LM3S615 LM3S316 RS232 NEMA23 S23HT260-S FDS6930 FAN7380 FT232RL EKK-LM3S811 - Datasheet Archive

 

LM3S316 Microcontrollers to Control a CNC Machine Application Note AN01 246 -0 3 Co pyrigh t © 2 007­ 200 9 Te xas In

 

Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Application Note AN01 246 -0 3 Co pyrigh t © 2 007­ 200 9 Te xas In strumen ts Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Copyright Copyright © 2007­2009 Texas Instruments, Inc. All rights reserved. Stellaris and StellarisWare are registered trademarks of Texas Instruments. ARM and Thumb are registered trademarks, and Cortex is a trademark of ARM Limited. Other names and brands may be claimed as the property of others. Texas Instruments 108 Wild Basin, Suite 350 Austin, TX 78746 Main: +1-512-279-8800 Fax: +1-512-279-8879 http://www.luminarymicro.com June 24, 2009 2 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Table of Contents Introduction . 4 Features. 4 Block Diagram . 4 CNC Machine Description . 6 Mechanical Design. 6 Stepper Motors . 7 Control Electronics. 8 User Interface Electronics. 10 Software Description. 10 Development Tools . 11 Future Enhancements . 11 Interfaces . 11 Component Placement . 12 Bill of Materials . 14 Schematics . 17 Conclusion . 18 References . 18 June 24, 2009 3 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Introduction Computer Numerical Control (CNC) milling machines are undoubtedly the ultimate workshop tool. They transform blank work pieces into precise shapes using a series of computer controlled cutting operations. With the correct tool and speed selection, almost any material is a candidate for cutting, routing, engraving, drilling, or smoothing. Common CNC machine applications include tool-making, printed circuit board (PCB) manufacture, and sign-making. Unfortunately, these capabilities come with a heavy price tag that places CNC milling machines beyond the budget of most home workshops. Not to be deterred, some hobbyists and small businesses have designed and built their own machines-establishing the perfect challenge for the avid hobbyist. Many do-it-yourself machine designs have impressive specifications and capabilities. Resolution and tolerances are often better than a few thousands of an inch, and building a CNC machine allows the designer to adapt the design to suit a specific cutting tool or end application. The Luminary Micro CNC machine combines mechanics built from a set of purchased plans with a custom control board and software. The Luminary CNC machine features the Stellaris ARM® CortexTM-M3-based microcontroller. In addition to on-chip motor-control-related peripherals, Stellaris microcontrollers have significant processing capabilities-thanks to a CortexTM-M3 microprocessor. This ability allows the CNC machine to operate autonomously, without a host PC. Features The three-axis mill supports several tool attachments for machining and marking a variety of materials. An LCD-based user interface allows the operator to run and modify pre-defined milling programs. A USB interface connects to a PC for downloading additional or complex milling programs and real-time monitoring of machine activity. Although operational speed is not important with hobbyist CNC machines, we decided that our implementation should be able to quickly complete simple milling jobs. This was a consideration in the design of the electronics and implementation of the mechanical design. The CNC machine has the following features: Self-contained CNC machine Large three-dimensional workspace LCD touch panel interface Interchangeable tools Demo mode engraves custom nameplates and the Luminary Micro logo RS232 RS232 and USB links for optional file transfer from a PC Block Diagram Figure 1 shows the block diagram for the CNC machine. June 24, 2009 4 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Figure 1. CNC Machine Block Diagram Luminary Micro CNC Control Board USB to Serial Device USB MOSFET H-bridge (x2) X Axis Stepper Motor LM3S615 LM3S615 Microcontroller RS232 RS232 High and Low Side Gate Drivers High and Low Side Gate Drivers MOSFET H-bridge (x2) Y Axis Stepper Motor text High and Low Side Gate Drivers MOSFET H-bridge (x2) Z Axis Stepper Motor RS232 RS232 Line Transceiver SWD 1MB Serial Data Flash (optional) +12V SPI I2C +3.3V Limit Switches (x6) SWD/JTAG 3.3V Power Supply Emergency Shutdown Switch LM3S316 LM3S316 Microcontroller Backlight Pwr 12V Power Supply Speaker Relay Driver Parallel Tool Power Control Relay SPI (touch data) 24V 3A Supply QVGA LCD Touch Panel June 24, 2009 5 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine CNC Machine Description This section describes the CNC machine including the mechanical design, stepper motors, control electronics, user interface electronics, software description, and development tools. Figure 2 shows the completed CNC machine. Figure 2. Luminary Micro's CNC Machine with