PRES NOVEMBER 2011 MOTOR CONTROL
Contents
1. Phase B I i uStepping Full Step i uStepping 2N 1 x 7 4 2N 1 x 7 4 L6470 DSPIN External Switch Management ky J Device can manage an external switch to immediately stop the motor init home position through GoUntil command GoUntil command moves the motor with a selected constant speed and stops the motor when the switch is closed at that time one of the following actions can be taken absolute position register is reset to zero current absolute position is stored into MARK register L6470 DSPIN Progammable Output Slew Rate ky Y 530 V us 290 V us O A dp U LL 180 V us L6470 DSPIN Daisy Chaining uC SPI signals CT DEV N L6470 DSPIN Typical Application ky Y Y Minimal component count Y uC only 4 SPI signals 2 74 optional GPIOs DGND AGND 76 WV Ww W Y Y Y Y Y Y Y Y YV Y Y Y NEWS L6480 CSPIN Features ky J Supply voltage 7 5V 85V VSREG voc VCCREG VREG CP VBOOT Dual full bridge gate drivers Fully programmable gate driving Embedded miller clamp Up to 128 microsteps Voltage mode operation Sensorless Stall Detection E S T Programmable speed profile Programmable positioning 8bit 5Mhz SPI interface Daisy Chain compatible Voltage Reg U Tuca Oscillator OUTB2 Integrated 16MHz oscillator sw i over Integrated 5bit ADC i Integrated 3 3V voltage regulator Integrated 15V 7 5V voltage r2. A good alternative to promote STGIPNSH60 A The same IGBT s no extra feature available Op Amp comparator SLLIMM nano for low power motor control up 100W ST 30x Fe E rase a e HY gate divers IGBTs FwDs Resistors a 2 X X gt geez E EZ P Pro Main features e 600 V 3 phase IGBT inverter bridge including control ICs for gate driving and ultra soft fast recovery freewheeling diodes Dead time and interlocking function Internal bootstrap diode e 3 3V 5V and 15V CMOS TTL compatible inputs e Smart shutdown function Integrated comparator for fault protection against over current and short circuit Integrated Op amp for advanced current sensing Benefits Improved design time Reduced manufacturing efforts Increased reliability and quality level Maximized efficiency reduced EMI and noise Higher level of protection and lower propagation delay time Small form factor PCB space reduction Why VIPer16L Why VIPer16L 800 V avalanche rugged power section Relative simple design Operating frequency 60kHz Hysteretic thermal shutdown Limiting current with adjustable set point DIP 7 A good alternative to promote VIPer06 When less power is required VIPer26 When higher power is required gt 200 mA Why STM32F100C6T6 Ay Why STM32F100C6T6 Low amp medium density value line advance
3. Programmable speed profile J OUT A1 Programmable positioning TUE PE gt 8bit 5Mhz SPI interface Daisy Chain compatible Interface core _ Vse gt Integrated 16MHz oscillator i A UT Bi Integrated 5bit ADC Integrated 3V voltage regulator _ OUT B2 PGNDe TH WRN E TH SD Thermal sensing LL AGND DACs amp Comparators Over Current Over Temperature and Under Voltage protections DGND gt QFN and HTSSOP package L6470 DSPIN Voltage mode vs Current Mode ky Y 1 Abrupt current changes cause strong mechanical vibrations Current mode tries to follow even non idealities reference voltage quantization and sampling 2 Peak current is Noisy and jerky motion controlled Average current value is different from target one CURRENT MODE Inaccurate positioning PHASE CURRENT current level x OFF ON OFF Tsw Tsw Tsw 3 Non constant Switching freq Torque ripple and EMI are difficult to control L6470 DSPIN Voltage mode vs Current Mode S7 Smooth OT ec e r Average current is controlled mechanical vibrations Accurate positioning Motor movement is soft and silent VOLTAGE MODE PHASE CURRENT current level rw m ru A Ne 0 ON tol OFF Constant switching freq Torque ripple and EMI are under control L6470 DSPIN Advantages Integration Intelligence integration Speed and position profiles required complex ucontroller rout
