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User`s Manual - Embedded Artists

1. Pus A A w ee q 5 ao mue iE UL U U U i EE NN GE vs ee 95 e a ces a i a e 6 da 3s 5 D KQ D c a c A e 8 D ual gt m 2 eevccece 1e i e e S ecccce z e aS EEEEELEEEHH Ingo dog c 5 S s pe E ue e Er E43 ani S EN e S cua BNG Zw ga HA Ye g zm mus aT Pim CH EM q i HPAP CT TEN iar i We em E E ge HN HEE Ed E HMI User Interface OLED Joystick Figure 1 LPCXpresso Motor Control Board Overview 3 2 Motor Control Overview The LPCXpresso Motor Control Board has four phases that can be controlled Voltage and in phase current can be measured on three of these phases Common virtual ground and common DC link Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 10 current can also be measured For rotor position measurement there are three hall sensor inputs and optional quadrature sensor inputs These control and measurement possibilities give great flexibility in
2. Ethernet interface ied Embodied Hall sensor oe g n Sead interface 99 Qia p 00000 o Ba i 00000 o P9 ds Baa ere O S sm oo 1 o On oo Bis em HM ooooooo CAN and RS485 E M HB 900000 interface E olib e S E Power o 9 Ps fe zz 3 supply 7 Do o input USB interface n ora oo Q p Arn u o of 11 4 na o 9 oc nm o 9 m o Q ol o p o 171 Dy Q gg 9 9 Input current 9 mi measurements LPCXpresso ob ool wo en LT and trip DC Sockets 99 q amp l a Bad m or O input current o oo 2 8 l o ib p E ood doo e e J fo Oo measurement o go O oo a B E 4 oso 200 amp E o d oemf eo oo p amp TED o gt USB connector 1o ol f oT yoo Z p ges o for USB to op EE pE I REESE ES BE Tr Jod op O o pa HSS 22 EH aale Motor UART Bridge o p l0 0 0 0 0 olf 9 o bea E peace ao zen oF s o 0ooooo edg DAR oSt 29 g E sm deu o winding eNO O lOQ90000 9 or 99 T E CEDH delo connector ien k li H o ol oo E pa s Po g loo oo PA ER AN lo ol oo EC lO O oo i po oo BE Cos J14 16 1n o o ol l U oe dih Dp ooo access cA oot S ug m A sor Reset LED and 7 BA OO u eet i signals push button Current OLED and JP6 separation of Expansion kd mn Phase voltage Temp rature measurement control and power p with gate measurements sensor Joystick Connector sides drivers Figure 3 LPCXpresso Motor Control Board Detailed Overview rev B 4 1
3. Lom Motor winding connector 4 phases with gate drivers J13 access motor signals OLED and Reset LED and Input current Phase voltage Temperature Joystick push button measurements and current sensor and trip DC measurements input current measurement Voltage indicator LEDs Figure 2 LPCXpresso Motor Control Board Detailed Overview rev A Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 15 Break control LPCIxxx Local power supply LPCC44 411 V 5V 3 3V SWD JTAG interface QEI interface
4. LPCXpresso Motor Control Kit User s Guide Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Get Up and Running Quickly and Start Developing Your Application On Day 1 gl Embedded Artists EA2 USG 1101 Rev B LPCXpresso Motor Control Kit User s Guide Page 2 Embedded Artists AB Davidshallsgatan 16 211 45 Malm Sweden info EmbeddedArtists com http www EmbeddedArtists com Copyright 2011 2013 Embedded Artists AB All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Embedded Artists AB Disclaimer Embedded Artists AB makes no representation or warranties with respect to the contents hereof and specifically disclaim any implied warranties or merchantability or fitness for any particular purpose Information in this publication is subject to change without notice and does not represent a commitment on the part of Embedded Artists AB Feedback We appreciate any feedback you may have for improvements on this document Please send your comments to support EmbeddedArtists com Trademarks All brand and product names mentioned herein are trademarks services marks registered trademarks or registered service mark
5. controlling different kinds of motors e BLDC Brushless DC motor e BLAC Brushless AC motor e Stepper e Dual brushed DC motor For a detailed description about motor control principles please read the different Application Notes from NXP 3 3 Usage of CPU Pins The table below lists which MCU pins that are used for controlling the different parts of the LPCXpresso Motor Control board Signal LPC1114 1343 LPC1114 1343 LPC11C24 pins LPC11C24 pins LPC176x pins in LPC176x pins in pins in 3 phase pins in 4 phase in 3 phase setup in 4 phase setup PWM mode Motor Control IP setup setup block mode Default PWM PIO0 1 CLKOUT PIOO0 1 CLKOUT PIO0 1 PIO0 1 P2 0 PWM1 1 P1 19 MCOA0 PHA CT32B0 MAT2 CT32B0 MAT2 CLKOUT CLKOUT TXD1 USB PPWR High USB FTOGGLE USB FTOGGLE CT32B0 MAT2 CT32B0 MAT2 CAP1 1 USB_FTOGGLE USB_FTOGGLE PWM PIO0 11 AD0 PIO0 11 AD0 PIO0 11 AD0 PIOO 11 AD0 P0 9 I28TX SDA P1 22 MCOB0 PHA Low CT32B0 MAT3 CT32B0 MAT3 CT32B0_MAT3 CT32B0 MAT3 MOSI MAT2 3 USB PWRD MAT1 0 PWM PIO0 8 MISO PIO0 8 MISO PIO0 8 MISO PIOO 8 MISO P2 1 PWM1 2 P1 25 MCOA1 PHB CT16B_MATO CT16B_MATO CT16B_MATO CT16B_MATO RXD1 MAT1 1 High PWM PIO0 9 MOSI PIO0_9 MOSI PIO0_9 MOSI PIOO 9 MOSI P0 8 I2STX_WS P1 26 MCOB1 PHB Low CT16B0_MAT1 CT16B0_MAT1 CT16B0_MAT1 CT16B0 MAT1 MISO1 MAT22 PWM1 6 CAPO 0 SWO SWO SWO S
6. 5 54 Screw Connectors The green connectors can sometimes follow lift when the screw connector part is removed because of the high forces involved This does not affect functionality or reliability of the board It is just to push back the connect housing if this occurs Connector shroud lifted Figure 23 Screw Connector Housing Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 35 6 Troubleshooting This chapter contains information about how to troubleshoot boards that does not seem to operate properly It is strongly advised to read through the list of tests and actions that can be done before contacting Embedded Artists The different tests can help determine if there is a problem with the board or not For return policy please read Embedded Artists General Terms amp Conditions document This document can be found on the Embedded Artists web site 6 1 Powering The first step is to make sure that powering works properly 1 Remove powering to the LPCXpresso Motor Control Board 2 Remove the LPCXpresso LPC1114 board and the BLDC motor connections 3 Measure the output voltage directly from the 24V 60W power supply that is included in the kit Do not connect the power supply to anything when measuring this Acceptable voltage range is 23 to 26 V Note before starting the measurement with a multimeter make sure the measurement is set to voltage as opposed to current and that the w
7. P0 3 RXDO Current CT32B1 CAPO CT32B1 CAPO CT32B1 CAPO CT32B1 CAPO ADO0 6 ADO0 6 either DC curr or Input curr Analog PIO1 8 PIO1 8 PIO1 8 PIO1 8 P0 28 SCLO P0 28 SCLO mux ctrl CT16B1 CAPO CT16B1 CAPO CT16B1 CAPO CT16B1 CAPO USB SCL USB SCL Brake PIO2 11 SCK PIO2_11 SCK PIO2_11 SCK PIO2_11 SCK P1 27 CLKOUT P1 27 CLKOUT status0 USB OVRCR USB OVRCR CAPO 1 CAPO 1 Brake PIO0 2 SSEL PIO0 2 SSEL PIO0 2 SSEL PIO0 2 SSEL P2 5 PWM1 6 P2 5 PWM1 6 status1 CT16BO0 CAPO CT16BO0 CAPO CT16B0 CAPO CT16B0 CAPO DTR1 DTR1 Brake PIO1 9 Not available PIO3 3 Not available P3 25 MATO 0 P3 25 MATO 0 ctri CT16B1 MATO PWM1 2 PWM1 2 Input PIO0_7 CTS PIO0_7 CTS PIO0_7 CTS PIO0_7 CTS P2 12 EINT2 P2 12 EINT2 current I2STX_WS I2STX_WS mp P1 21 MCABORT P121 MCABORT PWM1 3 SSELO PWM1 3 SSELO Input PIO3_5 or PIO3 5 or Not available Not available P0 18 DCD1 P0 18 DCD1 current PIO2 5 on PIO2 5 on MOSIO MOSI MOSIO MOSI reset LPC1343 LPC1343 UART PIO1 7 TXD PIO1 7 TXD PIO1 7 TXD PIO1 7 TXD P0 15 TXD1 P0 15 TXD1 TXD CT32B0_MAT1 CT32B0_MAT1 CT32B0_MAT1 CT32B0_MAT1 SCK0 SCK SCKO SCK UART PIO1_6 RXD PIO1 6 RXD PIO1 6 RXD PIO1 6 RXD P0 16 RXD1 P0 16 RXD1 RXD CT32B0 MATO CT32B0 MATO CT32B0 MATO CT32B0 MATO SSELO SSEL SSEL0 SSEL UART PIO3 4 or PIO3 4 or PIO2 6 PIO2 6 P0 27 SDAO P0 27 SDAO mux ctrl PIO2 4 on PIO2 4 on
8. B o to select main project gt Ap Includes G9 src powered by Hllicode red gt 8 config GB linker 2 Browse and edit project files _ tivated B cmsis Bici sca e gt 8 cr startup Ipcli c b Debug amp LPCXpresso MC Please read the getting started guide for step by step instructions to build your first LPCXpresso project 5j BLDC Sensored Debug launch B BLDC Sensored Release launch 5 blinky_readme bt LPCXpresso Resources Getting Started LPCXpresso Getting Started Guide E readme tet Check the LPCXpresso Support page for new LPCXpresso software releases more example projects and announcements gt ES lib small printf m0 Visit www nxp com Ipcxpresso support E a e Cy Quickstart 3 69 Variables 9o Breakpoint LPCXpresso Forum Start here The LPCXpresso Forum community is exclusively built for LPCXpresso users and is an invaluable resource for getting help and i advice on use of the LPCXpresso tools and boards j New project v So get connected and join the LPCXpresso community 4 Import Example project s bu can post visit www nxp com Ipcxpresso forum Bui daleeroperetoet sens project Build BLDC Sensored Debug Pi Clean BLDC_Sensored Debug For information on upgrades etc vist the Code Red Technologies LPCXpresso website ue g Visit the Embedded Artists LPCXpresso website i Debug BLDC Sensored Debug 8 QS Start debugging the project with th
