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| − | [[zh:BPI-FSM1819D 伺服电机驱动控制器]]
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| − | =Product overview=
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| − |
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| − | [[File:BPI-FSM1819D_1.jpg|thumb|[[BPI-FSM1819D 伺服电机驱动控制器]] 采用峰岹科技方案]]
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| − | [[File:BPI-FSM1819D_2.jpg|thumb|[[BPI-FSM1819D 伺服电机驱动控制器]] 采用Fortior tech方案]]
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| − |
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| − | 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.
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| − |
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| − | =Application direction=
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| − |
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| − | * 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.
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| − |
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| − | * 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
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| − |
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| − | * 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.
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| − |
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| − | * Optical industry: welding machine, focusing machine, pendulum machine, assembly machine, imaging detection, etc.
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| − |
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| − | =Hardware=
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| − |
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| − | [[File:BPI-FSM1819D_board.jpg]]
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| − |
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| − | =Hardware Specifications=
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| − | ==Common servo controller electrical specifications made of modules==
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Servo controller electrical specifications'''
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| − | |-
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| − | |Number ||spec ||
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| − | |-
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| − | |Power circuit input power supply（L1,L2,L3）||Rated Voltage（VAC line-line）±10% || 240
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| − | |-
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| − | | ||frequency（Hz） ||50
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| − | |-
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| − | | ||240VAC ||Single phase/three phase
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| − | |-
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| − | |Control circuit input power supply（L1C,L2C） ||240±10VAC ||Single phase
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| − | |-
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| − | |Logic input fuse (delay) ||240VAC(A) ||0.5
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| − | |-
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| − | |STO（Safe torque cut-off） ||STP DC（VDC） ||24±10%
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| − | |-
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| − | |STO Fuse (delay) ||240VAC(A) ||1.5
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| − | |-
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| − | |Motor outputs（U,V,W） ||Continuous output power supply（Arms） ||4.5
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| − | |-
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| − | | ||Continuous output power supply （Apeak）|| 6.63
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| − | |-
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| − | | ||Peak output current in 2 seconds（Arms）|| 14
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| − | |-
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| − | | ||Peak output current in 2 seconds（Apeak）|| 20
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| − | |-
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| − | | ||PWM frequency（kHz）|| 16
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| − | |-
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| − | |Soft boot ||maximum surge current（A） ||7
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| − | |-
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| − | | ||Maximum charging time（ms）|| 250
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| − | |-
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| − | |tripping voltage|| under voltage tripping（rated）(VDC）|| 50
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| − | |-
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| − | | ||overvoltage tripping（VDC） ||420
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| − | |-
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| − | |over-temperature||Power board overtemperature Indicates the fault temperature（Stable temperature）（℃） ||100±5%
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| − | |-
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| − | |regenerative brake|| Internal busbar capacitance（uF）||
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| − | |-
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| − | | ||VLOW（Regenerative circuit off）（VDC）|| 380 (can set)
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| − | |-
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| − | | ||VMAX（Regenerative circuit on）（VDC）|| 400 (can set)
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| − | |}
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| − |
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| − | ==Servo module control specifications==
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| − |
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Interface options: Analog voltage/pulse instruction /RS232 control specification'''
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| − | |-
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| − | |Item ||spec ||explain
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| − | |-
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| − | |motor ||Ac and DC ||Rotary servo motor, linear servo motor
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| − | |-
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| − | | ||Auto Config ||Automatic configuration of motor phase and phase line Settings
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| − | |-
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| − | |running mode|| Selectable mode ||Torque control, speed control, position control
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| − | |-
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| − | |torque control||Input instruction/output instruction||Speed command/PCOC
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| − | |-
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| − | | ||performance ||refresh rate62.5us (16kHz)
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| − | |-
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| − | | ||Step response time ||
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| − | |-
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| − | | ||control method ||DQ, PI
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| − | |-
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| − | | ||reference command ||simulate±10VDC，serial RS232
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| − | |-
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| − | | ||auto adjust ||Manually adjust the current loop parameters
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| − | |-
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| − | |speed control|| Input instruction/output instruction ||Speed command / PCOC
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| − | |-
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| − | | ||performance ||refresh rate: 125 μs (8 kHz)
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| − | |-
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| − | | ||Optional speed control method ||PI
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| − | |-
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| − | | ||filter||First-order low-pass filter, two-cascaded first-order low-pass filter
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| − | |-
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| − | | ||reference command ||simulation±10 VDC, serial RS232 or USB
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| − | |-
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| − | |position control|| Input instruction/output instruction ||Position command/speed command
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| − | |-
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| − | | ||performance ||refresh rate:250us（4kHz）
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| − | |-
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| − | | ||control method ||PID and acceleration feedforward
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| − | |-
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| − | | ||reference command ||Pulse & direction with electronic drive，serial ，serial RS232
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| − | |-
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| − | |status display ||modality ||Fase 7 LED (Red)，Display drive status (alarm, running, enable, etc.)