4. erc Efficiency n 9 o II e 0 30 40 50 60 70 80 90 Electrical power W A SINUSOIDAL FOC CONTROL SINGLE SHUNT 3200 RPM 160Hz 16kHz STGIPN3H60 STGIPN3H60 vs Main Competitor FOC 0 16kHz 25 C 61 C 80 C 96 C 120 C 50 C 87 C 109 C 123 C 65W 75 C 116 C 122 C 35W SINUSOIDAL FOC CONTROL SINGLE SHUNT 3200 RPM 160Hz 16kHz Main Competitor 25 C 63 C 95 C 133 C 70W 50 C 93 C 126 C 47W 75 C 119 C 128 C 30W A STGIPN3H60 vs Main Competitor FOC 0 16kHz FOC 16kHz T 50 C FOC 16kHz T 25 C 2 3 130 128 130 O O FR 110 120 F 120 126 123 90 95 96 70 y 80 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95100 Electrical Power W 20 25 30 35 40 45 50 55 60 65 70 Electrical Power W STGIPN3H60 Main competitor STGIPN3H60 Main competitor FOC 16kHz T 75 C o 20 25 30 35 40 Electrical Power W STGIPN3H60 Main competitor STEVAL IHM036V1 parameters compliance with EN55014 CISPR14 1 he STEVAL IHMO36V1 evaluation board was tested to be compliant with conducted radio disturbances according to CISPR14 specification for frequency range from 150kHz to 30MHz Frequency range 150kHz 30MHz Detector average detector quasi peek Measured on power supply lines AC line L and N STEVAL IHMO36V1 parameters compliance with IEC61000 4 4 and IEC61000 4 5 The board was
5. 2 a a a ow Pkg Size mm 44 4 22 0 5 4 44 4 22 0 5 4 44 4 22 0 5 4 44 4 22 0 5 49 6 24 5 5 4 44 4 22 0 5 49 6 24 5 5 4 4 4 DBC substrate yes y y y y y Voltage 600 V Current 10 Tc 25 C A Rth max CW 3 8 eli lilla Integrated yes Bootstrap diode Smart shutdown no function SD function no yes yes yes yes yes yes Op amps for n Advanced current sensing Comparator for no yes 1pin yes 3pin yes 1pin yes 3pin fault protection O lt D o lt D o Y 0131 DI SLIMM Thermal Features AVI STGIPS10K60A STGIPS14K60 STGIPS20K60 STGIPL20K60 SLLIMM Motor Control Power A M 2 STGIPS20K60 ih STGIPL20K60 p 1 STGIPL14K60 P d p STGIPS14K60 A STGIPS14K60 p STGIPS10K60A kW STGIPS10K60T 1 5kW 2kW Output Power NEWS SLLIMM NANO Motor drive up to 100W S7 Mans Hall bridge Gate driver A Microcontroller y rA ila Mh Halt bridge Corm mr mado Bai m Fuge REM to 1509C Toss gim in cl za i m Hem LL fee a A Goma Main features and integrated functions e 600 V 3 A ratings e 3 phase IGBT inverter bridge including 6 low loss and short circuit protected IGBTs 6 low forward voltage drop and soft recovery freewheeling diodes e Three control ICs for gate driving and protection including smart shutdown function comparator for fault protection against overcurrent an
6. DOVE tal eh ezpende deL aupa vt m eM ana indudes a e n ifi in du ge 5TM32F100C6T6 http www st com internet com TECHNICAL R ESOURCES TECHNICAL LITERATURE DAT ASHEET CD00251 732 pdf User manual UM 1483 Low power motor control board o EVAL IHMOS6VI1 featuring SLLIMM M STGIPN3H60 and MCU STMS32F100C6T6 NEWS SLIMM SINGLE LEG Modular half bridge S7 NEWS 2012 Samples available uu 1 It includes several innovative features TS cl ap S Modular and expandable solution Et Better Thermal behavior than a six pack solution 4 I LS Improved board layout Several smart functions embedded ug Silicon options offered for both PFC W and Motor Control K lt M STGIPS35K60L1 600 V 35A L6390 based Y SDIP 22L STGIPS40W60L1 600 V 40 A L6390 based Y SDIP 22L SLIMM SINGLE LEG Features 9 6 24 5 5 4 am i ZE 1 25 Yes 3 pins SLIMM Motor Control Evaluation Board B ST EVAL IHMO25V1 ESSE Aa 1xIGBTIPM STGIPL14K60 jd BRE M 1x PWM SMPS smart driver VIPer16LD 1 x IGBT power switch STGP10NC60KD Motor Control KIT SEGGER J Link KE STEVAL IHMO27V1 ASADO 1 XIGBT IPM STGIPS10K60A 1 x buck converter based on Viper16 1x IGBT power switch STGPIONC6OKD QD reading STEVAL IHMO28V1 1 x IGBT IPM STGIPS20K60 1 x PWM SMPS smart driver VIPer26LD 1 x IGBT power switch STGW35NB60SD EARS CK Or REED ET