9. Sel E Select archive file ontrosrc LPCXpresso MC LPC1100 BLDC zig Browse powered by code red Projects V BLDC Sensored BLDC Sensored Select All production LPCXpresso can be used to V lib small printf mO lib small printf m0 Deselect All Refresh LPCXpresso project 2 Select both sub projects example projects and announcements XJ Quickstart 3 69 Variables 9o Breal E Start here Copy projects into workspace 3 Import project ian invaluable resource for getting help and E Project and File wizards Import and Export xpresso forum g Import archived projects zip vs RM Gi Import exisiting projects i RES 24 Import project s from XML Description not poem Visit the Embedded Artists LPCXpresso website Figure 19 LPCXpresso IDE Import Archived Project Window The project is now imported Click to select the main project Browse and edit the project files Build clean debug the project from the Quickstart menu Start here see picture below When debugging a project make sure the LPCXpresso LPC1114 board is connected via USB to the PC because the applicanar Wile will be downloaded to the board via LPC LINK DIAS interface BoeERER oo O File Edit Navigate Search Project Run Window Help ri gy B 45 uc iute pu A E BW 4 amp B amp X Develop Qe Fe rhe ere n Core Rege Peripheral m Q Welcome 3 l lges registered htm gt
10. The MCU UART can be connected to either to the USB to UART bridge or the RS422 485 interface 4 7 5 Ethernet Interface The Ethernet interface J4 on schematic page 4 is currently only supported by the LPCXpresso LPC176x board The interface is actually just a RJ45 connector with integrated magnetics The Ethernet PHY interface is on the LPCXpresso board 48 HMI The board contains an OLED display and a joystick that can be used as Human Machine Interface to the motor control application These components can be found on schematic page 5 The OLED is interfaces via the I2C bus and communication speed is limited to the 400KHz limit of the 12C specification The OLED requires an external 11V supply This voltage must be controlled in a timely manner See the sample driver code from the support page for details and or read the datasheet for the display Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 20 The 5 key joystick is connected to the controlling MCU via direct digital signals Note that on rev B boards the joystick has been turned 90 degrees anti clockwise compared to a rev A board When the board is oriented as in Figure 3 the up direction for the joystick is left The down direction is right etc 49 Debug There is a SWD JTAG connector interface J3 on schematic page 3 that is normally used for the LPC1xxx MCU in the PLCC44 socket J3 is the new and smaller footprint standard ARM debug c
11. Qo fends SBA v ud 424u22 aAt4ised 30 Aoe 2T zia e 3 8 goni elem P 11d Ssosues jjDH JO dn nd 42po2u3 JN4DJPONO 104 UMOJ SNBA 8 ud 8 ew T 4UnUS v ud err zt 2 1 z H E E HEHEHEH e m samma 0 m sazi 0 m ksk o mann e e v mmc g r mi vem __ mms E gag 2260 r2 wm S nu T Tin i srs ers 195 ar eld o ete to ma c i2 5 Tord S meeeecccc00000000 vir on e e et Omi mm imm a m m 3 Soum Za amp m cou i 2 Nee m LIG tog 640 omm H Bee eh i mm sami 021 mim Arre aim rz 14 mu LOIN lezraJ iB dut 2Hd i Jn2 8Hd m o 0 ro 44n2 VHd NI1 0 4ujod diay ver v xoui ujod dj i wuj 9 ee OM3Z ee proc ee araa ee FEET EEFDE ee ee sa oeta eo zeta 50o ava ee ee eoe 3a oe Smz e NM f 3 E Is zm vaa djag 44n5 1545 4028 0545 0949 1342 40930 2 suss g su v su 1 0 H Oa Tow Hood Tend H GWd Wid Howhiid Z84 wWWd T84 wwW4 PITI EvETIAT eLA zt veo I v gen ODRA s a oTa m e mmo 9717 7o fe tn 42 zr m maz Im m PE T 2 009090000000000000000000000RB T PITT EeTOd7 05524dyOq1 4907 B9LTOd7 os524dyOq1 Joddn oN y se paoa IM uo14DJadooo uj padoj
12. find the different voltage measurement pads connectors Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 36 From top to bottom J12 VIN 24V GND shunt VBUS PHA PHB PHC PHD Ground reference JP15 From bottom to top JP6 11V 5V 3 3V Voltage indicator LEDs Figure 24 Measurement Pad Locations rev A board 6 Verify that the three voltage indicator LEDs on the lower right corner of the board are all on 7 Verify that there are no voltage dips on the supply A typical indication of this is that the reset LED flash from time to time It can be an indication of power supply connector ware out the 2 1mm power jack 8 Verify that the reset LED flash when pressing the reset push button The LED should also light shortly after releasing the push button The extra LED on time is very short but still noticeable typically a 1 5 of a second i e 200mS a Ifthe reset LED is constantly on try removing R143 see also section 4 10 6 2 Download Demo Application to LPCXpresso Board Download the latest demo application into the LPCXpresso LPC1114 board See section 5 1 4 above for details how to download a demo application to the LPCXpresso LPC1114 board 6 3 Connect LPCXpresso Board The second step is to make sure that the LPCXpresso LPC1114 Board is working when connected to the LPCXpresso Motor Control Board 1 Disconnect the po
13. projects n BLDC Sensored NXP LPC1114 301 Figure 12 LPCXpresso IDE Program Flash Icon The next step is to select which processor to download to Select LPC1114 301 from the list that is presented Then press OK button Note that this step is sometimes not needed because the LPCXpresso IDE can itself detect which processor it is connected to Target selection Select a target for the flash programming NXP LPC1343 LPC1111 202 LPC1112 101 LPC1112 102 LPC1112 201 LPC1112 202 LPC1113 201 LPC1113 202 LPC1113 301 LPC1113 302 LPC1114 201 NXP LPC1114 301 32k flash Figure 13 LPCXpresso IDE Target Selection Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 28 The next step is to browse to the file to download Press the Browse button Program Flash Program target flash LPCl1xx NXP LPC1114 301 on LPC Link Probe v1 0 Options Verbose progress messages V Reset target on completion Reopen dialog on completion Code Read protect CRP selection None Base address Erase Options Mass erase Erase only required pages Figure 14 LPCXpresso IDE Program Flash Window Browse to the projects top directory and then Debug In this subfolder there is either a file ending with axf or bin Select one of these files Press the Open button Select amp fil
14. with up down on the joystick 5 4 Compiling the Demo Application This section describes how to compile the demo application for the LPCXpresso LPC1114 board First make sure that the latest version of the LPCXpresso IDE is installed Secondly import the demo application project into the Eclipse workspace The demo application can be downloaded as a zip file from the Embedded Artists support page after registering the product The zip file contains all project files and is simple way to distribute complete Eclipse projects Select the Import and Export tab in the Quickstart menu and then Import archived projects zip see figure below Develop Welcome o x wif S SSE aBEOC Os A Evi SwWisia s E K Develop q e 7 H 7 cr R Project Ex 8 iat Core Regis F Peripheral O Welcome x ml am B amp file C nxp Ipoexpresso 3 6 pages registered htm gt E p by code red LPCXpresso is fully activated Welcome to LPCXpresso The software is now fully activated and can be used for production LPCXpresso can be used to generate and download applications containing up to 128KB of code into an LPC target Getting Started Please read the getting started guide for step by step instructions to build your first LPCXpresso project LPCXpresso Getting Started Guide LPCXpresso Resources Check the LPCXpresso Support page for new LPCXpresso software releases more example projects and announcements 9 Quic
15. 1 Step 1 Mount LPCXpresso LPC1114 board 24 5 1 2 Step 2 BLDC Motor Preparation 25 5 1 3 Step 3 Connect Power Supply 26 5 1 4 Step 4 Loading the Demo Application 26 5 2 Installing USB Driver 30 5 3 Demo Application 31 54 Compiling the Demo Application 31 5 5 Things to Note Known Issues 33 5 5 1 Evaluation Platform Not for End products 33 5 5 2 Power Supply 33 5 5 3 Board Errata 33 5 5 4 Screw Connectors 34 6 Troubleshooting 35 6 1 Powering 35 6 2 Download Demo Application to LPCXpresso Board 36 6 3 Connect LPCXpresso Board 36 6 4 Power Electronics and BLDC Motor 37 7 Further Information 38 Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 5 1 Document Revision History Revision Date Description PA1 2011 02 01 First incomplete version PA2 2011 02 09 Second more complete version PA3 2011 02 14 Preliminary version PA4 2011 02 26 Corrected some smaller errors in text demo application is not preloaded and text in Fig 20 PA5 2011 04 24 Added information about LPCXpresso LPC176x usage Added 7 in section 4 10 PA6 2011 11 30 Corrected spelling error A 2012 01 13 Added note about CE marking B 2017 07 12 Added information about hardware revision B Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 6 2 Introduction Thank you for buying Embedded Artists LPCXpresso Motor Control Kit based on NXP s
