Difference between revisions of "ATOMI user guidebook"

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This page collects most ATOMI articles as a single page.

Intruduction to ATOMI

Atomi is an multiaxis motor drive under development.

About ATOMI

ATOMI is a multiaxis servo and stepper motor driver board with up to four axis capability. Based on IONI technology, ATOMI delivers state of the art motion control what comes to quality, reliability, and features.

Benefits

  • Closed loop systems to avoid missed steps and lost position
  • Ultimate price/quality ratio
  • Very small form factor to enable small enclosures
  • Single PSU operation, no separate logic and motor voltages. ATOMI operates from 12 to 49 V.
  • Direct USB connectivity and full control over SimpleMotionV2 field bus including
    • PWM to analog (0 to 5 V) output circuitry, and
    • external 24 V 500 mA open-drain output buffer.
  • Parallel port compatible pin header
  • Extra I/O from second pinheader to maximize flexibility

ATOMI user guide

Please read the ATOMI user guidebook for detailed information and specifications.

Model comparison

Feature comparison

Feature ATOMI DeepStep™ ATOMI Standard ATOMI Advanced
Motor support
Stepper motor, open loop Yes Yes Yes
Stepper motor, sensorless closed loop Yes Yes Yes
Stepper motor, sensored closed loop - Yes Yes
AC/DC servo motor - Yes Yes
Feedback support
Quadrature encoder - Yes Yes
Setpoint support
SimpleMotionV2 Yes Yes Yes
Step/dir Yes Yes Yes
PWM, with or without direction bit - - Yes
Analog - - Yes 1
Operation mode support
Position mode Yes Yes Yes
Velocity mode - - Yes
Torque mode - - Yes
Other features
Acceleration and velocity feedforward - - Yes
Auto setup Yes Yes Yes
Homing - - Yes
VFD out Yes Yes Yes

1) ±10 V analog setpoint requires external circuitry. The voltage range of ATOMI analog inputs is 0 - 3.3 V.

Specifications

Device variations

ATOMI is available in three different models. See also ATOMI device model comparison.

ATOMI DeepStep™
Basic model for stepper motor operation only
ATOMI Standard
Additional features and supported motor types
ATOMI Advanced
Most features

Main functionality

Function Description
Servo/stepping motor drive Closed loop control of various types of servo motors by sinusoidal field oriented control with dead-time distortion correction and high dynamic range torque control.
  • Synchronous AC & BLDC motors
    • Sinusoidal and trapezoidal commutated
    • SPM (Surface Permanent Magnet) and IPM (Internal Permanent Magnet) types
  • Brush DC motors
  • Linear motors
    • Iron core
    • Ironless (with external inductive filter)
  • Stepping motor, 2 phase (4,6 or 8 wires)
Control modes
  • Torque control
  • Velocity/speed control
  • Position control
Setpoint types

See setpoint signal / reference inputs list

Closed loop Cascaded control loops (PIV):
  • Torque / current control, update frequency 20.0 kHz
  • Velocity control, update frequency 2.5 kHz
  • Position control, update frequency 2.5 kHz
Feed-forwards Feed-forwards working in velocity & position control modes:
  • Acceleration (inertia canceling) feed-forward
  • Velocity (friction canceling) feed-forward
Homing Integrated homing function for position control mode:
  • Sensorless hard-stop homing
  • Home switch search
  • Index pulse search
  • Soft position limits (eliminate limit switches)
Feedback devices
  • Quadrature (incremental) encoders
Safety
  • Safe torque off with 3-way redundancy
  • Charge pump enable input
  • Stopping motor on errors
    • Tracking error (velocity & position)
    • Over speed error
    • Limit switch
  • DC motor runaway prevention on feedback loss
  • Communication error detection
Protections
  • Over current
  • Short circuit (phase-to-phase)
  • I2t motor thermal protection
  • Over & under voltage
  • Over temperature
Power supply
  • Externally supplied 12 – 49 VDC
  • Single power supply operation mode, no separate power supply needed for logic
Motor output current 1
  • AC/BLDC/Stepping/Linear motors (current specified as peak of sine):
    • 0 - 8 A
  • Brush DC motors:
    • 0 - 10 A
Commissioning
Compliance CE (LVD & EMC): EN 61800-5-1:2007, IEC 61000-6-1:2005 and IEC 61000-6-3:2006.