7. EM Module Board Three phase power stage with shunt based current L Complete source files software libraries for 3 PH Induction and PMSM motors provided 1KW Power Inverter STGIPL14K60 ky J Single phase connecting supply voltage from 125VDC to 400VDC Possibility to use PMAC motors 3 phase asynchronous motors bi ohase AC motors or BLDC motors Input in rush limiter with by passing relay Brake switch with over voltage comparator Hall sensor or encoder input feature tachometer input feature Over temperature and over current hardware protection Compact and safety design 1 x IGBT IPM STGIPL14K60 1 x PWM SMPS smart driver VIPer16LD 1 x IGBI power switch STGP10NC60KD Ordering code STEVAL IHMO25V 1 Evaluation boards available at http www st com evalboards 1KW Power Inverter STGIPS10K60A ST Single phase connecting supply voltage from 125VDC to 350VDC Motor control connector for interface with STM3210B EVAL board Possibility to use induction motor or PMSM motors up to 1000 W Regenerative brake control feature Input inrush limitation with bypassing relay Hall Encoder inputs Possibility to connect BEMF daughter board for sensor less six step control of BLDC motors Tachometer input Compact and safety design 1 x IGBT IPM STGIPS10K60A 1 x buck converter based on Viper16 Ordering code STEVAL IHM027V1 Evaluation boards available at hitp www st com evalboards 2 KW P
8. FLAG open drain output for interrupt based FW In daisy chain configuration FLAG pins of different devices can be or wired to save host controller GPIOs Y BUSY open drain output allows the MCU to known when the last command has been performed In daisy chain configuration BUSY pins of different devices can be or wired to save host controller GPIOs L6470 DSPIN Positioning amp Speed profile ky Y uC sends dSPIN high level commands Free run gt run at constant speed and dk gt reach the desired position PIN does the tricky Job and L6470 DSPIN Costant speed command ky Run SPD DIR command drives the motor to reach the target speed SPD in the selected direction Target speed and direction can be changed anytime Speed step frequency lime L6470 DSPIN Step Clock Mode ky Very slow motion can be achieved enabling step clock mode through the StepClock DIR command When L64 0 is in step clock mode internal ustep logic is clocked through the external STCK pin instead of internal motion engine STEPCK STEPCK_MODE DIR uSTEP Time L6470 DSPIN Automatic Microstepping Full Step Control system automatically switches from microstep to full step mode when the speed is greater than a programmable threshold Switching from microstep to full step allows increasing the torque at high speed with a low impact on motion smoothness Phase A
9. for all the ST Motor control FW library starting from STM32 PMSM FOC FW library 3 0 The user through a graphical user interface GUI generate the parameter header files which configures the library according the application needs li tls Tools Software part AY Download STM32 FOC PMSM SDK v 3 0 firmware library zip file htto www st com internet com SOFTWARE RESOURCES SW COMPONENT FIRMWAR E stm32 pmsm foc motorcontrol fwlib zip ST MC Workbench v 1 0 2 zip file htto www st com internet com SOFTWARE RESOURCES TOOL CONFIGURATION UTIL Y motorcontrol workbench zip Consult TNO0516 Overview of the STM32F103xx STM32F100xx PMSM single dual FOC SDK V3 0 htto www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE TE CHNICAL NOTE DM00026481 pdf UM1052 STM32F103 or STM32F100 PMSM single dual FOC SDK V 3 0 htto www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE US ER MANUAL CD00298474 pdf E Advanced development Guide for STM32F103 or STM32F100 PMSM single dual FOC IDrary http www st com internet com TECHNICAL RESOURCES TECHNICAL LITERATURE US ER MANUAL CD00298482 pdf STEVAL IHMO36V1 parameters efficiency AY Efficiency measurement Overall efficiency of the whole demonstration board is above 90 test conditions 230VAC PWM 16kHz Tamb 25 C Consumption with no motor commutation STNBY 0 6W sec Efficiency marce 85 0
