ADRD3161-01Z Hardware Guide

Figure 1 ADRD3161-01Z Motor Control board

Annotation	Component	Function
1	P10	DC power connection, 9 - 70 V
2	P3	Motor windings connection
3	P8, P9	CAN bus connections (daisy-chainable)
4	P7	TMC9660 debug port
5	P6	MAX32662 debug port
6	DS3	FAULT LED (CiA 303-3)
7	DS2	RUN LED (CiA 303-3)
8	S1, S3	Reset switches
9	S2	Address selection switch
10	P16	Encoder cable connection

Motor winding connections

Warning

Wire colors are not standard and vary between motors. These tables reflect the wiring of Trinamic motors. Check your motor’s datasheet!

Stepper

Motor phase	Wire color	Terminal
A+	Black	UX1
A-	Green	VX2
B+	Red	WY1
B-	Blue	Y2

Brushless DC

Motor phase	Wire color	Terminal
U	Yellow	UX1
V	Red	VX2
W	Black	WY1

Brushed DC

Motor phase	Wire color	Terminal
M+	Red	UX1
M-	Black	VX2

Status LEDs

The LEDs on the board signal the CANopen status according to CiA 303-3.

Table 1 CiA 303-3 RUN LED patterns

RUN LED (Blue, DS2)	CANopen NMT state
Solid on	OPERATIONAL
Blinking 2.5 Hz	PRE-OPERATIONAL
Single flash	STOPPED
Flickering 10 Hz	AutoBaud/LSS (not currently implemented)

Table 2 CiA 303-3 ERR LED patterns

ERR LED (Red, DS3)	CANopen error state
Off	No error
Single flash	Warning limit reached: too many CAN error frames
Double flash	Error Control Event
Triple flash	Sync timeout
Flickering 10 Hz	AutoBaud/LSS (not currently implemented)
Solid on	CAN bus off: needs board reset

Reset switches

Switches RST_TMC and RST_MCU reset the TMC9660 motor drive and MAX32662 application processor, respectively. Press them in the order: RST_TMC, RST_MCU to do a full board reset.

Address selection switch

The boards’ CANopen node IDs can be configured using the DIP switch S2. The CANopen node ID is 0x10 + the binary value of the DIP switches. Assigning node IDs via CANopen LSS is not supported yet. Most CAN messages sent and received by a specific device will have the lower 7 bits set to the node ID, allowing for easy identification when monitoring the bus:

Switch position	CANopen node ID	CAN frame IDs
𜹥 (111)	0x17 (default)	x17, x97
𜹵 (110)	0x16	x16, x96
𜹩 (101)	0x15	x15, x95
𜹹 (100)	0x14	x14, x94
𜹦 (011)	0x13	x13, x93
𜹶 (010)	0x12	x12, x92
𜹪 (001)	0x11	x11, x91
𜹺 (000)	0x10	x10, x90

Encoder cable

Header P16 provides 5V power to encoders and has isolated inputs corresponding to ABN and Digital Hall encoders.

Depending on the used motor and its wiring, you may need to customize the encoder cable. Some examples:

ADI Trinamic ABN (Default)

Encoder cable for ADI Trinamic ABN encoders, such as the ADI Trinamic TMCS series, and the builtin encoders on ADI Trinamic QSH series stepper motors.

BLDC with Hall

Encoder cable for a generic BLDC with Digital Hall sensor configuration, with no special encoder connector, such as the ADI Trinamic QBL series.

BLDC with Hall, VESC-like connector

Encoder cable for using a Digital Hall sensor with a VESC-like encoder connector (6-pin JST PH), such as the REV-21-1650.

BLDC with Hall & ADI Trinamic ABN

Encoder cable for using both an ADI Trinamic ABN encoder and a Digital Hall sensor.

CAN cable

The ADRDx161 board family communicates via CAN bus. The two headers P8, P9 allow for daisy-chaining CAN devices.

Design support files

A design support package consisting of the board schematic, layout, assembly and fabrication files, and more, can be downloaded from the ADRD3161-01Z page. If you intend to build your own board from scratch, follow the ADRD3161-01Z Production Guide for the necessary first-time programming steps.