LCD Touch Panel Mechanical Design The CNC machine was constructed from a set of plans by David Steele (see Figure 3). These can be purchased from www.solsylva.com. The design uses stepper motors and a lead-screw arrangement to provide motion on each of three axes. Apart from the motors and timing belt components, all mechanical parts are readily available from home-improvement stores. Construction went fairly smoothly, but a few design changes were made as assembly progressed. The first item was to redesign the timing belt tensioner system so that the belt could not slip out of position. A more drastic change was to replace the standard all-thread lead-screws with precision acme-threaded rods. This yielded a 4x increase in traverse speed and satisfied our original design objective. The 3/8 inch acme rod has two thread starts and eight threads/inch so four revolutions move the nut exactly 1 inch. Acme lead-screws are readily available from engineering material suppliers and specialty motion control sources. June 24, 2009 6 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Figure 3. CNC Machine by David Steele Stepper Motors The plans for the CNC machine accommodate NEMA23 NEMA23 size stepper motors. Our implementation uses three bipolar stepper motors from Stepper3 (www.stepper3.com). This class of motor is commonly used in automation applications and has significantly higher torque (260 oz-in) and smaller step angle (1.8°) than standard unipolar stepper motors. Table 1 shows the stepper motor specifications. Table 1. Stepper Motor Specifications Item Detail Part Number S23HT260-S S23HT260-S Configuration Bipolar Step Angle 1.8º/step Starting torque 260 oz-in Rated Voltage 3.2 Vdc Phase Current 2.8A/phase Winding Resistance Body Length 1.13 3.0 inches The step rate needed to achieve a certain traverse speed can be calculated as follows: Step Rate = Speed * Turns per inch * 360 / Step Angle So, a transverse speed of 2 inches/second requires 1600 steps/second. Resolution calculates out to 0.00125 inches/step-more than adequate for most applications. June 24, 2009 7 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Control Electronics The CNC Machine is controlled by a single circuit board containing processing, monitoring, power electronics, and user interface circuitry. In order to provide a clean separation of functions, two Stellaris microcontrollers were used in the design as shown in Figure 4 on page 8. The first device is the LM3S615 LM3S615 microcontroller which handles all motor-control-related tasks. The second device, the LM3S316 LM3S316 microcontroller, manages the user interface-in this case a QVGA touch panel. Figure 4. Control Board Featuring Stellaris LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers The largest block in the control electronics is the 3-channel stepper motor control circuit. Each motor has two coils, each of which must be driven by a full H-bridge. The LM3S615 LM3S615 microcontroller's advanced PWM block generates 6 independent PWM signals; one to each H-bridge. Chopper control is used to give stepping rates much greater than the 100 step/sec limit for simple control methods. Chopper control uses a supply voltage much higher than the motor's rated voltage to increase the rate at which the current rises in the active coil. Six pulse-width modulated (PWM) outputs from the main Stellaris microcontroller each control the current into a coil. The PWM duty cycle is adjusted while the coil is energized to keep the current close to, but not in excess of, the motor's rated current. This control technique yields optimal torque speed performance. Each stepper motor axis uses dual H-bridges, requiring a total of eight MOSFETs. By selecting small SO-8 packages, each containing two N-channel MOSFETS, the space required for the MOSFETs is minimized. There are no thermal issues thanks to the low 0.040 Rds(on) characteristic of the Fairchild FDS6930 FDS6930 devices. Two high-side/low-side gate drivers control each H-bridge. The Fairchild FAN7380 FAN7380 devices use a flying-capacitor circuit to bootstrap the supply for the high-side gate control. They also have integral dead-time control to prevent cross-conduction during switching. June 24, 2009 8 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine The control sequence for full-step operation is shown in Table 2. Table 2. Full-Step Operation Control Sequence Stepa A1 A2 B1 B2 PWM_MnA PWM_MnB POL_MnA POL_MnB 1 +b -b + - PWM PWM LOW LOW 2 - + + - PWM PWM HIGH LOW 3 - + - + PWM PWM HIGH HIGH 4 + - - + PWM PWM LOW HIGH 5 + - + - PWM PWM LOW LOW a. Each step moves the rotor 1.8º. b. + and ­ indicate the relative voltage potential on the motor coils. Operator safety is an important consideration. Each MOSFET gate control circuit is AND-ed to a common enable signal. A normally-closed panic switch, mounted on the machine, can shut down the stepper motors without