10. Analog amp Power November 2011 Riccardo Tosoni FAE STM AY STMicroelectronics Applications AVI Solar Pwr conversion Motor control High Voltage motor control j Industrial amp Power Conversion Division Off Line Power Supply Business Unit SLLIMM family Small Low Loss Intelligent Molded Module SLLIMM proposal for simple and compact solution for motor drive up to 2kW SLLIMM Package Technology DBC vs Ceramic ST DBC Ceramic Highest Integration Level Driving powerful BLDC D A Jd motors me ea E jm o DIP Molded Package 3 DIP Molded Package o PCB for drivers amp 1 PCB for drivers amp SMD SMD Lead frame and exposed o DBC Direct Bond ceramic sink for power Copper for power SLLIMM Drivers 7 Smart SD pci E AT 50V BELOW GROUND VOLTAGE OM SPIKE APPLICATIVE TEST usa PX n adi COMPARATOR Down MES X Diagnostic Figure 44 Example of below ground voltage spike for Over Current Thermal Protection etc Vref 0 54V OPAMP for Current sense SR 3 2Vius Avd 80dB Adjustable DT 0 18 to 3ys Table 3 Minimum Vour in DC condition providing safe and full operation of the high side section A vc m5 1 e Ls T E Xam 9 m m9 9 SLLIMM Road Map S7 PART NUMBER STGIPS10K60A STGIPS10K60T STGIPS14K60T STGIPS14K60 STGIPL14K60 STGIPS20K60 STGIPL20K60 Pin Count
11. I amp MMCC amp PTD Daniel Kohout November 14 2011 STEVAL IHM036V1 evaluation board Target Applications General purpose 3 phase inverter for 3 phase permanent magnet synchronous motors with Hen field oriented control for output power up to 100W Inverter for high efficiency circulating water pump for heating systems in single family houses High efficiency drain pump for home appliance white goods like dishwashers and washers High efficiency and reliable solution for small power transfer pumps for waste sludge sewerage plants in singe family houses waste piping High efficiency transfer pumps for outlet condensation water High efficiency exactor hoods and blowers for gas furnace application Compressor drives for fridges Marketing positioning Ay STEVAL IHM036V1 evaluation board he goal of the STEVAL IHMO36V1 demonstration board is to present an design consisting in a 3 phase inverter bridge based on 600V 3A small loss intelligent molded module STGIPN3H60 and STM32F100C6T6 MCU The SLLIMM NANO itself consist of short circuit rugged IGBT s and wide range of auxiliary functions like under voltage lockout and smart shut down he system has been designed to for a field oriented control FOC System Architecture Sensing op amp RS485 Optional _ __ Sensing protection Block Control Block Main Features A STE
12. ISD e gt 3 3V Current gt Bus_voltag gt DAC C S DAC sw LS Het_temperature gt Pot S LED_1 R36 1k6 gt 3 3V Mee JA 011 R41 LED yellow N A 3 R27 100R i R40 C41 U5 ST485EB N A N A N A 8 dase J4 JR E N A ES SW2 N A RS 485 N A gt 3 3V Pata PA14 LED_2 R37 1k6 D12 LED yellow 3 Tools PS7 Datasheets of available components STGIPN3H60 IPM http www st com internet com TECHNICAL R nm STGIPN3H60 a nd MCU STMa2F 100 CET ASHEET DM00032611 pdf Em VIPer16 Tpi men cotto a era pever poto coil ard STE VAL NS a http WWW 51 00 m internet co m TECH N ICAL R a E E re dius SS agne a ea d ontented c AE unter ou Res Un The used central er Bela nas te SThic eau Ente E iius ed m mien vss Mr jim ESOURCES TECHNICAL LITERATURE DAT eins asec ae Ea LT TTTj rTTTrr 11ttztt111n111n1111118 Bess nao ara 2 phnasz SE ge e ha gendo ne R KULY IGHI po En fe ie SEL pa EE IGBT pone a inleg e Il power 1687 switches with tee wheel inc ASH EET C D0021 8828 af di odas together vath hs hae gate adi ranks te ist ter ae he ton n hes seen sped ical de signed to achieve dibr er reliable and ea sign Such integration sawe sP CE space occupation assem bly pa Miro ae T am Ing fam such dasen sim platy he baard i oke me pee with snale phas 3 for Eurcpean range ol supply bell age e
