7/30/2019 7ST30I00

1/8

7ST30I00_E_2_S DATE : 08/01/2007 REV. 2.0

7ST30I00ELECTRIC STEERING SYSTEM CONTROLLER

- USERS GUIDE -

7/30/2019 7ST30I00

2/8

08/01/2007 7ST30I00_E_2_S

1

- INTRODUCTION -

The controller 7ST30I00 is a 4 quadrant driver for PMDC gearmotors powered by battery

24V or 36V that provides a position control by mean of a reference signal (joystick) and afeedback signal (optical encoder on the steering system axe or on the steering gearmotor) .The driver is equipped with a powerful microprocessor for digital control of the gearmotor(position, speed, acceleration, current) , failures and diagnostics analysis of the system andprogrammation.The power stage is an H bridge configuration that operates with the PWM technology at 16KHz.The driver is designed in accordance with the most important EC standards.

FEATURES

POWER SUPPLY BATTERY 24 V (p/n. ) - 36V (p/n 7ST30C00 )

RATED CURRENT 10 ADC

MAX CURRENT 30 ADC ( Ta = 25C)

FREQUENCY 16KHz

HEATSINK MAX TEMPERATURE 90 C

OPERATING TEMPERATURE -10C / 40C

ENCODER - 2 channels encoder ( mounted on the steering gearmotor ):

CH-A and CH-B ( position control )- 3 channels encoder ( mounted the steering axe ):CH-A and CH-B ( position control),CH-C ( zero position reference)

ALARM RELAY Relay output (free contacts) for external enable : excitedwhen running OK.

STEERING SENSIBILITY Programmable dead band in middle position of the joystickfor better straight direction.

2 Sensibilities of the steering proportional to the speed

JOYSTICK FUNCTION Not linear response option: more accuracy near centralposition than maximum right or left position

ENCODER SAFETY Breaking wires, wrong connection of the encoder andsteering motor, loose of encoder pulses.

POSITION REFERENCE JOYSTICK 5 K

SIZES 160 X 95 X 65 (H) mm

PROGRAMMABLE PARAMETERS

SAFETY - OUTPUT SHORT CIRCUIT PROTECTION- MOSFET SHORT CIRCUIT PROTECTION- THERMAL PROTECTION- REVERSE BATTERY PROTECTION- OVERLOAD MOTOR PROTECTION

- AUTO RE-CENTER ( only with the 3 channels encoder )- MICROPROCESSOR RUNNING OK CONTROL

7/30/2019 7ST30I00

3/8

08/01/2007 7ST30I00_E_2_S

2

MECHANICAL DRAWING

picture 1Measures are in mm.(inch).

7/30/2019 7ST30I00

4/8

08/01/2007 7ST30I00_E_2_S

3

WIRING DIAGRAM

POWER WIRES : 2,5 mm2 (rated current < 32A) - 4 mm2 (rated current < 32A)6 mm2 (rated current < 40A) - 10 mm2 (rated current < 63A)

OTHER : 0,25-1 mm2

7/30/2019 7ST30I00

5/8

08/01/2007 7ST30I00_E_2_S

4

- I/O CONNECTOR -

16v Molex connector (Molex p/n.39012160, contacts p/n.39000038)

Pin 1: N.O. RELE OUTPUTClose when running OK

Pin 2: N.C. RELE OUTPUT

Open when running OK

Pin 3: JOYSTICKS Y-AXIS INPUTTravel speed reference from Joystick (open if not used).

Pin 4: RESET SWITCH INPUTSteering center reset (open if not used)

Pin 5: JOYSTICKSNEGATIVE SUPPLY OUTPUTJoysticks negative supply

Pin 6: JOYSTICKS X-AXIS INPUTSteering reference

Pin 7: JOYSTICKSPOSITIVE SUPPLY OUTPUTJoysticks positive supply

Pin 8: OPTIONAL OUTPUTActive Low 2Amps max ( short circuit protected ) + internal Diode

Pin 9: COMMON RELECommon Alarm relay contact

Pin 10: ALARM LED OUTPUTConnection for the diagnostic Blinking Led indicator (5Vdc-10mA) output : the number of

blinks means the alarm type (example 5 blinks means Alarm 5).

