Wittenstein cyber motor cyber reaction wheel 2 Technical manual

Doc. no.: 5022-D060586 Revision: 02
cyber®reaction wheel 2
Project planning guide

Project planning guide cyber®reaction wheel 2
en-2 Doc. no.: 5022-D060586 Revision: 02
Revision history
Revision
Date
Comment
Chapter
01
12/08/2021
New Version
All
Technical support
In the event of technical questions, contact the following address:
WITTENSTEIN cyber motor GmbH
Sales
Walter-Wittenstein-Str. 1
D-97999 Igersheim
Tel.: [phone]
Fax: [phone]
Email: [e-mail]
If you have any questions about installation, startup or optimization, please contact our support
hotline.
WITTENSTEIN cyber motor GmbH support hotline
Tel.: [phone]
In the event of technical malfunctions, contact us at the following address:
WITTENSTEIN cyber motor GmbH
Customer Service
Walter-Wittenstein-Str. 1
D-97999 Igersheim
Tel.: [phone]
Email: [e-mail]
Copyright
© WITTENSTEIN cyber motor GmbH 2021
This documentation is protected by copyright.
WITTENSTEIN cyber motor GmbH reserves all the rights to photo-mechanical reproduction,
copying, and the distribution by special processes (such as computers, file media, data
networks), even in parts.
Subject to technical and content changes without notice.

cyber®reaction wheel 2 Project planning guide
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Contents
1About this manual 1
1.1 Signal words 2
1.2 Safety symbols 3
1.3 Structure of the safety information
3
1.4 Information symbols 3
2Product characteristics 4
2.1 cyber®reaction wheel 2 5
2.1.1 Type code 5
2.1.2 Name plate 6
2.1.3 Packaging and scope of delivery 6
2.1.4 System characteristics 7
2.1.4.1 DC power, torque and speed 7
2.1.4.2 Control characteristics 8
2.1.5 Electrical data 8
2.1.5.1 Pin assignment of connector A 9
2.1.5.2 Pin characteristics of connector A 9
2.1.5.3 Use of digital IOs 10
2.1.6 Control and setpoint selection of
the reaction wheel 11
2.1.7 Ensuring availability of the
reaction wheel 11
2.1.8 Environmental conditions 12
2.1.9 Vibration/shock 12
2.1.10 Electromagnetic Compatibility
(EMC) 12
2.2 cyber®reaction wheel starter kit
13
2.2.1 Type code 13
2.2.2 Intended use 13
2.2.3 Packaging and scope of delivery 14
2.2.4 Structure 15
2.2.5 Electrical interfaces 16
2.2.5.1 A: USB port 16
2.2.5.2 B: Application interface 17
2.2.5.3 D: Interface to reaction wheel 18
2.2.5.4 E: Supply voltage 18
2.2.6 LEDs 19
2.2.7 Application notes 19
2.2.7.1 Setting the supply voltage 20
2.2.7.2 Provision of V-IO for the logic
blocks on the starter kit 20
2.2.7.3 Integration of digital IOs 20
2.2.7.4 UART switching 21
2.2.7.5 Brake chopper: Dissipation of
recuperation energy 21
2.2.8 Environmental conditions 22
2.3 Graphical user interface cyber®
reaction wheel assistant 23
2.3.1 Installation of the cyber®reaction
wheel assistant 23
2.3.2 CHM-Help 23
2.3.3 Oscilloscope 23
2.3.4 Setting of communication
parameters 24
2.3.4.1 Setting the I2C address 24
2.3.5 Changing important system
parameters 25
2.3.5.1 Setting the voltage limits 25
2.3.5.2 Setting speed and current limits 26
3Startup of the cyber®reaction
wheel 2 27
3.1 Safety instructions 27
3.2 Preparations 27
3.3 Startup with the cyber®reaction
wheel assistant 27
3.3.1 Installation at cyber® reaction
wheel starter kit 28
3.3.2 Establishing the power supply 28
3.3.3 Establishing a connection 28
3.3.4 Speed setting 29
3.4 Prototypical integration of the
cyber®reaction wheel 2 into an
ADCS environment 30
3.4.1 Preparations at the cyber® reaction
wheel starter kit 30
3.4.2 Example of an integration of a
reaction wheel for startup via SPI
with a Nucleo board from ST 30
3.4.3 Communication interfaces 32
3.4.3.1 I2C interface 33
3.4.3.2 SPI interface 33
3.4.3.3 UART interface 34
3.4.4 Wittenstein software stack for
integration of the reaction wheel 35
3.5 Diagnostics using the cyber®
reaction wheel assistant 35
3.6 Firmware update 36
3.6.1 Firmware update with the cyber®
reaction wheel assistant 36
3.6.2 Firmware update with ADCS 36
4Integration of the cyber®reaction
wheel 2 into a satellite 37
4.1 Electrical integration of the
cyber®reaction wheel 2 37
4.2 Mechanical integration of the
cyber®reaction wheel 2 38
4.3 Installation of the cyber®
reaction wheel 2 38
4.4 Requirements for power
adapters and supply voltage 39
4.5 Installation space 39
4.6 Mounting position 39
4.7 Cooling 39
4.8 Maintenance 39
4.9 Software-side integration in
ADCS 39

