Related Manuals for Wittenstein cyber motor cyber reaction wheel 2
Summary of Contents for Wittenstein cyber motor cyber reaction wheel 2
- Page 1 ® cyber reaction wheel 2 Project planning guide Doc. no.: 5022-D060586 Revision: 02...
- Page 2 © WITTENSTEIN cyber motor GmbH 2021 This documentation is protected by copyright. WITTENSTEIN cyber motor GmbH reserves all the rights to photo-mechanical reproduction, copying, and the distribution by special processes (such as computers, file media, data networks), even in parts.
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Page 3: Table Of Contents
® cyber reaction wheel 2 Project planning guide Contents 2.3.4.1 Setting the I2C address About this manual 2.3.5 Changing important system Signal words parameters Safety symbols 2.3.5.1 Setting the voltage limits Structure of the safety information 2.3.5.2 Setting speed and current limits ®... -
Page 4: Cyber ® Reaction Wheel
® Project planning guide cyber reaction wheel 2 1 About this manual ® These instructions contain information required for the safe use of the cyber reaction wheel 2 ® system, also referred to as the reaction wheel and the cyber reaction wheel starter kit, also referred to as starter kit. -
Page 5: Safety Symbols
® cyber reaction wheel 2 Project planning guide 1.2 Safety symbols The following safety symbols are used to indicate hazards, things that are forbidden and important information: General danger Hot surface Electric voltage Electrostatically sensitive device 1.3 Structure of the safety information Safety information in this manual has been structured according to the following template: CAUTION Explanatory text shows the consequences of disregarding this... -
Page 6: Product Characteristics
® Project planning guide cyber reaction wheel 2 2 Product characteristics The reaction wheel with integrated servo controller provides a defined angular momentum. It is used to exchange an adjustable angular momentum with a satellite body. This induced angular momentum can be used for alignment of the satellite body or for compensation of interferences from the environment. -
Page 7: Type Code
® cyber reaction wheel 2 Project planning guide ® 2.1 cyber reaction wheel 2 ® The WITTENSTEIN cyber reaction wheel 2 is an intelligent drive system with a maximum angular momentum of 2 mNms. Possible communication interfaces are SPI, I2C and UART. The intelligence is reflected in an encoderless control system with a high diagnostic depth and the range of functions of industrial drive technology. -
Page 8: Name Plate
Please observe the valid national regulations for waste disposal. • Check the completeness of the delivery against the delivery note. Immediately notify the carrier, the insurance company, or WITTENSTEIN cyber motor GmbH in writing of any missing parts or damage. en-6 Doc. no.: 5022-D060586 Revision: 02... -
Page 9: System Characteristics
® cyber reaction wheel 2 Project planning guide 2.1.4 System characteristics The maximum admissible technical data is described in the following table 3 For additional information, please contact our sales department. Always state the serial number (SN) when doing so. System data Unit Value... -
Page 10: Control Characteristics
® Project planning guide cyber reaction wheel 2 2.1.4.2 Control characteristics ® According to the following figure, the cyber reaction wheel 2 can be approximated as a first or second order system. ® Figure 1.3: Illustration of the step response of the cyber reaction wheel 2 at an acceleration jump from 0 rev/s²... -
Page 11: Pin Assignment Of Connector A
® cyber reaction wheel 2 Project planning guide 2.1.5.1 Pin assignment of connector A Figure Pin no. Signal name Function Ground reference Ground reference Chopper_Ena Output signal, underclocking I2C_SCL I2C bus SCL IO_1 User Output 1 I2C_SDA I2C bus SDA CAN_Rx Reserved for CAN Rx SPI_MOSI... -
Page 12: Use Of Digital Ios
® Project planning guide cyber reaction wheel 2 2.1.5.3 Use of digital IOs The digital IOs user output 1, user output 2 and user input 1 specified in the tables 5 and 6 can be functionally configured by the user. The configuration options are documented in the CHM ®... -
Page 13: Control And Setpoint Selection Of The Reaction Wheel
® cyber reaction wheel 2 Project planning guide 2.1.6 Control and setpoint selection of the reaction wheel The software of the reaction wheel offers numerous options for control and diagnostics. For this purpose, the reaction wheel is operated in velocity control mode. For specification of the angular momentum, acceleration, deceleration and a velocity setpoint are specified. -
Page 14: Environmental Conditions
® Project planning guide cyber reaction wheel 2 2.1.8 Environmental conditions ® The cyber reaction wheel 2 can be stored on the ground for 2 years before use. Environmental conditions Unit Value -40 … 85 Operating ambient temperature range °C -40 …... -
Page 15: Cyber Reaction Wheel Starter Kit