microprocessor intervention if necessary. Limit switches on each axis serve two functions. The first is to provide a reference point at which the CNC machine can automatically zero its coordinate counters. The second is to prevent self-destruction ­ a likely scenario given the considerable forces that can be exerted by a lead-screw arrangement. Each axis has two limit switches that are connected to a single GPIO via a simple RC circuit. The limit switches are distinguished by measuring the time to charge the capacitor in the RC circuit. See Figure 5 for details of the limit switch wiring. Figure 5. Limit Switch Multiplexing Vgpio +3.3 V SW1 SW2 Time SW1 GPIO R1 Limit Switch LM3S615 LM3S615 1K C6 0.01UF SW2 R2 Limit Switch 2K Supply voltage sensing capability allows the main microcontroller to adjust the PWM depth at low step rates, based on the ratio between the supply voltage and the motor's rated voltage. A 21:1 resistor divider was selected to give a full-scale range of 63 Vdc. High-side current sensing allows the microcontroller to monitor total motor current (for all motors). Full-scale current is 15 A with a 0.01 sense resistor and a sense amplifier with a gain of 20. Each motor has a common low-side current sense resistor. The signal is fed through a low-pass filter and into the inverting input of the LM3S615 LM3S615 microcontroller's internal comparator. The comparator June 24, 2009 9 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine reference (non-inverting input) threshold is set to the current trip point. This can either be set using the internal programmable reference, or an external resistor divider (if internal reference cannot hit the required level). This circuit can provide over-current protection. A regulated 24 V 3 A source is required to power the CNC machine. Two buck converters take the 24 V supply and generate 12 V and 3 V supply rails for the electronics. An external communications link is jumper selectable between a standard RS232 RS232 port and a USB port. The USB interface uses an FT232RL FT232RL device from FTDI which appears as a virtual COM port when connected to a PC. User Interface Electronics The CNC machine's user interface consists of a QVGA (320 x 240 resolution) LCD touch panel. The LCD has an internal frame buffer and controller which connect with an 8-bit parallel interface to the LM3S316 LM3S316 microcontroller. The LCD does not have built-in character memory or fonts, so all text is generated by the microcontroller using bitmaps stored in on-chip flash memory. The LCD module has an integrated resistive touch panel with a convenient Serial Peripheral Interface (SPI) bus. The LM3S316 LM3S316 microcontroller takes the raw touch data, calculates coordinates, handles debouncing, and manages touch zones. The LCD is backlit with a string of white LEDs which are controlled with a MOSFET switch from a single GPIO line. A simple 1 series resistor sets the backlight current at 140 mA. An LM3S316 LM3S316 microcontroller PWM output connects to a small piezo sounder to generate audible feedback when the screen is touched. An I2C bus connects the user interface microcontroller to the main microcontroller and needs only two pins from each device. Software Description The software for the CNC machine is divided into two self-contained applications; one that runs on the user interface microcontroller (LM3S316 LM3S316), and one that runs on the main microcontroller (LM3S615 LM3S615). Each application is separately developed, built, and debugged. The user interface microcontroller provides a virtual keyboard on the LCD. This keyboard allows entry of text, selection of the demonstration to perform, and selection of the tool in use (pen or router). The code on the user interface microcontroller uses approximately 16 KB of flash memory, 0.5 KB of SRAM, and 0.5 KB of stack. The main microcontroller application drives the stepper motors on the machine, handles input from the various switches (limit and panic), and receives commands from the user interface microcontroller via its I2C slave interface. The code on the main microcontroller uses approximately 26 KB of flash memory (10.5 KB of which is vector image data and 3 KB of which is the vector font), 0.75 KB of SRAM, and 0.5 KB of stack. The various demos work by machining or drawing a sequence of lines. A derivative of the Hershey simplex vector font is used for drawing text; vectorized graphics are used for the remainder of the drawings. Because of the use of vectorized drawing methods, all text and images can be drawn at June 24, 2009 10 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine any size desired (within the physical constraints of the machine's capability); the only drawback is the fact that the vector nature of the source can become more apparent at larger sizes. Development Tools The source for the CNC control board can be built using GCC and debugged