Project planning guide cyber®reaction wheel 2
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1 About this manual
These instructions contain information required for the safe use of the cyber®reaction wheel 2
system, also referred to as the reaction wheel and the cyber®reaction wheel starter kit, also
referred to as starter kit.
The document must always be used in connection with the cyber®reaction wheel 2 operating
manual.
Each drive system is clearly described by its serial number (SN).
In case of conflict between this general operating manual and the material-specific
documentation, the material-specific documentation applies. This project planning guide is valid
for the product (drive system) unless another, material-specific documentation exists.
If this manual is supplied with amendment sheets (e.g. for special applications), then the
information in the amendment is valid. Contradictory specifications in this manual are therefore
void.
The operator must ensure that this operating manual is read through by all persons assigned to
install, operate, or maintain the drive system, and that they fully comprehend its content.
Store this manual within reach of the drive system.
Inform colleagues who work in the area around the machine about the safety instructions so
that no one sustains injuries.
The original was prepared in German, all other language versions are translations of the
original manual.
1.1 Signal words
The following signal words are used to indicate hazards, things that are forbidden and
important information:
This signal word indicates an imminent danger that will cause
serious injuries or even death.
This signal word indicates a potential hazard that could cause
serious injuries and even death.
This signal word indicates a potential hazard that could cause
minor or serious injuries.
This signal word indicates a potential hazard that could lead to
property damage.
A note without a signal word indicates application tips or especially
important information for handling the drive system.
DANGER
WARNING
CAUTION
NOTICE

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1.2 Safety symbols
The following safety symbols are used to indicate hazards, things that are forbidden and
important information:
General danger
Hot surface
Electric voltage
Electrostatically
sensitive device
1.3 Structure of the safety information
Safety information in this manual has been structured according to the following template:
Explanatory text shows the consequences of disregarding this
information.
•Instructive text uses direct address to indicate what to do.
1.4 Information symbols
The following information symbols are used:
•Indicates an action to be performed
Indicates the results of an action
Provides additional handling information
CAUTION

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2 Product characteristics
The reaction wheel with integrated servo controller provides a defined angular momentum. It is
used to exchange an adjustable angular momentum with a satellite body. This induced angular
momentum can be used for alignment of the satellite body or for compensation of interferences
from the environment. The reaction wheel can be used in satellites with high demands for
alignment accuracy.
This document is intended to familiarize the user with the use of the cyber®reaction wheel 2.
Following the product specifications of the cyber®reaction wheel 2, the cyber®reaction wheel
starter kit and the cyber®reaction wheel assistant are the chapter on startup working with the
reaction wheel as well as prototypical integration into ADCS including a description of the
available interfaces SPI, I2C and UART.
In the end, integration into an ADCS is explained.
In addition, the software interface of the cyber®reaction wheel 2 is explained in the interface
control document.
The following table provides an initial overview of the cyber®reaction wheel 2
Designation
A
Power and signal connector
B
Housing
C
Base plate
D
Fastening screw thread
E
Name plate
F
Data Matrix code with link to service portal
G
Serial number
Table 1: Overview of the cyber®reaction wheel 2