® cyber reaction wheel 2 Project planning guide ® 2.2 cyber reaction wheel starter kit ® ® The WITTENSTEIN cyber reaction wheel starter kit is a startup platform for the cyber reaction wheel 2. This platform makes it very easy to start up the reaction wheel via USB and the ®... -
Page 16: Packaging And Scope Of Delivery
Please observe the valid national regulations for waste disposal. • Check the completeness of the delivery against the delivery note. Immediately notify the carrier, the insurance company, or WITTENSTEIN cyber motor GmbH in writing of any missing parts or damage. ® cyber reaction wheel starter kit... -
Page 17: Structure
® cyber reaction wheel 2 Project planning guide 2.2.4 Structure Table 8 and figure 1.7 provide an overview of the starter kit and its interfaces. Designation USB port Application interface Only for manufacturer Interface to reaction wheel Supply voltage Slot for reaction wheel Fixing bores for starter kit Screws DIN 912 M2x4 Reaction wheel (not included in the scope... -
Page 18: Electrical Interfaces
® Project planning guide cyber reaction wheel 2 2.2.5 Electrical interfaces The following section describes the electrical interfaces as shown in figure 1.7 at the starter kit as well as their properties. Connector Function Plug connector type Plug connector type crws remote end USB port... -
Page 19: B: Application Interface
® cyber reaction wheel 2 Project planning guide 2.2.5.2 B: Application interface Application interface B, see figure 1.7, is intended for fast and prototypical integration of the reaction wheel into the target application. Section 3.4 describes how this is to be done. All signals listed below have an ESD protection diode. -
Page 20: D: Interface To Reaction Wheel
® Project planning guide cyber reaction wheel 2 2.2.5.3 D: Interface to reaction wheel Figure Pin no. Signal name Function Ground reference Ground reference Chopper_Ena Activation of underclocking I2C_SCL I²C Bus SCL IO_1 User Ouput 1: red LED on starter kit I2C_SDA I²C Bus SDA Reserved... -
Page 21: Leds
® cyber reaction wheel 2 Project planning guide 2.2.6 LEDs The starter kit has a total of 6 LEDs, the functions of which are described in the following table: Color Signal Notice green Supply voltage Power label on starter kit; USB Rx/Tx TxD label on starter kit;... -
Page 22: Setting The Supply Voltage
® Project planning guide cyber reaction wheel 2 2.2.7.1 Setting the supply voltage Option 1: Connect USB port A to a remote end using the provided USB cable. Option 2: With the USB cable not connected, a supply voltage can be set within the specified limits via screw terminal E. -
Page 23: Uart Switching
® cyber reaction wheel 2 Project planning guide 2.2.7.4 UART switching The reaction wheel provides a UART interface as described in section 3.4.3.3. It can be patched on the starter kit by means of S1 UART switch either to the USB-UART converter for startup with ®... -
Page 24: Environmental Conditions
® Project planning guide cyber reaction wheel 2 To activate the circuit module, the chopper control field must be set to "On". Afterwards, carry out the voltage settings required for the application. Do you want to save the setting permanently? In this case, click the button Save to EEPROM to maintain the settings even after a power failure. -
Page 25: Graphical User Interface Cyber
® cyber reaction wheel 2 Project planning guide ® 2.3 Graphical user interface cyber reaction wheel assistant ® The graphical user interface cyber reaction wheel assistant allows a very fast, easy and comprehensive startup and diagnosis of the reaction wheel. The assistant uses UART to establish a connection to the reaction wheel and allows startup as stand-alone module as ®... -
Page 26: Setting Of Communication Parameters
® Project planning guide cyber reaction wheel 2 2.3.4 Setting of communication parameters 2.3.4.1 Setting the I2C address 1) Open the CHM-Help 2) Search index 3E06 3) Set the required address according to the parameter description in CHM-Help or the figure below ®... -
Page 27: Changing Important System Parameters
® cyber reaction wheel 2 Project planning guide 2.3.5 Changing important system parameters 2.3.5.1 Setting the voltage limits ® The necessary parameters are listed in the Power screen of the cyber reaction wheel assistant. The CHM-Help for the parameter can be accessed by clicking on the corresponding field and pressing F1 or clicking the question mark circled in blue. -
Page 28: Setting Speed And Current Limits
® Project planning guide cyber reaction wheel 2 2.3.5.2 Setting speed and current limits ® The necessary parameters are listed in the Limits and Power screen of the cyber reaction wheel assistant. The CHM-Help for the parameter can be accessed by clicking on the corresponding field and pressing F1 or clicking the question mark circled in blue. -
Page 29: Startup Of The Cyber
