ST SPIMD20 User Manual

Features

SPIMD20

■ Advanced brushless motor control in a single

module easy to piggyback to the motor

■ Extremely compact dimensions: 165x60x26

mm, <0.5 kg weight

■ Up to 2 kW power with 800 Vdc supply, on

100°C motor surface, can withstand peak of current up to 40 A

■ Can operate on a motor surface temperature

up to 100°C

■ Integrated drive with real time connectivity via

Ethernet-based fieldbus (i.e. EtherCAT CANopen

■ Safe torque off to disable IGBT drivers via

DS402

hardware

■ CAN bus hand-shaking channel

■ RS232 interface for programming

■ 2 Mb Flash memory aboard; also support

removable Flash memory card.

■ Supports position feedback both with resolver

or digital encoder EnDat 2.2

■ Motor current sensing with shunt sensors (2

phases)

■ Vibration analysis and thermal sensing

■ IP65 compliant

■ Safe architecture to apply to most popular

safety standards IEC61800-5-1

■ EMI: IEC61800 - 3 / A11 and UL508C

■ Up to 800 V

RoHS compliant

■

supply, auxiliary supply 18-48

) and

SPIMD20

Integrated motor drive

Datasheet — production data

This Shuttle version of the IMD is suitable for direct integration to the permanent magnet synchronous motor (i.e. 6 Nm torque) thanks to the reduced dimensions 165x60x26 mm. The Shuttle Drive™ is designed to operate on a motor with a surface temperature up to 100 °C. The IMD performs all motor driving required functions including speed, position and current loop execution, plus connectivity. Connection to the master is performed via real time ethernet fieldbus, including but not limited to EtherCAT per IEC61158. However, the IMD is an open and flexible platform to execute any other communication standard with the aboard FPGA (Altera Cyclone III type) and the two microprocessors STM32F103 series. A basic software package is available with SPIMD20. This software package includes PWM driving, current loop and speed loop execution; all the above being synchronized to the fieldbus.

Table 1. Device summary

Order code

SPIMD20

Description

SPIMD20 is an integrated motor drive with real time connectivity enabling brushless motor manufacturers to create a proprietary motion control system based on a general purpose brick.

July 2012 Doc ID 17527 Rev 3 1/20

This is information on a product in full production.

www.st.com

Contents SPIMD20

Contents

1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2 Safe torque off diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 General specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2 Vibrations and shocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3 Pin out description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.2.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.2.2 Power stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

5 Mechanical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.1 Mechanical data (dimensions in mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.1.1 Technical specifications for surface coupling . . . . . . . . . . . . . . . . . . . . . 17

5.2 The basic software package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5.3 Safety characteristics and connection requirements . . . . . . . . . . . . . . . . 18

5.4 Installation and user's manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

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SPIMD20 Main features

1 Main features

The SPIMD20 is the top level performing power drive system designed by STMicroelectronics in cooperation with ROBOX S.p.A. Coming in a very compact size and operating at very high temperature, the SPIMD20 is ideal for direct installation on a permanent magnet synchronous motor or nearby the motor.

The advantages of this system architecture are many, among them:

● SPIMD20 directly assembled to the motor permits a strong wiring reduction. The

SPIMD20 just needs a DC power supply, a DC auxiliary supply, a fieldbus. All these connections can jump from one device to the other. The electrical cabinet will therefore result very compact.

● The distributed architecture allows faster designing and faster commissioning.

● The DC power supply shared between many SPIMD20s permits to realize sensible

energy saving in a lot of applications.

● The fieldbus, Ethernet real-time, permits to make profit of all the advantages of flexible

automation such as: recipes, fast switching among different previously saved menus, in-line behaviour optimization, centralized diagnostic and data logging. CANopen is optionally available in the development roadmap.

● A high performance FPGA Altera Cyclon III is available in the SPIMD20 to configure,

among others, the Ethernet real-time bus according to your needs or preferences. The basic pack includes EtherCAT.

● Position read-out can be realized using the very popular resolver or other more

performing devices such as EnDat 2.2 which are interfaced through the high performance FPGA. Different position transducers can be connected using their IP’s.

● PWM driving is organized for operation at 4-8-16-32 kHz. All the devices connected to

the same master are synchronized to the driving fieldbus. The synchronization involves position, speed, current loops and the PWM.

● A MEMS accelerometer permits to analyze the vibrations: abnormal behavior can be

detected before a fatal crash occur

● An SPI channel is available to support a compact flash or similar device in order to

store parameters, programs or other tools depending on the application.

Doc ID 17527 Rev 3 3/20

Main features SPIMD20

● A basic software package is available with the SPIMD20. This software package

includes:

– torque speed position control

– PWM driving 4-8-16-32 kHz

– current loop closure 4-8-16 kHz (PI)

– speed loop closure 1-2 kHz (PI)

– position loop closure 1-2 kHz (P)

– torque, speed, feed forward inputs provided

– low pass or/and notch filters provided

– All the above are synchronized to the fieldbus

– Position transducers: resolver or encoder EnDat 2.2

– EtherCat connectivity (CoE DSP402)

– CANopen (DS301, DSP402) is also in the development roadmap

● Two powerful development environments are available:

– IAR’s Embedded WorkBench to work at source code level (C, C++)

– Robox’s RDE to work at system level, permitting debugging and performance

optimization under real operating conditions.

A third one, QUARTUS II Altera development environment, should be used to implement other real time Ethernet standards or other digital transducers into the FPGA.

4/20 Doc ID 17527 Rev 3

SPIMD20 Main features

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1.1 Block diagram

Figure 1. Block diagram

Doc ID 17527 Rev 3 5/20

Main features SPIMD20

1.2 Safe torque off diagram

The module is equipped with four pins, available at JU1 and JU2 connectors, aimed to disable the IGBT drivers via hardware.

The schematic architecture is showed in Figure 2.

Once the pins 7 of JU1 and JU2 are respectively let opened versus the pins 8 of JU1 and JU2, the IGBT drivers are disabled.

If the pin 7 is shorted with the pin 8 on both the connectors JU1 and JU2, the module is properly working.

The current flowing on those connections is less than 5 mA.

Figure 2. Safe torque off diagram

6/20 Doc ID 17527 Rev 3

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