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Stellaris MDL-BDC24
Getting Started Manual
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Texas Instruments Stellaris MDL-BDC24 Getting Started Manual

Stellaris® MDL-BDC24 Brushed DC Motor Control Module
Getting Started Guide
MDL-BDC24-GSG-04 Copyright © 2009–2011 Texas Instruments
Copyright
Texas Instruments 108 Wild Basin, Suite 350 Austin, TX 78746 http://www.ti.com/stellaris
2 January 5, 2011
Stellaris® Brushed DC Motor Control User’s Manual
Table of Contents
Chapter 1: Introduction to Jaguar................................................................................................................... 5
Features.............................................................................................................................................................. 7
Differences between the MDL-BDC and MDL-BDC24 ....................................................................................... 8
Warnings............................................................................................................................................................. 8
Chapter 2: General Operation.......................................................................................................................... 9
Operating Modes .............................................................................................................................................. 10
Fault Conditions ............................................................................................................................................ 10
Coast/Brake Jumper ..................................................................................................................................... 11
Power and Motor Wiring ............................................................................................................................... 11
Chapter 3: Servo/PWM-based Control.......................................................................................................... 13
Servo-style PWM Speed Control Input ............................................................................................................. 13
Calibrating the PWM Input ............................................................................................................................ 13
Chapter 4: Introduction to Network-Based Control.....................................................................................15
Network Security and System Safety ............................................................................................................... 15
Trusted Mode (FIRST Robotics Competition feature) ...................................................................................... 15
Chapter 5: Operation using the RS232 Interface.........................................................................................17
BDC-COMM Application Overview ................................................................................................................... 17
Chapter 6: Firmware Update Using BDC-COMM ......... ................................................................................19
Important Information........................................................................................................................................ 19
Step 1: Hardware Setup................................................................................................................................ 19
Step 2: Run BDC-COMM.............................................................................................................................. 20
Step 3: Assign Unique CAN ID ..................................................................................................................... 20
Step 4: Update Firmware .............................................................................................................................. 20
Chapter 7: Closed-Loop Control Options.....................................................................................................21
Wiring................................................................................................................................................................ 21
Constant Current Control.................................................................................................................................. 22
Position Control using an Encoder ................................................................................................................... 22
Position Control Using a Potentiometer............................................................................................................ 23
Speed Control................................................................................................................................................... 23
Chapter 8: Operation Using the CAN Interface............................................................................................ 25
CAN Overview .................................................................................................................................................. 25
CAN IDs............................................................................................................................................................ 25
CAN Network .................................................................................................................................................... 25
Control Options for Networked Jaguar Modules ............................................................................................... 26
Appendix A: Jaguar Communication Cables...............................................................................................29
CAN Terminator................................................................................................................................................ 29
CAN Cable........................................................................................................................................................ 29
CAN Cable Assembly ................................................................................................................................... 30
CAN Cable Pin Assignments ........................................................................................................................ 30
RS232 Cable .................................................................................................................................................... 30
RS232 Cable Assembly ................................................................................................................................ 30
RS232 Cable Pin Assignments..................................................................................................................... 31
External References ......................................................................................................................................... 31
January 5, 2011 3
4 January 5, 2011
CHAPTER 1
Introduction to Jaguar
Texas Instruments presents the next generation FIRST Robotics Competition (FRC) motor controller: the MDL-BDC24 brushed DC motor control (also known as Black Jaguar). The MDL-BDC24 builds on the success of the first-generation MDL-BDC (Gray Jaguar) by adding an RS232-to-CAN gateway and enhanced electrical performance. Designed specifically for the FRC competition, the MDL-BDC and MDL-BDC24 modules facilitate the design of complex robots within the short six-week FRC build period.
This document provides a complete description of how to use Jaguar in both Networked and Servo control modes. Information applies to both the MDL-BDC and MDL-BDC24 models except where noted. Additional information can be found in the MDL-BDC and MDL-BDC24 data sheets, as well as in related application notes.
Figure 1-1. Next Generation Brushed DC Motor Control Module, MDL-BDC24
The flowchart in Figure 1-2 provides an overview of the process of developing with the MDL-BDC and MDL-BDC24 modules. We suggest checking off each step as it is completed.
January 5, 2011 5
Getting Started
with Jaguar
Connect:
- Servo cable
- Power cable
- Motor cable
Decision:
Control using
Servo/PWM or
Network?
Read Jaguar GSG
Introduction and
General Operation
Chapters
Servo/PWM
Read Jaguar GSG
Servo/PWM
Control
Chapter
Ready to Run!
Read Jaguar GSG
Introduction to
Network Control
Chapter
Decision :
CAN Interface
Method
Network
Read 3rd Party
CAN Bridge
documentation
3rd Party CAN Interface
Assemble and
connect cables:
- RS232/CAN
- Power
Read Jaguar GSG
Operation using RS232 Chapter
Read Jaguar GSG
Firmware Update
using BDC-COMM
Chapter
Update firmware in
each Jaguar
Connect to cRIO-
based FRC control
system
Black Jaguar Bridge
Read Jaguar GSG
Operation using
the CAN Interfac e
Chapter
Appendix A
Jaguar Cable
Assemblie s
Assign CAN ID
(ID Value > 1)
Introduction to Jaguar
Figure 1-2. MDL-BDC24 Development Process
6 January 5, 2011
Features
The Stellaris® Brushed DC Motor Control Module with CAN (MDL-BDC24) offers a variable speed control for 12 V and 24 V brushed DC motors at up to 40 A continuous current. The motor control module includes high performance Controller Area Network (CAN) connectivity and a rich set of control options and sensor interfaces, including analog and quadrature encoder interfaces. The high-frequency PWM on the MDL-BDC24 enables DC motors to run smoothly and quietly over a wide speed range. The module uses highly optimized software and a powerful 32-bit Stellaris® microcontroller to implement open-loop speed control as well as closed-loop control of speed, position, or motor current.
