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Overview

The Trenz Electronic CR00140-01 is a CRUVI motor driver module. It supports motors with up to 4 phases up to 40V.  

Refer to http://trenz.org/ for the current online version of this manual and other available documentation.

Key Features

  • On Board
    • MAX10 CPLD
    • 2 phase current measurement
    • DC_LINK voltage measurement
    • 4x LEDs (2 power indicator, 2 user)
    • 2x Pushbutton
    • EEPROM
  • Interface
    • 4 phase screw terminal motor connector
    • CRUVI for control
      • 1x high speed connector 
    • 6x1 pin header for single ended sensors
    • 5x2 pin header for differential sensors
  • Power
    • screw terminal for up to 40 V DC motor supply
  • Dimension
    • 131 mm x 68.35 mm


Block Diagram

CR00140 block diagram

Main Components


CR00140 main components
  1. Motor connector screw terminal, J8
  2. Power supply screw terminal, J7
  3. 5x2 pinheader, base for TEI0004 JTAG programmer, J10
  4. 5x2 pinheader for sensor selection, J3
  5. 6x1 pinheader for single ended sensors, J1
  6. 5x2 pinheader for differential sensors, J2
  7. User push buttons, S1, S2
  8. User LEDs, D1, D2
  9. LED DC_Link, D4
  10. LED Power Good, D3
  11. DCDC for 15V, U1
  12. DCDC for 5V, U2
  13. half bridge drivers, U8, U9, U10, U11
  14. MAX10 CPLD, U25
  15. CRUVI high speed connector
  16. ADCs, U3, U5, U7
  17. Shunt resistors, R22, R28

Initial Delivery State

Storage device name

Content

Notes

MAX10 CPLDdefault firmware REV01See firmware documentation
Initial delivery state of programmable devices on the module

Signals, Interfaces and Pins

Board to Board (B2B) I/Os

FPGA bank number and number of I/O signals connected to the B2B connector:

CPLD BankB2B ConnectorI/O Signal CountVoltage LevelNotes
3J912 x LVDS / 24 I/OsVADJ6 x RX + 6 x TX
3J94 I/OsVADJ
8J94 I/Os3.3VConstant 3.3V
1BJ95 I/Os3.3VJTAG, JTAGEN, Constant 3.3V
General PL I/O to B2B connectors information


JTAG Interface

JTAG access to the CPLD of CR00140 is possible via the CRUVI high speed connector J9 and the pinheader J10, which is a base for TEI004 JTAG programmer. The JTAGEN signal is pulled up and available on J9 only. If JTAGEN is pulled low, the four signals can be used as user I/Os.

JTAG Signal

B2B Connector

Pin headerNotes
TMSJ9-55J10-5pull up
TDIJ9-51J10-9pull up
TDOJ9-53J10-3-
TCK

J9-59

J10-1pull down
JTAGEN J9-57-high for enable JTAG port of CPLD, low for user I/Os, pull up
UART_RX-J10-7CPLD Firmware dependent, see Firmware
UART_TX-J10-8CPLD Firmware dependent, see Firmware
RST-J10-6CPLD Firmware dependent, see Firmware
+3.3V_DJ9-4, J9-9J10-4-
DGNDseveral, see CRUVIJ10-2, J10-10-
JTAG pins connection

Sensor Interface

The pin headers J1, J2 and J3 constitute the sensor interface. It can be e.g. used with Encoders or Hall sensors. J3 is the selector between differential sensor interface (J2) or single ended sensors (J1). Connecting sensors is only allowed to one of the two pinheaders (J1/J2), the other one has to stay unconnected. In the figure below the jumper configuration of J3 to enable one or the other type of sensor interface is depicted.

CR00140 Jumpers

The pinheaders for connection of the sensors are further described in the following table. For differential configuration 100 Ohm parallel termination is used.

Signal

 J1 pin (singel ended) J2 pin (differential)
ISO_ENC_A_P36
ISO_ENC_A_N-5
ISO_ENC_B_P58
ISO_ENC_B_N-7
ISO_ENC_I_P210
ISO_ENC_I_N-9
DGND43
+5.0V_D1, 62
Sensor pins connection

Motor Interface

CR00140 has a motor interface, where up to 4 phases can be driven.

Check carefully correct connection of the phases of the motor, according to the motor and the implemented driving algorithm.

