MM432_B&R_PRODUCT_吉林易择科技技术发展有限公司

General Information The motor bridge module MM432 is used to control two DC motors with a nominal voltage of 10 24 VDC at a nominal current up to 4 A. The module is also equipped with two ABR channels as well as six normal digital inputs for creating positioning tasks which are not too complex. Each motor is controlled with a full-bridge (H-bridge). Therefore, the motors can be moved in both directions. Each bridge branch has its own supply voltage allowing two different motors with different voltages to be used. Each channel has current measurement, supply voltage measurement, and short circuit recognition to ground and to the positive supply voltage. Motor control takes place using a 16 kHz PWM signal and is therefore mostly noise-free. A local processor provides the required intelligence and is used for communication with the higher level CPU. It handles the preparation of the ABR inputs and normal digital inputs, the control of both motors (each with a PWM signal) and the analog measurements.

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General Information
The MM432 motor bridge module is designed for control of DC motors in the lower power range
(typ. 80 W). Both directions are possible.
The main areas of use for the module are in those areas where frictional torque and its
compensation play a decisive role. The module is less suited for dynamic control of acceleration
torque (speed, position). The reason for this lies in the structure of a controller for the MM432.
Current and Torque Control
An electronic current controller is implemented on the MM432 module, which is configured by
the PLC CPU. Since the current with the torque is proportional, the module treats torque control
independently.
Acceleration and deceleration of currents ramps can also be configured, and executed using the
module. The current must be monitored by the application so that the motor is not operated in
generator mode. The current value is read and checked to see whether it lies within the negative
range. The module does not have braking resistors.
Another integrated functionality which is possible is configuring a direction dependent motor
cutoff, triggered using the limit switch.
RPM Control
RPM control is also available in addition to current and torque control. It must be performed by
the CPU of the PLC. Data transfer times via the 2003 bus and the resulting jitter must be taken
into consideration here