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2.1 cyber®reaction wheel 2
The WITTENSTEIN cyber®reaction wheel 2 is an intelligent drive system with a maximum
angular momentum of 2 mNms.
Possible communication interfaces are SPI, I2C and UART.
The intelligence is reflected in an encoderless control system with a high diagnostic depth and
the range of functions of industrial drive technology. The sign change of the angular momentum
as well as the operation throughout the angular momentum range can be done without any
limitations.
Intuitive startup and integration of the drive system is made possible by the cyber®reaction wheel
starter kit with the PC-based, graphical user interface cyber®reaction wheel assistant. It includes
a wide range of options for parameterization, diagnostics and control. The CHM help is also part
of the cyber®reaction wheel assistant.
Alternatively, the reaction wheel can be easily started up with a microcontroller using the cyber®
reaction wheel starter kit. For this, WITTENSTEIN cyber®motor offers a communication stack
that ensures easy integration into an ADCS.
Both possibilities for startup are described in sections 3.3 and 3.4.
2.1.1 Type code
Figure 1.1: crw type code

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2.1.2 Name plate
The name plate consists of a laser inscription on the motor housing.
Designation
1
Product designation
2
Calendar week and year of production
3
DC bus voltage UDC
4
Maximum power Pmax, el
5
No-load speed n0
6
DC bus current IDC
7
Angular momentum Ln
8
Mass m
9
Maximum torque Mmax
10
Protection class
11
Manufacturer
12
Data Matrix code: Serial number
Table 2: Name plate of cyber®reaction wheel 2
Customized deviations are permissible.
The Data Matrix code (DMC) under the name plate is in the format C18x18 according to ECC200.
It contains the Service Portal Address including the Service Portal Code.
2.1.3 Packaging and scope of delivery
The drive system is delivered packed in foil and/or cardboard boxes.
•Dispose of the packaging materials at the recycling sites intended for this purpose.
Please observe the valid national regulations for waste disposal.
•Check the completeness of the delivery against the delivery note.
Immediately notify the carrier, the insurance company, or
WITTENSTEIN cyber motor GmbH in writing of any missing parts or damage.

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2.1.4 System characteristics
The maximum admissible technical data is described in the following table 3
For additional information, please contact our sales department. Always state the serial number
(SN) when doing so.
System data
Unit
Value
Angular momentum at 18000 rpm
mNms
2
Max. speed
rpm
19000
Nominal speed
rpm
18000
Nominal power1
W
0.2
Max. acceleration time to 18000 rpm
s
7
Max. acceleration
rev/s²
60
Max. deceleration with recuperation
rev/s²
60
Max. deceleration without recuperation
rev/s²
30
Weight
g
30
Max. static imbalance
gmm
0.02
Max. dynamic imbalance
gmm²
0.2
Table 3: System characteristics of cyber®reaction wheel 2
2.1.4.1 DC power, torque and speed
The following figure shows the DC power and torque against the speed at different accelerations.
Figure 1.2: DC power and torque profiles against the velocity at accelerations of the cyber®reaction wheel 2 from 0 rev/s² to
60 rev/s² at UDC = 5 V
1
The rated connection power refers to operation at a stationary velocity of 8000 rpm with run-in bearings and an intermediate
circuit voltage of 5 V. After an extended standstill, power consumption may be temporarily increased.

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2.1.4.2 Control characteristics
According to the following figure, the cyber®reaction wheel 2 can be approximated as a first or
second order system.
Figure 1.3: Illustration of the step response of the cyber®reaction wheel 2 at an acceleration jump from 0 rev/s² to 60 rev/s²
Wittenstein recommends using a transfer function second order with the following parameters for
simulation to better map the settling time:
1+Tz*s
G(s) = Kp * -------------------------------- * exp(-Td*s)
1+2*Zeta*Tw*s+(Tw*s)^2
Kp = 0.983
Tw = 0.228
Zeta = 1.867
Td = 0.01
Tz = 0.908
SettlingTime: ~1.7
Overshoot: ~10 %
2.1.5 Electrical data
Electrical data
Unit
Value
Nominal supply voltage
V DC
5
Supply voltage range
V DC
3.0…8.8
Max. power input (configurable)
mW
<2000
Inrush current power off/on
mA
480
Inrush current disable/enable
mA
560
Plug-in cycles for connector A
number
max. 30
Table 4: Overview of electrical data of the cyber®reaction wheel 2