Signal

 J8 pin lableNote
Motor_AACurrent measurement via R22 and ADC U3
Motor_BBCurrent measurement via R28 and ADC U5
Motor_CC-
Motor_DD-
Motor pins connection

CRUVI

For the connection to a control unit, the CRUVI interface is implemented. One high speed connector J9 is assembled. The connectors are further described in section B2B Connectors. The connection of the signals and the voltage levels is described in the CPLD section.

Signal

 Connector - Pin
DGND

J9-12, J9-18, J9-24, J9-30, J9-42, J9-48, J9-54, J9-13, J9-19, J9-25, J9-31, J9-37, J9-43, J9-49

+3.3V_D

J9-4, J9-9
+5.0V_DJ9-60
VADJJ9-36
A0_PJ9-14
A0_NJ9-16
A1_P

J9-20

A1_NJ9-22
A2_PJ9-26
A2_NJ9-28
A3_PJ9-32
A3_NJ9-34
A4_PJ9-38
A4_NJ9-40
A5_PJ9-44
A5_NJ9-46
B0_PJ9-15
B0_NJ9-17
B1_PJ9-21
B1_NJ9-23
B2_PJ9-27
B2_NJ9-29
B3_PJ9-33
B3_NJ9-35
B4_PJ9-39
B4_NJ9-41
B5_PJ9-45
B5_NJ9-47
HSIOJ9-2
HSOJ9-6
RESETJ9-8
HSIJ9-10

TDI

J9-51
TDOJ9-53
TMSJ9-55
JTAGENJ9-57
TCKJ9-59
SMB_ALERTJ9-3
SMB_SDAJ9-5
SMB_SCLJ9-7
REFCLKJ9-11
CRUVI signals

On-board Peripherals

CPLD

A Intel/Altera MAX10 FPGA 10M08SAU169C8G (U25) is used as system controller. Table below lists the SC CPLD I/O signals and pins.

Signal nameSC CPLD PinCPLD BankConnected toFunctionNotes
A0_PJ83J9-14CPLD firmware dependentSee CPLD Firmware
A0_NK83J9-16CPLD firmware dependentSee CPLD Firmware
A1_PM133

J9-20

CPLD firmware dependentSee CPLD Firmware
A1_NM123J9-22CPLD firmware dependentSee CPLD Firmware
A2_PM93J9-26CPLD firmware dependentSee CPLD Firmware
A2_NM83J9-28CPLD firmware dependentSee CPLD Firmware
A3_PN83J9-32CPLD firmware dependentSee CPLD Firmware
A3_NN73J9-34CPLD firmware dependentSee CPLD Firmware
A4_PM73J9-38CPLD firmware dependentSee CPLD Firmware
A4_NN63J9-40CPLD firmware dependentSee CPLD Firmware
A5_PK53J9-44CPLD firmware dependentSee CPLD Firmware
A5_NJ53J9-46CPLD firmware dependentSee CPLD Firmware
B0_PN53J9-15CPLD firmware dependentSee CPLD Firmware
B0_NN43J9-17CPLD firmware dependentSee CPLD Firmware
B1_PJ73J9-21CPLD firmware dependentSee CPLD Firmware
B1_NK73J9-23CPLD firmware dependentSee CPLD Firmware
B2_PL113J9-27CPLD firmware dependentSee CPLD Firmware
B2_NM113J9-29CPLD firmware dependentSee CPLD Firmware
B3_PL103J9-33CPLD firmware dependentSee CPLD Firmware
B3_NM103J9-35CPLD firmware dependentSee CPLD Firmware
B4_PJ63J9-398CPLD firmware dependentSee CPLD Firmware
B4_NK63J9-41CPLD firmware dependentSee CPLD Firmware
B5_PL53J9-45CPLD firmware dependentSee CPLD Firmware
B5_NL43J9-47CPLD firmware dependentSee CPLD Firmware
HSION93J9-2CPLD firmware dependentSee CPLD Firmware
HSON103J9-6CPLD firmware dependentSee CPLD Firmware
RESETM53J9-8CPLD firmware dependentSee CPLD Firmware
HSIN123J9-10CPLD firmware dependentSee CPLD Firmware