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| − | |-
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| − | |electronic gear ||method||User defined gear ratio
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| − | |-
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| − | |GUI ||UI ||base on Windows serial port software
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| − | |-
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| − | | ||function ||Set connection, drive information, power information, motor, feedback, I/O selection/configuration, motion Settings/adjustments, fault history/status display, etc.
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| − | |-
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| − | |Rotate toward unit|| position ||pulse（Counts）
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| − | |-
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| − | | ||speed ||per minute （rpm）
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| − | |-
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| − | | ||Acceleration/deceleration|| rps/s
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| − | |-
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| − | |line unit ||position ||pulse（Counts）、mm
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| − | |-
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| − | | ||speed ||mm/s
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| − | |-
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| − | | ||Acceleration/deceleration ||mm/s2
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| − | |-
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| − | |}
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| − |
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| − | ==Servo module communication specifications==
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Communication specification'''
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| − | |-
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| − | |number ||spec
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| − | |-
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| − | |RS232 ||base on modbus RTU
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| − | |-
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| − | | ||Baud rate: 19200 bit/s
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| − | |-
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| − | | ||Maximum conductor length: 10 m
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| − | |-
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| − | |High-Speed Serial (Specially used to observe waveforms) ||Based on custom protocols
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| − | |-
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| − | | ||Baud rate: 115200 - 750000 bit/s
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| − | |-
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| − | | ||Maximum conductor length:2 m
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| − | |}
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| − |
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| − | ==Servo module I/O specifications==
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Servo module I/O specifications'''
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| − | |-
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| − | |Item ||standard ||explain
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| − | |-
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| − | |analog input ||voltage range ||simulate ±10 VDC Finite difference
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| − | |-
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| − | | ||zero attenuation ||100 Hz
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| − | |-
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| − | | ||bandwidth (-3 dB) ||500 Hz
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| − | |-
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| − | |Pulse & Direction ||signal || RS 422 line receiver
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| − | |-
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| − | | ||Maximum input frequency ||1.6 MHz (will be increased to 5MHz in the future)
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| − | |-
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| − | |Digital input (8 channels) ||signal ||Configurable, light isolated, drain input.
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| − | |-
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| − | |(General IO configurable related pin function) ||voltage ||24 V
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| − | |-
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| − | | ||Maximum input current ||10 mA
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| − | |-
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| − | | ||Transfer delay time ||1 ms
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| − | |-
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| − | |Digital output (6 channels) ||signal ||Configurable, light isolated, drain input.
