BPI-FSM1819D Servo motor controller

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Product overview

BPI-FSM1819D 伺服电机驱动控制器 采用峰岹科技方案
BPI-FSM1819D 伺服电机驱动控制器 采用Fortior tech方案

BPI-FSM8191D servo motor controller is an industrial-grade servo motor control product created by Bananapai open source community and Fortior technology. It is a servo module used to drive rotary servo motor, linear servo motor and torque motor. In practical applications, it is composed of main control board and power board, providing motor control core algorithm and various communication functions. BPI-FSM8191D servo module main control board, configured with two application ports and a power board interface, the servo module pin contains a number of signal interfaces, which can meet the debugging of most servo functions. In different application scenarios, the servo power board can be customized to provide power input and output, power supply and energy consumption requirements. The power board has a rich debugging interface, which fully meets the needs of developers for different power and power supplies.

Application direction

  • New energy industry: die cutting machine, laminating machine, cutting and laminating machine, pole ear welding, coating machine, shell machine, top welding, helium detector, liquid injection machine, forming cabinet, replenishing machine, sealing welding machine, parting cabinet, Pack line, etc.
  • Semiconductor industry: cleaning equipment, lithography machine, etching machine, repair testing equipment, scribing machine, wafer probe testing equipment, sorting machine, chip placement machine, bonding machine and other equipment
  • New display industry: solid crystal machine, rerepair machine, dispensing machine, laminating equipment, bonding equipment, backlight assembly equipment, defoaming equipment, cutting equipment, AOI equipment and other basic complete set of process equipment.
  • Optical industry: welding machine, focusing machine, pendulum machine, assembly machine, imaging detection, etc.

Hardware

BPI-FSM1819D board.jpg

Hardware Specifications

Common servo controller electrical specifications made of modules

Servo controller electrical specifications
Number spec
Power circuit input power supply（L1,L2,L3） Rated Voltage（VAC line-line）±10% 240
frequency（Hz） 50
240VAC Single phase/three phase
Control circuit input power supply（L1C,L2C） 240±10VAC Single phase
Logic input fuse (delay) 240VAC(A) 0.5
STO（Safe torque cut-off） STP DC（VDC） 24±10%
STO Fuse (delay) 240VAC(A) 1.5
Motor outputs（U,V,W） Continuous output power supply（Arms） 4.5
Continuous output power supply （Apeak） 6.63
Peak output current in 2 seconds（Arms） 14
Peak output current in 2 seconds（Apeak） 20
PWM frequency（kHz） 16
Soft boot maximum surge current（A） 7
Maximum charging time（ms） 250
tripping voltage under voltage tripping（rated）(VDC） 50
overvoltage tripping（VDC） 420
over-temperature Power board overtemperature Indicates the fault temperature（Stable temperature）（℃） 100±5%
regenerative brake Internal busbar capacitance（uF）
VLOW（Regenerative circuit off）（VDC） 380 (can set)
VMAX（Regenerative circuit on）（VDC） 400 (can set)

Servo module control specifications

Interface options: Analog voltage/pulse instruction /RS232 control specification
Item spec explain
motor Ac and DC Rotary servo motor, linear servo motor
Auto Config Automatic configuration of motor phase and phase line Settings
running mode Selectable mode Torque control, speed control, position control
torque control Input instruction/output instruction Speed command/PCOC
performance refresh rate62.5us (16kHz)
Step response time
control method DQ, PI
reference command simulate±10VDC，serial RS232
auto adjust Manually adjust the current loop parameters
speed control Input instruction/output instruction Speed command / PCOC
performance refresh rate: 125 μs (8 kHz)
Optional speed control method PI
filter First-order low-pass filter, two-cascaded first-order low-pass filter
reference command simulation±10 VDC, serial RS232 or USB
position control Input instruction/output instruction Position command/speed command
performance refresh rate:250us（4kHz）
control method PID and acceleration feedforward
reference command Pulse & direction with electronic drive，serial ，serial RS232
status display modality Fase 7 LED (Red)，Display drive status (alarm, running, enable, etc.)
electronic gear method User defined gear ratio
GUI UI base on Windows serial port software
function Set connection, drive information, power information, motor, feedback, I/O selection/configuration, motion Settings/adjustments, fault history/status display, etc.
Rotate toward unit position pulse（Counts）
speed per minute （rpm）
Acceleration/deceleration rps/s
line unit position pulse（Counts）、mm
speed mm/s
Acceleration/deceleration mm/s2

Servo module communication specifications

Communication specification
number spec
RS232 base on modbus RTU
Baud rate: 19200 bit/s
Maximum conductor length: 10 m
High-Speed Serial (Specially used to observe waveforms) Based on custom protocols
Baud rate: 115200 - 750000 bit/s
Maximum conductor length:2 m