TDI

F51BJ9-51, J10-9JTAG / user IO CPLD firmware dependentSee CPLD Firmware
TDOF61BJ9-53, J10-3JTAG / user IO CPLD firmware dependentSee CPLD Firmware
TMSG11BJ9-55, J10-5JTAG / user IO CPLD firmware dependentSee CPLD Firmware
JTAGENE51BJ9-57JTAG enable CPLD firmware dependentSee CPLD Firmware
TCKG21BJ9-59, J10-1JTAG / user IO CPLD firmware dependentSee CPLD Firmware
SMB_ALERTK22J9-3CPLD firmware dependentSee CPLD Firmware
SMB_SDAH52J9-5CPLD firmware dependentSee CPLD Firmware
SMB_SCLH42J9-7CPLD firmware dependentSee CPLD Firmware
REFCLKM22J9-11CPLD firmware dependentSee CPLD Firmware
BUTTON1C108S2CPLD firmware dependentactiv low, See CPLD Firmware 
BUTTON2B108S1CPLD firmware dependentactiv low, See CPLD Firmware 
ENC_AA108U13-13Sensor input channel A-
ENC_BA98U13-12Sensor input channel B-
ENC_IA118U13-14Sensor input channel I-
LED0D68D2CPLD firmware dependentSee CPLD Firmware
LED1B28D1CPLD firmware dependentSee CPLD Firmware
M_BEMF_B_DB58U15-13Back EMF signal phase B-
M_BEMF_C_DA58U15-12Back EMF signal phase C-
M_BEMF_A_DA48

U15-14

Back EMF signal phase A-
M_PWM_AHF11AU8-2Phase A half bridge high (DC_LINK) side driver signal-
M_PWM_ALE31AU8-3Phase A half bridge low (PGND) side driver signal-
M_PWM_BHE11AU9-2Phase B half bridge high (DC_LINK)side driver signal-
M_PWM_BLD11AU9-3Phase B half bridge low (PGND) side driver signal-
M_PWM_CHE41AU10-2Phase C half bridge high (DC_LINK)side driver signal-
M_PWM_CLC11AU10-3Phase C half bridge low (PGND) side driver signal-
M_PWM_DHC21AU11-2Phase D half bridge high (DC_LINK) side driver signal-
M_PWM_DLB11AU11-3Phase D half bridge low (PGND) side driver signal-
SD_IAE68U3-6Current measurement phase A33 Ohm series Resistor
SCLK_AB38U3-7, U5-7Clock for ADC for current measurement phase A and B(5-20 MHz)
SD_VB48U7-6Voltage measurement DC_LINK33 Ohm series Resistor
SD_IBA28U5-6Current measurement phase B33 Ohm series Resistor
SCLK_V_AA38U7-7Clock for ADC for voltage measurement DC_LINK(5-20 MHz)
M_DISABLE_D_DJ12U11-5Halfe bridge disable phase Ddisabled when high, pull up connected
M_DISABLE_A_DM12U8-5Halfe bridge disable phase Adisabled when high, pull up connected 
M_DISABLE_B_DL22U9-5Halfe bridge disable phase Bdisabled when high, pull up connected 
M_DISABLE_C_DK12U10-5Halfe bridge disable phase Cdisabled when high, pull up connected 
REFCLKM22J9-11CPLD firmware dependent-
RSTM32J10-6CPLD firmware dependent-
UART_RXN22J10-7CPLD firmware dependent-
UART_TXN32J10-8CPLD firmware dependent-
CLK_25MHZH62U26-3Clock input for accurate 25 Mhz clk.-
On-board LEDs

CPLD Bank Voltages

Bank          

Schematic Name

Voltage

Notes
1A+3.3V_D3.3VProvided via CRUVI
1B

+3.3V_D

3.3VProvided via CRUVI
2+3.3V_D3.3VProvided via CRUVI
3VADJ1.8V, 2.5V, 3.3VProvided via CRUVI, supported voltage levels are determined by the CPLD Firmware, and the connected base/controller.
8+3.3V_D3.3V

Provided via CRUVI

CPLD bank voltages.

