ADRD3161

Motor Control module with CANopen CiA 402

Introduction

The ADRD3161 is an FOC motor driver board based on the TMC9660, capable of driving Stepper, BLDC, and brushed DC motors with optional quadrature (ABN) and/or Hall encoders. It communicates via CANopen CiA 402 over 500 kbaud CAN. For development, the TMC9660 may also be accessed directly via UART and thus controlled / configured via TMCL-IDE.

Specifications

• 9 - 70 V DC supply

• 10 A max phase current (conservative)

• Supported motor types: 3-phase BLDC/PMSM, 2-phase bipolar stepper, brushed DC

• Supported encoder types: ABN (= ABZ, ABI, quadrature), Digital Hall

• Isolated CAN bus communication, CANopen CiA 402

• Option to solder a brake chopper resistor

• Option to use an electromechanical brake (only in the BLDC configuration)

Supporting hardware:

• TMC9660 70V Smart Gate Driver with Servo (FOC) Controller in HW and Buck Converter

• MAX32662 Arm Cortex-M4 Processor with FPU-Based Microcontroller (MCU) with 256KB Flash and 80KB SRAM

• ADM3053 Signal and Power Isolated CAN Transceiver with Integrated Isolated DC-to-DC Converter

Connections:

• Power input: screw terminal

• Motor connection: screw terminal

• Debug ports (x2): SWD header

• Encoder interface, isolated: Custom header (8 pin). Described in Encoder cable.

• CAN, isolated: 2x Custom header described below (4 pin). Described in CAN cable.

Required Hardware

• ADRD3161

• Stepper / BLDC / DC motor. Documented output represents the QSH5718-51-28-101-10k Stepper and TODO BLDC, respectively.

• DC power supply (9 .. 70 VDC)

• MAX32625PICO (or compatible) debug probe

• Cables described in the previous section

User Guides

• ADRD3161 Quick Start Guide
  • Connect a motor
  • Control using TMCL-IDE
    • Motor configuration and tuning
    • Motor control
  • Control via CAN bus
• ADRD3161 Hardware Guide
  • Switches
  • Encoder cable
  • CAN cable
• ADRD3161 Software Guide
  • Control through Python canopen
  • Control through ROS2 ros2_canopen
• ADRD3161 Troubleshooting
  • Troubleshoot board power supply issues
  • Troubleshoot TMC9660 bootstrapping
• ADRD3161 CANopen reference
• ADRD3161 Production Guide
  • Bootstrapping the TMC9660
  • Flashing the MAX32662
  • Quick test
  • Test bench setup

Help and Support

Todo

Support channel