using GDB. There are separate projects for the main motor control microcontroller and the user interface microcontroller. Luminary Micro's EKK-LM3S811 EKK-LM3S811 Evaluation Kit provides a debugger interface using serial wire debug (SWD). SWD was chosen over JTAG to free additional GPIO pins. Future Enhancements The 30 V MOSFETs are satisfactory for operating stepper motors at up to 24 Vdc. To increase the maximum step rate, the motor supply voltage could be raised to 36 Vdc. This would require 60 V MOSFETs. Changing the MOSFETs requires a change in the gate drive circuit, because the FDS6930 FDS6930 MOSFETs used in the design are low gate capacitance types. The recommended MOSFET for 60V operation is Zetex ZXN6A090 ZXN6A090. A minor schematic and layout change is necessary to accommodate the International Rectifier IR2183S IR2183S gate drivers. This combination has been tested and shown to give excellent electrical performance. Presently, software supports autonomous operation, but the source code could easily be extended to accept G-code from PC-based CNC software. Interfaces This section shows the connector pin assignments for the CNC machine. Figure 6 on page 11 shows the control connector pin assignment. Figure 7 on page 12 shows the motor connector pin assignment. Figure 8 on page 12 shows the power connector pin assignment. GND GND GND GND +3.3V PANIC VMOTOR +12V GND Figure 6. Control Connector Pin Assignments June 24, 2009 X LIMIT Y LIMIT Z LIMIT 1 PANIC 19 ALIVE 2 TOOL OUT 20 11 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine MOTORX A2 MOTORX B2 MOTORY A1 MOTORY B1 GND MOTOTZ A2 MOTORZ B2 Figure 7. Motor Connector Pin Assignments MOTORX A1 MOTORX B1 GND MOTORY A2 1 MOTORY B2 13 MOTORZ A1 2 MOTORZ B1 14 +24V IN GND Figure 8. Power Connector Pin Assignments 3 1 +24V IN 2 GND 4 Component Placement Figure 9 on page 13 shows the component placement for the CNC machine. June 24, 2009 12 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Figure 9. CNC Machine Component Placement Diagram June 24, 2009 13 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Bill of Materials Table 3 shows the bill of materials (BOM) for the CNC machine. Table 3. Item CNC Machine BOM Designator Qty Part Number Description Manufacturer 1 BZ1 1 PKM13EPY-4000 PKM13EPY-4000 Piezo Sounder, 12mm Murata 2 C4, C5, C10, C11, C14, C16, C18, C19, C22, C23, C24, C25, C26, C29, C32, C33, C34, C35, C36, C38, C39, C42, C43, C44, C45, C46, C47, C48, C51, C52, C55, C56, C59, C60, C63, C64, C67, C68, C76, C77, C78, C79, C80 43 C0805C104M5RAC7800 C0805C104M5RAC7800 Capacitor 0.1uF 0805 50V X7R 20% Kemet 3 C40, C41 0 4 C20, C21, C30, C31 4 80-C0805C180J5G 80-C0805C180J5G Capacitor 18pF 0805 NPO 5-v 5% 5 C1, C2, C3, C6-9, C12, C15, C71 10 C0805C103K5RAC7800 C0805C103K5RAC7800 Capacitor, 0.01uF 0805 50V X7R 20% 6 C13, C17 2 T491B106K020 T491B106K020 Capacitor 10uF Tantalum Size B 20V 10% 7 C72, C73, C74, C75 4 MV50VC101M10X10TP MV50VC101M10X10TP Capacitor, 100uF 50V Electro 10x10mm SMT UCC 8 C27, C28, C37, C49, C50, C53, C54, C57, C58, C61, C62, C65, C66, C69, C70 15 C0805C105K4RACTU C0805C105K4RACTU Capacitor 1uF 16V 10% X7R 0805 Kemet 9 D1, D2, D18 3 SS26 Diode Schottky 60V 2A 10 D3, D4, D5 3 SML-LX1206GC-TR SML-LX1206GC-TR LED 1206 Green Lumex 11 D6, D7, D8, D9, D10, D11, D12, D13, D14, D15, D16, D17, D19, D20 14 CD0805-S0180 CD0805-S0180 Diode 80V 100mA Fast 0603 Bourns 12 F1a 1 BK/GMA-5A Fuse, 5A 5x20mm Fast Bussmann 13 F1b 1 6490000 Fuse Holder 5x20mm Wickmann June 24, 2009 Capacitor, Do Not Populate Kemet Kemet Fairchild 14 Application Note Table 3. Item Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine CNC Machine BOM (Continued) Designator Qty Part Number Description Manufacturer 14 J1 1 FH12-26S-1SH FH12-26S-1SH SMT Flex Connector 26way 1mm pitch bottom contact Hirose 15 J2 1 KMBX-SMT-5S-S-30TR KMBX-SMT-5S-S-30TR Connector USB Mini B 5-pin Kycon 16 J3, J4 0 852-10-010-10-001000 Header 0.050" 2x10Do not fit for production (debug headers) 17 J5 1 1-1586041-4 Header, 14 pos 4.20mm PE Series Right Angle AMP 18 J6 1 1586041-4 Header, 4 pos 4.20mm PE Series Right Angle AMP 19 J7 1 2-1586041-0 Header, 20 pos 4.20mm PE Series Right Angle AMP 20 JP1, JP2 2 TSW-103-07-G-S TSW-103-07-G-S Header, 3 pos SIL Sullins 21 L1, L2 2 SWS-3.00-77 Inductor 77uH 3A 150kHz SMD Telema 22 J8 1 22-23-2041 Header, 4-Pin KK Series Header Molex 23 P11 1 747840-4 Connector, DB9 Male 24 Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11, Q12, Q13, Q14 14 FDS6930A FDS6930A Dual N-Channel N-CH MOSFET 30V 5.5A Fairchild 25 R1, R3, R5, R9, R10, R13, R17, R38, R47, R49, R50, R54, R55, R56, R57, R58, R97, R99, R100, R101 20 Resistor 10K 5% 0805 Generic 26 R2, R4, R6 3 Resistor 0.1 Ohm 2W 2512 1% 27 R7, R12 2 Resistor 27 Ohms 5% 0805 Generic 28 R8, R26, R28, R35, R95, R103 6 Resistor 1.0K 1% 0805 Generic June 24, 2009 Samtec Amp IRC 15 Application Note Table 