LEDs

DesignatorColorConnected toSignal nameActive LevelNote
D1greenU25-B2LED1highUser LED, CPLD Firmware dependent, see Firmware description.
D2greenU25-D6LED0highUser LED, CPLD Firmware dependent, see Firmware description.
D3greenU1-A3, U2-B1PGOODhighON when +15.0V_M and +5.0V_M regulator indicated power good. Connected via transistor T1.
D4greenDC_LINK-lowON when DC_LINK above 11.7V. Connected via comparator U14D to DC_LINK
On-board LEDs

Buttons

DesignatorConnected toSignal nameActive LevelNote
S1U25-B10BUTTON2lowUser button, CPLD Firmware dependent, see Firmware description.
S2U25-C10BUTTON1lowUser button, CPLD Firmware dependent, see Firmware description.
On-board LEDs

ADCs

There are three isolating AD7403-8 ADCs for continous measurement oft phase A current (U3), phase B current (U5) and the DC_LINK voltage (U7) on board. The currents are measured through the shunt resistors R22, R28 for phase A and B respectively. The ADC clock is routed to the CPLD. For Currents the clock has the signal lable SCLK_A and for the voltage SCLK_V_A. The data signals are also routed to the CPLD. See CPLD Firmware for further description.

BEMF

Back EMF zero crossing signals for sensor-less motor control are implemented for Phase A, B and C. They are routed via a triple channel Digital isolator (U15) to the CPLD. See CPLD Firmware for further description.

Half bridge drivers

Four ADuM7223 isolated half bridge drivers (U8, U9, U10, U11) are used for driving the four phases.

DCDCs

On the Motor side are two DCDCs on board. LTM8053 (U1) is utilized for the generation of the 15V transistor control voltage from VIN and can be measured on Testpoint TP1. A LTM8074 DCDC (U2) generates 5V from VIN for miscellaneous signals on the motor side of the PCB and can be measured on TP2.

Two isolated DCDCs ADUM5028 (U4, U6) are used for the generation two seperate clean 5V for the supply of the current measurement ADCs U3 and U5.

Power and Power-On Sequence

EEPROM

The 2K Microchip 24AA02E48 EEPROM with pre-programmed unique 48bit address is connected to the CRUVI HS (Signals: SMB_SDA, SMB_SCL) connector and can e.g. be used for identifiction purposes.

Power Supply

The motor driving stage is supplied via connector J7 with maximum of 40V DC. Polarity of the powersupply is noted on the PCB.  

Check powersupply for correct polarity. Inversion of polarity will damage the module. At least Transistor T11 may be harmed. Furthermore make sure that under any circumstances the absolute maximum voltage does not exceed 42V.

Power Consumption

The power consumption on the motor stage side (J7) is dominated by the connected motor and the corresponding driving algorithm. The idle consumption is given below.

Power Input PinTypical CurrentNote
VIN~ 47mA@24V (J7), no motor connected, no PWM signal driven.
Power Consumption

Power Distribution Dependencies

Power Distribution

Power-On Sequence

There is no power on sequence which has to be maintained.

Power Rails

Power Rail Name

B2B Connectors


DirectionNotes

+3.3V_D

 J9-4, J9-9In-
+5.0V_DJ9-60In-
VADJJ9-36In-
VINJ7Inisolated
Module power rails.

Board to Board Connectors

CRUVI modules use on bottom side:

  • TMMH-106-04-F-DV-A-M as Low Speed connectors, (12 pins, 6 per row) 
  • ST4-30-1.50-L-D as High Speed connectors, (60 pins, 30 per row) 

CRUVI carrier use on top side: 

  • CLT-106-02-F-D-A-K as Low Speed connectors , (12 pins, 6 per row) 
  • SS4-30-3.50-L-D as High Speed connectors, (60 pins, 30 per row)
Connector Mating height

Mating heigh of the high speed connectors is 5mm. The low speed connectors mate correctly within a range from 4.78 mm to 5.29 mm.

Current Rating

Current rating of High Speed B2B connectors is 1.6A per pin (2 pins powered).

Current rating of Low Speed B2B connectors is 4.1A per pin (2 pins powered).

Speed Rating

There is no data available for the connectors actual used here. Data available for other stacking heights of same connectors is summarized in the folllowing table:

ConnectorSpeed ratings
ST4/SS4 single ended (4mm stacking height!)13.5GHz / 27 Gbps
ST4/SS4 differential (4mm stacking height!)15.5 GHz / 31 Gbps
TMMH/CLT single ended (4.77mm stacking height!)5.5GHz / 11 Gbps
Connector speed ratings
Operating Temp Range

All connectors are specified for a temp. range of -55 °C to 125 °C.

