AQMD6010BLS E2 BLDC Motor Driver 9-60V 600W Brushless DC Motor Driver Current/Speed/Position PID

AQMD6010BLS E2 BLDC Motor Driver 9-60V 600W Brushless DC Motor Driver Current/Speed/Position PID

Advantages:
- Three-loop control of speed, current and position
- Speed regulation, steady speed, precise and rapid positioning
- Automatic flow reduction and stall protection for overload and stall
- Ordinary brushless can also be used as stepping servo control
- Analog quantity, pulse and 485 control

Functional Characteristics:
- Voltage 9~60V, rated output current 10A and maximum output current 20A
- Potentiometer, 0-10V analog signal, 0/3.3/5/12/24V logic level, digital value, PWM, frequency, pulse, RS485, and CAN input signal
- Duty cycle speed control, torque control (steady flow), speed closed loop control (steady speed), position closed loop control (angle/distance control)
- Support acceleration/deceleration buffer time and acceleration/deceleration acceleration control, which can automatically accelerate/decelerate and accurately position within the specified stroke
- Motor current PID adjustment, maximum start/load current, brake (brake) current can be configured separately
- Motor overload/blocked-rotor current-limiting stall, and instantaneous high-current monitoring to prevent over-current damage to motor or driver
- Support the internal temperature monitoring of the driver, and overheat protection temperature can be configured
- Support internal monitoring of driver power supply voltage, configurable overvoltage/undervoltage shutdown monitoring value
- Support double current output, strong torque output at startup and heavy load
- Support motor speed measurement, motor locked-rotor detection
- Support external limit switch limit and locked-rotor limit
- 485/CAN communication isolation or 485 common mode voltage protection
- Support RS485 multi-site communication, support for MODBUS-RTU protocol, convenient for multiple controllers (such as MCU, PC or PLC) control, support communication interruption stop protection
- Very small PWM dead zone, only 0.5us. The effective range of PWM is 0.1%~100%
- PWM frequency of 18kHz, motor speed control without PWM hum
- Signal interface overvoltage protection, and signal interface can withstand up to 25V voltage
- Interface ESD protection is isolated from 485, which can adapt to complex field environment
- For ARM Cortex-M3 at 72MHz processor
- Provide PC sample programs, which can be used to configure parameters, debug motors or secondary developments

Compatible Motors:
- Motors with rated voltage of 60V: motors with rated powers of 450W and below or rated current of lower than 10A to work at full capacity for a long time;
- Motors with rated voltage of 48V: motors with rated powers of 360W and below or rated current of lower than 10A to work at full capacity for a long time;
- Motors with a rated voltage of 36V: motors with a rated power of 250W and below or rated current of lower than 10A to work at full capacity for a long time;
- Motors with rated voltage of 24V: motors with rated power of 160W or less or rated current of lower than 10A to work at full capacity for a long time;
- Motor with rated voltage of 12V: motors with rated power of 60W and below or rated current of lower than 10A to work at full capacity for a long time.

Attention:
The driver has a long-term rated current of 10A and a maximum output current of 12A/20A (tens of seconds). The rated power marked on the motor generally refers to the output power. Considering the work loss of a motor, the motor efficiency and rated current should be considered when calculating the rated current. = Rated power/rated voltage/efficiency.

Applications:
Suitable for robotic arms, access gates, automatic doors, service robots, rail PTZ, electric drawers and smart cars.

Special Features:
1. Hall self-learning. The three-phase line and three-Hall signal line of motors can be connected to the driver out of order. The working mode of the driver is changed to motor learning by turning on the driver's power supply. The motor Hall sequence can be learned automatically after turning on the power supply of the driver. The learning is completed after 6 commutation control of the motor, and the motor can be driven normally.

2. Steady speed control response time.
Test conditions: Motor 48V 500W, diameter 8CM/3.1", number of poles 6, 18 commutations per revolution, no load.

Parameter configuration: Speed PID parameters are configured to 0.2, 0.01, 0.01 in sequence, position PID is configured to 30, 0.01, 0.01, and acceleration and deceleration acceleration are configured to 6500Hz/s.

