SPIMD20
Integrated motor drive
Datasheet — production data
Features
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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
®
) and
CANopen
®
DS402
Safe torque off to disable IGBT drivers via
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
DC
supply, auxiliary supply 18-48
V
DC
RoHS compliant
SPIMD20
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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
®
as
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
This is information on a product in full production.
Doc ID 17527 Rev 3
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Contents
SPIMD20
Contents
1
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1
1.2
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safe torque off diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2
General specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1
2.2
Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Vibrations and shocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3
4
Pin out description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1
4.2
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2.1
4.2.2
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Power stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5
Mechanical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1
5.2
5.3
5.4
5.5
Mechanical data (dimensions in mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1.1
Technical specifications for surface coupling . . . . . . . . . . . . . . . . . . . . . 17
The basic software package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety characteristics and connection requirements . . . . . . . . . . . . . . . . 18
Installation and user's manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
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Doc ID 17527 Rev 3
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.
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Doc ID 17527 Rev 3
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Main features
SPIMD20
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A basic software package is available with the SPIMD20. This software package
includes:
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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
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.
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Two powerful development environments are available:
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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.
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Doc ID 17527 Rev 3
SPIMD20
Main features
1.1
Block diagram
Figure 1.
Block diagram
Doc ID 17527 Rev 3
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