SensINTNet

PB5154, Preliminary

Multi-

xis Moto

Control System

SensINTNet Series

SensINTNet

Integrated Multi-Axis Motor Controller System

The SensINTNet Multi-Axis Motor Controller System is

a complete drive network solution for multi-axis systems

requiring network control with a high-level of integration.

The system consists of one or more Controller Module

(CM) assemblies, each controlling up to ten

independent motor Drive Module (DM) nodes.

The CM nodes communicate with a Main System Host

via a 10/100 Copper Ethernet link using TCP/IP

protocol, and relay messages to the DM network via

J1939 compliant CAN network. The DM network

responds to commands such as “open”, and “close”, as

well as to status commands that are received from the

CM nodes. Processing resources on both CM and DM

nodes allows the network to operate independently and

simultaneously.

Figure 1 - Network Setup

BENEFITS:

 Fully Integrated Networked Solution

 Autonomous and Flexible Operation

 Proven Rugged Technology

 Scalable and Programmable Platform

 Rapid Prototyping and Integration

 Easy Conversion to Fit Motor Requirem ents

CONTROLLER MODULE (CM) FEATURES

 Ethernet with a complete TCP/IP stack

 CAN bus with SAE J1939 compatibility

 Fully integrated network-controlled motor co ntroller

bridge

 Autonomous operation - open, clo se, start, stop,

fault detect, etc

 High-level functionality – open/close, engage,

coordinate, etc

 Powered from 28V

DRIVE MODULE (DM) FEATURES

 100V, 5A Rating

 28V Input Inrush Current Control

 Small Size

 Shielded Enclosure

 Six Step Commutation, BLDC Compatible

 2 or 4 Quadrant PWM Control

 Constant Velocity

 Current/Torque Limited

 Simple Communication Interface

 Shielded I/O Connectors

 Inputs From Limit Sensors

APPLICATIONS:

 Leveling / Gyro Systems

 Sequencing Pumps, Blowers and Fans

 Hatch Control

MARKETS

 Industrial Control and Manufacturing

 Unmanned Aerial Vehicles

 Manned Ground Vehicles

 Commercial Vessels

 Missile Launchers

SensINTNet

PB5154, Preliminary

Multi-

xis Moto

Control System

SensINTNet Series

NETWORK CONTROL

A single Controller Module (CM) supports one or

multiple motor Drive Modules (DMs).

Figure 2 - SensINTNet Product

CONTROL MODULE (CM)

The Controller Module (CM) is comprised of two

microcontrollers, one for each of the communications

interfaces – Ethernet TCP/IP stack, and SAE J1939

CAN protocol bus. The CM receives the Ethernet

commands from the Host Computer (HC) and passes

the commands and data to DM nodes via the CAN

interface. The Host Controller’s (HC’s) commands are:

Start Motion Self test

Stop Motion Report network status

Engage Fault reset

Disengage DM sequencer

Report axis status Etc.

Communications reset

The report status commands cause the CAN processor

to query the appropriate DM nodes for status. The data

is packed, and then passed to the Ethernet processor

for transmission. The communications reset command

causes the CAN processor to send the ‘reset’ command

to all ten DM nodes on the network while the drives are

in their “power up” state. The network status command

queries all network drives, through the CAN processor,

for their operating state such as “idle”, “engage”, and

“disengage”. The state data or ‘no response’ data are

packed and passed to the Ethernet processor for

transmission.

DRIVE MODULE (DM)

The motor Drive Modules autonomously drive the

individual axis to commanded position using torque

(current) limited speed control - from an open to closed

position, or from a closed to open position. During the

movement, the motor shaft speed remains constant.

The shaft’s torque is controlled and limited, varying the

speed as necessary to accommodate this limit. If

necessary, four quadrant operation and/or braking may

be used to halt the motor within the time requirement.

The motor drive circuit is compatible with a 6-step BLDC

motor utilizing Hall feedback sensors.

CAN NETWORK ADDRESSING

Each of the Drive Modules have a unique CAN bus

address that is set by the cable connector. The cable

harness that connects the controller and drives has five

pins of the drive connector jumped, which enables the

drive's network address to be assigned based on the

drive’s physical location.

ENCLOSURE

The Drive Module (DM) is housed in the metal

enclosure with provisions for heat sink mounting. The

package contains three right-angled, PCB-mounted, 15-

Pin, D-sub type connectors; one for communication and

power, one for t motor and Hall sensors, and one for

limits switches.

WEIGHT

Individual weight characteristics:

Assembly Weight (oz)

Motor Driver

8 oz, each

Controller

10 oz, each

POWER

Appropriate active and passive transient voltage

protection ensures that the units will survive extreme

conditions of MIL-STD-704. Current surge limiting

techniques are implemented in order to ensure that the

startup power will not exceed the spec limits. The

limiting circuitry is located in each of the DM nodes,

eliminating all turn-on surges including capacitor charge

up currents. In order to maintain the maximum power

limit of 290 watts, CM nodes distribute the consumed

power by sequencing the DM nodes.