Servo module I/O specifications

Servo module I/O specifications
Item standard explain
analog input voltage range simulate ±10 VDC Finite difference
zero attenuation 100 Hz
bandwidth (-3 dB)  500 Hz
Pulse & Direction signal RS 422 line receiver
Maximum input frequency 1.6 MHz (will be increased to 5MHz in the future)
Digital input (8 channels) signal Configurable, light isolated, drain input.
(General IO configurable related pin function) voltage 24 V
Maximum input current 10 mA
Transfer delay time 1 ms
Digital output (6 channels) signal Configurable, light isolated, drain input.
(General IO configurable related pin function) voltage 24 V
Maximum input current 40 mA
Transfer delay time 1 ms
Main I/O function signal function explain
input signal（Ports can be configured） forward limit Positive limit switch
Negative limit Negative limit switch
Return Origin Origin switch
Motor enable External enable signal
ALM-RST External clear alarm signal
speed limitation Torque control with speed limit input
Output signal (port configurable) Servo positioning complete Servo execution positioning complete signal
SERVO stoped Servo execution stop signal
SERVO ALARM Servo error alarm signal
Servo brake Servo brake control signal
Servo phase seeking complete Servo phase seeking complete signal
Servo return to zero complete Servo return to zero complete signal

Servo module supports motor feedback specifications

Supported motor feedback specifications
motor feedback specifications explain
summary Driver output voltage 5 VDC
Maximum output current of the driver 250 mA
Maximum cable length AWG 28 – 3 m； AWG 24 – 10 m
incremental encoder signal With (or without) a zero/hall signal AB quadrature signal encoder differential output
AB Orthogonal maximum input frequency 1.6 MHz (Orthogonality conditions) (It will be increased to 5MHz in the future)
Minimum zero pulse width 1 µs
Hall sensor signal single-ended
Sinusoidal encoder (will be added in next version) signal Sine-cosine difference, with or without Hall
signal level 1 Vpp @ 2.5 V
Maximum input frequency 270 kHz
input impedance 120 Ω
interpolation Max to 16384 (14 bit)
Effective interpolation Max to 4096 (12 bit)

Motor signal feedback wire pin definition

The motor feedback interface is wired according to the type of feedback device used in practical applications. See the pin outlet table below for details.

The motor temperature sensor uses 12/25 pins and has been pulled up to 5V through the module interior.

Motor signal feedback wire pin definition
Pin define Module pin function Pin define Module pin function
1 97 incremental encoder A+ 14 98 incremental encoder A-
SSI encoder data+
2 96 incremental encoder B+ 15 95 incremental encoder B-
SSI encoder clock+ SSI encoder clock-
3 93 incremental encoder Z+ 16 94 incremental encoder Z-
4 116 Hall U+ 17 115 Hall V+
5 114 Hall W+ 18 / /
6 / / 19 / /
7 / / 20 / /
8 / / 21 / /
9 111 Sine encoder sine+ 22 110 Sine encoder sine-
10 109 Sine encoder cosine+ 23 108 Sine encoder cosine-
11 3、4 5V power 24 Common ground with module ground（5V loop）
12 91 Motor temperature sensor 25 90 Motor temperature sensor
13 3、4 5V power 26 / shield

Servo module I/O port pin definition

The digital/analog inputs and outputs are wired according to the requirements of your application. To keep the digital I/O isolated, the ground of your 24V loop is connected to pins 1 and 19, which drive the digital input pins and require you to provide a 24V signal.

Servo module I/O port pin definition
Pin define Module pin function explain Pin define Module pin function explain
1 64 Digital input to the public ground user provides a 24V input signa ground 19 72 Digital output to the public ground provides 24V pull-up ground
2 107 Equivalent encoder output Z+ Equivalent encoder output signal Z forward direction 20 84 RS485 ommunication input - RS485 ommunication input -(Or B terminal)
3 / / 21 83 485 input + RS485 communication input +(Or A terminal)
4 106 Equivalent encoder output Z- Equivalent encoder output signal Z negative 22 73 Digital input 8 Optically isolated programmable digital input 8
5 104 Equivalent encoder output B+ Equivalent encoder output signal B forward direction 23 74 Digital input 7 Optically isolated programmable digital input 7
6 / / 24 75 Digital input 6 Optically isolated programmable digital input 6
7 105 Equivalent encoder output B- Equivalent encoder output signal B negative 25 Common ground with module DGND DGND
8 112 Analog input AN+ Diff forward direction of analog instruction input 26 76 Digital input 5 Optically isolated programmable digital input 5
9 103 Equivalent encoder output A- Equivalent encoder output signal A negative 27 77 Digital input 4 Optically isolated programmable digital input 4
10 Common ground with module DGND DGND 28 78 Digital input 3 Optically isolated programmable digital input 3
11 102 Equivalent encoder output A+ Equivalent encoder output signal A forward direction 29 Common ground with module DGND DGND
12 113 Analog input AN- Differential analog instruction input in negative direction 30 68 Digital output 3 Optically isolated programmable digital output， can be read with OUT3
13 Common ground with module DGND DGND 31 65 Digital output 6 Optically isolated programmable digital output， can be read with OUT6
14 87 direction input - Direction Indicates the negative direction of the input 32 69 Digital output 2 Optically isolated programmable digital output， can be read with OUT2
15 79 Digital input 2 Optically isolated programmable digital input，Read with IN2 33 80 Digital input 1 Optically isolated programmable digital input，Read with IN1
16 86 direction input + Direction Indicates the positive direction of the input 34 70 Digital output 1 Optically isolated programmable digital output， can be read with OUT1
17 89 impulse input + The pulse input is positive 35 66 Digital output 5 Optically isolated programmable digital output， can be read with OUT5
18 88 impulse input - The negative direction of the pulse input 36 67 Digital output 4 Optically isolated programmable digital output， can be read with OUT4

