EVALKIT-ROBOT-1 STMicroelectronics

EVALKIT-ROBOT-1 Data brief Compact reference design kit for robotics and automation based on STSPIN32F0A Features 36 V/6 A power stage peak STSPIN32F0A advanced 3-phase motor controller embedding Cortex-M0 MCU STL7DN6LF3 60 V, 35 m Dual N-channel MOSFETs Hall sensors Position control loop based on Field Oriented Control MODBUS communication protocol through RS-485 Extremely compact footprint (40 mm x 40 mm) maxon EC-i 40 100 W 3-phase brushless DC motor maxon ENX 16 EASY 1024-pulse incremental encoder Description The EVALKIT-ROBOT-1 is an evaluation kit offering a ready-to-use servo brushless solution. Thanks to the high integration level of the STSPIN32F0A, the control board provides a powerful power stage, the analog circuitry implementing current sensing and overcurrent protection and a Cortex-M0 microcontroller performing a Field-Oriented Control with closed-loop positioning. All packed into a 40 mm x 40 mm footprint. The maxon EC-i 40 motor, thanks to the optimized magnetic circuit, offers a very high torque density and very low cogging torque. In combination with the maxon ENX 16 EASY 1024 pulses incremental encoder, it is an excellent choice for reliable, robust and high-precision position and speed control. Product status link EVALKIT-ROBOT-1 DB4049 - Rev 3 - February 2020 www.st.com For further information contact your local STMicroelectronics sales office. EVALKIT-ROBOT-1 Specifications 1 Specifications Table 1. Control board specifications Parameter Value Nominal 36 V Supply voltage Full operating range from 12 V to 45 V (1) 3 A DC Maximum current Peak 6 A RS485 maximum baud rate 20 Mbps Differential 12 V RS485 differential input voltage Common mode - 7 V to 12 V Differential 7 V Encoder inputs Common mode 7 V 1. Actual maximum current may be limited by power dissipation Table 2. Motor specifications Parameter Value Nominal voltage 36 V Nominal 3950 rpm Speed No load 4550 rpm Nominal 207 mNm Torque Stall 3160 mNm Nominal 2.72 A Current Stall 42.2 A Phase resistance 0.853 Phase inductance 0.675 mH 2 Rotor inertia 44 gcm Pole pairs 7 DB4049 - Rev 3 page 2/15