Notes:

  • The device is Low Voltage Directive (LVD) compliant up to 42 VDC power supply, and above that level the supply voltage is considered hazardous, so external measures (such as or isolation or protective impedance) are necessary to prevent human contact to any circuit connected to the device.
  • In order to meet EMC standard requirements, a proper installation and wiring is necessary. Refer to user guide for proper installation.
Reliability
  • MTBF: 660000 hours

1) Currents achievable continuously only with with sufficient coolant air flow. Without forced cooling, typically 30-45% of the maximum range can be driven continuously. Despite of this, maximum current is available for short periods of time even without cooling. Current is automatically throttled on temperature rise to protect the drive.

Motor output

Maximum output current throttling vs device temperature. Current is automatically reduced by device to protect from overheating.
Property Value Units Remarks
Supported motors Refer to ATOMI device model comparison page Permanent magnet motors only
Continuous output current 0-8 1 A (peak value of sine) User settable limit
Maximum effective motor phase output voltage
  • 3-phase AC motors: Vsupply*0.671 V RMS (phase-to-phase)
  • DC motors: Vsupply*0.95 VDC
  • I.e. at 48V supply, the maximum three-phase motor output voltage is 32.2 V RMS phase-to-phase
  • I.e. at 48V supply, the maximum DC motor output voltage is 45.6 V
Switching frequency 20.0 kHz
Maximum modulation depth 95  % Maximum effective output is 95% of HV DC bus voltage.
Torque control bandwidth (typ.) 1-3.3 kHz Motor coil dependent
Torque control cycle time 50.0 µs
Position & velocity control cycle time 400 µs
Power conversion efficiency 93-97  % Under typical conditions
Motor inductance range @ 48 VDC 0.2-25 mH
Motor inductance range @ 24 VDC 0.1-25 mH
Motor power range 0.01 - 0.5 kW
AC commutation frequency 0-400 Hz Not capped, may achieve up to 2 kHz

1) Maximum current is obtainable only for short periods without active air cooling. Drive automatically throttles current limit if drive temperature rises beyond 75 Celsius. Output current capacity reduces linearly between 75 and 90 degrees Celsius from the maximum to zero.

Regenerative resistor

ATOMI has an on-board 15 Ohm 11 Watt regenerative resistor.

Feedback devices

ATOMI supports quadradure (incremental) encoders with single-ended 3-5.5V (CMOS, TTL, open collector).

Quadrature encoder electrical properties

Property Value Units Remarks
Encoder count rate
  • ATOMI DeepStep™ and Standard: 0-4
  • ATOMI Advanced: 0-18
MHz After 4x decoding, digitally filtered
Supply voltage 4.8-5.2 V Supplied externally (can share same voltage with drive logic supply)
Encoder resolution
  • ATOMI DeepStep™ and Standard: 100-65535
  • ATOMI Advanced: 100-15000000
 Pulses per revolution (P/R)

Setpoint signal / reference inputs

Setpoint signal type Status Electrical interface
Analog ATOMI Advanced only 0 - 3.3 V input signal. External circuitry needed for ±10 V operation.
Pulse and direction Standard feature

Maximum step rate

  • ATOMI DeepStep™ and Standard: 4 MHz
  • ATOMI Advanced: 8 MHz
PWM ATOMI Advanced only
  • 1 - 30 kHz PWM carrier frequency (fPWM), ~3 kHz for optimal operation.
  • Single signal (no polarity input), zero setpoint at 50% duty
  • PWM signal is sampled at 60MHz timer thus reading resolution is 60MHz/fPWM
  • PWM + Direction input mode
Serial communication Standard feature SimpleMotion V2 real-time serial bus with open source SDK. Connect through USB.
EtherCAT Planned Realized with add-on board

See also:

Mechanical

Dimension drawing
Property Value Units
Dimensions 160 × TBA (~17) × 91 (W×H×D) mm
Weight TBA kg
Drawings TBA PDF/IGES/STEP

Note: all mounting holes are 3.2 mm diameter.

