Motorola M68HC08 manual Low-Voltage Evaluation Motor Hardware Set Components, EVM Motor Board

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Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

Hardware Design

4.4.3 3-phase BLDC High Voltage Motor with Motor Brake

The High Voltage BLDC motor-brake set incorporates a 3-phase High Voltage BLDC motor and attached BLDC motor brake. The BLDCmotor has six poles. The incremental position encoder is coupled to the motor shaft, and position Hall sensors are mounted between motor and brake. They allow sensing of the position if required by the control algorithm.

Detailed motor-brake specifications are listed in Table 2-2, Section 2.

4.5 Low-Voltage Evaluation Motor Hardware Set Components

4.5.1 EVM Motor Board

Motorola’s embedded motion control series EVM motor board is a

12-volt, 4-amp, surface-mount power stage that is shipped with an MCG IB23810-H1 brushless dc motor. In combination with one of the embedded motion control series control boards, it provides a software development platform that allows algorithms to be written and tested without the need to design and build a power stage. It supports algorithms that use Hall sensors, encoder feedback, and back EMF (electromotive force) signals for sensorless control.

The EVM motor board does not have overcurrent protection that is independent of the control board, so some care in its setup and use is required if a lower impedance motor is used. With the motor that is supplied in the kit, the power output stage will withstand a full-stall condition without the need for overcurrent protection. Current measuring circuitry is set up for 4 amps full scale. In a 25οC ambient operation at up to 6 amps continuous RMS output current is within the board’s thermal limits.

Input connections are made via 40-pin ribbon cable connector J1. Power connections to the motor are made on output connector J2. Phase A, phase B, and phase C are labeled on the board. Power requirements are met with a single external 12-Vdc, 4-amp power supply. Two connectors, labeled J3 and J4, are provided for the 12-volt power supply. J3 and J4 are located on the front edge of the board. Power is supplied to one or the other, but not both.

