Servo Drive Platform Board Architecture
Reconfigurable Motion & Robotics Platform
Analog Devices Servo Drive FMC Mezzanine Card
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SoC FPGA
- Intel Cyclone® V (Dual core 800MHz dual-core ARM, 85KLE fabric, 1024MB RAM)
- Package: UBGA 672 pins
- Speed Grade: 7
- Temperature: Industrial(Tj = -40 °C to 100°C)
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Memory / Storage
- 1 GB DDR3 SDRAM for HPS/FPGA
- 32 MB QSPI NOR for HPS
- Micro-SD Card slot
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On Board
- Analog Devices AD7415ARTZ I2C Temperature Sensor
- 4 push buttons
- 8 user-programmable LEDs
- Micro-USB connection for SoC console
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Interfaces
- Four (4) FMC-Low Pin Count (LPC) connectors
- HDMI interface (via Analog Devices ADV7511WBSWZ-RL)
- 2 USB 2.0 jacks
- Gigabit Ethernet interface (via Analog Devices ADIN1300BCPZ Ethernet PHY)
- JTAG
- Peripheral Module (PMOD) Connector
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Power
- Standard 2.1x5.5mm barrel connector with included 12 volt 90W power supply.
MitySoM-5CSx Module
LPC FMC #4
LPC FMC #3
LPC FMC #2
LPC FMC #1
Power Conversion
FMC Voltage Selector
Boot Select Switches
Reset Buttons
User LED's
JTAG Connector
microUSB Console Connector
USB-UART bridge
HDMI Connector
HDMI Transmitter
RJ45 Ethernet Connector
Ethernet PHY
FMC-1 JTAG Jumpers
FMC-2 JTAG Jumpers
FMC-3 JTAG Jumpers
FMC-4 JTAG Jumpers
4x Push Buttons
Power Switch
Power Jack (+12V Center)
PMOD Connector
2x USB-A Host Connectors
USB HUB
micro-SD Card Connector
I2C Temp. Sensor
24VDC Motor Power input (J1)
Motor terminals (J2)
Motor Hall Effect Encoders (J3)
H-Bridge Lower FETs
H-Bridge Upper FETs
High-Voltage 3-Phase Gate Driver
ADuM7701-8 16-bit Isolated Σ-Δ Modulator
ADuM5000 500mW Isolated DC-DC Converter
ADN4662 Differential Line Receiver
FMC LPC Connector
LT4356-1 Surge Stopper
AD8628 RIO OpAmp
The Analog Devices Servo Drive FMC Mezzanine Card has the necessary circuits to drive and sense a 3-phase AC permanent magnet servo motor.
Six (6) PWM signals from the FPGA drive the High-Voltage Gate Driver (IRS2336D) which activates the 3 phases of the power inverter.
Hall Effect sensors in the servo motor send back 120 degree commutation signals, and an optical quadrature encoder which sends back pulses along with 1-pulse per revolution index. These signals pass through this board where they are buffered, or converted from differential to single-ended using the ADN4662, then sent to the FPGA to implement a Quadrature Encoder for position measurements. The card has jumper option (JP1) for using either single-ended or differential encoder outputs from the motor.
Current is measured, in two (2) of the phases driving the Servo Motor using resistive shunts and isolated 16-bit Σ-Δ modulator (ADuM7701-8). For overcurrent protection, an Op-Amp (AD8628) measures the DC-link current and feeds it back to the ISR2336D. The DC-link voltage is also measured with an isolated 16-bit Σ-Δ modulator (ADuM7701-8). The three (3) 1-bit data from the modulators go to the FPGA where modulation is done with SINC Filters.
The card has a Servo Motor power surge stopper (LT4356-1) which provides overcurrent protection and stops high voltage surges.
The power supply stage gets 12VDC through the FMC connector and steps it down to 5V using the ADP2384 which then goes through a pair of 5V-5V DC isolation converters (ADuM5000) which independently power 2 modulators sensing servo windings W and V. 3.3V is supplied via the VADJ_3 and VADJ_4 pins of the FMC connector.
The maximum ratings of the Analog Devices Servo Drive FMC Mezzanine Card are 48VDC input and 4.5ARMS output current.
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