Develop, simulate and test of motor control algorithms with this modular motor kit is supported by MathWorks with hardware support packages for Matlab and Simulink (licence needed).
The motor kit is availabe in two configurations with either a Zynq Ultrascale+ SoM (TE0820 in Kit CR00140-02-K0), or 7 series Zynq SoM (TE0720-03-1CFA in Kit CR00140-02-K1). The parts of the Motorkit are listed in the following table. The main components are linked to their general resources pages where detailed information like TRMs, schematic, firmware and firmeware description, assembly diagramms can be found.
For further insights see also the TRMs of each specific component:
Components | Article number | Description |
---|---|---|
TEB0707 | TEB0707-02 | baseboard |
CR00140 | CR00140-02 | motor driver board |
TE0820 (option K0) or TE0720 (option K1) | TE0820-03-2AE21FA or TE0720-03-1CFA | SoM |
BLY172D-24V-4000-1250SI | 30430 | motor with encoder |
Included Accessories | ||
micro SD Card | 26507 | 8GB SDHC |
heat sink | 28606 or 26922 | (type depends on module) with assebly material (pre assembled) |
5V power supply | 28485 | for baseboard (barrel plug) |
encoder cable | TEC0140-01-C |
Additional accessories needed, not included:
Components | Description |
---|---|
24V power supply | with cables suitable for screw terminals |
Ethernet cable | connection to development PC |
micro USB cable | connection to development PC |
Compare with picture below.
Jumper setting on TEB0707:
J4: TE0820: SD→3.3V; TE0720: SD->1.8V
J5: CA → IOV,
J6: CB → IOV,
J7: CC → IOV
With TE0720
With TE0820
Compare with picture in section 'Motor test - 3.' below.
Connect motor-encoder via 5-pin encoder cable to J1 of CR00140. On both sides (Motor and CR00140) the brown wire is connected to pin 1.
Correct Vivado and MatLAB versions corresponding to the Mathworks motor control design are needed.
Copy all data of the corresponding Mathworks Motor control SD-image for TE0820 or TE0720 onto a SD-Card.
Place the SD-Card into TEB0707 (J8)
check package setup for both packages (available via Matlab→ Home→ Add-Ons→ AddManage Add-Ons→ grey gear)
Select Hardware Board
TE0720 | TE0820 |
---|---|
Xilinx Zynq ZC702 evaluation kit | Xilinx Zynq ultraScale+ MPSoC ZCU102 Evaluation kit |
use option "Connect directly to development computer"
Set IP Address to 192.168.1.X (SoC has 192.168.1.101)
select under 1.1 "Target platform" correct board:
Trenz TE0720 with CR00140 | Trenz TE0820 with CR00140 |
Do same (run all) for 2., 3.1, 3.2 (needs some time, press ok if window opens, will close automatically when finished)
run all tasks excluding 4.4
check shortly after start Done LED goes of
TE0720 | TE0820 |
---|---|
green LED D4 | red LED D1 |
Current consumption
TE0720 | TE0820 |
---|---|
~0.8 A | ~1.2 A |