16. Phase Control There are four phases with full control The gate drivers are based on the chip HIP4081AIBZ from Intersil This chip supports 100 duty cycle See the datasheet for details As phase transistors the N channel MOSFET PSMN2R6 40YS from NXP is used This MOSFET has the following rating 40V 100A and Rds on 2 8 mOhm 4 2 Phase Measurement It is possible to measure voltage and current individually on three of the four phases In situation where the fourth phase is used there is no need for voltage and current measurement on the fourth phase Phase voltages are measures with 1 12 division and is low pass filtered An extra capacitor can be enabled by inserting jumpers on JP11 JP13 respectively to further low pass filter the voltage measurement signals In phase currents are measures via 5milli ohm series resistors and AD8210 U17 U19 The chip offers x20 amplification of the current measurement signal and is bidirectional When zero current the output will be VREF 2 3 3 2 1 65V Increasing voltage reflect current out from the board Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 16 There is also a common virtual ground voltage measurement signal which is used in some motor control algorithms All voltage and current sense signals are available on J14 and J16 on rev B boards along with 5V supply voltage It is possible to create custom voltage and current measurement solutions v
17. T channel can also be used for sending motor control commands to the controlling MCU A USB driver must be installed on the PC laptop in order for the virtual COM port to be created See FTDI s installation guides for details how to install the driver for different operating systems http www ftdichip com Support Documents InstallGuides htm Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 31 5 3 Demo Application There is a demo application for the included LPCXpresso LPC1114 board It is not pre loaded so it has to be downloaded See section 5 1 4 above for details how to download a new updated demo application to the LPCXpresso LPC1114 board The demo application demonstrates BLDC control via Hall sensors The application begins with displaying a startup message on the OLED After this the BLDC motor can be started by pressing the center key of the joystick After a short while the BLDC motor will start spinning The speed can be adjusted up down by pressing the up down keys of the joystick Rotation direction can be changed with right left keys of the joystick The OLED display the measured rpm value graphically of the motor Note that this value is varying a bit since motor is unloaded This is quite normal Note that the joystick is rotated 90 degrees anti clockwise on rev B boards This means that speed is adjusted up down by moving the joystick left right and rotation direction can be changed
18. USB SDA USB SDA LPC1343 LPC1343 NOTE need pull up NOTE need pull up See section 4 10 See section 4 10 Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 12 RS485 PIO1 5 RTS PIO1 5 RTS PIO1 5 RTS PIO1 5 RTS P0 22 RTS1 TD1 P0 22 RTS1 TD1 ctrl CT32B0 CAPO CT32B0 CAPO CT32B0 CAPO CT32B0 CAPO Joystick PIO2 7 PIO2 7 PIO2 7 PIO2 7 P2 7 RD2 RTS1 P27 RD2 RTS1 up Joystick PIO2 8 PIO2 8 PIO2 8 PIO2 8 P2 8 TD2 TXD2 P2 8 TD2 TXD2 down Joystick PIO2 9 PIO2 9 Not available Not available P2 10 EINTO P2 10 EINTO right NMI NMI Joystick PIO2 10 PIO2 10 PIO2 10 PIO2 10 P2 11 EINT1 P2 11 EINT1 left I2STX_CLK I2STX CLK Joystick PIO2 6 PIO2 6 Not available Not available RDP2 6 RDP2 6 center PCAP1 0 RI1 PCAP1 0 RI1 OLED PIO2 3 RI PIO2 3 RI PIO2 3 RI PIO2 3 RI DP0 21 DP0 21 Volt EN I RIT RD1 RI1 RD1 I2C SDA PIO0 5 SDA PIO0 5 SDA PIO0 5 SDA PIO0_5 SDA P0 10 TXD2 P0 10 TXD2 SDA2 MAT3 0 SDA2 MAT3 0 I2C SCL PIO0_4 SCL PIO0_4 SCL PIO0_4 SCL PIO0 4 SCL P0 11 RXD2 P0 11 RXD2 SCL2 MAT3 1 SCL2 MAT3 1 3 3 1 Notes about LPC1114 control The LPC1114 is limited in the number of available pins All features of the LPCXpresso Motor Control Board cannot be used on the board The default setup is to control three of the four phases It i
19. WO PWM PIO1 1 AD2 PIO1 1 AD2 PIO1 1 AD2 PIO1 1 AD2 P2 2 PWM1 3 P1 28 MCOA2 PHC CT32B1 MATO CT32B1 MATO CT32B1 MATO CT32B1 MATO CTS1 PCAP1 0 MATO 0 High PWM PIO1 2 AD3 PIO1 2 AD3 PIO1 2 AD3 PIO1 2 AD3 P0 7 I2STX_CLK P1 29 MCOB2 PHC CT32B1 MAT1 CT32B1 MAT1 CT32B1 MAT1 CT32B1 MAT1 SCK1 MAT2 1 PCAP1 1 MATO 1 Low PWM Not available PIO1 97 Not available PIO3 3 P2 3 PWM1 4 P2 3 PWM1 4 PHD CT16B1 MATO DCD1 DCD1 High PWM Not available PIO1 10 AD6 Not available PIO1 10 AD6 P0 6 I2SRX_SDA P0 6 I2SRX_SDA PHD CT16B1_MAT1 CT16B1_MAT1 SSEL1 MAT2 0 SSEL1 MAT2 0 Low Hall A PIO2_0 DTR PIO2 0 DTR PIO2 0 DTR PIO2 0 DTR P1 20 MCIO P1 20 MCIO PWM1 2 SCKO PWM1 2 SCKO Hall B PIO2 1 DSR PIO2 1 DSR PIO2 1 DSR PIO2 1 DSR P1 23 MCI1 P1 23 MCH PWM1 4 MISOO PWM1 4 MISOO Hall C PIO2 2 DCD PIO2 2 DCD PIO2_2 DCD PIO2_2 DCD P1 24 MCI2 P1 24 MCI2 PWM1 5 MOSIO PWM1 5 MOSIO QEI PHA Only available at Only available at Only available at Only available at Only available at Only available at expansion connector expansion connector expansion connector expansion connector expansion connector expansion connector Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 11 QEI PHB Only available at Only available at Only available at On
20. age 13 e Pin PIO2_9 is not available was pin 51 This makes it impossible to read the joystick center key 3 3 3 Notes about LPC1343 control The limitations for LPC1343 are the same as for the LPC1114 as described above The only difference is that the LPC1343 has an USB interface which the LPC1114 does not have 3 3 4 Notes about LPC176x control The LPC176x has more pins and can measure the same analog signals as the LPC1114 1343 plus virtual ground voltage and in chase current for phase A B and C The LPC176x can control all four phases simultaneous without any trade off The PWM signals can be generated in two different ways either via the PWM peripheral block or via the motor control peripheral block The signals for these two different blocks are connected together so the block that is inactive must set the associated pins in input mode so there is no interference with the block that is generating the phase control signals The QEI interface is not connected to the LPC176x This interface is only available via the expansion connector Note that pin P0 27 needs a pull up 1K 10Kohm to 3 3V in order to correctly control the UART multiplexer This is missing in the design See section 4 10 for details about this Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 14 interface LPC1xxx LPCC44 LPCXpresso Sockets USB connector for USB to UART Bri
21. also used to generate 5V and 3 3V via simple linear voltage regulators U24 and U25 5V is used to power external Hall sensors and the current measurement circuits The 3 3V is used to power the rest of the board 45 Sensor Inputs There are two main sensor input connectors J9 and J10 J9 that is normally used can either interface Hall sensors or a quadrature sensor There are three jumpers JP7 JP9 to enable optional pullup or pulldown resistors Normally these jumpers are set to enable the pullup resistors since the kit contains a BLDC motor with Hall sensors Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 17 There is also J10 that is a quadrature sensor input The signals from this connector are only available on the expansion connector since no LPCXpresso board has enough pins to handle these signals The board also contains an i2c temperature sensor LM75A It is supposed to measure the temperature on the power electronics but due to position on board and general mounting of the board the temperature measured is not precise It is included for completeness in demo applications since real motor control applications must monitor the temperature of the controller All sensor input signals are available on J11 to simplify connection to an oscilloscope or logic analyzer 46 Controlling MCU Expansion connector J8 and JP6 The LPCXpresso Motor Control Board has been designed for direct int
22. anag ETO 9L mm Li veu MPB ce Tu S15 zu S 44vpappaqum ww v pappaa otoz O gt 4040W o 2Jdx2q1 Figure 6 Default jumper positions rev A hardware Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide NIA 9 Ways SiBA Woyda aH 2 dd Gyd O O O O O O O O O O O O O O OJLJJ MIA UO PAys SHA V d 8 4 2 44 cyd ces 2 30 DC positive center puhon ga ou z DIDODODODOD 7 DO E f poongoonog rS gonogn nng S le E C BED C E a 8 FER LET 83 TE i2 E21 FER EO i BILT TI ossezdxar zxddn l PULT EpetoeT osse1dyjir1 mao Os da B BU ODO Di Figure 7 Default jumper positions rev B hardware Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 24 5 Getting Started This chapter contains information about how to get acquainted with the LPCXpresso Motor Control Kit Please read this section first before you start using the board it will be well spent time 5 1 Kit Content and Preparation The LPCXpresso Motor Control Kit is delivered in two boxes Box 1 contains 1 LPCXpresso Motor Control Board 2 LPOXpresso LPC1114 with pin lists soldered Note the demo application is not pre programmed to this board The demo ap