Designer Reference Manual		DRM028 — Rev 0

70	Hardware Design	MOTOROLA
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Contents M68HC08 Freescale Semiconductor, IncFor More Information On This Product Sensorless Bldc Motor Control Using MC68HC908MR32 Designer Reference Manual RevRevision history List of Sections List of Sections Table of Contents Table of Contents List of Figures TitleList of Figures List of Tables List of Tables Introduction ContentsBenefits of the Solution Application FunctionalityIntroduction System Description System ConceptSystem Description System Specification Software parameter tuning to a customer motor Software SpecificationSoftware written in C language specifications are listed Software SpecificationsHardware and Drive Specifications High-Voltage Hardware Set SpecificationHigh Voltage Hardware Set Specifications Motor -Brake SetLow Voltage Evaluation Hardware Set Specifications Low-Voltage Evaluation Hardware Set SpecificationLow-Voltage Hardware Set Specification Low Voltage Hardware Set Specifications Brushless DC Motor Control Theory Bldc Motor ControlBldc Motor Targeted by This Application Semiconductor, Inc Bldc Motor Control Brushless DC Motor Control Theory Bldc Motor Back EMF and Magnetic Flux 2 3-Phase Bldc Power Stage Why Sensorless Control?Power Stage Motor Topology Stator Winding Equations Indirect Back EMF SensingSame expressions can also be found for phase a and B Phase Voltage Waveform Effect of Mutual InductanceMutual Inductance Effect Effect of Mutual Phase Capacitance Detail of Mutual Inductance EffectMutual Capacitance Model 10. Distributed Back-EMF by Unbalanced Capacity Coupling 11. Balanced Capacity Coupling Back-EMF Sensing Circuit Inc Sensorless Commutation Control Used Control TechniqueAlignment Starting Back-EMF Acquisition Running 14. Commutation Control Stages Alignment15. Alignment RunningFreescale Semiconductor, Inc Running Commutation Time Calculation Commutation time calculation is shown in FigureService of received back-EMF zero crossing 17. Bldc Commutation Time with Zero Crossing SensingWhere Starting Back-EMF Acquisition Freescale Semiconductor, Inc 18. Vectors of Magnetic Fields 19. Back-EMF at Start Up Running Commutation Time Calculation, but the following Starting Commutation Time CalculationComputation coefficients are different Speed Control Application ControlPC Master Software Communication with PC Master Software Specifications PC Master Software Communication CommandsPC Master Software API Variables Name Type Representing Description RangeMotorStatusDef, FailureDef BIT6 ReservedBIT2 Reserved PerSpeedMAXRange and zero crossing period PerZCrosFltT2 SpeedRangeMaxRPM*PerSpeedMAXRange/PerZCrosFltT2Freescale Semiconductor, Inc MC68HC908MR32 Control Board System Configuration and DocumentationHardware Design For High-Voltage Hardware Set cofigurationLow-Voltage Hardware Set configuration For Low-Voltage Evaluation Motor Hardware Set configurationEVM Motor Board Phase Low Voltage EVM Bldc Motor Components will describe the individual boardsHigh-Voltage Hardware Set Configuration High-Voltage Hardware System ConfigurationManual Motorola document order number Described in MC68HC908MR32 Control Board User’sSee References Low-Voltage Evaluation Motor Hardware Set Configuration Low-Voltage Evaluation Motor Hardware System ConfigurationLow-Voltage Hardware Set Configuration System configuration for low-voltage hardware set is shownLow-Voltage Hardware System Configuration References All HW Sets Components1 MC68HC908MR32 Control Board 4shows a block diagram of the board’s circuitry Electrical characteristics in -1apply to operation at 25C1 3-Phase AC/BLDC High Voltage Power Stage Electrical Characteristics of Control BoardHigh-Voltage Hardware Set Components Phase AC High Voltage Power Stage Electrical Characteristics of Power Stage Optoisolation BoardElectrical Characteristics of the Optoisolation Board Electrical CharacteristicsLow-Voltage Evaluation Motor Hardware Set Components 3 3-phase Bldc High Voltage Motor with Motor BrakeEVM Motor Board 2 3-phase Low Voltage EVM Bldc Motor Electrical Characteristics of the EVM Motor BoardElectrical Characteristics of the EVM Motor Board Characteristics of the Bldc motor1 3-Ph AC/BLDC Low Voltage Power Stage Low-Voltage Hardware Set ComponentsBlock Diagram 2 3-phase Bldc Low Voltage Motor with Motor Brake SectionIntroduction Data Flow Main Software Flowchart State DiagramSoftware Design Data FlowImportant system variables are listed in Table Software Variables and Defined ConstantsSoftware Variables Sys3Def Start/Stop Switch Reading and Start/Stop DecisionProcess Measurement Main Data Flow Part1 Process Fault Control Fault Stop Process Back, EMF Zero Crossing SensingFreescale Semiconductor, Inc Main Data Flow Part 2 Alignment, Starting Process Desired Speed Setting Closed Loop Control SystemBldc Speed Control and Calculation Processes Commutation and Zero Crossing Preset and SetProcess Alignment Control Main Software Flowchart Bldc Commutation and Zero Crossing SelectionMain Software