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Motorola M68HC08 manual Application State Transitions

Models: M68HC08

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Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc.

Software Design

		RESET
		INITIALIZE
		MCU


		INITIALIZE
		APPLICATION
	RUN CONDITION
	RUN CONDITION
	(START SWITCH IS ON
	AND PCMode = 0
	OR PCMode AND StartCtrl
	AND SWITCH IS ON)
		STAND-BY STATE
		PWM DISABLED
	(Stop_F = 0)
				CLEAR FAILURE
			(START SWITCH SET OFF
	ALIGN STATE		OR PCMode AND CLEAR FAIL)
	ALIGN STATE			(FAILURE = 0)
	PWM ENABLED			(FAILURE = 0)
	PWM ENABLED
		OVER CURRENT
	ALIGN TIMEOUT EXPIRED
				FAULT
				STATE
	BACK-EMF ACQUISITION STATE	IRRECOVERABLE		PWM
	BACK-EMF ACQUISITION STATE	IRRECOVERABLE		DISABLED
	COMMUTATION + PWM ENABLED	COMMUTATION		DISABLED
	COMMUTATION + PWM ENABLED	COMMUTATION
			ERROR
	COMMUTATION IS LOCKED
	WITH BACK-EMF FEEDBACK
	RUNNING STATE		OVER VOLTAGE
	COMMUTATION + PWM ENABLED
		STOP STATE
	MOTOR STOP IS REQUIRED	PWM DISABLED		DONE
	(Stop_F = 1)			DONE
	(Stop_F = 1)

Figure 5-7. Application State Transitions

Designer Reference Manual		DRM028 — Rev 0

90	Software Design	MOTOROLA
	For More Information On This Product,
	Go to: www.freescale.com

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Motorola M68HC08 manual Application State Transitions

Contents

M68HC08 Freescale Semiconductor, IncFor More Information On This Product Sensorless Bldc Motor Control Using MC68HC908MR32 Designer Reference Manual RevRevision history Revision historyList 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 Specification Low Voltage Evaluation Hardware Set SpecificationsLow-Voltage Hardware Set Specification Low Voltage Hardware Set Specifications Bldc Motor Control Brushless DC Motor Control TheoryBldc 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 Used Control Technique Sensorless Commutation ControlAlignment 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 Starting Commutation Time Calculation Running Commutation Time Calculation, but the followingComputation coefficients are different Application Control Speed ControlPC Master Software Communication with PC Master Software Specifications PC Master Software Communication CommandsPC Master Software API Variables Name Type Representing Description RangeBIT3 Reserved BIT2 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 ConfigurationSee References Described in MC68HC908MR32 Control Board User’sManual Motorola document order number Or, supplied alone as ECOPT-ECOPT optoisolation boardLow-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 All HW Sets Components References1 MC68HC908MR32 Control Board 4shows a block diagram of the board’s circuitry Electrical characteristics in -1apply to operation at 25CElectrical Characteristics of Control Board 1 3-Phase AC/BLDC High Voltage Power StageHigh-Voltage Hardware Set Components Phase AC High Voltage Power Stage Electrical Characteristics of Power Stage Optoisolation BoardElectrical Characteristics of the Optoisolation Board Electrical Characteristics3 3-phase Bldc High Voltage Motor with Motor Brake Low-Voltage Evaluation Motor Hardware Set ComponentsEVM 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 FlowSoftware Variables and Defined Constants Important system variables are listed in TableSoftware Variables Start/Stop Switch Reading and Start/Stop Decision Sys3DefProcess 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 SystemProcesses Commutation and Zero Crossing Preset and Set Bldc Speed Control and CalculationProcess 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 Service of Commutation SetCommutation Time Calculation Service of Received Back-EMF Zero Crossing Running StateExplained 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 sectionPreset Bldc Commutation and Bemf Zero Crossing Selection Bldc Commutation and 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 speedMaximal Application Speed Voltage Closed LoopMotor Suitability Mutual Inductance Designer Reference Manual DRM028 Rev 112 User Guide Application Hardware and Software Configuration Hardware 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 EVM board settings are the same for all hardware platformsSoftware Setup Application HC08 Software Files Application HC08 software files areUser Guide 119 Application PC Master Software Control Files Application PC master software control files areSoftware Execution BuildExecute 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 Example of Software Customizing to Hardware Software Customizing to Power StageParameters File Selection Maximal PWM Duty CycleVoltage Setting Hardware Customizing Current Setting Hardware CustomizingRange 0,infinity Range -infinity,0 Example of Software Customizing to HardwareModified maximal measurable voltage is 55 V, so set Detailed 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,CURRENTRANGEMAXAAlignment Current and Current Regulator Setting Current during alignment state before motor starts ΑRange 0,8 Parameters Tuning with PC Master Software Project File Set constcustx.hFrom 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 Start-up Period Maximal commutation period limit ∝sRange -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 Software Customizing to Motor Speed Control Setting Number of commutations per motor revolutionRange 0,255 Maximal speed range rpm Minimal speed of the drive rpmRange 0,SPEEDRANGEMAXRPM Speedminrpm = 0.07 to 0.5SPEEDMAXRPM KI = SPEEDPIREGIGAIN*2-SPEEDPIREGIGAINSCALERIGHT Execute from Evaluation Board Set PC master software control mode and start motor see Remote Operating ModeStart 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 Frequency Setting PWM period = Periodpwmus = SETPERPWM*2 EQCurrent Sampling Period Current sampling period = PWM period * Setpercs ∝s Conclusion Software Parameters Setting and TuningCANCHANGEPERCURSAMPn in const.h file PERCST1US = Periodpwmus * Setpercs ∝sUser 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 Supports asynchronous communicationDesigner Reference Manual DRM028 Rev 166 Glossary Freescale Semiconductor, Inc HOW to Reach US USA/EUROPE/LOCATIONS not Listed