23. ctionality Hall amp QEI sensor inputs connected via screw terminals Temperature sensor 12 30V input voltage 17A peak current max 300W output On board 15W power supply 11V 5V 3 3V e Communication Interfaces USBinterface must be supported by controlling MCU Ethernet interface must be supported by controlling MCU CAN interface must be supported by controlling MCU RS422 485 interface UART to USB interface e User Interface 5 key joystick switch Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 7 96x64 pixel OLED e Other Reset pushbutton 2C E2PROM SWD JTAG connector e Dimensions 200x150 mm e Power Supply Input 2 1mm input jack or via screw terminals 12 30V 17A max 2 2 ESD Precaution Please note that the LPCXpresso Motor Control Board and the LPCXpresso LPC1114 Board come without any case box and all components are exposed for finger touches and therefore extra attention must be paid to ESD electrostatic discharge precaution Make it a habit always to first touch the metal surface of one of the USB or A Ethernet connectors for a few seconds with both hands before touching any other parts of the boards That way you will have the same potential as the board and therefore minimize the risk for ESD Note that Embedded Artists does not replace boards that have been damaged by ESD 2 3 General Hand
24. dge SWD JTAG interface Ethernet interface CAN and RS485 USB interface 4 LPCXpresso Motor Control Board Design This chapter contains information about the general design of the LPCXpresso Motor Control Board and how to set the few jumpers on the board The schematic can be downloaded in PDF from the support page and is recommended to have printed out while reading this chapter The datasheets for specific components must be read in order to obtain detailed and specific information for different functions The following of this chapter is a walkthrough of the design from a functionality perspective The picture below gives an overview of where the different functions are located on the board Note that there are two different versions of the hardware rev A and rev B The two versions are functionally equivalent Rev B has slightly less noise in the phase current measurement compared to rev A and digital phase voltage measurement which does not exist at all on rev A boards Local power supply 11 V 5V 3 3V Expansion Connector JP6 separation of control and power sides Brea conti o k rol N QEI 2 interface cot m m i Hall sensor interface rEPEE aS ii mee E ES Le mee rE gr21292226B37 LELLELEL ELIT E 999090090000000900900090090090090
25. e TD e popresso36 workspace BLDC Sensored Debug epson P Ordna Ny mapp z fil 9 E Mina bilder Namn Senast andrad Typ Storlek B Mina dokument LD Anvsoft J Ask and Record Toolbar Ji BlazeVideo Jj Download p Fax Ji HKR Ipexpresso Ipcxpresso Kopia I Iporesso 34 3 Select either axf or bin file cmsis 2011 02 09 19 53 Filmapp I driver 2011 02 09 22 50 Filmapp i LPCXpresso MC 2011 02 08 00 21 Filmapp 2011 02 09 22 50 Filmapp Jj Ipespresso 3 6 1 Find project top Sarai directory 2 Find Debug subdirectory Filnamn BLDC Sensored axf Figure 15 Browse to File to Download Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide wre E ch x Edit Navigate Search Project Run Window Help l Ov ela i a Sr e weld mBESESOPS9JOH 6 E 8Be F E X Develop amp 9 qS 9 i49 io c Project Ex 23 Mt Core Regis Peripheral File B Welcome 52 cm Bi Po file C nxp Ipcpresso 36 pages registered htm E PRESSO i powered by lil i code red production LPCXpresso can be used to je BLDC _Sensored lib small printf m p o0 Writing 17576 bytes to 0000 in Flash assumed clock 36 0MHz pee example projects and announcements W Quickstart 3 0 Variables 9o Breakglll Start here The LPCXpresso Forum community is exclusi
26. e Page 18 Ethernet interface connector J4 e Gum ate HSSNS5 Developed in cooperation witt LPCXpresso Motor Control Board rev A NXO 2010 Embedded Artists AB www EmbeddedArtists com CAN and RS422 485 interface connector J7 From top to bottom CAN H CAN L GND RS422 RX RS422 RX RS422 TX RS422 TX GND Termination Resistors Control JP5 Jumper 1 2 inserted by default RS422 485 Select JP4 Both jumpers inserted by default USB interface connector J5 a E e e B mom R2 Jt 28 299090900000000000000000000090 54 54 1 Upper LPCXpresso LPC1768 n QUU LPC1343 1114 Bi 1 27 Hoc 0000000000000000000000007 1 cis USB connector J6 Ee 85 Ld for USB to UART zfs S s Bridge LEDs for signaling UART communication activity LEDI LED2 Figure 4 LPCXpresso Motor Control Board Communication Interfaces rev A 4 7 1 USB to UART Bridge Interface There is a UART to USB bridge on the board This is to simplify connection to a PC because serial ports are not so common any more especially not on laptops It is the controlling MCU s UART that is connected to the USB channel This UART can for example be used as the console channel for applications Printf output is typically directed to this UART channel The UART to USB bridge is based on the chip FT232RL from FTDI A driver is typical
27. e bright and become relatively hot 5 1 4 Step 4 Loading the Demo Application The demo application must be downloaded to the LPCXpresso LPC1114 board This is a description how to download a new updated demo application to the LPCXpresso LPC1114 board First make sure that the latest version of the LPCXpresso IDE is installed The LPCXpresso LPC1114 board can be programmed standalone or inserted into the LPCXpresso Motor Control Board If it is mounted on the latter make sure that the external power supply is connected and supply 24V to the board Secondly import the demo application project into the Eclipse workspace The demo application can be downloaded from the Embedded Artists support page after registering the product Third click on the Program Flash icon from the tool bar see picture below The icon can be at different places depending on window size Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Project Window Help COM MTE amp 5 A gt ier or fs Priest Tica ty z Program Flash Icon 7 csocarcoutecanm ES BLDC Sensored SESH ae C ES CO QD Dis 6 E 3i Binaries Includes driver B sc 49 config linker 8 cmsis startup Debug o LPOXpresso MC Ej BLDC Sensored Debug launch BLDC_Sensored Release launch 1S lib small printf m0 Quickstart 2 amp 3 69 Variables 9o Breakpoint C1 Start here Ej New proj
28. e selected build configuration T cH a m3 E Project and File wizards Y E Console 23 Ii Problems f Memory E Red Trace Preview No consoles to display at this time E Import and Export Y Build and Settings C2 E Debug and Run x ne 1S BLDC Sensored BLDC Sensored NXP LPC1114 301 Figure 20 LPCXpresso IDE Build Debug Project Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 33 5 5 Things to Note Known Issues This section contains a couple of notes that are important to know about when working with the board 5 5 1 Evaluation Platform Not for End products The LPCXpresso Motor Control Kit is an evaluation platform for various motor control based on the NXP LPC family of microcontrollers The kit has not been designed for end use in products The user of the kit must be aware of the current and voltages present It is possible to damage the LPCXpresso Motor Control board the BLDC motor and the power supply if improperly used 5 5 2 Power Supply The included power supply is intended to for demo applications If the BLDC motor is heavily loaded and or used in demanding ways the power supply might be inadequate to power the setup In this case use a power supply that is capable of delivering the current surges needed Note that the included power supply generates a considerable amount of noise when loaded It might not be a suitable power supply when doing mot
29. ect v 4 Import Example project s sis Build all projects Debug amp Build BLDC Sensored Debug 6 Clean BLDC Sensored Debug 3 Debug BLDC Sensored Debug LPCXpresso is fully activated Welcome to LPCXpresso The software is now fully activated and can be used for production LPCXpresso can be used to generate and download applications containing up to 128KB of code into an LPC target Getting Started Please read the getting started guide for step by step instructions to build your first LPCXpresso project powered by illKcode red LPCXpresso Getting Started Guide LPCXpresso Resources Check the LPCXpresso Support page for new LPCXpresso software releases more example projects and announcements Visit www nxp com lpexpresso support LPCXpresso Forum The LPCXpresso Forum community is exclusively built for LPCXpresso users and is an invaluable resource for getting help and advice on use of the LPCXpresso tools and boards So get connected and join the LPCXpresso community To view the forum and to register so that you can post visit www nxp com Ipcxpresso forum General Information Visit the NXP LPCXpresso website For information on upgrades etc visit the Code Red Technologies LPCXpresso website Visit the Embedded Artists LPCXpresso website Quick Settings v B La OELE E Import and Export t s Import archived projects zip 1 Import exisiting