Electrical

Power supply

Input voltage Input current when idle Input current max
12 - 49 VDC Typically < 0.4 A Depends on total power output.

Note: ATOMI doesn't have an input diode for reverse input voltage protection (needed for some switching power supplies).

I/O

Please see ATOMI connectors and pinouts.

Environment

Property Value Units
Operating temperature 10 - 70 °C
Storage temperature -30 - 90 °C
Humidity 0 - 95 non-condensing  %

Warnings

Exceeding ratings may affect drive operation and cause instability or even damage the drive or other equipment. Damaged equipment may pose danger to users.
Specifications are subject to change without notice

Connectors & pinouts

Legend

Color
Supply pin
Input pin
Output pin

MX, MY, MZ, MA - Motor and encoder connectors

Pin number Signal name Usage Notes / Specifications
1 Limit Limit switch, shared for both directions Internal 2.2 kOhm pull-up resistor
2 CHC / Home Encoder channel C (index) / home switch Internal 2.2 kOhm pull-up resistor
3 CHB Encoder channel B Internal 2.2 kOhm pull-up resistor
4 CHA Encoder channel A Internal 2.2 kOhm pull-up resistor
5 +5 V 5 V supply voltage to encoder Total 1.5 A current limit for +5 V bus
6 GND Encoder supply ground / 0 V Also ground for cable shield
AC/BLDC motor Stepper motor Brush DC motor
7 PH4 Motor phase 4 - Coil B.2 Armature +
8 PH3 Motor phase 3 W (T) Coil B.1 Armature -
9 PH2 Motor phase 2 V (S) Coil A.2 Armature -
10 PH1 Motor phase 1 U (R) Coil A.1 Armature +

X1 - Granity and SimpleMotion V2 connector

Standard mini-USB connector. Please refer to Granity pages for further instructions.

X2 - Main setpoint connector

Connect X2 only to 3.3V or 5V logic systems.

X2 is main control and setpoint signal port consisting Global Enable input signal, Global Fault output signal, pulse and direction/PWM setpoint inputs, and digital outputs for servo ready signals. X2 is directly wired to conform most common parallel port style pulse & direction CNC controllers.

Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications
1 1 ENABLE P Enable all axis Active low 2 14 Homing Start homing for all axis Active low
3 2 HSIN2_X Direction input X Direction input for PWM D 4 15 Global_GPO3 P Global fault output Active low
5 3 HSIN1_X Pulse/step input X PWM setpoint 6 16 PWM2ANA PWM to analogue converter input Frequency must be 100 - 10000 Hz
7 4 HSIN2_Y Direction input Y Direction input for PWM D 8 17 AUX_IN Auxilary transistor input Open-drain buffer gate signal
9 5 HSIN1_Y Pulse/step input Y PWM setpoint 10 18 GND Ground / 0 V -
11 6 HSIN2_Z Direction input Z Direction input for PWM D 12 19 GND -
13 7 HSIN1_Z Pulse/step input Z PWM setpoint 14 20 GND -
15 8 HSIN2_A Direction input A Direction input for PWM D 16 21 GND -
17 9 HSIN1_A Pulse/step input A PWM setpoint 18 22 GND -
19 10 GPO1_X P X axis servo ready signal Active low 20 23 GND -
21 11 GPO1_Y P Y axis servo ready signal Active low 22 24 GND -
23 12 GPO1_Z P Z axis servo ready signal Active low 24 25 GND -
25 13 GPO1_A P A axis servo ready signal Active low 26 N/A GND -

Notes:

  • Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
  • All outputs provide 3.3 V with maximum load of 8 mA.
  • All GPO pins have a 180 Ohm series resistor.

