Prior to
Inrush HSSB_RX_CLK
HSSB_RX_SYNC
HSSB_RX_DATA
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Electrical Interfaces J1
, 2 X
20 H
EA
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J1, 2 x 20 Header, 0.05 in Pitch, 0.016 in Square Pin*
PIN DESCRIPTION TYPE NAME
1 Current Command Positive Motor B Analog Input CMD+_MB
2 Current Command Negative Motor B Analog Input CMD-_MB
3 Resolver Sin Positive Motor B Analog Input SIN+_MB
4 Resolver Sin Negative Motor B Analog Input SIN-_MB
5 Resolver Cos Positive Motor B Analog Input COS+_MB
6 Resolver Cos Negative Motor B Analog Input COS-_MB
7 Resolver Excitation Positive Motor B Analog Output EXE+_MB
8 Resolver Excitation Negative Motor B Analog Output EXE-_MB
9 Digital Encoder A Positive / BiSS-C Clock Positive Motor B Digital In / Out A+/BISS_CLK+_MB
10 Digital Encoder A Negative / BiSS-C Clock Negative Motor B Digital In / Out A-/BISS_CLK-_MB
11 Digital Encoder B Positive Motor B Digital In B+_MB
12 Digital Encoder B Negative Motor B Digital In B-_MB
13 Digital Encoder I Positive / BiSS-C Data Positive Motor B Digital In / In I+/BISS_DATA+_MB
14 Digital Encoder I Negative / BiSS-C Data Negative Motor B Digital In / In I-/BISS_DATA-_MB
15 Hall A Motor B Digital In HALL_A_MB
16 Hall B Motor B Digital In HALL_B_MB
17 Hall C Motor B Digital In HALL_C_MB
18 Digital Reference Digital DIGITAL_REF
19 Temperature Positive Motor B Analog MOTOR_TEMP+_MB
20 Temperature Negative Motor B Analog MOTOR_TEMP-_MB
21 +5V Input Digital Power +5V_IN
22 +5V Return Digital Power +5V_RTN
23 Reserved No Connect Reserved
24 Reserved No Connect Reserved
25 Reserved No Connect Reserved
26 Reserved No Connect Reserved
27 Reserved No Connect Reserved
28 Reserved No Connect Reserved
29 Reserved No Connect Reserved
30 Reserved No Connect Reserved
31 Brake Command Motor A Digital Out BRAKE_MA
32 Brake Command Motor B Digital Out BRAKE_MB
33 DC Bus Voltage Regeneration Command Digital Out REGEN
34 DC Bus Voltage Inrush (Precharge) Command Digital Out INRUSH
35 DC Bus Voltage Discharge Command Digital Out DISCHARGE
36 DC Bus Voltage Monitor Prior to Inrush Analog In VBUS_PRE_INRUSH
37 Serial Communication Interface (SCI) Transmit Digital Out SCI_TX
38 Serial Communication Interface (SCI) Receive Digital In SCI_RX
39 Reserved Digital In Reserved
40 Reserved Digital In Reserved
* Mating connector Samtec P/N
CLP-120-02-F-D-TR
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Electrical Interfaces J2
, 2 X
20 H
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J2, 2 x 20 Header, 0.05 in Pitch, 0.016 in Square Pin*
PIN DESCRIPTION TYPE NAME
1 Current Command Positive Motor A Analog Input CMD+_MA
2 Current Command Negative Motor A Analog Input CMD-_MA
3 Resolver Sin Positive Motor A Analog Input SIN+_MA
4 Resolver Sin Negative Motor A Analog Input SIN-_MA
5 Resolver Cos Positive Motor A Analog Input COS+_MA
6 Resolver Cos Negative Motor A Analog Input COS-_MA
7 Resolver Excitation Positive Motor A Analog Output EXE+_MA
8 Resolver Excitation Negative Motor A Analog Output EXE-_MA
9 Digital Encoder A Positive / BiSS-C Clock Positive Motor A Digital In / Out A+/BISS_CLK+_MA
10 Digital Encoder A Negative / BiSS-C Clock Negative Motor A Digital In / Out A-/BISS_CLK-_MA
11 Digital Encoder B Positive Motor A Digital In B+_MA
12 Digital Encoder B Negative Motor A Digital In B-_MA
13 Digital Encoder I Positive / BiSS-C Data Positive Motor A Digital In / In I+/BISS_DATA+_MA
14 Digital Encoder I Negative / BiSS-C Data Negative Motor A Digital In / In I-/BISS_DATA-_MA
15 Hall A Motor A Digital In HALL_A_MA
16 Hall B Motor A Digital In HALL_B_MA
17 Hall C Motor A Digital In HALL_C_MA
