BPI - FSM8191D servo motor controller

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

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.根据需要的运行功率，选择合适的功率底板。
• 2.完成所有电气链接：

a)将伺服模块安装到模块转接底板上

b)将转接底板和功路板连接

c)电机

d)电机反馈

e)安全转矩切换（STO），或用跳线短接

f)IO控制信号

g)AC输入电源

• 3.使用USB/232电缆连接驱动器和PC。
• 4.为驱动器和PC供电。
• 5.连接至现场总线设备（可选）。
• 6.打开FortiorTechServoStudio软件（无需安装）。
• 7.使用FortiorTechServoStudio配置和调试驱动器。

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 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.侧边栏:

包含FortiorTechServoStudio界面的一个导航菜单。

侧边栏可以通过该箭头按钮隐藏或显示。

• 4.主操作界面:显示查看、设定和测试参数和配置驱动器的各个交互式界面。这些界面会在本手册的其他章节中详细说明。

故障显示： 如果没有故障，此段状态栏背景为绿色；若存在故障，则为红色。点击该区域，可打开【故障】界面。

警告显示： 若没有警告，此段状态栏背景为绿色；若存在警告，则为红色。

驱动器状态： 当驱动器使能时，此段状态栏背景为绿色，显示“Drive Active”；当驱动器未使能时为红色，显示“”。

• 5.状态栏:显示驱动器状态。

故障显示： 如果没有故障，此段状态栏背景为绿色；若存在故障，则为红色。点击该区域，可打开【故障】界面。

警告显示： 若没有警告，此段状态栏背景为绿色；若存在警告，则为红色（目前警告和故障没做区分）。

驱动器状态： 当驱动器使能时，此段状态栏背景为绿色，显示“Drive Active”；当驱动器未使能时为红色，显示“Drive Inactive”。

运行模式： 此段背景为灰色。显示当前运行模式。

Curr：显示当前运行电流。

Vel：显示当前电机转速。

Pos：显示电机当前位置。

Online/Offline：上位机和驱动器连接状态

参考文档

• BPI-FSM1819D硬件介绍及快速上手视频：https://www.bilibili.com/video/BV1oT411x77T/?spm_id_from=333.999.0.0&vd_source=9cec068046db4b144de233a027e084ce