30. edded Artists AB LPCXpresso Motor Control Kit User s Guide Page 9 3 Introduction The LPCXpresso Motor Control Kit is a universal platform for low voltage motor control based on NXP s MCUs It is possible to control BLDC BLAC stepper and dual brushed DC motors The platform directly supports control via the LPCXpresso LPC1114 included in kit LPCXpresso LPC11C24 LPCXpresso LPC1343 and LPCXpresso LPC176x boards Note that mbed is not directly supported Other controlling MCUs can however be used via the expansion connector There is a 5 minute multimedia overview presentation of the board on the product s web page This chapter also gives an overview of the board 3 1 Board Structure The LPCXpresso Motor Control Board has a structure as outlined in the picture below The right side contains the power electronics for driving the motor phases The left side is the controlling side with sockets for different LPCXpresso boards as well as a PLCC44 socket for LPC1xxx processor control The left side also contains an OLED and a joystick that can serve as a user interface to the system In between the two sides an expansion connector is placed and there is also a special connector that can disconnect the left side from controlling the right side power electronic side By disconnecting the left side the expansion connector can be used to let an arbitrary MCU control the board Control Side Power Electronic Side
31. erface to a number of LPCXpresso boards LPC1114 LPC11C24 LPC1343 and LPC176x There is also a PLCC44 socket for LPC11xx processors Section 3 3 contains a description of which pins to interface the LPCXpresso Motor Control board are used on different LPCXpresso boards 4 6 1 LPCXpresso LPC1114 This is the default configuration and is what is delivered with the LPCXpresso Motor Control Kit 4 6 2 LPOCXpresso LPC176x Note that in case an LPCXpresso LPC176x board shall be used pin lists for the two 27 pos edge connectors must also be soldered Also the 19 signal positions in between the edge connectors must have pin lists soldered 4 6 3 Other controlling MCUs There is also an expansion connector J8 see schematic page 6 where all relevant signals for the power electronic side are available Other MCUs can be used to control the LPCXpresso Motor Control Board like the LPC2900 LPC1800 and LPC4300 families The control side of the board can be disconnected if needed by removing the solder bumps in JP6 4 7 Communication Interfaces There are multiple communication interfaces on the LPCXpresso Motor Control Board The picture below gives a detailed overview of the interfaces and the following sub sections explain each interface in more detail Note that the picture represent a rev A board and the rev B board is very similar in connector placement Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guid
32. high inrush current 5 The CAN interface does not have any termination resistor If needed such termination resistor must be added externally 6 The board can sometimes be in an undefined reset state after power up This can happen if the USB cable for the UART to USB bridge is not inserted The FT232RL chip is not initialized properly and pulls the reset signal low The Reset LED has typically a weak light Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 21 The solution is to remove R143 This resistor can be found just right of LED1 and LED2 close to the USB connector 7T OnrevA boards when using the LPCXpresso LPC176x to control the board pin P0 27 needs a pull up resistor to 3 3V value is non critical 1K 10Kohm will work See picture below for how re work can be done Note that this pull up resistor is only needed when using LPCXpresso LPC176x to control the board MOiuusfee eene 1 Q TERIS e e 2262 6 J6 25 gt P0 27 Figure 5 Pull up resistor on LPCXpresso LPC176x pin P0 27 Copyright 2013 Embedded Artists AB E RS zi eo m D o E 5 fo S L So g e fo o o o pus S x oO a I 4 11 Default Jumpers Positions Figure 6 illustrates the default jumper positions as mounted when the board is delivered from Embedded Artists Note the different hardware versions rev A and rev B Iud q ua aud
33. ia J14 and J16 on rev B boards SJ1 SJ7 can switch from the standard measurement solution to the custom solution It is possible to measure phase A output signal via an adjustable comparator U16 and R93 This can be used to measure the gate driver delay and to calibrate the motor control algorithm To simplify connection to an oscilloscope all motor winding signals along with input voltage VBUS and shunt are available on J13 just beside the screw connector J12 43 InputStage and Brake Functionality There are two input connectors for the power supply either the 2 1mm power jack or via screw connector J12 The power supply included in the kit has a 2 1mm power jack connector with positive center The voltage input on both connectors is reverse polarity protected via D34 The reverse polarity protection diode D34 also functions as part of the brake functionality If the motor is spinning in generator mode and is hence generating current the motor voltage schematic signal net VBUS will increase to a point where it will damage the electronics D34 is used to measure the voltage increase and if above a threshold Q12 will connect the three power dissipation resistors R113 R118 and R120 to VBUS This will quickly consume power and slow down the spinning motor i e function as a brake R112 is used to measure the input current via U21 a high side current shunt monitor This chip has x20 amplification so 10A will generate a 2V
34. ime the joystick is pressed down Note that the rpm value varies quite a lot This is because the motor is not loaded and is quite normal behavior for an unloaded motor Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 38 7 Further Information The LPC1114 microcontroller is a complex circuit and there exist a number of other documents with a lot more information The following documents are recommended as a complement to this document 1 NXP Motor Control Web Site http ics nxp com support microcontrollers motor control 2 NXP LPC1114 Datasheet http ics nxp com products Ipc1000 datasheet Ipc1 11 1 Ipc1112 lpc1113 Ipc1114 pdf 3 NXP LPC1114 User s Manual http ics nxp com support documents microcontrollers pdf user manual Ipc11xx lpc11cxx pdf 4 NXP LPC1114 Errata http ics nxp com support documents microcontrollers pdf errata lpc1114 pdf 5 ARM Processor Documentation Documentation from ARM can be found at http infocenter arm com 6 Information on different ARM Architectures http www arm com products processors technologies instruction set architectures php 7 ARMv6 M Architecture Reference Manual Document identity DDI 0419B http infocenter arm com help index jsp topic com arm doc ddi0419b index html 8 Cortex M0 Technical Reference Manual Revision r0p0 http infocenter arm com help index jsp topic com arm doc ddi0432c index html 9 LPCXpresso IDE NXP s lo
35. in the CAN interface If needed such termination resistors must be connected externally Note that the LPCXpresso LPC11C24 has an on chip CAN transceiver The interface connector to this is located on the LPCXpresso LPC11C24 board The CAN interface and associated connector on the LPCXpresso Motor Control board is in this case not used 474 RS422 RS485 Interface There is a RS422 485 interface on the board based on SN65HVD35 RS422 has individual transmit and receive pairs while RS485 share the same signal pair and is hence half duplex By inserting both jumpers in JP4 the two signal pairs are connected and a RS485 interface is created By removing the jumpers in JP4 a RS422 interface is created Via JP5 it is also possible to add termination resistors if needed Note the different orientation for jumpers in JP4 and JP5 The transceiver U6 on schematic page 4 has built in ESD protection Communication direction over the RS485 interface is controlled via signal RS485 RTS and is by default half duplex i e no simultaneous transmit and receive A high level enables the transmitter while a low level enables the receiver It is possible to remove R30 in order to always enable the receiver The transmitter is still controlled by the signal RS485 RTS Note that signal UART_RS485 must be low in order to connect the UART signals to the RS422 485 interface The signal UART RS485 controls a multiplexor U7 U8 for the UART TXD UART RXD signals
