Solo MEGA SLSGB002PW2000 User manual

SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Product Description
Power Range
SOLO MEGA with part number of
SLSGB000PW2000 is a member of the SOLO
motor controllers family of devices capable of
driving and controlling various types of
electrical motors like DC brushed, BLDC,
PMSM and EC coreless motors in a single
platform.They are made to be easy to use with
state of art technologies and Dual Core
parallel processing architecture on top of FOC
control methods.
SOLO MEGA supports sensor-based Torque,
Speed and Position controlling plus other
options like full digital and analog controls and
active safety measures to keep the
applications safe from unforeseen behaviors.
Supply Voltage Range : 8- 60 VDC
Peak Current: 220A peak to peak
Continuous Current: 120A DC, 110A RMS
Features
●Easy to use
●Drives and Controls DC brushed,
BLDC, PMSM and EC coreless motors
●Torque, Speed and Position controlling
●Four Quadrant Regenerative operation
●Automatic parameter Identification
and self-tuning
●Isolated STO(Safe Torque off)
●Isolated USB, UART and CANopen
●Supports PT1000 temperature sensors
●Sleep mode with consumption of
2.6mA
●Field Oriented Control with Nested
Position-Speed-Torque loops
●Dual Core with Parallel Processing
Architecture
●Bus over-voltage, Bus under-voltage ,
over-current and over temperature
protections
●Active Brake Chopper
●Full Digital and Analogue Control
●Space Vector Modulation (SVM)
●Embedded Motion Profile (St-Curve)
for Position and Speed
Modes of Operation
Commands and feedbacks Source
●Analogue or Digital commanding
●Torque Control
●Speed Control
●Position Control
●0-10V Analogue/ PWM inputs for
Speed or Torque control
●Analogue torque and speed feedbacks
●Optically isolated quadrature Encoder
and Hall sensor inputs
●Isolated UART, USB and CAN bus
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Applications
●Industrial Automations
●Robotics and Traction Units
●Drones
●Automotive Industries
●Household Appliances
●Medical Devices
●Aerospace
●Textile Industry
●Automated Guided Vehicles (AGVs)
●Heating, Ventilation and Air-Conditioning (HVAC)
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Identification of hazards and instructions on how to prevent them
Danger
Immediate dangers which can lead to death or serious injuries.
Warning
Hazards that can cause serious damages or injuries.
Caution
Hazards that can cause minor injuries or material damage.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Revision History:
Revision
Date
Changes
Firmware version
V1.0.0
31/05/2023
- First Release
0x0000B00F
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Table of Contents
Power Specifications: 7
Control and Timings specifications: 8
Thermal Specifications: 9
Mechanical Specifications: 9
Mechanical Dimensions: 10
Absolute Maximum Voltage Ratings: 11
Standards and Conformities: 13
Overview of the product 14
Functional Block Diagram: 15
Theory of Operation: 16
FOC control Architecture in SOLO MEGA for 3-phase Motors: 17
Cascade control Architecture in SOLO MEGA for DC Motors: 18
SOLO MEGA’s Interactional Sections: 19
Connectors and Sections: 20
Sections [2, 4, 6] - Motor Outputs 20
Sections [17, 18] - Supply Inputs 21
Section [5] J3 - Analogue I/O Port 22
Section [15] - Isolated USB Connection 27
Section [1] J2 - Encoder/Hall Connector 28
Section [3] J7 - Communication Connector 30
Section [7] J6 - Future Reserved Connector 31
Sections [11,12] - Functionality LEDs 32
Section [13] - Power Up LED 33
Section [10] J9 -STO and Sleep Connector 34
Section [9] J8 - Active Brake Chopper 36
Section [8] - Brake Activation LED 38
Connectors and their Matings Part Number: 39
Analogue versus Digital Control in SOLO MEGA 40
SOLO MEGA Wirrings 41
Wiring Legend: 41
Safe Torque Off (STO) Wiring: 42
1- Wire STO to a safety relay using external +5V DC supply voltage: 42
2- Wire STO to a safety relay using internal +5V isolated supply voltage: 43
3- Wire STO to a safety relay using internal +5V non- isolated supply voltage: 44
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
4- By Passing STO without external commanding devices: 45
STO Timing Diagram 45
Analogue wiring in SOLO MEGA: 47
1- Analogue wiring in case of controller with NPN outputs: 47
2- Analogue wiring in case of controller with PNP outputs: 48
3- Analogue wiring in case of Embedded MCU Boards: 49
Wiring with HALL Sensors: 50
Wiring with Incremental Encoders: 51
1- Wiring in case of Single Ended Incremental Encoders: 51
2- Wiring in case of Differential Incremental Encoders: 52
Wiring of Sleep Mode input: 53
Wiring of DFU Mode input: 53
PT1000 temperature sensor wiring: 54
Wiring and Setup of Active Brake Chopper: 56
Analogue Torque and Speed Feedbacks and Wiring: 58
Digital Mode Wirings: 60
Isolated USB Interface Wiring 60
Isolated UART Interface Wiring 61
Isolated CAN bus Interface Wiring 62
Full Wirings of SOLO MEGA: 63
In this section some full wiring of SOLO MEGA will be demonstrated. 63
Standalone Wiring (No External Modules): 63
Embedded MCU Boards using Analogue/PWM: 65
Embedded MCU Boards Using UART: 66
Embedded MCU Boards Using CANopen: 67
General Wiring Considerations in SOLO MEGA: 68
1- Avoid running feedbacks and power wires together 68
2- Avoid making ground loops 68
Temperature and Max Current Behaviour: 69
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Power Specifications:
Description
Units
Values
DC Supply Voltage Range (continuous)
VDC
8 to 60
Active Brake Chopper Activation Voltage
VDC
61
Software Overvoltage Activation Voltage
VDC
63V
Hardware Overvoltage Activation Voltage
VDC
66.4
DC Bus Undervoltage Limit
VDC
7
Maximum Peak Output Current
A
220A peak to peak
Maximum Continuous Output Current
A
120A DC, 110A RMS
Maximum Continuous Output Power
W
6000
Internal Bus Capacitance
µF
4700
Switching Frequency (Output PWM Frequency)
kHz
8 to 80
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Control and Timings specifications:
Description
Units
Values
Analogue Speed or Torque Commands
VDC
0-10V Analogue voltages or PWM inputs
with frequency above 5kHz
Digital Direction Control
VDC
0 - 3.3/5/12V
Modes of Operation
-
Torque - Speed- Position
Motors supported
-
DC brushed - BLDC - PMSM - EC Coreless
Hardware Protections
-
Bus over-voltage, Bus under-voltage,
over-current and over temperature
Current (Torque) Loop sampling time
µs
Synched to PWM frequency ( Min 7 µs)
Current (Torque) Loop execution time
µs
7
Speed controller Loop sampling time
µs
500
Speed controller Loop execution time
µs
75
Position controller Loop sampling time
µs
500
Position controller Loop execution time
µs
75
Maximum Encoder Frequency (Pre-Quad)
MHz
2
Current Measurement Resolution
mA
80
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Thermal Specifications:
Description
Units
Values
Board Temperature Range
°C
-20 to 85
Heatsink (base) Temperature Range
°C
0 - 85
Cooling system
-
Natural Convection
Mechanical Specifications:
Description
Units
Values
Size (H x W x D)
mm
42.21 x 154 x 94
Weight (with heatsink)
gr
933
Form Factor
-
Wall Mount
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June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO MEGA User Manual
Part Number: SLSGB002PW2000
Mechanical Dimensions:
- All the measurements are in millimeters.
www.solomotorcontrollers.com
June 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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