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| − | |-
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| − | |(General IO configurable related pin function) ||voltage ||24 V
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| − | |-
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| − | | ||Maximum input current ||40 mA
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| − | |-
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| − | | ||Transfer delay time ||1 ms
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| − | |-
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| − | |Main I/O function signal ||function ||explain
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| − | |-
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| − | |input signal（Ports can be configured）|| forward limit|| Positive limit switch
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| − | |-
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| − | | ||Negative limit ||Negative limit switch
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| − | |-
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| − | | ||Return Origin ||Origin switch
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| − | |-
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| − | | ||Motor enable ||External enable signal
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| − | |-
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| − | | ||ALM-RST ||External clear alarm signal
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| − | |-
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| − | | ||speed limitation ||Torque control with speed limit input
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| − | |-
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| − | |Output signal (port configurable)|| Servo positioning complete ||Servo execution positioning complete signal
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| − | |-
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| − | | ||SERVO stoped ||Servo execution stop signal
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| − | |-
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| − | | ||SERVO ALARM ||Servo error alarm signal
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| − | |-
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| − | | ||Servo brake ||Servo brake control signal
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| − | |-
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| − | | ||Servo phase seeking complete ||Servo phase seeking complete signal
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| − | |-
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| − | | ||Servo return to zero complete ||Servo return to zero complete signal
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| − | |-
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| − | |}
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| − |
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| − | ==Servo module supports motor feedback specifications==
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Supported motor feedback specifications'''
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| − | |-
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| − | |motor feedback ||specifications ||explain
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| − | |-
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| − | |summary||Driver output voltage ||5 VDC
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| − | |-
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| − | | ||Maximum output current of the driver ||250 mA
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| − | |-
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| − | | ||Maximum cable length ||AWG 28 – 3 m； AWG 24 – 10 m
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| − | |-
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| − | |incremental encoder ||signal ||With (or without) a zero/hall signal AB quadrature signal encoder differential output
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| − | |-
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| − | | ||AB Orthogonal maximum input frequency|| 1.6 MHz (Orthogonality conditions) (It will be increased to 5MHz in the future)
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| − | |-
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| − | | ||Minimum zero pulse width ||1 µs
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| − | |-
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| − | |Hall sensor ||signal ||single-ended
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| − | |-
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| − | |Sinusoidal encoder (will be added in next version) ||signal ||Sine-cosine difference, with or without Hall
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| − | |-
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| − | | ||signal level ||1 Vpp @ 2.5 V
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| − | |-
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| − | | ||Maximum input frequency ||270 kHz
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| − | |-
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| − | | ||input impedance ||120 Ω
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| − | |-
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| − | | ||interpolation ||Max to 16384 (14 bit)
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| − | |-
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| − | | ||Effective interpolation||Max to 4096 (12 bit)
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| − | |-
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| − | |}
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| − |
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| − | ==Motor signal feedback wire pin definition==
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| − | 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.
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| − |
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| − | The motor temperature sensor uses 12/25 pins and has been pulled up to 5V through the module interior.
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| − |
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Motor signal feedback wire pin definition'''
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| − | |-
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| − | |Pin define ||Module pin ||function ||Pin define ||Module pin ||function
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| − | |-
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| − | |1 ||97 ||incremental encoder A+ ||14 ||98 ||incremental encoder A-
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| − | |-
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| − | | || ||SSI encoder data+|| || ||
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| − | |-
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| − | |2 ||96 ||incremental encoder B+ ||15 ||95 ||incremental encoder B-
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| − | |-
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| − | | || ||SSI encoder clock+|| || ||SSI encoder clock-
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| − | |-
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| − | |3 ||93 ||incremental encoder Z+ ||16 ||94 ||incremental encoder Z-
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| − | |-
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| − | |4 ||116 ||Hall U+ ||17 ||115 ||Hall V+
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| − | |-
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| − | |5 ||114 ||Hall W+ ||18 ||/ ||/
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| − | |-
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| − | |6 ||/ ||/ ||19 ||/ ||/
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| − | |-
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| − | |7 ||/ ||/ ||20 ||/ ||/
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| − | |-
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| − | |8 ||/ ||/ ||21 ||/ ||/
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| − | |-
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| − | |9 ||111 ||Sine encoder sine+ ||22 ||110 ||Sine encoder sine-
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| − | |-
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| − | |10 ||109 ||Sine encoder cosine+|| 23|| 108 ||Sine encoder cosine-
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| − | |-
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| − | |11 ||3、4 ||5V power ||24 ||Common ground with module ||ground（5V loop）
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| − | |-
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| − | |12 ||91 ||Motor temperature sensor ||25 ||90 ||Motor temperature sensor
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| − | |-
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| − | |13 ||3、4 ||5V power ||26 ||/ ||shield
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| − | |-
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| − | |}
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| − |
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| − | ==Servo module I/O port pin definition==
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| − | 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.