36. ires to the multimeter are correctly connected Performing a voltage measurement with a multimeter set to current measurement will short the output from the power supply and can destroy the power supply 4 Connect the 24V 60W power supply included in the kit 5 Measure voltages at five different positions on the board a Measure 24V 23 26V from power supply Measure at J12 between VIN and GND b Measure 24V 22 26V after input protection diode Measure at J12 between VBUS and GND c Measure the 11V supply Measure at JP6 and use JP15 as ground reference Acceptable range for the 11 0V voltage is 10 40V to 11 60V d Measure the 5V supply Measure at JP6 and use JP15 as ground reference Acceptable range for the 5 0V voltage is 4 50V to 5 50V e Measure the 3 3V supply Measure at JP6 and use JP15 as ground reference Acceptable range for the 3 3V voltage is 3 15V to 3 45V f If the reset LED is dimming instead of being clearly on or off it is also a sign that the supply voltages are not stable and outside of valid ranges If problem since the BLDC motor is disconnected and there is no big current consumption on passive boards it is likely that some part of the LPCXpresso Motor Control Board consumes a lot of current It might be possible to locate the faulty section component by checking component temperatures with the finger tip Be careful because faulty components can get very hot The picture below illustrates where to
37. it between a PC and the USB to UART bridge connector on the LPCXpresso Motor Control Board Start a terminal program on the PC and verify that a startup message is sent from the board 6 Forthis test to work the demo application must be changed according to step 5 above Verify that the TX LED found close to the USB connector shortly flash when the startup message is send from the board T Forthis test to work the demo application must be changed according to step 5 above Verify that the RX LED found beside the TX LED shortly flash whenever a character is sent from the terminal program 6 4 Power Electronics and BLDC Motor In this test the power electronics and the BLDC motor operation is verified 1 Disconnect the power supply 2 Connectthe BLDC motor Make sure cabling is correct see correct cabling in the Getting Started Chapter in this document Also make sure that no extra load is connected to the motor 3 Connect the 24V 60W power supply again Measure the 5V voltage again If the voltage is below acceptable range it is a sign of too high current consumption in the hall sensors of the BLDC motor 4 Verify again that the startup message is appearing on the OLED 5 The BLDC motor shall start spinning after a few seconds A couple of tries before spinning correctly is a normal startup procedure 6 Verify that the rpm is increasing a little bit every time the joystick switch is pressed up and decreasing every t
38. kstart E Variables prep 1 Select Import and Export Start here z Y or LPCXpresso users and is an invaluable resource for getting help and x TRES E on use of the LPCXpresso tools and boards Project and File wizards Y So get connected and join the LPCXpresso community E Import and Export a J bs Import archived projects ip cm 2 Select Import archived projects zip ia Setting projects Vis pror Import from a project archive zip file BE Import project s from XML DetCMPUSHOOCTUBES For information on upgrades etc visit the Code Red Technologies LPCXpresso website yt files into z Visit the Embedded Artists LPCXpresso website El Console 53 R Problems J Memory A Red Trace Preview Smart Import wizard No consoles to display at this time Build and Settings Y E Debug and Run v v1 E extras Figure 18 LPCXpresso IDE Import Archived Project Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 32 Next browse and select the downloaded zip file containing the archived demo application Make sure both sub projects are selected see figure below ri S8 SERN amp B ES ESCAPE E Sw io 4 Br E X Develop aeien 0r eE jS mice 53 N Iff Core Regis Fa Peripl 1 Browse and select Import archived projects zip Select a directory to search for existing Eclipse projects a rch ived proj ect file
39. ling Care Handle the LPCXpresso Motor Control Board and the LPCXpresso LPC1114 Board with care The boards are not mounted in a protective case box and are not designed for rough physical handling Connectors can ware out after excessive use The boards are designed for evaluation and prototyping use and not for integration into end products The LPCXpresso Motor Control Board has an OLED display Do not exercise pressure on the display glass area or the flex cable connecting the display to the pcb That will damage the display Note that Embedded Artists does not replace boards where the OLED has been improperly handled Some components on the LPCXpresso Motor Control Board can become very hot during normal operation The BLDC motor is powerful and can cause damage of improperly used Be careful when working with the board and BLDC motor Pay extra attention to safety precaution 2 4 Code Read Protection The LPC1114 has a Code Read Protection function specifically CRP3 see LPC1114 datasheet user s manual for details that if enabled will make the LPC1114 impossible to reprogram unless the user program has implemented such functionality Note that Embedded Artists does not replace LPCXpresso LPC1114 boards where the LPC1114 has CRP3 enabled It s the user s responsibility to not invoke this mode by accident Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 8 2 5 CE Assessment The LPCXp
40. ly available at Only available at Only available at expansion expansion expansion expansion expansion expansion connector connector connector connector connector connector QEI Only available at Only available at Only available at Only available at Only available at Only available at Index expansion expansion expansion expansion expansion expansion connector connector connector connector connector connector Analog PIO1 4 AD5 PIO1 4 AD5 PIO1 4 AD5 PIO1 4 AD5 P0 23 ADO 0 P0 23 ADO 0 BEMFA CT32B1 MAT3 CT32B1 MAT3 CT32B1 MAT3 CT32B1 MAT3 I2SRX_CLK I2SRX CLK WAKEUP WAKEUP WAKEUP WAKEUP CAP3 0 CAP3 0 Analog PIO1 10 AD6 Not available PIO1 10 AD6 Not available P0 25 ADO 2 P0 25 AD0 2 BEMFB CT16B1 MAT1 CT16B1 MAT1 I2SRX_SDA I2SRX_SDA TXD3 TXD3 Analog PIO1 11 AD7 PIO1 11 AD7 PIO1 11 AD7 PIO1 11 AD7 P1 30 VBUS P1 30 VBUS BEMFC AD0 A AD0 4 Analog Not available Not available Not available Not available P0 2 TXD0 P0 2 TXDO VZERO AD0 7 ADO0 7 Analog Not available Not available Not available Not available P0 24 ADO 1 P0 24 ADO 1 PHA curr I2SRX_WS I2SRX_WS CAP3 1 CAP3 1 Analog Not available Not available Not available Not available P0 26 ADO 3 P0 26 AD0 3 PHB curr AOUT RXD3 AOUT RXD3 Analog Not available Not available Not available Not available P1 31 SCK1 P1 31 SCK1 PHC curr ADO0 5 ADO0 5 Analog PIO1 0 AD1 PIO1 0 AD1 PIO1 0 AD1 PIO1 0 AD1 P0 3 RXDO
41. ly needed to be installed on the PC side The driver creates a virtual COM port on the PC that represents the UART channel Any program on the PC can connect to this COM port for communication with the controlling MCU on the board There are two LEDs Transmit LED2 and Receive LED that signal communication activity Note that signal UART_RS485 must be high in order to connect the UART signals to the USB to UART bridge The signal UART_RS485 controls a multiplexor U7 U8 for the UART_TXD UART_RXD Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 19 signals The MCU UART can be connected to either to the USB to UART bridge or the RS422 485 interface 47 2 USB Interface The USB interface J5 on schematic page 4 is currently only supported by the LPCXpresso LPC 1343 and LPC176x boards The controlling MCU must have an on chip USB interface The interface is very straight forward and consists of a mini B USB connector ESD protection VBUS sense and DP pull up resistor control 4 7 3 CAN Interface There is a CAN interface on the board that is based on the NXP chip TJF1051T 3 The interface is straight forward consisting of a CAN transceiver ESD protection and connector The CAN interface part of connector J7 on schematic page 4 is currently only supported by the LPCXpresso LPC176x board The controlling MCU must have an on chip CAN interface Note that there are no termination resistors
42. measurement signal It also has a comparator which makes it possible to set a trip point for over current protection The comparator output is directly connected to the gate drivers and will disable these in case of an over current situation The over current trip point is adjustable between 3A and 18A with trimming potentiometer R127 The input current measurement signal is connected to an analog input on the LPCXpresso target boards via analog multiplexor U1 Signal AIN CTRL shall be high to measure the input current If low the DC link current measurement signal is instead connected the common low side current of the phase drivers The board contains five big reservoir capacitors 5000uF C65 C69 These capacitors will handle the current spikes from the PWM control of the motor They also make the input power supply requirement less stringent in supplying large currents spikes There is however a trade off there will be a high current spike when the power supply is connected Some power supplies might go into over current protection because of this startup current spike 44 Power Supply The power supply input voltage is taken from the motor supply It is in the range from 12 30V minus one diode drop D34 Three voltages are generated 11V 5V and 3 3V A switching regulator U26 LM5085MYE is used to generate 11V 1 5A The converter is designed for 15W The 11V is needed for the gate drivers and the OLED display The 11V voltage us