Technical Specifications

Absolute Maximum Ratings

SymbolsDescriptionMinMaxUnit
VINMotor supply voltage042V

+3.3V_D

digital part 3.3V supply voltage-0.33.9V
+5.0V_Ddigital part 5V supply voltage-0.36.0V
VADJIO Bank Voltage-0.33.9V
PS absolute maximum ratings

Recommended Operating Conditions

Operating temperature range depends also on customer design and cooling solution. Please contact us for options.

ParameterMinMaxUnitsReference Document
VIN2240VLTM8053 datasheet

+3.3V_D

3.1353.465VMAX10 datasheet
+5.0V_D4.755.25VSN65LBC173AD datasheet

VADJ (3.3V operation)

VADJ (2.5V operation)

VADJ (1.8V operation)

3.135

2.375

1.71

3.465

2.625

1.89

VMAX10 datasheet
T-40105°CAD7403-8 (junction)
T (ambient)-4085°CSN65LBC173AD datasheet
Recommended operating conditions.

Physical Dimensions

  • Module size: 68.35 mm × 131 mm.  Please download the assembly diagram for exact numbers.

  • Mating height with standard connectors: 5 mm.

PCB thickness: 1.6 mm.

Physical Dimension

Currently Offered Variants 

Trenz shop CR00140 overview page
English pageGerman page
Trenz Electronic Shop Overview

Revision History

Hardware Revision History


DateRevisionChangesDocumentation Link
2019-12-2001Prototypes-
2020-03-1002

removed LS connector J11,

added EEPROM U16

-
Hardware Revision History

Hardware revision number can be found on the PCB board together with the module model number separated by the dash.

Board hardware revision number.

Document Change History

DateRevisionContributorDescription

Antti Lukats

  • initial version

--

all

  • --
Document change history.

Disclaimer

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Please also note our data protection declaration at https://www.trenz-electronic.de/en/Data-protection-Privacy

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The material contained in this document is provided “as is” and is subject to being changed at any time without notice. Trenz Electronic does not warrant the accuracy and completeness of the materials in this document. Further, to the maximum extent permitted by applicable law, Trenz Electronic disclaims all warranties, either express or implied, with regard to this document and any information contained herein, including but not limited to the implied warranties of merchantability, fitness for a particular purpose or non infringement of intellectual property. Trenz Electronic shall not be liable for errors or for incidental or consequential damages in connection with the furnishing, use, or performance of this document or of any information contained herein.

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Technology Licenses

The hardware / firmware / software described in this document are furnished under a license and may be used /modified / copied only in accordance with the terms of such license.

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REACH

Trenz Electronic is a manufacturer and a distributor of electronic products. It is therefore a so called downstream user in the sense of REACH. The products we supply to you are solely non-chemical products (goods). Moreover and under normal and reasonably foreseeable circumstances of application, the goods supplied to you shall not release any substance. For that, Trenz Electronic is obliged to neither register nor to provide safety data sheet. According to present knowledge and to best of our knowledge, no SVHC (Substances of Very High Concern) on the Candidate List are contained in our products. Furthermore, we will immediately and unsolicited inform our customers in compliance with REACH - Article 33 if any substance present in our goods (above a concentration of 0,1 % weight by weight) will be classified as SVHC by the European Chemicals Agency (ECHA).

RoHS

Trenz Electronic GmbH herewith declares that all its products are developed, manufactured and distributed RoHS compliant.

WEEE

Information for users within the European Union in accordance with Directive 2002/96/EC of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment (WEEE).

Users of electrical and electronic equipment in private households are required not to dispose of waste electrical and electronic equipment as unsorted municipal waste and to collect such waste electrical and electronic equipment separately. By the 13 August 2005, Member States shall have ensured that systems are set up allowing final holders and distributors to return waste electrical and electronic equipment at least free of charge. Member States shall ensure the availability and accessibility of the necessary collection facilities. Separate collection is the precondition to ensure specific treatment and recycling of waste electrical and electronic equipment and is necessary to achieve the chosen level of protection of human health and the environment in the European Union. Consumers have to actively contribute to the success of such collection and the return of waste electrical and electronic equipment. Presence of hazardous substances in electrical and electronic equipment results in potential effects on the environment and human health. The symbol consisting of the crossed-out wheeled bin indicates separate collection for waste electrical and electronic equipment.

Trenz Electronic is registered under WEEE-Reg.-Nr. DE97922676.





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