13. RTED SON C10 014 47uF 6 3V C13 22uF 6 3V Ban 100nF t Nr o C17 ooo 1uF 400V 3 3 3 D6 STTH1LOGA L2 2 2mH 15V 15V R8 J2 J5 gt 15V 75 l gt phase_W gt ph V C42 ne BZV55C18SMD 100uF 25V D9 3 alio Uu 2 100nF LED green phase U Na MOTOR 15V AUX D Schematic 2 POWER INVERTER PART PWMUL gt U3 STGIPN3H60 C21 Goo ISD gt 16 PWM U H 15 gt Bus 15V lt gt phase_U AAA M Lr ar o Euras PWM V H gt I vBooT_v FS oP2 V VS_V C26 opes me gt phase V NV 100nF OU2 HER 12007 w PWM W L gt W VS_W NW gt phase W PWM W H gt R10 11 R12 R13 gt 3 3V 1 6 I 1R6 y 1 6 1R6 R15 1k0 R16 1k0 1 OU2 BAT48JFILM R20 6k2 TP1 T POINT 15V gt 15V TP2 T POINT 3 3V CI 3 3V RU TP3 TPOINT GND OP2 TP4 T POINT LaL Current 100pF lt 0100 R23 1k0 EC 3 3V R9 3k3 ISD C27 L 330pF 3 3V RTI NTC 10k Het_temperature TP5 T POINT CIN DO cin TP6 T POINT SD D lt sp TP7 T POINT D_1 DT acs TP8 T POINT D_2 ac 2 Schematic 3 gt 3 3V R31 10k Res 37 100nF L3 2 2UH C39 4 7uF 6 3V 3 3V R24 10k Pot C34 22nF 3 3V lt If MCU part JTAG lt 7 84 27 PB3 2 PA15 2 PAt4 gt 3 3V 36 35 53 lt PA13 gue EA lt PWMW H MU LU EU ET PWMUL
14. VAL IHMO36V1 main features Using IGBT SLLIMM NANO STGIPN3H60 in NDIP 26L molded package Maximum output power for applied motor up to 100 W oingle phase power supply 195VAC to 265VAC or direct DC line up to 400VDC Input in rush current limiter controlled by NTC resistor Based on ST Microelectronics s ARM M Cortex M3 core based STM32F100C6T6 microcontroller single shunt resistor current sensing method Possibility to modify the board by adding RS 485 bus EN55014 CISPR 14 IEC 61000 4 5 and IEC61000 4 4 compliant Compact and safe design ST components used in the application y STEVAL IHMO36V1 bill of material includes 1xIGBT SLLIMM M NANO STGIPN3H60 1x MCU STM32F100C6T6 microcontroller 1x PWM SMPS smart driver VIPer16LD 1 x Linear regulator L78L33CV 2 x High efficiency power rectifier ST TH1LO6U 2 x Small signal schottky diode BAT48JFILM 1x Bus driver ST485EB N A Why STGIPN3H60 SLLIMMTM NANO Ay Why STGIPN3H60 600 V 3A 3 phase IGBT inverter bridge including control ICs for gate driving and freewheeling diodes Internal bootstrap diode Interlocking function Optimized for low electromagnetic interference VCEsar negative temperature coefficient Short circuit rugged IGBT Under voltage lockout Fully isolated package Smart shut down function Op amps for advanced current sensing Comparators for fault protection against over temperature and over current
15. d ARM based 32 bit MCU LQFP48 7 x 7 mm package Core ARM 32 bit Cortex M3 CPU 2 0 to 3 6 V application supply and I Os K 32 Kbytes of Flash memory LQFP64 10 x 10 mm Temperature range from 40 to 85 C LQFP48 7 x 7 mm good alternative to promote STM32F100x8 or STM32F100xB if larger Flash memory is requested Co rtex Intelligent Processors by ARM O TY Cc Lu O Mz Mn For Sales and Marketing AY S TEVAL IHMO36V 1 Low power motor control board STEVAL IHMO36V1 featuring SLLIMM o GIPN3H60 and MCU STM32F100C6T6 Targeted to dishwasher washer and dryer drain pumps fridge compressors extractor hood fans and heating recirculation pumps Single phase connection input supply voltage from 195VAC to 265VAC Possibility to use single supply or dual supply mode For dual supply mode DC supply input from 18VDC to 400VDC T X EPA i Complete motor control platform for output power up to 100W is A IE A C ARK 1 EVALUATION BOARD W www st corvevalboards Rohs Ordering code STEVAL IHMO36V1 User Manual UM1483 On Stock by end of Q4 2011 prototypes available now The STEVAL IHMO36V1 evaluation board AYI Technical Part System Architecture Ay O Sensing op amp IA Protection comparator Sensing protection Block System Architecture Ay Accept user commands motor drive configuration parameters pro