43. motor control solutions The board has been developed in close cooperation with NXP The kit contains an LPCXpresso board with LPC1114 target which has a Cortex MO core as motor controller Several other NXP MCUs can also be used with the board to demonstrate motor control This document is a User s Guide that describes the combination of the LPCXpresso Motor Control Board and the LPCXpresso LPC1114 together forming the LPCXpresso Motor Control Kit 2 4 Features Embedded Artists LPCXpresso Motor Control Kit makes it possible for you to get started with motor control prototyping immediately It is a universal platform for low voltage motor control based on NXP s MCUs With this platform it is possible to control BLDC BLAC stepper and dual brushed DC motors The board has been designed for evaluation and is not designed for final integration into end products performing motor control e Controller MCU Socket for LPCXpresso LPC1114 LPC11C24 and LPC1343 Socket for LPCXpresso LPC176x Socket for LPC1xxx in PLCC44 Expansion connector for control by LPC1800 LPC4000 LPC2900 families or other e Phase Control 4 phases based on NXP PMSN2R6 40YS NMOSFET accessed via screw terminals Phase control support 10096 duty cycle Voltage measurement on three phases and virtual ground Current measurement in phase on three phases and common low side nput current measurement including over current trip Brake fun
44. nsion connectors where internal signals are made available do not have any other ESD protection than from the chip themselves Observe ESD precaution 2 6 Other Products from Embedded Artists Embedded Artists have a broad range of LPC1000 2000 3000 4000 based boards that are very low cost and developed for prototyping development as well as for OEM applications Modifications for OEM applications can be done easily even for modest production volumes Contact Embedded Artists for further information about design and production services 2 6 1 Design and Production Services Embedded Artists provide design services for custom designs either completely new or modification to existing boards Specific peripherals and I O can be added easily to different designs for example communication interfaces specific analog or digital I O and power supplies Embedded Artists has a broad and long experience in designing industrial electronics in general and with NXP s LPC1000 2000 3000 4000 microcontroller families in specific Our competence also includes wireless and wired communication for embedded systems For example IEEE802 11b g WLAN Bluetooth ZigBee ISM RF Ethernet CAN RS485 and Fieldbuses 2 6 2 OEM Education QuickStart Boards and Kits Visit Embedded Artists home page www EmbeddedArtists com for information about other OEM Education QuickStart boards kits or contact your local distributor Copyright 2013 Emb
45. onnector It has 2x5 pins in 50 mil pitch The connector supports both the SWD and JTAG interfaces but LPC11xx 13xx processors only support SWD Note that not all and in particular older JTAG debug probes do not support the SWD interface standard When an LPCXpresso boards is used to control the board the LPC LINK is typically used to download program code and debugging via the SWD JTAG interface In this case there is no need to use J3 Note that in case J3 is used with an LPCXpresso board the LPC LINK side of the LPCXpresso board must be disconnected Else there will be two drivers of the SWD JTAG interface 4 10 Known Board Design Issues This section lists a couple of known design issues that is good to know when using the board for motor control evaluation 1 The powering and reset structure of the USB to UART chip FT232RL U5 on schematic page 4 is not optimal in some situations If a USB cable is not connected the TX and RX LEDs are on since the chip is not powered It is no problem with this other than an irritating light from the two LEDs When using the USB channel to send UART communication to a PC i e when a USB cable is actually connected the chip will be reset when the internal reset signal is active for example by the reset push button This will cause a new USB enumeration in the PC and it will take a few seconds to complete During this time no UART communication will be forwarded over the USB channel A workaround fo
46. or control algorithm development The power supply is mostly for running the demonstration application 5 5 3 Board Errata There are two errors on LPCXpresso Motor Control Board rev A The errors have been fixed on most boards but some early boards have been shipped without fixes It is easy to identify boards that have been fixed these boards have a wire on the solder side of the board as described below First a short wire shall be soldered between two pads on the solder side of the board See picture below for an illustration where to solder the wire Note that the wire is between the two left most pins in each group of 1x2 pins The wire is to connect a signal net to ground else it is floating This error affects the back EMF voltage measurement on phase C Once the wire is soldered the measurement works as intended RI 4 24 ee Oe Fe OEE OO e c m t t t eee het 4 L4 4 Ld LJ c lt A 6666 GF Ge cec0e e t S9 Le II Solder short wire between the two left pins Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 34 Secondly R110 is missing It is a 47Kohm 0603 resistor It is found on the lower board edge in the middle see picture below for location This resistor is important to measure virtual ground correctly Note that the LPC1114 cannot measure this signal atte SERE 47Kohm 0603 resistor missing Figure 22 R110 47Kohm missing
47. plication has to be downloaded into the board See description about how to do this further down this chapter 3 USB cable mini B to A Box 2 contains 1 BLDC motor 2 Power supply 24V 60W 3 Power cable to power supply wall connector EU style Adapters for US and UK wall connectors are included as well Follow the instructions below to get everything up and running quickly The picture below illustrates three of the four steps 1 Rev B boards Mount LPCXpresso LPC1114 board in left position 1 Rev A boards Mount LPCXpresso LPC1114 board in Ta lower position p ppy 2 Connect motor cables here into two screw connectors 3b Voltage indicator LEDs Figure 8 Board Preparation 5 1 1 Step 1 Mount LPCXpresso LPC1114 board Mount the LPCXpresso LPC1114 Board on the LPCXpresso Motor Control Board Make sure the LPCXpresso board is mounted in the lower position closest to the OLED The upper position is for LPCXpresso LPC176x boards Double check that the pin lists of the LPCXpresso LPC1114 board are correctly inserted into the LPCXpresso Motor Control Board in lower position and all pins inserted correctly into the base board socket no pin should be visible under the LPCXpresso LPC1114 board Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 25 5 1 2 Step 2 BLDC Motor Preparation The BLDC motor shall be mounted in two scre
48. r this USB enumeration delay is to add a 5 second delay in the application code before the UART is actually used 2 The three LEDs LED5 LED7 on schematic page 10 that indicate voltage presence VBUS 11V and 3 3V are quite bright and can get somewhat hot In case the bright light is irritating the LEDs can be removed from the board or covered Note that de soldering on the board voids any warranty 3 The l2C temperature sensor U12 on schematic page 12 is mounted on the board in a way that is inappropriate for real applications It does not measure the true temperature on the phase driver stages The temperature sensor is only included for completeness of sample demo motor control applications It is suitable to set the temperature trip level to a very low value i e just above room temperature 40 45 degrees Celsius is a suitable trip level The voltage indicator LEDs actually heats the temperature sensor somewhat typically 5 10 degrees Celsius 4 The five input capacitors have a combined capacitance of 5000uF C65 C69 on schematic page 10 The high capacitance is needed to smooth the current pulses from the PWM control of the motor It reduces the requirements on the external power supply A negative consequence of the high input capacitance is a high inrush current when an external power supply is connected The over current protection on some power supplies might be triggered by this The power supply must be able to handle the