Flowchart Freescale Semiconductor, Inc Main Software Flowchart Main Software Loop Freescale Semiconductor, Inc Freescale Semiconductor, Inc State Diagram Software Flowchart InterruptsApplication State Transitions Initialize Application State diagram for this software is shown in FigureInitialize MCU Stand-ByFreescale Semiconductor, Inc Stand-by State Align State Starting Commutation Time Calculation Freescale Semiconductor, Inc 10. Back-EMF Acquisition Set Service of CommutationCommutation Time Calculation Running State Service of Received Back-EMF Zero CrossingExplained in 5.5.5 Back-EMF Acquisition State Over Current 11. Running State 12. Stop State Fault State Stop StateSoftware Files Implementation NotesSee Figure Software files and structure are described in sectionBldc Commutation and Zero Crossing Selection Preset Bldc Commutation and Bemf Zero Crossing SelectionSet Bldc Commutation and Bemf Zero Crossing Selection PWM Duty Cycle Bldc Speed Control and CalculationDesired Speed Calculation PWMValMax = DUTYPWMMAX*MCPWMMODULUSTimers TimerFunction TIMACh3Int Designer Reference Manual DRM028 Rev 108 Software Design Minimal Application Speed User GuideApplication Suitability Guide Motor’s nominal speedVoltage Closed Loop Maximal Application SpeedMotor Suitability Mutual Inductance Designer Reference Manual DRM028 Rev 112 User Guide Hardware Configuration Application Hardware and Software ConfigurationHardware setups are shown in -1, -2, High-Voltage Hardware Set Configuration Low-Voltage Evaluation Motor Hardware Set ConfigurationLow-Voltage Hardware Set Configuration Controller Board Settings EVM board settings are the same for all hardware platforms EVM Board SettingsSoftware Setup Application HC08 Software Files \bldczerocros08MR32\sources\bldc08.c, main program Application PC Master Software Control Files Build Software ExecutionExecute from Evaluation Board Bldczerocros08mr32MMDS.sx is generated When the software is built, the S-record fileExecute from Pre-programmed MCU Application ControlManual Operating Mode PC Master Software Remote Operating ModePC Master Software Control Window For More Information On This Product Tuning for Customer Motor User Guide Tuning for Customer Motor Follow-up for Software Customizing to Customer Motor Follow-up for Advanced Software Customizing To have PC master software installed on your PC computer Start the PC master software parameters tuning application11. PC Master Software Parameters Tuning Control Window Software Parameters Setting Follow-up Labels in the File const.h \bldczerocros08MR32\sources\constcustlv.h, definitions for Software Customizing to Power StageParameters File Selection Example of Software Customizing to HardwareCurrent Setting Hardware Customizing Voltage Setting Hardware CustomizingRange 0,infinity Example of Software Customizing to Hardware Modified maximal measurable voltage is 55 V, so setDetailed description starts here Software Customizing to Motor Voltage and Current SettingsMaximal and Minimal Voltage Limits Setting Range 0,VOLTRANGEMAXMaximal and Minimal Current Limits Setting Range 0,CURRENTRANGEMAXACurrent during alignment state before motor starts Α Alignment Current and Current Regulator SettingRange 0,8 Set constcustx.h Parameters Tuning with PC Master Software Project FileFrom Evaluation Board 12. PC Master Software Current Parameters Tuning Window Designer Reference Manual DRM028 Rev 142 User Guide MUSTCHANGEEXPERnn in file constcustx.h Commutation Parameters Commutation time period to discharge coil current ∝sStart-up Constants and Maximal Commutation Period Maximal commutation period limit ∝s Start-up PeriodRange -128,127 Constcustx.h Set #define Percmtstartus in constcustx.h Alignment Current and Current Regulator Setting 6.5.4.3Constcustx.h Ensure Percmtstartus =PERCMTMAXUS /2#define Speedpiregigain Constcustx.h file13. PC Master Software Start Parameters Tuning Window Number of commutations per motor revolution Software Customizing to Motor Speed Control SettingRange 0,255 Minimal speed of the drive rpm Maximal speed range rpmRange 0,SPEEDRANGEMAXRPM Speedminrpm = 0.07 to 0.5SPEEDMAXRPM User Guide 153 Execute from Evaluation Board Remote Operating Mode Set PC master software control mode and start motor seeStart motor see Application Control and PC Master Software PWM frequency setting is provided by PWM Frequency and Current Sampling Period SettingFor the PWM frequency setting, follow the label PWM FrequencyPWM period = Periodpwmus = SETPERPWM*2 EQ PWM Frequency SettingCurrent Sampling Period PERCST1US = Periodpwmus * Setpercs ∝s Conclusion Software Parameters Setting and TuningCANCHANGEPERCURSAMPn in const.h file Current Sampling InstantUser Guide 159 Designer Reference Manual DRM028 Rev 160 User Guide Appendix A. References Motor using MC68HC705MC4 document order number AN1627, MotorolaAppendix B. Glossary SG40NGlossary Serial communications interface module SCI a module that Designer Reference Manual DRM028 Rev 166 Glossary Freescale Semiconductor, Inc HOW to Reach US USA/EUROPE/LOCATIONS not Listed