16. d short circuit op amp for advanced current sensing three integrated bootstrap diodes interlocking function undervoltage lockout Med d Tj from 40 C High quality and Reliability Advanced protection function Improved efficiency Reduce EMI and noise Reduce total system cost Easy Layout Main Applications General purpose Low power motor drives Dish washers Compressor drives Refrigerators Pumps Air Con Fans NEWS 2012 Samples available SLLIMM NANO Features STGIPN3H60A STGIPN3H60 PART NUMBER Pin Count 26 26 Pkg Size mm 29 5x12 5X3 1 29 5x12 5X3 1 Voltage V 600 600 Current Tc 25 C A 3 3 Riga C W 50 50 Integrated bootstrap diode Y Smart shutdown function SD function Op amps for advanced current sensing Comparator for fault protection 3 3 5V input interface compatibility Interlocking function CCC 6 6 Under Voltage Lock Out on both Vcc and Vboot SLIMM NANO STGIPN3H60A Basic Features y Y LIN U pin 16 gt NC pin 15 T1 D1 EA HIN U pin 14 gt VccU pin 13 gt NC pin 12 LIN V pin 11 gt HIN V pin 10 gt T3 VccV pin 9 gt D3 NC pin 8 NC pin 7 NC pin 6 LIN W pin 5 gt HIN W pin 4 TE VecW pin 3 gt NC pin 2 GND pin 1 gt VBoot U pin 17 P
17. egulator Full set of protection e Over Current ES available SOP H1 2012 e Over Temperature e Under Voltage protections Y ll Or L6480 CSPIN Programmable Gate Driver Turn ON Controlled current time from 125 ns to 3 75 us 125 ns resolution Gate loc source a current IGATE time Controlled gate current 4 8 16 24 32 64 and 96 mA A L6480 CSPIN Programmable Gate Driver Turn Off Controlled current time from 125 ns to 3 75 us 125 ns resolution Gate lec sink N 3 current Pare Turn off overboost time Controlled gate current 4 8 16 24 32 64 and 96 mA A L6480 CSPIN Eval Board S7 Try the new CSPIN with our demonstration board L6480 STD10NF10 Up to 85 V Up to 10 A ao NOW
18. h external resistor network System Architecture Control block JTAG connector Control Block tutt M Temperature NTC 1111111 Button Potentiometer Hardware signals Over current emergency STOP Current Bus voltage PWM Channel U PWM Channel V PWM Channel W USER interface A System Architecture Control block Ay Based on STM32F100C6T6 Generated PWM signals for SLLIMM User interface LED buttons potentiometer DAC JTAG interface Possibility to modify the board by adding RS485 serial interface sensing various signal with ADC channels External 8 MHz crystal 3 3V supply voltage Control block PMSM FOC library v3 0 AY The STM32 PMSM FOC Library v3 0 is a Motor Control Software Development Kit To be used with STM32F103xx or STM32F100xx For 3 phase Permanent Magnet Synchronous Motors Library main features Single Dual simultaneous vector control FOC Sensor Sensorless Energy efficient quiet motor drive Outstanding dynamic performances speed range Full customization through GUI Wide range of hardware support system configurations addressing applications from Home Appliances to Factory Automation Control block ST Motor Control Workbench STMCWB LAA ST Motor Control Workbench in this version is a PC code generator tool that reduces the designer effort and time in the firmware development