® cyber reaction wheel 2 Project planning guide ® 3 Startup of the cyber reaction wheel 2 3.1 Safety instructions • For mechanical installation, the ESD information must be observed. • The drive system must be checked for mechanical damage before installation. Only install reaction wheels that are in perfect working condition. -
Page 30: Installation At Cyber
® Project planning guide cyber reaction wheel 2 ® 3.3.1 Installation at cyber reaction wheel starter kit To do this, perform the following steps: Secure the reaction wheel (I) in the required axis configuration to the starter kit (G) using screws (H). -
Page 31: Speed Setting
® cyber reaction wheel 2 Project planning guide 3.3.4 Speed setting 1. Open Service motion ® Figure 1.18: Open the screen for specifying the velocity in the cyber reaction wheel assistant 2. Select "Continuous" mode 3. Enter the velocity specification under "Target velocity 1" with the desired acceleration in the "Acceleration"... -
Page 32: Prototypical Integration Of The Cyber ® Reaction Wheel 2 Into An
® Project planning guide cyber reaction wheel 2 ® 3.4 Prototypical integration of the cyber reaction wheel 2 into an ADCS environment For control and diagnosis of the reaction wheel with a microcontroller, e.g. an ADCS, the interfaces I2C, SPI and UART as well as a Wittenstein communication stack are provided as a C code. - Page 33 ® cyber reaction wheel 2 Project planning guide Depending on the interface used, the following connections must be established between the Nucleo Board and one or more starter kits: Nucleo Communication master reaction wheel Comment Board (specific) starter kit J2 (general) (all axes) Axis...
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Page 34: Communication Interfaces
® Project planning guide cyber reaction wheel 2 3.4.3 Communication interfaces ® The cyber reaction wheel 2 offers the following communication interfaces as an interface to a higher-level system: UART All three interfaces can be used in parallel. A precondition for this is that the interface is switched after the last command has been completed. -
Page 35: I2C Interface
® cyber reaction wheel 2 Project planning guide 3.4.3.1 I2C interface The I2C bus is a master/slave bus system. The controlling microcontroller acts as the master, the ® different cyber reaction wheels 2 as slaves. The I2C interface is based on two lines. The clock line (SCL) and the data line (SDA) of the ®... -
Page 36: Uart Interface
® Project planning guide cyber reaction wheel 2 Figure 1.22: Illustration of SPI settings for CPHA and CPOL in the reaction wheel 3.4.3.3 UART interface The UART bus is not a master/slave bus system but consists of equal stations. The UART interface consists of two lines. The transmission line (Tx) of the controlling microcontroller is connected to UART_RX and UART_TX at customer interface B, table 11, of the starter kit or the interface to reaction wheel D, table 13. -
Page 37: Wittenstein Software Stack For Integration Of The Reaction Wheel
® cyber reaction wheel 2 Project planning guide 3.4.4 Wittenstein software stack for integration of the reaction wheel ® The example project provided in the download portal of the cyber reaction wheel 2 for the controlling microcontroller consists of the following layers: Application example Communication... -
Page 38: Firmware Update
® Project planning guide cyber reaction wheel 2 3.6 Firmware update Download the required firmware package from the download portal. ® 3.6.1 Firmware update with the cyber reaction wheel assistant The update process is described in the CHM help. For this purpose, ®... -
Page 39: Integration Of The Cyber
® cyber reaction wheel 2 Project planning guide ® 4 Integration of the cyber reaction wheel 2 into a satellite ® 4.1 Electrical integration of the cyber reaction wheel 2 There are identical plug connectors on two sides of the reaction wheel. All three axes of rotation of a Cartesian coordinate system can be mapped on the carrier board with only two different mating connector arrangements (turned by 90°). - Page 40 ® Project planning guide cyber reaction wheel 2 ® The mounting bores for the reaction wheel are at GND potential for the cyber reaction wheel starter kit as well as the 4 mounting bores at the corners. For integration into the satellites, the mounting bores for the reaction wheel and the entire housing of the reaction wheel can be on GND and chassis potential.
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Page 41: Requirements For Power Adapters And Supply Voltage
® cyber reaction wheel 2 Project planning guide 4.4 Requirements for power adapters and supply voltage When dimensioning the power supply units, observe the electrical characteristics specified in table 4. Also take into account operation of several reaction wheels at the same time. 4.5 Installation space The installation size must be sufficiently large.
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