The MDL-BDC24 provides the following features:
Quiet control of brushed DC motors
Three options for Speed control
CAN communication
Getting Started Guide
– 15 kHz PWM frequency
– Industry-standard R-C servo type (PWM) interface – Controller Area Network (CAN) interface – RS232 serial interface
– Multicast shared serial bus for connecting systems in electromagnetically noisy
environments
– 1M bits/s bit rate – CAN protocol version 2.0 B – Full configurability of module options – Real-time monitoring of current, voltage, speed, and other parameters – Firmware update
RS232 serial communication
– Bridges RS232 port to a CAN network – Directly interfaces to a PC serial port or National Instruments cRIO
Status LED indicates Run, Direction, and Fault conditions
Motor brake/coast selector
Limit switch inputs for forward and reverse directions
Quadrature encoder input (QEI)
– Index input – 5 V supply output to encoder
Analog input
– Accepts 10 kΩ potentiometer or 0-3 V input
Screw terminals for all power wiring
Headers (0.1 inch pitch) for all control signals
January 5, 2011 7
Introduction to Jaguar
Differences between the MDL-BDC and MDL-BDC24
First generation Jaguar motor controls (MDL-BDC) have similar capabilities to the second generation Jaguar (MDL-BDC24). Functional differences are summarized in Table 1-1.
Table 1-1. MDL-BDC and MDL-BDC24 Differences
MDL-BDC (Gray) MDL-BDC24 (Black)
Feature
Part Number
Voltage Range
RS232C Port
Terminal Screws
a. Captive terminal screws should not be removed because metal debris can be created. b. Non-captive screws are safe to remove and are compatible with ring-terminal use.
Internally, the MDL-BDC24 is a completely new design that makes use of switching converters and synchronous rectification to improve overall energy efficiency.
Software should be updated to the latest version to ensure that all capabilities of the MDL-BDC or MDL-BDC24 module are enabled and functional.
Warnings
WARNING – Be aware of the following warnings. Failure to heed warnings can result in damage to the module or invalidation of the module warranty.
Mount the Jaguar module so that the vents in the top and sides of the unit are not restricted in
any way. Maintain a clearance of at least ½ inch between modules.
MDL-BDC MDL-BDC24
6–13 V 6–30 V
No Yes
Captive – Do not remove
a
Loose – Okay to remove
b
Reverse wiring is unprotected; doing so voids the Jaguar module's warranty.
Do not exceed the absolute maximum supply voltage (30 V
MDL-BDC). Doing so causes permanent damage to the module.
Protect Jaguar from all situations where debris could enter through ventilation slots or
connector openings.
8 January 5, 2011
for MDL-BDC24, 13 V for
DC
Motor
Out
(–) Motor
(+) Mo tor
(–) In
(+) In
From Power
Distributio n
Module
M ot or outpu t is not pr ot e ct e d
against short-circuits.
User Switch
Use hooks to prevent
wires shaking loose
Maintain 0.5" cl earance
around all vents
Stat us LE D
Mounting holes
3.50" centers
Motor coast/brake jumper
Ma in ta in 0. 5" cl e ar an ce
around all vents
For power wiring use
12 A W G W ire w it h #6 ri ng
or spade terminals
CAN P ort
RS232/CAN Port
Anal og input (0-3V)
Encoder Input
Limit switch inputs
CHAPTER 2
General Operation
This chapter describes the general operation of the MDL-BDC24 motor control module. Figure 2-1 shows the key features of the MDL-BDC24 motor control. Table 2-1 provides a key to the status LED.
Figure 2-1. MDL-BDC24 Key Features
January 5, 2011 9
Table 2-1.
Table 2-2. Status LED
Normal Operating Conditions
Solid Yellow Neutral (speed set to 0)
Fast Flashing Green Forward
Fast Flashing Red Reverse
Solid Green Full-speed forward
Solid Red Full-speed reverse
Fault Conditions
Slow Flashing Yellow Loss of servo or Network link
Fast Flashing Yellow Invalid CAN ID
LED State Module Status
General Operation
Table 2-2. Status LED (Continued)
Slow Flashing Red Fault condition
Calibration Conditions
Fast Flashing Red and Green Calibration mode active
Fast Flashing Red and Yellow Calibration mode failure
Fast Flashing Green and Yellow Calibration mode success
Slow Flashing Red and Green
Operating Modes
The MDL-BDC24 can be controlled using either the Servo-style PWM Input or the CAN interface. Table 2-3 compares the capabilities of each control method.
Table 2-3.
Table 2-4. Control Method Comparison
LED State Module Status
Calibration mode reset to factory default settings success
Control Method
Servo-Style PWM input CAN/RS232C Interface
Jaguar supports the simultaneous use of CAN for monitoring and the Servo-style input for speed.
Fault Conditions
A slow flashing Red LED indicates that the MDL-BDC24 detected one of the following fault conditions:
Power supply under-voltage
Over temperature
Speed Control Yes Yes Analog Position Control No Yes Encoder Position Control No Yes Configurable Parameters No Yes Voltage, Current
Measurement Limit Switches Yes Yes Coast/Brake Feature Yes Yes Firmware Update No Yes
a. By default, the jumper sets coast/brake. Network commands can over-ride the jumper
setting.
No Yes
a
Over current
Limit switch activated in the current direction of motion
When a fault condition occurs, the motor shuts down and the LED indicates a fault state during the fault condition and for 3 seconds after the fault cause is cleared (except for the limit switch fault,
10 January 5, 2011
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