3. Item Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine CNC Machine BOM (Continued) Designator Qty Part Number Description Manufacturer 29 R11, R59, R60, R61, R62, R63, R64, R65, R66, R67, R68, R69, R70, R71, R72, R73, R74, R75, R76, R77, R78, R79, R80, R81, R82, R83, R84, R85, R86, R87, R88, R89, R90, R91, R92, R93, R94 37 Resistor 10 Ohms 5% 0805 Generic 30 R22, R30 2 Resistor 169K 1% 0805 Generic 31 R23, R31 2 Resistor 105K 1% 0805 Generic 32 R48 1 Resistor 1 Ohm 0805 Generic 33 R25 1 Resistor 3.74K 1% 0805 Generic 34 R27 1 Resistor 2.4K 1% 0805 Generic 35 R29 1 Resistor 150 5% 0805 Generic 36 R32 1 Resistor 360 Ohms 1% 0805 Generic 37 R33 1 Resistor 0.01 Ohms 2W 2512 Generic 38 R34 1 Resistor 20K 1% 0805 Generic 39 R36, R37 2 Resistor 2.7K 5% 0805 Generic 40 R18, R19, R20, R21, R24, R96 6 Resistor 0 Ohms 0805 Generic 41 R14-16 R14-16, R39-44 R39-44, R45, R53 0 Resistor 0805 OMIT Generic 42 R46 0 Resistor 2512 OMIT Generic 43 R51 1 Trimpot 10K 3mm SMD Cermet Bourns 44 R52, R98 2 Resistor 4.7K 5% 0805 Generic 45 R102, R104, R105, R106, R107, R108, R109 7 Resistor 100K Ohms 5% 0805 Generic 46 SW1 1 SW-B3S-1000 SW-B3S-1000 Switch, Tact 6mm SMT Omron 47 U1, U2 2 LM25007SD LM25007SD 42V, 0.5A Step-Down Switching Regulator National 48 U3 1 MAX4080TAUA MAX4080TAUA 76V High-Side Current Sense Amp with Voltage Output June 24, 2009 LRC-LRF2512-01-R010-F LRC-LRF2512-01-R010-F TC33X-2-103E TC33X-2-103E Maxim 16 Application Note Table 3. Item Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine CNC Machine BOM (Continued) Designator Qty Part Number Description Manufacturer 49 U4 1 SST25VF080 SST25VF080 SST Serial Data Flash 8Mbit SO-8 20MHz SST 50 U5 1 LM3S615-CQN LM3S615-CQN IC, LM3S615 LM3S615 ARM Microcontroller TQFP48 TQFP48 Luminary Micro 51 U6 1 LM3S316-CQN LM3S316-CQN IC, LM3S316 LM3S316 ARM Microcontroller TQFP48 TQFP48 Luminary Micro 52 U7 1 FT232RL FT232RL USB UART Asynchronous Serial Data Transfer Chip, SSOP28 SSOP28 Pb-free FTDI 53 U8 1 MAX3226E MAX3226E IC, RS232 RS232 Line Transceiver with SD SSOP16 SSOP16 Maxim 54 U9, U10, U16, U17, U22, U23, U29, U30, U35, U36, U42, U43 12 FAN7380M FAN7380M Half-Bridge Gate Driver 600V 55 U11, U12, U13, U14, U18, U19, U20, U21, U24, U25, U26, U27, U31, U32, U33, U34, U37, U38, U39, U40, U44, U45, U46, U47 24 SN74LVC1G11DBVR SN74LVC1G11DBVR Triple 3-Input Positive-AND Gate TI 56 U15, U28, U41 3 SN74HC04DBR SN74HC04DBR Hex Inverter TI 57 Y1 0 OMIT Crystal - Do not fit Generic 58 LCD 1 MTG-F32240NFWHSGW05B MTG-F32240NFWHSGW05B LCD Panel QVGA STN, White LED backlight, resistive touch Microtips 59 Y2, Y3 2 FOXSDLF/060-21 FOXSDLF/060-21 Crystal 6.00Mhz HC-49SD HC-49SD Fairchild Fox Schematics The figures starting on page 19 through page 28 provide the schematics for the CNC machine: "Main Contents Page" on page 19 "Primary Microcontroller" on page 20 "User Interface Microcontroller and LCD Panel" on page 21 "Switch, Tool Control, and Audio" on page 22 "USB and Serial Interfaces" on page 23 "X-Axis MOSFET Drivers" on page 24 "Y-Axis MOSFET Drivers" on page 25 June 24, 2009 17 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine "Z-Axis MOSFET Drivers" on page 26 "H-Bridge Power State" on page 27 "Power Supplies" on page 28 Conclusion The control board for the Luminary Micro CNC machine is a multi-faceted design which includes elements that are applicable to many embedded applications. Sophisticated graphical user interfaces, simultaneous control of multiple motors, and a wide range of peripherals are all easily managed by Stellaris microcontrollers. A challenging project like a CNC milling machine is a good match for an advanced microcontroller like those in the Stellaris family. References The following documents are available for download at www.luminarymicro.com: Stellaris® LM3S316 LM3S316 Microcontroller Data Sheet, Publication Number DS-LM3S316 DS-LM3S316 Stellaris® LM3S615 LM3S615 Microcontroller Data Sheet, Publication Number DS-LM3S615 DS-LM3S615 Stellaris® CNC Machine Software, Order Number SW01246 SW01246, (includes Stellaris® CNC Machine Software Reference Manual) June 24, 2009 18 Application Note Using the Stellaris® LM3S615 LM3S615 and LM3S316 LM3S316 Microcontrollers to Control a CNC Machine Important Notice Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, modifications, enhancements, improvements, and other changes to its products and services at any time and to discontinue any product or service without notice. Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete. 