Pin 11: OPTIONAL INPUT

Pin 12: MODE 1-2 SWITCHMode1-2 input: Mode 1 or 2 selection (open if not used)

Pin 13: TRAVEL MOTOR VOLTAGE 1 (-M)Negative voltage (-M) in FORWARD direction traction motor wire input (open if not used)

Pin 14: TRAVEL MOTOR VOLTAGE 2 (+M)Positive voltage( +M ) in FORWARD direction traction motor wire input (open if not used)

Pin 15: KEY OUTPUTKey output (0,5A PTC protected)

Pin 16: KEY INPUTKey input

7/30/2019 7ST30I00

6/8

08/01/2007 7ST30I00_E_2_S

5

4v Molex connector (Molex p/n.3901240, contacts p/n. 39000038)

Used for handheld programmer

CONNECTOR J4 (encoder input): Amp Modu 2 cod. 280360, contacts cod.182206/

PIN WIRE DESCRIPTION FUNCTION1 - - -2 BLACK Encoder negative (black) 0 V3 YELLOW Encoder CH B Channel B : 2000 pulse/revolution

4 GREEN Encoder CH A Channel A : 2000 pulse/revolution5 BLUE Encoder CH - C Zero position : 1 pulse/revolution6 RED Encoder power supply + 5V

picture 3

M5 power screws(M5)

+ B: Positive DC power supply input,- B: Negative DC power supply input,M1: Positive Motor output ( in forward direction ),M2: Negative Motor output ( in forward direction ),

7/30/2019 7ST30I00

7/8

08/01/2007 7ST30I00_E_2_S

6

PARAMETERS:

PARAMETER DESCRIPTION DEFAULTRESET TO DEFAULT Reset to default parameters 0

M1: MAX ANGLE Drive wheel rotation angle. 72

M1: MAX SPEED Max speed. 66

M1: STEERING DEL Delay steering reference. 300

M1: BW MAX ANGLE Not used 100

M1: FW MAX ANGLE Y-axis voltage with max steering angle inforward.

100

M1: BW MIN ANGLE Not used 150

M1: FW MIN ANGLE Y-axis voltage with zero steering angle inforward.

150

M1: JOYSTICK P1 Joystick chart point 1. 24

M1: JOYSTICK P2 Joystick chart point 2. 48

M1: JOYSTICK P3 Joystick chart point 3. 68

M2: MAX ANGLE Drive wheel rotation angle. 72

M2: MAX SPEED Max speed. 90

M2: STEERING DEL Delay steering reference. 300

M2: BW MAX ANGLE Not used 100

M2: FW MAX ANGLE Y-axis voltage with max steering angle inforward.

100

M2: BW MIN ANGLE Not used 150

M2: FW MIN ANGLE Y-axis voltage with zero steering angle inforward

150

M2: JOYSTICK P1 Joystick chart point 1. 24

M2: JOYSTICK P2 Joystick chart point 2. 48

M2: JOYSTICK P3 Joystick chart point 3. 68

SPEED REFERENCE Joystick reference ( = JOYSTICK ) or travelmotor voltage reference ( = V MOTOR ).

VMOTOR

V MOTOR ADJ Input traction motor voltage adjust : max value 24.0

JOYSTICK ADJ Joystick reference adjust : max value Y-axis 4.8

DEC. SPEED REF. Delay on decreasing speed reference 30

INC. SPEED REF. Delay on increasing speed reference 30

REF. DEAD BAND Joystick dead-band X-axis 50

REF. CALIBRATION Enable joystick calibration: NO

BATTERY VOLTAGE Battery supply voltage 24

7/30/2019 7ST30I00

8/8

08/01/2007 7ST30I00_E_2_S

7

PARAMETER DESCRIPTION DEFAULTMAX CURRENT Current limit [A] Imax 20

RATED CURRENT Rated current In 8OVERLOAD TIME Overload protection [s] t 20

CENTER RESET Enable center position reset at next power-on: 0

NOT USED ---

ACCES KEY Access key for locked parameters. 0

POSITION GAIN Position gain. 300

INT SPEED LOOP Integral gain speed loop 2

PROP SPEED LOOP Proportional gain speed loop 800

INT CURR LOOP Integral gain current loop 200

PROP CURR LOOP Proportional gain current loop 3000

J2 - PIN 4 Pin 4 of J2 input configuration. TO GND

J2 PIN 11 Pin 11 of J2 input configuration. TO GND

J2 PIN 12 Pin 12 of J2 input configuration. TO GND

# ENCODER PULSES Number of encoders pulses/revolution. 2000

MOTOR RPM Gearmotors max RPM ( first axis ). 4800

GEAR RATIO Encoder-steering axe ratio. 1

CH C VIEWER Channel C viewer enable. 0

NOT USED Not used ---NOT USED Not used ---

NOT USED Not used ---

I ADJ Motor Current adjust 30