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| − |
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''Servo module I/O port pin definition'''
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| − | |-
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| − | |Pin define ||Module pin ||function ||explain ||Pin define ||Module pin ||function||explain
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| − | |-
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| − | |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
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| − | |-
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| − | |2 ||107 ||等效编码器输出Z+ ||等效编码器输出的信号Z正向 ||20 ||84 ||RS485 通讯输入-|| RS485通讯输入-(或者B端)
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| − | |-
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| − | |3 ||/ ||/ || ||21 ||83 ||485输入+ ||RS485通讯输入+(或者A端)
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| − | |-
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| − | |4 ||106 ||等效编码器输出Z- ||等效编码器输出的信号Z负向 ||22 ||73 ||数字量输入8 ||光隔离可编程数字输入8
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| − | |-
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| − | |5 ||104 ||等效编码器输出B+ ||等效编码器输出的信号B正向 ||23 ||74 ||数字量输入7 ||光隔离可编程数字输入7
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| − | |-
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| − | |6 ||/ ||/ || ||24 ||75 ||数字量输入6 ||光隔离可编程数字输入6
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| − | |-
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| − | |7 ||105 ||等效编码器输出B- ||等效编码器输出的信号B负向 ||25 ||与模块共地 ||数字地 ||数字地
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| − | |-
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| − | |8 ||112 ||模拟输入量AN+ ||差分模拟量指令输入的正向 ||26 ||76 ||数字量输入5 ||光隔离可编程数字输入5
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| − | |-
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| − | |9 ||103 ||等效编码器输出A- ||等效编码器输出的信号A负向 ||27 ||77 ||数字量输入4 ||光隔离可编程数字输入4
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| − | |-
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| − | |10 ||与模块共地 ||数字地 ||数字地 ||28 ||78 ||数字量输入3 ||光隔离可编程数字输入3
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| − | |-
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| − | |11 ||102 ||等效编码器输出A+ ||等效编码器输出的信号A正向 ||29 ||与模块共地 ||数字地 ||数字地
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| − | |-
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| − | |12 ||113 ||模拟输入量AN- ||差分模拟量指令输入的负向 ||30 ||68 ||数字量输出3 ||光隔离可编程数字输出，可用OUT3读取
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| − | |-
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| − | |13 ||与模块共地 ||数字地 ||数字地 ||31 ||65 ||数字量输出6 ||光隔离可编程数字输出，可用OUT6读取
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| − | |-
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| − | |14 ||87 ||方向输入- ||方向输入的负向 ||32 ||69 ||数字量输出2 ||光隔离可编程数字输出，可用OUT2读取
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| − | |-
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| − | |15 ||79 ||数字量输入2 ||快速光隔离可编程数字输入，用IN2读取 ||33 ||80 ||数字量输入1 ||快速光隔离可编程数字输入，用IN1读取
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| − | |-
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| − | |16 ||86 ||方向输入+ ||方向输入的正向 ||34 ||70 ||数字量输出1 ||光隔离可编程数字输出，可用OUT1读取
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| − | |-
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| − | |17 ||89 ||脉冲输入+ ||脉冲输入的正向 ||35 ||66 ||数字量输出5 ||光隔离可编程数字输出，可用OUT5读取
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| − | |-
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| − | |18 ||88 ||脉冲输入- ||脉冲输入的负向|| 36 ||67 ||数字量输出4 ||光隔离可编程数字输出，可用OUT4读取
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| − | |-
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| − | |}
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| − |
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| − | ==伺服模块保护功能及使用环境要求==
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| − | {| class="wikitable"
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| − | |-
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| − | | style="background: PaleTurquoise; color: black" colspan="4"| '''保护功能及使用环境要求'''
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| − | |-
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| − | |项目 || 规格
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| − | |-
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| − | |保护功能 ||过流、欠压和过压、过温、反馈缺失、STO 信号未连接、位置跟随错误、速度过超、参数错误等。
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| − | |-
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| − | |防飞车保护功能|| 电机在寻相时，屏蔽外部脉冲输入信号功能（脉冲&方向）与接收运动指令功能（RS232），防止电机发生飞车事故。
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| − | |}
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| − |
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| − | =开发=
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| − | ==驱动器安装==
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| − |
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| − | ===安装概述===
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| − | 按以下步骤完成驱动器模块的安装及设定。
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| − | *1.根据需要的运行功率，选择合适的功率底板。