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Following are URLs where you can obtain information on other Texas Instruments products and application solutions: Products Amplifiers Data Converters DLP® Products DSP Clocks and Timers Interface Logic Power Mgmt Microcontrollers RFID RF/IF and ZigBee® Solutions amplifier.ti.com dataconverter.ti.com www.dlp.com dsp.ti.com www.ti.com/clocks interface.ti.com logic.ti.com power.ti.com microcontroller.ti.com www.ti-rfid.com www.ti.com/lprf Applications Audio Automotive Broadband Digital Control Medical Military Optical Networking Security Telephony Video & Imaging Wireless www.ti.com/audio www.ti.com/automotive www.ti.com/broadband www.ti.com/digitalcontrol www.ti.com/medical www.ti.com/military www.ti.com/opticalnetwork www.ti.com/security www.ti.com/telephony www.ti.com/video www.ti.com/wireless Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265 Copyright © 2009, Texas Instruments Incorporated June 24, 2009 19 1 U_Leonardo Primary MCU Leonardo Primary MCU.SchDoc 2 U_Leonardo Sec MCU Leonardo Sec MCU.SchDoc 3 U_Leonardo Interfaces Leonardo Interfaces.SchDoc 4 U_Leonardo USB Serial Leonardo USB Serial.SchDoc 5 6 History Revision U_Leonardo Y axis Drive Leonardo Y axis Drive.SchDoc U_Leonardo Z axis Drive Leonardo Z axis Drive.SchDoc Description Aug 4, 06 Release for Rev A PCB A2 U_Leonardo X axis Drive Leonardo X axis Drive.SchDoc Date A A Sep 13, 06 Incorporate modifications to PWM circuit and shutdown circuit. A U_Leonardo H-bridges Leonardo H-bridges.SchDoc B B U_Leonardo Power Supplies Leonardo Power Supplies.SchDoc C C D D Drawing Title: Leonardo CNC Machine Page Title: Main Contents Page Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 1 Sheet 6 1 of 10 Rev A2 1 2 3 4 5 6 A A +3.3V +3.3V +3.3V 1MB DATA FLASH MEMORY +3.3V 8 VDD 0.1UF 4 R54 10K +3.3V SWCLK SWDIO LIMIT_X LIMIT_Y LIMIT_Z R55 10K J3 1 3 5 7 9 2 4 6 8 10 17 18 19 20 21 22 RXD TXD 3 6 1 2 5 nWP SCK nCE SO SI SST25VF080 SST25VF080 SST25VF080 SST25VF080 +3.3V B VSS R37 2.7K U5 7 nHOLD C19 R36 2.7K PRIMARY MICRO R38 10K U4 +3.3V SWDIO SWCLK M2_REF M3_REF M3_ISENSE 35 36 4 3 2 1 PWM_M3A PWM_M3B SHUTDOWNn TOOL_CTRL VSENSE ISENSE RESETn SAMTEC-FTSH-110-01-F-D SAMTEC-FTSH-110-01-F-D 40 39 38 37 14 13 12 11 PA0/U0Rx PA1/U0Tx PA2/SSIClk PA3/SSIFss PA4/SSIRx PA5/SSITx PB0/PWM2 PB1/PWM3 PB2/I2CSCL PB3/I2CSDA PB4/C0PB5/C1PB6/C0+ PB7/TRST PC0/TCK/SWCLK PC1/TMS/SWDIO PC2/TDI PC3/TDO/SWO PC4/PhA PC5/C1+/C0o PC6/C2+/PhB PC7/C2- PD0/PWM0 PD1/PWM1 PD2/U1Rx PD3/U1Tx PD4/CCP0 PD5/CCP2 PD6/Fault PD7/IDX 29 30 33 34 44 43 42 41 25 26 27 28 45 46 47 48 M1_REF PWM_M2A PWM_M2B I2C_SCL I2C_SDA M1_ISENSE M2_ISENSE LIMIT_XYZ PWM_M1A PWM_M1B POL_M1A POL_M1B POL_M2A POL_M2B POL_M3A POL_M3B B PE0/PWM4 PE1/PWM5 PE2/CCP4 PE3/CCP1 PE4/CCP3 PE5/CCP5 PRIMARY MCU SWD CLK_6MHZ R39 OSC0P OSC1P OMIT 1 Y3 9 10 5 RESETn 2 8 16 24 31 6MHZ C20 C21 C80 18PF C 18PF OSC0 OSC1 RST LDO GND GND GND GND VDD VDD VDD VDD 0.1UF LDO1 6 +3.3V 7 15 23 32 C22 C23 C24 C25 C26 0.1UF 0.1UF 0.1UF 0.1UF 0.1UF C C27 1UF LM3S615 LM3S615 +3.3V +3.3V R40 OMIT +3.3V R41 OMIT M1_REF R43 OMIT R42 OMIT M2_REF M3_REF R44 OMIT R45 OMIT D D Drawing Title: Page Title: EXTERNAL CURRENT SENSE REFERENCES (omit) Leonardo CNC Machine Priminary MCU Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 2 Sheet 6 2 of 10 Rev A2 1 2 3 4 5 6 +3.3V +3.3V R47 10K A R99 10K RESETn SW1 SW-B3S1000 SW-B3S1000 J4 1 3 5 7 9 TMS2 TCK2 TDO2 TDI2 2 4 6 8 10 R46 A OMIT R100 R101 10K 10K +3.3V J8 R48 C28 1 2 3 4 1.0 1UF 5, 6 +3.3V +12V D19 CD0805-S0180 CD0805-S0180 SAMTEC-FTSH-110-01-F-D SAMTEC-FTSH-110-01-F-D 4 Header 4 Q14B SI4936DY SI4936DY 3 R49 10K USER INTERFACE MCU JTAG/SWD LCD BACKLIGHT POWER COMMON POWER ON RESET CIRCUIT USER INTERFACE MICRO +3.3V U6 B TOUCH_PEN TOUCH_PEN1 TOUCH_CLK TOUCH_CSn TOUCH_DOUT TOUCH_DIN TCK2 TMS2 TDI2 TDO2 17 18 19 20 21 22 40 39 38 37 14 13 12 11 35 36 4 3 2 1 C CLK_6MHZ R53 OSC0S OSC1S 1 Y2 9 10 RESETn OMIT 5 8 16 24 31 2 6MHZ C30 C31 C79 18PF 18PF PA0/U0Rx PA1/U0Tx PA2/SSIClk PA3/SSIFss PA4/SSIRx PA5/SSITx PC0/TCK/SWCLK PC1/TMS/SWDIO PC2/TDI PC3/TDO/SWO PC4/PhA PC5/C1+/C0o PC6/C2+/PhB PC7/C2- B PB0/PWM2 PB1/PWM3 PB2/I2CSCL PB3/I2CSDA PB4/C0PB5/C1PB6/C0+ PB7/TRST PD0/PWM0 PD1/PWM1 PD2/U1Rx PD3/U1Tx PD4/CCP0 PD5/CCP2 PD6/Fault PD7/IDX 29 30 33 34 44 43 42 41 25 26 27 28 45 46 47 48 R50 10K BEEP_PWM I2C_SCL I2C_SDA LCD_A0 LCD_WRn LCD_E 0.1UF R51 10K CONTRAST ADJUST LCD0 LCD1 LCD2 LCD3 LCD4 LCD5 LCD6 LCD7 R52 4.7K +3.3V PE0/PWM4 PE1/PWM5 PE2/CCP4 PE3/CCP1 PE4/CCP3 PE5/CCP5 LCD[0.7] OSC0 OSC1 RST LDO GND GND GND GND VDD VDD VDD VDD 0.1UF C29 J1 I2C_SCL I2C_SDA +3V +3.3V LDO2 6 1 2 3 LCD_A0 4 5 LCD_WRn 6 LCD_E LCD0 7 8 LCD1 9 LCD2 10 LCD3 11 LCD4 12 LCD5 13 LCD6 14 LCD7 15 16 RESETn LCD_Vee 17 18 TOUCH_CLK 19 TOUCH_CSn 20 TOUCH_DIN 21 TOUCH_DOUT 22 TOUCH_PEN 23 TOUCH_PEN1 24 25 26 QVGA STN LCD PANEL MICROTIPS MTG-F32240NFWHSGW-05B MTG-F32240NFWHSGW-05B C HIROSE-HFH26T HIROSE-HFH26T +3.3V 7 15 23 32 C32 C33 C34 C35 C36 C37 0.1UF 0.1UF 0.1UF 0.1UF 0.1UF 1UF LM3S316 LM3S316 D D Drawing Title: Leonardo CNC Machine Page Title: User Interface MCU and LCD Panel Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 3 Sheet 6 3 of 10 Rev A2 1 2 3 4 5 6 +3.3V A A EMERGENCY SHUTDOWN R14 OMIT CIRCUIT R15 OMIT R16 OMIT R17 10K CONTROL CIRCUIT CONNECTOR R18 LIMIT_X R102 SHUTDOWNn R19 LIMIT_Y 100K D20 R9 10K C4 0 OHM C7 C8 