19. ines d SPIN does the whole tricky job listening to simple high level SPI commands L6470 DSPIN Intelligence Integration before d SPIN nalog hi dedicated LL gigita wae i Der system uC serial interfac many di igital ar nalog L6470 DSPIN Intelligence Integration ky Y after d SPIN gt System is heavily simplified No more dedicated uC to perform speed profile and positioning calculations Alotless passive components and far better performances L6470 DSPIN Technical Details ky J PWM m um B 128 ustep Sinewave generation PWM H m Modulat n Bridge or Optimal resolution is 128 steps 0 78 of a step Typical motor precision 5 of a step Voltage mode drawbacks and solutions ky J X Back Electro Motive Force Y heavily influences voltage MR to current relation BEMF compensation system X Windings applied voltages v oupply voltage are perturbed by supply compensation though voltage fluctuations integrated 5bit ADC X Phase resistances vary Y Phase resistance with temperature compensation register L6470 DSPIN BEMF Compensation Ky Y Without BEMF compensation With BEMF compensation SPEED KVAL SPEED VPHASE Applied phase voltage BEMF voltage IPHASE Fesulting phase current L6470 DSPIN Current with BEMF compensation ne Single 04 i 0617 ai aj Tek mm m mm m mm m m um mm m E
20. m m mm A 11 IAA pu E s gt anus ri IL I q i AN IN M Ir r o E E exp mmt E BS de a i amp J DX ir TUS ie s ES E ae d ul o po 7 A l _ A o _ SS Ser EAS born 1 Zoom 1 Chi 31m Bs Ome 5 Dv 50 0rnz A L6470 DSPIN Supply voltge compensation Ky Y Compensation algorithm calculates correction coefficient Vs n t L6470 ADC En COMP x V gt 7 H Bridge T oinewave Amplitude Compensation coefficient is applied to sinewave amplitude 5bit ADC measures actual motor supply voltage L6470 DSPIN Phase resistance variation compensation ky y Motor phase resistance increases during operation causing a phase current reduction and a torque loss L6470 x 5 Sinewave Amplitude Resistance variation can be compensated by a programmable KTHERM coefficient 1 to 1 47 L6470 DSPIN Stall Detection ky Y Using integrated current sensing and the adjustable STALL current threshold a cheap and easy stall detection can be implemented STALL A DET is null and HAL aude INCre STALL A m A o threshold sh ATACA UV Y L6470 DSPIN a complete digital interface The fast SPI interface with daisy chain capability allows a single MCU to manage multiple devices Y Programmable alarm
21. ower Inverter STGIPS20K60 ky J HV supply mode voltage 90VAC to 285VAC or direct DC line 125VDC to 400VDC Input voltage range extended to 400V to be compliant with PFC Input inrush limiter with bypassing relay Brake feature with over voltage comparator Single or three shunt resistors current sensing method P Hall sensor or encoder input feature Tachometer input feature Over temperature and over current hardware protection Active fan with automatic over temperature switching Relative compact and safety design 1 x IGBT IPM STGIPS20K60 1 x PWM SMPS smart driver VIPer26LD 1 x IGBT power switch ST GW35NB60SD Ordering code STEVAL IHMO28V 1 Evaluation boards available at http www st com evalboards Stepper motor control L6470 DSPIN amp L6480 CSPIN j Industrial amp Power Conversion Division Off Line Power Supply Business Unit DSPIN amp CSPIN The new State of the Art in ustepping Drivers L6470 DSPIN Functional Block Reg x Voltage mode Oscillator i driving 3V Volt A i PO VER NT TCA aum D Microstepping The i Comprehensive mm protection command set I III iy L6470 DSPIN Features S7 gt Supply voltage 8V 45V gt 3Arms 7A peak gt SOS 0 37 ohm high side 0 18 ohm low side Integrated Current Sensing no external shunt Upto 128 microsteps da Ose gt Voltage mode operation LI Sensorless Stall Detection