18 Digital Reference Digital DIGITAL_REF
19 Temperature Positive Motor A Analog MOTOR_TEMP+_MA
20 Temperature Negative Motor A Analog MOTOR_TEMP-_MA
21 +5V Input Digital Power +5V_IN
22 +5V Return Digital Power +5V_RTN
23 RS422 Transmit Positive Digital Out RS422_TX_P
24 RS422 Transmit Negative Digital Out RS422_TX_N
25 RS422 Receive Positive Digital In RS422_RX_P
26 RS422 Receive Negative Digital In RS422_RX_N
27 CAN High Digital CAN_H
28 CAN Low Digital CAN_L
29 Reserved for USB Data Positive (Not Implemented) Digital USB_DP
30 Reserved for USB Data Negative (Not Implemented) Digital USB_DN
31 Analog Reference Analog ANALOG_REF
32 Digital Input / Output Digital In / Out DIG_IO
33 High Speed Serial Bus Transmit Clock Digital Out HSSB_TX_CLK
34 High Speed Serial Bus Receive Clock Digital In HSSB_RX_CLK
35 High Speed Serial Bus Transmit Sync Digital Out HSSB_TX_SYNC
36 High Speed Serial Bus Receive Sync Digital In HSSB_RX_SYNC
37 High Speed Serial Bus Transmit Data Digital Out HSSB_TX_DATA
38 High Speed Serial Bus Receive Data Digital In HSSB_RX_DATA
39 Analog Test Point 1 Analog Out BUF_ATP1
40 Analog Test Point 2 Analog Out BUF_ATP2
* Mating connector Samtec P/N
CLP-120-02-F-D-TR
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Electrical Characteristics M
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SIGNAL MINIMUM MAXIMUM UNITS
VDC In 10 170 V
Peak Phase Current - 2 x Rated Current (6) (7) A
Current Command -10 10 V
Current Command - 20 K Ohm
Resolver Excitation 4.0 (5) - V rms
Resolver Sin, Cos 2 (5) 4.2 V rms
Resolver Sin, Cos 0 5K (5) Hz
Resolver Sin, Cos - 20 K Ohm
Encoder, BiSS-C Data 0 5 V
Encoder, BiSS-C Data - 120 Ohm
BiSS-C Clock 3.5 - V
BiSS-C Clock -20 20 mA
Hall 0 5 V
Temperature (4) - 2 K Ohm
5 VDC In - 450 mA
Brake Command 0 3.3 V
Regeneration Command 0 3.3 V
Inrush Command 0 3.3 V
Discharge Command 0 3.3 V
Vbus Monitor Pre Inrush 0 5 V
RS422 (1) (2) - 1000 K bps
CAN (2) (3) - 1000 K bps
USB 2.0 (Future Upgrade) - 12 M bps
Digital I/O 0 3.3 V
High Speed Serial Bus 0 3.3 V
SCI 0 3.3 V
Analog Test Point Out -5 5 V
Analog Test Point Out - 50 Ohm
(1) Physical Interface compliant
to the TIA/EIA-422-B.
(2) Short circuit protection from
–7 V to 12 V protection.
(3) Compliant to ISO 11898-2
specification.
(4) Recommended NTC 5k,
Epcos part # B57540G502F.
(5) Nominal value
(6) Peak Sine Wave
(7) Up to a Maximum of 40 A
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
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2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
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2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
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2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
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2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
ESI Motion Document 100236-00E 11/3/2014
Ordering Information S
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Example: Part Number: M10A048VPD-E-I
Servo Drive: Mighty Mite
Continuous Current: 10A
Nominal Voltage: 48V
Case: Potted Plastic
Configuration: Dual Axis
Options
-Extended Operating Temperature
-Include I/O PCBA
2250A Union Place
Simi Valley, CA 93065
Product of USA
Phone: 800.823.3235 (US) +1.805.624.6030 (International) Fax: +1.800.823.9521
E-mail: [email protected] www.esimotion.com
* Peak Sine Wave
M XXA YYYV P D -E -I
Servo DriveM – Mighty Mite
Continuous Current*01 – 1A02 – 2A05 – 5A
10 – 10A30 – 30A
Nominal Voltage012 – 12V028 – 28V048 – 48V075 – 75V
170 – 170V
ConfigurationD – Dual Axis
CaseP –Potted Plastic
Options - E Extended Operating
Temperature - I Include I/O PCBA