UM1040
User manual
STEVAL-SPIMD20 demonstration kit based on
the SPIMD20 integrated motor drive
Introduction
The STEVAL-SPIMD20 demonstration kit provides a complete demonstration platform for
evaluating the functionality and the performance of the SPIMD20 power drive system
designed by STMicroelectronics in cooperation with ROBOX S.p.A.
The SPIMD20 is an integrated motor drive with real-time connectivity enabling brushless
motor manufacturers to create a proprietary motion control system based on a general
purpose brick.
Figure 1.
STEVAL-SPIMD20 demonstration kit
December 2011
Doc ID 18362 Rev 3
1/19
www.st.com
Contents
UM1040
Contents
1
2
STEVAL-SPIMD20 kit contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Connection and initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1
2.2
2.3
2.4
2.5
Electrical connection of the SPIMD20 to the motor and the junction tower
AS3036.001 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
SPIMD20 initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Loading the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Initialization of the SPIMD20/motor base parameters . . . . . . . . . . . . . . . . 5
Execution of the autotuning and parameter saving procedures . . . . . . . . . 7
Appendix A Connectors diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
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STEVAL-SPIMD20 kit contents
1
STEVAL-SPIMD20 kit contents
The STEVAL-SPIMD20 demonstration kit contains the following items:
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2 kW shuttle module (SPIMD20)
Software package
Connection board adapter (08447.501)
Junction tower for mounting on motor (AS3036.001)
Cables and connectors
User manuals
This manual refers to the use of the SPIMD20 with the junction tower (AS3036.001) and the
Robox RDE programming suite (supplied with this kit). All these operations can also be
carried out using the connection adapter board (refer to the other documentation in the kit)
which outputs all the communication interfaces of the SPIMD20.
Figure 2.
STEVAL-SPIMD20 demonstration kit package
Doc ID 18362 Rev 3
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Connection and initialization
UM1040
2
Connection and initialization
To employ the SPIMD20 module with the software supplied in the kit, the following steps are
required:
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Electrical connection of the SPIMD20 to the motor and the junction tower AS3036.00
(see
Section Appendix A: Connectors diagrams)
SPIMD20 initialization
Software loading
Initialization of the SPIMD20/motor base parameters
Execution of the autotuning and parameter saving procedures
Execution of the motor control tests.
2.1
Electrical connection of the SPIMD20 to the motor and the
junction tower AS3036.001
1.
2.
3.
Connect the SPIMD20 to the motor following the indications from the “Pinout
description” section of the SPIMD20 datasheet, and install it on the motor.
Install the junction tower (code AS3036.001) on the SPIMD203.
Connect the cable CAVO2SPIMD/2.5/2 to the auxiliary supply (24 VDC) and to the DC
bus bar (up to 800 VDC)
2.2
SPIMD20 initialization
1.
2.
Connect the serial cable CAVO1SPIMD/RS232/1.5 to the appropriate connector of the
junction tower (code AS3036.001) and to the PC
Turn on the auxiliary voltage (18/48 VDC) on the SPIMD20 by pressing and holding the
PB button of the serial cable. This sets the SPIMD20 to BOOT mode (the 2 LEDs - red
and green - on the junction tower blink simultaneously)
Open a HyperTerminal connection on the PC serial port with the settings:
115200,8,n,1, no flow control
Press the “ENTER” key to display the operations menu
Press key “2” to format the Flash memory and remove the older software versions and
parameter files (if present)
3.
4.
5.
2.3
Loading the software
In the HyperTerminal menu, press key “3” to enter the software loading mode and start the
loading session:
1.
2.
3.
Right-click in the HyperTerminal menu > send file >
SPIMD20_LOCAL_vnn_nn_nnnn.rbx
When the loading session is terminated, press “0” to reset the SPIMD20 (or switch the
SPIMD20 off and on) and close the HyperTerminal window
The BOOT software tests the presence of application software and updates the system
before running it (after a few seconds the two LEDS on the junction tower blink again)
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The basic software provides three interface options:
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Connection and initialization
SPIMD20_LOCAL_vnn_nn_nnnn.rbx (Local interface): allows control of the
SPIMD20 from the PC via the RS232 serial connection, and to parameterize the
SPIMD20 and perform the current, speed, and autotuning tests.
SPIMD20_CANOP_vnn_nn_nnnn.rbx (CANopen interface): allows the operation
of the SPIMD20 as a slave of a CANopen master with the DS301/DSP402
protocols. This software version also contains the Local interface, which is
selectable with the dedicated command in the shell partition. In this way the
CANopen interface is completely bypassed and the SPIMD20 is controlled only via
the serial channel.
SPIMD20_ECAT_CoE_vnn_nn_nnnn.rbx (interface Can Over EtherCAT): allows
the use of the SPIMD20 as a slave of an EtherCAT master with the CoE DSP402
protocol.This software version also contains the Local interface, which is
selectable with the dedicated command in the shell partition. In this way the
CANopen interface is completely bypassed and the SPIMD20 is controlled only via
the serial channel.
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–
2.4
Initialization of the SPIMD20/motor base parameters
1.
2.
3.
4.
5.
6.
7.
8.
9.
Install the Robox RDE programming suite and copy the licence file into the installation
folder
Start RDE
Open the workspace “SPIMD20_Local.rws”
If connecting for the first time, set the communication port in the Workspace window:
Menu Display > WorkSpace Windows, to open the window
Double-click Connection > BCC/31 on RS232 > mycomm, and set the COM port of the
PC (speed=autodetection, handshake=none)
Save the workspace to avoid repeating the procedure at the next startup
Enter the command “sysinfo” into the shell command bar and press Enter to check the
answer, to verify that communication is running correctly
Activate the IMD configuration tool by pressing the relevant key in the toolbar and enter
“Live” mode
Set the NMT machine state to “Pre Operational” mode by pressing the relevant key
(some parameters can be set only in this mode)
Note:
The dictionary tooltip is available on each configurator item. Refer to the IMD Local Interface
SW Manual for each entry description.
10. Set the SPIMD20 basic parameters in the following menus:
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Configuration > Transducer > Transducer Type:
Select the transducer type and fill in the corresponding parameter menu:
for resolver
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number of poles
frequency of the driving signal (4/8 KHz)
disactivate the resolver fault alarm
configure the number of bits per rotation
for rotary EnDat
Doc ID 18362 Rev 3
5/19
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