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| − | *2.完成所有电气链接：
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| − | ::a)将伺服模块安装到模块转接底板上
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| − | ::b)将转接底板和功路板连接
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| − | ::c)电机
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| − | ::d)电机反馈
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| − | ::e)安全转矩切换（STO），或用跳线短接
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| − | ::f)IO控制信号
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| − | ::g)AC输入电源
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| − | *3.使用USB/232电缆连接驱动器和PC。
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| − | *4.为驱动器和PC供电。
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| − | *5.连接至现场总线设备（可选）。
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| − | *6.打开FortiorTechServoStudio软件（无需安装）。
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| − | *7.使用FortiorTechServoStudio配置和调试驱动器。
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| − |
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| − | ===FortiorTechServoStudio testing software===
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| − | ====FortiorTechServoStudio ====
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| − | *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.
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| − |
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| − | [[File:FortiorTechServoStudio_1.jpg]]
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| − |
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| − | *FortiorTechServoStudio support two methods for initial system configuration：
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| − | ::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].
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| − | ::With [General - Backup and Recovery], the motor "Import Parameters" import previously configured motor parameter data.
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| − |
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| − | FortiorTechServoStudio main interface consists of 5 functional areas:
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| − | *1.Toolbar, containing common quick function buttons。
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| − | ::Offline|Online – Toggle FortiorTechServoStudio online/offline and display the connection status. See section [Drive Online and Offline] 。
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| − | ::Enable|Disable – Enable/disable the drive and display the enable status of the drive
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| − | ::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.
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| − | ::No FLT — Clear drive faults. This bit turns red when the drive fails, and the motor can clear the fault.
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| − | *2.information bar:
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| − | ::Stop —Stop the motor and disable the drive.
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| − | ::Help —FortiorTechServoStudio software online help. This feature is not enabled in this version of the software.
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| − | ::About —Information about the software version. In this version, the function is not available.
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| − | *3.侧边栏:
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| − | ::包含FortiorTechServoStudio界面的一个导航菜单。
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| − | ::侧边栏可以通过该箭头按钮隐藏或显示。
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| − | *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。
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| − | ::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。
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| − | ::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。
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| − | ::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“”。
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| − | *5.状态栏:显示驱动器状态。
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| − | ::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。
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| − | ::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）。
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| − | ::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”。
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| − | ::运行模式： 此段背景为灰色。显示当前运行模式。
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| − | ::Curr：显示当前运行电流。
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| − | ::Vel：显示当前电机转速。
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| − | ::Pos：显示电机当前位置。
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| − | ::Online/Offline：上位机和驱动器连接状态
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| − | ==源代码==
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| − | ==上位机==
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| − | ==参考文档==
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| − | *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
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