C9 0.01UF 0.1UF LIMIT_Z_IN 0 OHM C6 0.01UF 0.01UF 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 LIMIT_Y_IN R21 LIMIT_XYZ C5 LIMIT_X_IN R20 ENABLE 1K J7 0 OHM LIMIT_Z R103 CD0805-S0180 CD0805-S0180 +VIN +12V 0 OHM 0.01UF LIMIT_XYZ_IN 0.1UF +3.3V +3.3V R8 1K LIMIT SWITCHES SD_SWITCH1 SD_SWITCH2 B 7, 8 R11 2 ALIVE_OUT ALIVE_OUT 10 Q13A FDS6930 FDS6930 TOOL_OUT B 1 2-1586041-0 NOTES: 1) Do not connect to LIMIT_XYZ_IN "ALIVE" LAMP POWER CONTROL 2) Two N/O switches connect in parallel to each limit input 3) External switches should have either 1k or 2k series resistors +3.3V R7 27 +12V C C 1 D1 SS26 + 2 - TOOL_OUT BUZZER CEM-1206S CEM-1206S R12 27 4 R10 10K 7, 8 2 TOOL_CTRL 3 BEEP_PWM R13 10K USER INTERFACE AUDIO Q14A SI4936DY SI4936DY 1 5, 6 BZ1 Q13B FDS6930 FDS6930 TOOL CONTROL D D Drawing Title: Leonardo CNC Machine Page Title: Switch, Tool Ctrl and Audio Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 4 Sheet 6 4 of 10 Rev A2 1 2 3 4 5 6 USB MINI B RECEPTACLE J2 5V A D- D+ ID G A 5 4 3 2 G2 1 G1 +3.3V C38 C71 0.1UF 0.01UF U7 4 20 VCCIO VCC USBDM USBDP 16 15 8 19 24 R97 10K NC RESETn NC 27 OSCO 17 3V3OUT C39 0.1UF Y1 RIn OSCI 28 1 RTSn CTSn DTRn DSRn DCDn FT232RL FT232RL AGND GND GND GND TEST B TXD RXD CBUS0 CBUS1 CBUS2 CBUS3 CBUS4 1 5 3 11 2 9 10 6 23 22 13 14 12 B CLK_6MHZ CLK_6MHZ 25 7 18 21 26 R98 4.7K 2 OMIT C40 OMIT C41 OMIT USB PORT P11 11 DB9_M C U8 13 8 RIN TIN ROUT 11 V+ C1+ 2 0.1UF 7 0.1UF R58 10K TXD C43 0.1UF C44 R57 10K RXD 9 C42 3 R56 10K TOUT 10 12 16 1 VINV FON FOFF READY C1C2+ TXD A Note about System clocks: The schematics allow for several clocking options, including clocking all devices from the on-chip USB clock. Clock-out from the USB is only active when a PC is connected, so the micros must be clocked independently. The USB controllers internal clock is adequate, so crystal Y1 is not installed. 4 C45 5 JP1 0.1UF C2- RXD 1 2 3 +3.3V 10 1 6 2 7 3 8 4 9 5 1 2 3 C 6 JP2 1X3HDR 1X3HDR SERIAL TYPE SELECT +3.3V 15 D C46 0.1UF VCC GND 14 D MAX3226E MAX3226E Drawing Title: Page Title: RS232 RS232 PORT Leonardo CNC Machine USB and Serial Interfaces Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 5 Sheet 6 5 of 10 Rev A2 2 3 4 5 +12V C47 C48 R59 4 2 U16 FAN7380 FAN7380 R61 7 HI 1 3 6 M1GATEA2HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR LIN HIN 7 HI R62 10 1 3 6 M1GATEA2LO 10 M1A1 6 U14 4 1 LIN 5 LO R64 10 M1GATEA1LO 4 SN74LVC1G11DBVR SN74LVC1G11DBVR 4 SN74LVC1G11DBVR SN74LVC1G11DBVR R63 5 LO COM 1 A VS U13 4 2 M1GATEA1HI 1UF M1A2 6 VS 1 3 6 4 C50 SN74LVC1G11DBVR SN74LVC1G11DBVR +3.3V C76 0.1UF U12 10 8 ENABLE 1UF HIN R60 1 VB VC 1 3 6 C49 8 U9 FAN7380 FAN7380 U11 D7 CD0805-S0180 CD0805-S0180 VB ENABLE ENABLE 3 CD0805-S0180 CD0805-S0180 2 0.1UF 10 3 1 VC D6 2 0.1UF A 6 +12V COM 1 U15A 1 2 B POL_M1An +3.3V B SN74HC04DBLE SN74HC04DBLE POL_M1A PWM_M1A POL_M1A PWM_M1A U15B +12V +12V C51 R65 1 U10 FAN7380 FAN7380 1 3 6 SN74HC04DBLE SN74HC04DBLE U18 VC 6 4 2 HIN C53 ENABLE U17 FAN7380 FAN7380 1UF HI D9 R66 1 CD0805-S0180 CD0805-S0180 8 ENABLE U15C 2 0.1UF 10 VB UNUSED 5 3 CD0805-S0180 CD0805-S0180 7 R67 M1GATEB2HI 10 1 3 6 SN74LVC1G11DBVR SN74LVC1G11DBVR U19 4 2 10 C54 8 2 0.1UF VC SN74HC04DBLE SN74HC04DBLE C52 D8 1UF VB 4 3 3 R106 100K HIN HI 7 R68 M1GATEB1HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR C VS M1B2 6 VS M1B1 6 C U15D 4 1 LIN 5 R69 M1GATEB2LO 10 1 3 6 4 1 LIN SN74LVC1G11DBVR SN74LVC1G11DBVR 4 SN74LVC1G11DBVR SN74LVC1G11DBVR LO COM 1 3 6 U21 LO 5 R70 M1GATEB1LO 10 4 8 SN74HC04DBLE SN74HC04DBLE COM 9 U20 U15E 11 10 POL_M1Bn +3.3V SN74HC04DBLE SN74HC04DBLE POL_M1B PWM_M1B POL_M1B PWM_M1B U15F 13 D R107 100K 12 D Drawing Title: Leonardo CNC Machine Page Title: SN74HC04DBLE SN74HC04DBLE X-axis Mosfet Drivers Size MOTOR 1 (X-AXIS) DRIVE CIRCUIT Date: 1 2 3 4 5 B Document Number: 10/6/2006 6 Sheet 6 6 of 10 Rev A2 2 3 4 5 +12V C55 C56 R71 4 2 U29 FAN7380 FAN7380 R73 7 HI 1 3 6 M2GATEA2HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR LIN LIN 7 HI R74 10 1 3 6 M2GATEA2LO 10 M2A1 6 U27 4 1 LIN 5 LO R76 10 M2GATEA1LO 4 SN74LVC1G11DBVR SN74LVC1G11DBVR 4 SN74LVC1G11DBVR SN74LVC1G11DBVR R75 5 LO COM 1 A VS U26 4 2 M2GATEA1HI 1UF M2A2 6 VS 1 3 6 4 C58 SN74LVC1G11DBVR SN74LVC1G11DBVR +3.3V C77 0.1UF U25 10 8 ENABLE 1UF LIN R72 1 VB VC 1 3 6 C57 8 U22 FAN7380 FAN7380 U24 D11 CD0805-S0180 CD0805-S0180 VB ENABLE ENABLE 3 CD0805-S0180 CD0805-S0180 2 0.1UF 10 3 1 VC D10 2 0.1UF A 6 +12V COM 1 U28A 1 2 B POL_M2An +3.3V B SN74HC04DBLE SN74HC04DBLE POL_M2A PWM_M2A POL_M2A PWM_M2A U28B +12V +12V C59 R77 1 U23 FAN7380 FAN7380 1 3 6 SN74HC04DBLE SN74HC04DBLE U31 VC 6 4 2 LIN C61 ENABLE U30 FAN7380 FAN7380 1UF HI D13 R78 1 CD0805-S0180 CD0805-S0180 8 ENABLE U28C 2 0.1UF 10 VB UNUSED 5 3 CD0805-S0180 CD0805-S0180 7 R79 M2GATEB2HI 10 1 3 6 SN74LVC1G11DBVR SN74LVC1G11DBVR U32 4 2 10 C62 8 2 0.1UF VC SN74HC04DBLE SN74HC04DBLE C60 D12 1UF VB 4 3 3 R108 100K LIN HI 7 R80 M2GATEB1HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR C VS M2B2 6 VS M2B1 6 C U28D 4 1 LIN 5 R81 M2GATEB2LO 10 1 3 6 4 1 LIN SN74LVC1G11DBVR SN74LVC1G11DBVR 4 SN74LVC1G11DBVR SN74LVC1G11DBVR LO COM 1 3 6 U34 LO 5 R82 M2GATEB1LO 10 4 8 SN74HC04DBLE SN74HC04DBLE COM 9 U33 U28E 11 10 POL_M2Bn +3.3V SN74HC04DBLE SN74HC04DBLE POL_M2B PWM_M2B POL_M2B PWM_M2B U28F 13 D R109 100K 12 D Drawing Title: Leonardo CNC Machine Page Title: SN74HC04DBLE SN74HC04DBLE Y-axis Mosfet Drivers Size MOTOR 2 (Y-AXIS) DRIVE CIRCUIT Date: 1 2 3 4 5 B Document Number: 10/6/2006 7 Sheet 6 7 of 10 Rev A2 2 3 4 5 +12V +12V C63 C64 R83 CD0805-S0180 CD0805-S0180 4 2 8 C65 ENABLE U42 FAN7380 FAN7380 1UF HIN R85 7 HI 1 3 6 M3GATEA2HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR +3.3V 2 A M3GATEA1HI 1UF HIN 7 HI R86 10 LIN 1 3 6 M3GATEA2LO 10 U40 4 1 LIN SN74LVC1G11DBVR SN74LVC1G11DBVR 4 SN74LVC1G11DBVR SN74LVC1G11DBVR R87 5 LO M3A1 6 5 LO R88 10 M3GATEA1LO 4 1 4 C66 VS U39 4 U38 10 SN74LVC1G11DBVR SN74LVC1G11DBVR COM 1 3 6 R84 1 M3A2 6 VS C78 0.1UF D15 CD0805-S0180 CD0805-S0180 VB VCC 1 3 6 U37 3 U35 FAN7380 FAN7380 ENABLE 2 0.1UF 10 8 0.1UF VB 1 3 D14 VCC 2 A 6 COM 1 U41A 1 B 2 POL_M3An +3.3V B SN74HC04DBLE SN74HC04DBLE POL_M3A PWM_M3A POL_M3A PWM_M3A PWM_M3A U41B +12V +12V C67 C68 R89 1 0.1UF CD0805-S0180 CD0805-S0180 5 6 1 3 6 SN74HC04DBLE SN74HC04DBLE 4 2 C69 8 HIN ENABLE U43 FAN7380 FAN7380 1UF HI 7 R91 1 3 6 M3GATEB2HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR C D17 R90 1 CD0805-S0180 CD0805-S0180 VB U36 FAN7380 FAN7380 U44 3 ENABLE U41C VCC UNUSED 2 0.1UF 10 U45 4 2 10 C70 8 D16 1UF VB 2 3 4 SN74HC04DBLE SN74HC04DBLE VCC 3 R104 100K HIN HI 7 R92 M3GATEB1HI 10 SN74LVC1G11DBVR SN74LVC1G11DBVR VS M3B2 6 VS C M3B1 6 U41D SN74HC04DBLE SN74HC04DBLE U46 4 1 LO 5 R93 1 3 6 M3GATEB2LO 10 U47 4 1 SN74LVC1G11DBVR SN74LVC1G11DBVR 4 SN74LVC1G11DBVR SN74LVC1G11DBVR LIN LIN COM 1 3 6 LO 5 R94 M3GATEB1LO 10 4 8 COM 9 U41E 11 10 POL_M3Bn +3.3V SN74HC04DBLE SN74HC04DBLE POL_M3B PWM_M3B POL_M3B PWM_M3B U41F D 13 R105 100K D 12 Drawing Title: Page Title: SN74HC04DBLE SN74HC04DBLE Leonardo CNC Machine Z-axis Mosfet Drivers Size MOTOR 3 (Z-AXIS) DRIVE CIRCUIT Date: 1 2 3 4 5 B Document Number: 10/6/2006 8 Sheet 6 8 of 10 Rev A2 1 2 3 4 5 6 M1GATEA2HI 2 M1GATEB1HI 2 Q3A FDS6930 FDS6930 7, 8 Q2A FDS6930 FDS6930 7, 8 7, 8 Q1A FDS6930 FDS6930 M1GATEB2HI 2 Q4A FDS6930 FDS6930 A X-AXIS MOTOR 1 2 1 M1GATEA1HI 1 A 1 7, 8 VMOTOR M1A1 M1A2 M1B1 M1B2 M1A1 M1A2 M1B1 M1B2 M1_ISENSE B M1_ISENSE M2GATEA2HI 2 M2GATEB1HI 2 C1 0.01UF Q7A FDS6930 FDS6930 7, 8 Q6A FDS6930 FDS6930 7, 8 Q5A FDS6930 FDS6930 1 R1 10K R2 0.1 1W 2 M2GATEB2HI 2 Q8A FDS6930 FDS6930 Y-AXIS MOTOR 1 M2GATEA1HI 1 4 7, 8 5, 6 M1GATEB2LO 1 4 7, 8 M1GATEB1LO Q4B FDS6930 FDS6930 3 4 5, 6 5, 6 M1GATEA2LO 3 4 Q3B FDS6930 FDS6930 3 M1GATEA1LO Q2B FDS6930 FDS6930 3 5, 6 VMOTOR Q1B FDS6930 FDS6930 M2A1 M2B1 4 2 M3GATEB1HI 2 Q11A FDS6930 FDS6930 7, 8 7, 8 Q10A FDS6930 FDS6930 M3GATEB2HI 2 M2GATEB1LO 4 R3 Q12A FDS6930 FDS6930 R4 0.1 1W Z-AXIS MOTOR 5, 6 Q7B FDS6930 FDS6930 M2GATEB2LO 4 10K Q8B FDS6930 FDS6930 M2_ISENSE M2_ISENSE C2 0.01UF 1 1 M3GATEA2HI 1 Q9A FDS6930 FDS6930 1 2 7, 8 7, 8 M3GATEA1HI Q6B FDS6930 FDS6930 3 M2GATEA2LO 5, 6 5, 6 Q5B FDS6930 FDS6930 3 4 3 M2GATEA1LO 3 5, 6 M2B2 VMOTOR B M2A1 M2A2 M2B1 M2B2 M2A2 M3A1 M3A2 C M3B1 4 M3GATEB1LO 4 Q11B FDS6930 FDS6930 5, 6 Q10B FDS6930 FDS6930 M3GATEB2LO 4 C MOTOR POWER CONNECTOR Q12B FDS6930 FDS6930 J5 M1A1 M1A2 M1B1 M1B2 3 3 M3GATEA2LO 5, 6 Q9B FDS6930 FDS6930 3 4 3 M3GATEA1LO 5, 6 5, 6 M3B2 M3A1 M3A2 M3B1 M3B2 R5 R6 0.1 1W 10K M3_ISENSE M2A1 M2A2 M2B1 M2B2 M3_ISENSE C3 0.01UF M3A1 M3A2 M3B1 M3B2 D 1 2 3 4 5 6 7 8 9 10 11 12 13 14 D 1-1586041-4 Drawing Title: Leonardo CNC Machine Page Title: H-Bridge Power Stage Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 9 Sheet 6 9 of 10 Rev A2 1 2 3 4 5 24-36VDC 24-36VDC POWER INPUT VMOTOR J6 +12V +3.3V A U1 +VIN R22 1586041-4 R27 2.4K C10 8 C72 100uF 50V C11 R23 VCC RON/SD BST 7 R28 1K R29 150 0.1uF 6 169K 0.1uF VIN 2 C12 D3 0.01uF 3 105K 4 RCL RTN LM25007 LM25007 FB 1 L1 R24 77uH SW EXPAD 1 2 3 4 D4 D5 +12V 0 Ohm D2 SS26 5 R25 3.74K C13 T491B T491B 10uF 9 A 6 SUPPLY RAIL INDICATORS R26 1.0K 12V 0.4A SWITCHING REGULATOR B B +VIN 5A 0.01 1W R31 RON/SD BST 2 C15 0.01uF 3 105K 4 RCL RTN LM25007 LM25007 SW 1 L2 R96 D18 SS26 5 R34 20K 2 VCC +3.3V 0 Ohm 77uH FB C75 100uF 50V RS- 6 169K 0.1uF U3 MAX4080 MAX4080 C74 100uF 50V RS+ C14 7 0.1uF EXPAD C73 100uF 50V VCC OUT R32 360 C17 T491B T491B 10uF 9 R30 VIN 1 C16 8 8 R33 C18 0.1uF R35 1.0K 3 6 7 NC NC NC ISENSE C 4 C 5 GND +VIN VMOTOR F1 U2 R95 1.0K 3.3V 0.4A SWITCHING REGULATOR VSENSE MOTOR CURRENT AND VOLTAGE MONITOR D D Drawing Title: Leonardo CNC Machine Page Title: Power Supplies Size Date: 1 2 3 4 5 B Document Number: 10/6/2006 10 Sheet 6 10 of 10 Rev A2 IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, modifications, enhancements, improvements, and 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