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Table of Contents

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
  • Interface
    • 4 phase screw terminal motor connector
    • CRUVI for control
      • 1x high speed connector 
      • 1 low 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. CRUVI low speed connector
  17. ADCs, U3, U5, U7
  18. 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
8J118 x I/Os3.3VConstant 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 or the pinheader J10, which is a base for TEI004 JTAG programmer.

JTAG Signal

B2B Connector

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

J9-59

J10-1pull down
JTAG_EN J9-57-pull up
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 sensores. 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, 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 are for connection of the sensors are further described in the following table. For differential configuration 100 Ohm parallel termination is used.

Signal

Pin J1 (singel ended)Pin  J2 (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

On-board Peripherals

CPLD

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

Signal nameSC CPLD PinConnected toFunctionNotes




















On-board LEDs

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

BEMF

Power and Power-On Sequence

Power Supply

Power supply with minimum current capability of xx A for system startup is recommended.

Power Consumption

Power Input PinTypical Current
VINTBD*
Power Consumption

* TBD - To Be Determined

Power Distribution Dependencies

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Power Distribution

Power-On Sequence

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Power Sequency

Voltage Monitor Circuit

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Voltage Monitor Circuit

Power Rails

Power Rail Name

B2B Connector

JM1 Pin

B2B Connector

JM2 Pin

B2B Connector

JM3 Pin

DirectionNotes
























Module power rails.

Bank Voltages

Bank          

Schematic Name

Voltage

Notes




























Zynq SoC bank voltages.


Board to Board Connectors

? x ? modules use two or three Samtec Micro Tiger Eye Connector on the bottom side.

  • 3 x REF-??????? (compatible to ????????), (?? pins, ?? per row)

    Operating Temperature: -??°C ~ ??°C
    Current Rating: ??A per ContactNumber of Positions: ??
    Number of Rows: ??

Technical Specifications

Absolute Maximum Ratings

SymbolsDescriptionMinMaxUnit




V




V




V




V




V




V




V




V










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



VSee ???? datasheets.



VSee Xilinx ???? datasheet.



VSee Xilinx ???? datasheet.



VSee Xilinx ???? datasheet.



VSee Xilinx ???? datasheet.



VSee Xilinx ???? datasheet.



VSee Xilinx ???? datasheet.



°CSee Xilinx ???? datasheet.



°CSee Xilinx ???? datasheet.
Recommended operating conditions.

Physical Dimensions

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

  • Mating height with standard connectors: ? mm.

PCB thickness: ?? mm.

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Physical Dimension

Currently Offered Variants 

Trenz shop TE0728 overview page
English pageGerman page
Trenz Electronic Shop Overview

Revision History

Hardware Revision History


DateRevisionChangesDocumentation Link
-










Hardware Revision History

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

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Board hardware revision number.

Document Change History

DateRevisionContributorDescription

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Document change history.

Disclaimer

Data Privacy

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

Document Warranty

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.

Limitation of Liability

In no event will Trenz Electronic, its suppliers, or other third parties mentioned in this document be liable for any damages whatsoever (including, without limitation, those resulting from lost profits, lost data or business interruption) arising out of the use, inability to use, or the results of use of this document, any documents linked to this document, or the materials or information contained at any or all such documents. If your use of the materials or information from this document results in the need for servicing, repair or correction of equipment or data, you assume all costs thereof.

Copyright Notice

No part of this manual may be reproduced in any form or by any means (including electronic storage and retrieval or translation into a foreign language) without prior agreement and written consent from Trenz Electronic.

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.

Environmental Protection

To confront directly with the responsibility toward the environment, the global community and eventually also oneself. Such a resolution should be integral part not only of everybody's life. Also enterprises shall be conscious of their social responsibility and contribute to the preservation of our common living space. That is why Trenz Electronic invests in the protection of our Environment.

REACH, RoHS and WEEE

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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