Test result: When the speed stabilization algorithm selects speed closed-loop control, motor is switched from forward rotation 3000RPM (corresponding to the commutation frequency of 900Hz) to reverse rotation 3000RPM, the use time is about 1.0s, the overshoot is 0.3%, and the motor forward and reverse switching process smooth. When the speed stabilization algorithm selects time-position closed-loop control, the motor is switched from forward rotation 3000RPM to reverse rotation 3000RPM, the use time is about 0.5s, the overshoot is 2%, and the motor forward and reverse rotation switching process is smooth

3. Very low speed and steady speed control. The time-position closed-loop control stabilization algorithm can be used to control the motor at a very low speed (such as below 60RPM). The motor has a uniform stabilization speed without any sudden changes in speed and slowness. The minimum can be controlled to 1RPM.

Note: In the case of very low speed steady speed control, the position PID parameters should be configured smaller, such as 10, 0.01, 0.01 in sequence.

4. Automatic acceleration and deceleration control for reciprocating motion. During reciprocating motion control, the driver can learn the total stroke of reciprocating motion in advance (the value can also be directly configured). According to the configured acceleration and deceleration acceleration and maximum speed, the motor is automatically controlled to move to the target position quickly and smoothly in accordance with Newton's law of motion.

5. Motors can be adjusted at any position within a fixed stroke. The driver can learn the total stroke of the reciprocating motion in advance (you can also directly configure the value) before using the potentiometer, analog or PWM to adjust the position of the motor within a fixed stroke. The position of the motor and the input are in a linear relationship. If the potentiometer is turned to the midpoint and the input duty cycle is set to 50%, the motor will move to the midpoint of the stroke.

6. Brushless motors can also be controlled step by step. Select the input signal as PWM/frequency/pulse, configure the pulse type as pulse, and configure the working mode as position control. Then the brushless motor can be operated like a stepper motor. One pulse signal can be used to control the rotation angle of the motor, and the other pulse signal can control the rotation direction. The rotation angle of the motor corresponding to each pulse can be configured.

7. Brushless motors can also be servo controlled. In the 485 communication control mode, the target position (absolute position or relative to the current position) can be directly given to make the driver rotate to the target position. The driver will automatically control the motor to move to the target position quickly and smoothly according to Newton's law of motion according to the set acceleration and deceleration acceleration and maximum speed. During the movement, the driver can predict the remaining time required to complete the task.

Parameters:
- Power supply input voltage: DC9V~60V
- Rated output current: 10A
- Maximum output current: 12A (non-current-doubler)/20A (current-doubler)
- Maximum soft braking current: 6A
- Number of output channels: single
- Potentiometer resistance: 10K~50K
- Input signal interface accepts voltage range: 0V~25V (except for failure/complete signal output ports)
- Single-ended analog signal input voltage range: any within the range of 0~10V
- Differential analog signal input voltage range: any within the range of -3.3V to +3.3V
- Logic level voltage range: any within the range of 0~24V, LvTTL, TTL, HvTTL, etc.
- RS485 communication parameter range: baud rate 9600~115200bps, data bit 8, support odd number, even number, no parity. Check bit and stop bit total 2 digits
- Support for Modbus: Support for Modbus-RTU and support 03H, 06H, 10H function code. The configurable slave address range is 1~128. Support broadcast
- Temperature measurement range: -40 to 125℃
- Current detection resolution: 0.01A
- Steady flow control accuracy: 0.02A
- Duty cycle speed adjustment range: -100.0% to 0 and 0~100.0%
- Steady speed control adjustment range: -3276.8Hz to 3276.7Hz
- Position control adjustment range: -2147483648 to 2147483647
- Torque control adjustment range: 0.5A~10A
- Limit control: support; two limit switches can be connected externally or limit when locked
- Soft start/soft brake: support; current limit start, brake and set acceleration and deceleration time and acceleration
- Over-current / locked-rotor protection: support; current limit output when over-current; shutdown when locked-rotor
- Power supply reverse connection protection: built-in 20A fast-blow fuse reverse connection protection
- Output short-circuit protection: instantaneous high current detection and built-in 20A fast-blow fuse protection
- Braking action time: soft braking usually 0.1s~0.3s
- Working temperature: -25℃ to 80℃
- Dimensions: 136 x 82 x 45mm/5.4 x 3.2 x 1.8"

Package Included:
- 1 x BLDC Motor Driver

Note:
- This drive is suitable for DC brushless motors with inductance.



The diameter of the mounting hole is 4mm/0.16", and the distance from the center of the mounting hole to the side is 6mm/0.24".