Servo module protection function and use environment requirements

Servo module protection function and use environment requirements
item  spec
Protection function Overcurrent, undervoltage and overvoltage, overtemperature, missing feedback, STO signal not connected, position following error, speed over, parameter error, etc.
Anti-flying car protection function When the motor is seeking phase, the external pulse input signal function (pulse & direction) and the receiving motion command function (RS232) are shielded to prevent motor accidents.

development

BPI-FSM8191D servo motor controller installation

General installation instructions

Follow the steps below to install and configure the driver module.

  • 1.According to the required operating power, select the appropriate power base plate.
  • 2.Complete all electrical links：
a)Install the servo module onto the module switching base plate
b)Connect the switching base plate to the power plate
c)motor
d)motor feedback
e)Safe torque switching (STO), or shorting with a jumper
f)IO control signal
g)AC input power supply
  • 3.Connect the drive to the PC using a USB/232 cable.
  • 4.Power drives and PC。
  • 5.Connect to a fieldbus device (optional).
  • 6.Open FortiorTechServoStudio.exe（no need installation ）.
  • 7.use FortiorTechServoStudio Configure and debug drives.

FortiorTechServoStudio testing software

FortiorTechServoStudio

  • FortiorTechServoStudio is a graphical user interface (GUI) that comes with the servo module to install, configure, and debug the drive. FortiorTechServoStudio can be used to debug drive parameters online and perform specific drive operations.

FortiorTechServoStudio 1.jpg

  • FortiorTechServoStudio support two methods for initial system configuration：
Using [General - Backup and Recovery], click "Default Parameters" to complete the initial parameter configuration, then configure the motor parameters in [Motor], and configure the encoder resolution in [Feedback].
With [General - Backup and Recovery], the motor "Import Parameters" import previously configured motor parameter data.

FortiorTechServoStudio main interface consists of 5 functional areas:

  • 1.Toolbar, containing common quick function buttons。
Offline|Online – Toggle FortiorTechServoStudio online/offline and display the connection status. See section [Drive Online and Offline] 。
Enable|Disable – Enable/disable the drive and display the enable status of the drive
Save – Saves the parameters in the current drive RAM to the drive memory. It is recommended to use the Save button after configuring parameters to save parameter values in memory.
No FLT — Clear drive faults. This bit turns red when the drive fails, and the motor can clear the fault.
  • 2.information bar:
Stop —Stop the motor and disable the drive.
Help —FortiorTechServoStudio software online help. This feature is not enabled in this version of the software.
About —Information about the software version. In this version, the function is not available.
  • 3.sidebar:
include FortiorTechServoStudio A navigation menu of the interface.
The sidebar can be hidden or displayed with this arrow button.
  • 4.Main operating interface: Displays interactive interfaces for viewing, setting, and testing parameters and configuring drives. These interfaces are described in detail in other sections of this manual
Fault display: If there is no fault, the background of the status bar is green. If there is a fault, it is red. Click this area to open the [Fault] screen.
Warning: If there is no warning, the background of the status bar is green; If there is a warning, it is red.
Drive status: When the drive is enabled, the background of the status bar is green and Drive Active is displayed. When the drive is not enabled, it is red and ".
  • 5.Status bar: Displays the drive status.
Fault display: If there is no fault, the background of the status bar is green. If there is a fault, it is red. Click this area to open the [Fault] screen.
Warning: If there is no warning, the background of the status bar is green; If there is a warning, it is red (currently, no distinction is made between warning and fault).
Drive status: When the drive is enabled, the background of the status bar is green and Drive Active is displayed. If the Drive is not enabled, it is red and Drive Inactive is displayed.
Run mode: The background of this segment is gray. Displays the current running mode.
Curr：Displays the current running current
Vel：Displays the current motor speed.
Pos：Displays the current position of the motor.
Online/Offline：Connection status between the upper computer and the drive

Upper computer

referenced document

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