D) PWM can be used with or without direction signal. With PWM setpoint without direction signal 50 % PWM = zero setpoint.

P) Internal 10 kOhm pull-up resistor.

X3 - Additional setpoint and IO connector

Connect X3 only to 3.3V or 5V logic systems.

X3 is a second control and setpoint signal port addition to X2. X3 consists of analog setpoint signal inputs and additional digital I/O.

Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications
1 1 GND GND / 0 V - 2 14 +5V +5 V supply Total 1.5 A current limit for +5 V bus
3 2 GND GND / 0 V - 4 15 Global_IO4 P Reserved for future use Reserved for future use
5 3 AUX_OUT S Inverter buffer for AUX_IN 24 V 500 mA open-drain buffer.

Active when AUX_IN = HIGH.

6 16 ANA_OUT S VFD speed control signal PWM to analogue converter output.

Output voltage range 0 - 5 V.

7 4 X_GPI2 P Disable positive X travel L Active low 8 17 X_GPI3 P Disable negative X travel L Active low
9 5 X_GPO4 X position within limits Active low 10 18 X_GPO2 X tracking error Active low
11 6 X_ANAIN X analogue setpoint input A 0 - 3.3 V A 12 19 Y_GPI2 P Disable positive Y travel L Active low
13 7 Y_GPI3 P Disable negative Y travel L Active low 14 20 Y_GPO4 Y position within limits Active low
15 8 Y_GPO2 Y tracking error Active low 16 21 Y_ANAIN Y analogue setpoint input 0 - 3.3 V A
17 9 Z_GPI2 P Disable positive Z travel L Active low 18 22 Z_GPI3 P Disable negative Z travel L Active low
19 10 Z_GPO4 Z position within limits Active low 20 23 Z_GPO2 Z tracking error Active low
21 11 Z_ANAIN Z analogue setpoint input A 0 - 3.3 V A 22 24 A_GPI2 P Disable positive A travel L Active low
23 12 A_GPI3 P Disable negative A travel L Active low 24 25 A_GPO4 A position within limits Active low
25 13 A_GPO2 A tracking error Active low 26 N/A A_ANAIN A analogue setpoint input 0 - 3.3 V A

Notes:

  • Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
  • All GPO pins provide 3.3 V with maximum load of 8 mA.
  • All GPI/O pins have a 180 Ohm series resistor.

A) Setpoint = zero with 50 % input voltage if direction signal is not used.

L) Limit switches are to be wired with NO (normally open) switch to ground. When a limit switch is triggered, movement to the corresponding direction is disabled.

P) Internal 10 kOhm pull-up resistor.

S) Controllable through SimpleMotionV2 bus.

X4 - Power input and STO connector

X4 is a wire terminal for HV DC bus supply and Safe torque off.

Pin number Signal name Usage Notes / Specifications
1 GND Ground -
2 STO Safe torque off 3.3 - 49 V input voltage
3 HV+ Motor power supply, HV DC bus 12 - 49 V, 18 A maximum current through connector

JP1 to JP4 - Encoder passthrough connector

JP1 to JP4 are pin headers for external encoder use.

Pin number Signal name Usage Notes / Specifications
1 +5V +5 V supply Total 1.5 A current limit for +5 V bus
2 CHA Encoder channel A Direct connection to encoder output signal

Internal 2.2 kOhm pull-up resistor

3 GND GND / 0 V -
4 CHB Encoder channel B Direct connection to encoder output signal

Internal 2.2 kOhm pull-up resistor

5 GND GND / 0 V -
6 CHC Encoder channel C Direct connection to encoder output signal

Internal 2.2 kOhm pull-up resistor

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