22. pin 18 6x 4A 600V IGBTs with ultra soft fast recovery diode U pin 19 3x L6388 High voltage gate driver N U pin 20 VBoot V pin 21 cut pin N V pin 22 N V pin 23 cut pin VBoot W pin 24 W pin 25 N W pin 26 Y Dead time and interlocking function Y Internal bootstrap diode Y 3 3V 5V and 15V CMOS TTL compatible inputs 29 5x12 5X3 1 SLIMM NANO STGIPN3H60 LIN_U pin 16 gt SD pin 15 gt U1 LIN L6390 HIN U pin 14 gt VCC U pin 13 gt CIN1 pin 12 gt LIN_V pin 11 gt HIN V pin 10 gt un VCC V pin 9 gt OP2 pin 8 OPOUT2 pin 7 gt OP2 pin 6 gt LIN_W pin 5 gt a A HIN_W pin 4 gt PIE VCC_W pin 3 SD pin 2 gt GND pin 1 gt Full Features 4 6x 4A 600V IGBTs with ultra soft fast recovery diode VBOOT U pin 17 P pin 18 3x L6390 High voltage gate driver v L6388 features plus U VS_U pin 19 SRO v Shutdown pin and Smart shutdown v Comparator for fault detection NU pin 20 Y OpAmp for advanced current sensing VBOOT_V pin 21 Cut pin V VS_V pin 22 NV pin 23 Cut pin VBOOT_W pin 24 W VS_W pin 25 29 5x12 5X3 1 NW pin 26 Low power motor control board featuring SLLIMM nano STGIPN3H60 and MCU STM32F100C6T6 Industrial amp Multi Market Competence Center amp Power Transistor Division gt
23. tested to be compliant with IEC61000 4 4 burst immunity Burst duration 15ms 20 at 5kHz Burst period 300ms 2096 Polarity positive negative Applied to power supply lines AC line L and N Passed 2kV with criteria A no damage no influence The board was tested to be compliant with IEC61000 4 5 surge immunity Polarity positive negative Duration time 10 events repetition time 30s Phase angle 0 90 180 270 for each test condition Common mode applied among to AC line and PE earth Differential mode applied to AC line L and N Passed 2kV line to line and 2kV line to earth How to connect STEVAL IHMO36V1 Y7 J link ST link TEST PINS TPS TP2 TP1 TP4 TPS TPS Se e enee EL nd am 010 Ma SHIMANO PMSM motor T 24 223 IM D9 AB rc mn E EET E NP E DA j b Ty y M y 4 PR 29 d ERP Auxiliary 15V adapter Supply source up to 30V 3A capable Schematic 1 INPUT PART WITH RECTIFIER F1 2A NTC1 10R B57153S0100M FUSE SMALL gt Bus D1 D2 1N4007 1N4007 R1 470k n 3 3V J1 gl FI 4 7nF Y2 3 C2 GI C4 A VR1 330nF X2 220nF X2 330nF X2 R2 D3 7 592 275 p 600mW C6 100uF 400V 470k BAT48JFILM VY VVVV 4 7nF Y2 n D4 D5 IN_230VAC 1N4007 1N4007 lt Bus voltage Div ratio 116 R3 C7 8k2 10nF CM choke 12mH vV 3 3V LINEAR BUCK CONVERTER SW4 U2 15V L1 470uH Ut VIPerteLD 7833400 Busa Sm 15V lt gt 3 3V 3 3V SHO
24. vide appropriate digital signals to perform the proper motor driving strategy Could be updated with driver ST485EB for RS485 BUS performs a power conversion from DC bus in to the motor three phase inverter topology based on SLLIMM STGIPN3H60 Sensing protection Single shunt topology PMSM with using of FOC itself is conceived for sinusoidal shaped back EMF Fully using advantage of the SLLIMM Power supply block Single phase connecting supply voltage 195VAC to 265VAC or direct DC line up to 400VDC System Architecture Supply Block AY System Architecture Supply Block AY Includes rectifier bridge In rush current limiter NTC resistor Complete EMI filter based on CM choke X2 and Y2 capacitors EN55014 IEC61000 4 4 and IEC61000 4 5 compliant Auxiliary power supply based on Viper16L in buck converter topology Working frequency 60 kHz oingle phase power supply 195VAC to 265VAC or direct DC line up to 400VDC System Architecture Power Sensing Block System Architecture Power Sensing Block AYI Based on SLLIMMTM STGIPN3H60 Designed for current up to 3A Integrated drivers dice L6390 FOC with single shunt current reading for vector control method Fully using integrated features of the SLLIMMTM Using integrated comparator for over current protection Direct connection to shut down function of the IPM Advanced current sensing with integrated Op Amp Adjustable gain of operational amplifier wit
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