49. resso Motor Control Kit consisting of the LPCXpresso Motor Control Board LPCXpresso LPC1114 Board 24V power supply and BLDC motor is CE marked See separate CE Declaration of Conformity document The LPCXpresso Motor Control Kit is a class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures EMC emission test has been performed on the LPCXpresso Motor Control Kit The included LPCXpresso LPC1114 board 24V power supply and BLDC were used along with the default sample application running on the LPC1114 The wires between the LPCXpresso Motor Control Board and the BLDC motor were tightly twisted Connecting other devices to the product via the general expansion connectors on the LPCXpresso Motor Control Board may alter EMC emission The same is true for using other power supplies other BLDC motors and running other control algorithms on the LPC1114 It is the user s responsibility to make sure EMC emission limits are not exceeded when connecting other devices to the LPCXpresso Motor Control Board and when experimenting with different motor control algorithms Due to the nature of the LPCXpresso Motor Control Kit an evaluation platform not for integration into an end product fast transient immunity tests and conducted radio frequency immunity tests have not been executed Externally connected cables are assumed to be less than 3 meters The general expa
50. ry Utility and Program Flash Develop Welcome LPCXE E fe 2 399 c5 d Sj ja ES ES C3 P D E iQ le is ioco HI Core Regis F Peripheral E Q Welcome 5 Az 87 8 a E a rd file C nxp Ipexpresso 3 6 pages registered htm LPCXpresso is fully activated 1 Right click on axf or bin file gt Ap Includes driver gt 9 src gt 9 config E linker 8 cmsis E startup Debug gt amp cmsis driver LPCXpresso MC b amp sre startup b BLDC Sensored axf ag BLDC_Sensored bin E BLDC Sensored ma makefile objects mk D sources mk 2 LPCXpresso MC 2 E BLDC Sensored Debug COPY Paste X Delete Move Rename powered by illcode red i e software is now fully activated and can be used for production LPCXpresso can be used to ications containing up to 128KB of code into an LPC target d guide for step by step instructions to build your first LPCXpresso project rted Guide LPCXpresso Resources New gt LPCXpresso Support page for new LPCXpresso software releases more example projects and announcements Open nxp com lpcxpres so support Open With rum esso Forum community is exclusively buit for LPCXpresso users and is an invaluable resource for getting help and ise of the LPCXpresso tools and boards B BLDC Sensored Releas nected and join the LPCXpresso community scu V5 lib small printf m0 the forum and to register so that
51. s illustrated in the grayed column in the table above All four phases can however the controlled The trade off is to lose the back EMF analog signal for phase B and the brake control signal In phase current measurement and virtual ground voltage measurement analog signals are not available for the processor The USB CAN and Ethernet communication interfaces are not available simply because the LPC1114 does not support these interfaces on chip The QEI interface is not connected to the LPC1114 This interface is only available via the expansion connector 3 3 2 Notes about LPC11C24 control The limitations for LPC11C24 are the same as for the LPC1114 as described above The only differences are pin numbering refers to the 2x27 pos edge connector of the LPCXpresso board e The LPC11C24 has a CAN interface which the LPC1114 does not have e Pin PIO1_9 is not available was pin 42 Instead pin PIO3_3 is connected to pin 42 This affects the brake control signal and PhD H signal e PIO3_3 moved from pin 53 to pin 42 see above e PIO2 6 moved from pin 48 to pin 46 This makes it impossible to read the joystick right key e Pin PIO3_4 is not available was pin 46 This affects the uart mux signal signal PIO2_6 shall be used instead e Pin PIO3_5 is not available was pin 47 This makes it impossible to reset the input over current trip Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide P
52. s of their respective owners and should be treated as such Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 3 Table of Contents 1 Document Revision History 5 2 Introduction 6 2 4 Features 6 2 2 ESD Precaution 7 2 3 General Handling Care 7 2 4 Code Read Protection 7 2 5 CE Assessment 8 2 6 Other Products from Embedded Artists 8 2 6 1 Design and Production Services 8 2 6 0 OEM Education QuickStart Boards and Kits 8 3 Introduction 9 3 1 Board Structure 9 3 2 Motor Control Overview 9 3 3 Usage of CPU Pins 10 3 3 1 Notes about LPC1114 control 12 3 3 2 Notes about LPC11C24 control 12 3 3 3 Notes about LPC1343 control 19 3 3 4 Notes about LPC176x control 13 4 LPOCXpresso Motor Control Board Design 14 441 Phase Control 15 4 2 Phase Measurement 15 43 InputStage and Brake Functionality 16 44 Power Supply 16 45 Sensor Inputs 16 4 6 Controlling MCU Expansion connector J8 and JP6 17 4 6 1 LPCXpresso LPC1114 17 4 6 2 LPCXpresso LPC176x 17 4 6 3 Other controlling MCUs 17 47 Communication Interfaces 17 4 7 1 USB to UART Bridge Interface 18 4 7 2 USB Interface 19 4 7 3 CAN Interface 19 4 1 4 RS422 RS485 Interface 19 4 7 5 Ethernet Interface 19 48 HMI 19 49 Debug 20 4 10 Known Board Design Issues 20 4 11 Default Jumpers Positions 22 5 Getting Started 24 Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 4 5 1 Kit Content and Preparation 24 5 1
53. vely buit for LPCXpresso users and is an invaluable resource for getting help and advice on use of the LPCXpresso tools and boards Ej New project v Import Example project s si Build all projects Debug amp Build BLDC Sensored Debug f Clean BLDC Sensored Debug 35 Debug BLDC Sensored Debug B Quick Settings v So get connected and join the LPCXpresso community To view the forum and to register so that you can post visit www nxp com Ipcxpresso forum General Information Visit the NXP LPCXpresso website For information on upgrades etc visit the Code Red Technologies LPCXpresso website Visit the Embedded Artists LPCXpresso website m E Console 23 l Problems J Memory 8l Red Trace Preview 4 Search RAlt E rea Import and Export C Build BLDC_Sensored Build and Settin 16280 1296 1972 19548 4cSc BLDC Sensored axf Ru ngs Created checksum Ox2dd6ffef in BLDC Sensored bin at offset Oxic 3 E DehuaandRun 8 n 11 Download Page 0 at 00000400 1024 bytes BLDC Sensored NXP LPC1114 301 Figure 16 LPCXpresso IDE Program Flashing in Progress Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 30 There is an alternative way of initiating the program download process From the workspace right click on the axf or bin file found under the Debug subdirectory Then select Bina
54. w connectors see picture below Note that the cables from the motor come in two groups Cables shall NOT be mixed between the two groups The group with five cables goes to the 5 pos connector and the group with 3 cables goes to the 8 pos connector Figure 9 BLDC motor with screw connectors The five cables of the 5 pos screw connector shall be mounted as indicated below from top to bottom red blue green yellow and black cable Figure 10 BLDC motor hall sensor cables Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 26 The three cables of the 8 pos screw connector shall be mounted as indicated below from top to bottom no no no no yellow green blue no cable E PAA Figure 11 BLDC motor winding cables 5 1 3 Step 3 Connect Power Supply The LPCXpresso Motor Control Board must always be powered from an external power supply The LPCXpresso LPC1114 board cannot alone power the board even if the voltage indicator LEDs light somewhat when the board is powered only from the LPCXpresso LPC1114 board In included power supply has a standard 2 1mm power plug that is used to power the board Center pin is positive Note that the board can also be powered via the 8 pos screw connector the same connector that the motor windings are connected to Verify that all three voltage indicator LEDs are on from left to left orange blue and green Note that the LEDs are quit
55. w cost development platform for LPC families which is an Eclipse based IDE http ics nxp com Ipcxpresso 10 LPC1000 Yahoo Group A discussion forum dedicated entirely to the NXP LPC1xxx series of microcontrollers http tech groups yahoo com group pc1000 11 LPC2000 Yahoo Group A discussion forum dedicated entirely to the NXP LPC2xxx series of microcontrollers This group might be more active than the LPC1000 group http tech groups yahoo com group Ipc2000 Note that there can be newer versions of the documents than the ones linked to here Always check for the latest information version Copyright 2013 Embedded Artists AB
56. wer supply wait 10 seconds until all voltage indicator LEDs are off Mount the LPCXpresso LPC1114 Board on the LPCXpresso Motor Control Board Make sure the LPCXpresso board is mounted in the lower position closest to the OLED The upper position is for LPCXpresso LPC176x boards 2 Connect the 24V 60W power supply again Measure the 5V and 3 3V voltages again see step 5 above If any of the voltages are below acceptable range it is a sign of too high current consumption It is likely that the LPCXpresso LPC1114 board is the failing part in this case 3 Verify that the reset LED flash when pressing the reset push button If the reset LED is always on when the LPCXpresso Board is mounted the voltage test above should likely have Copyright 2013 Embedded Artists AB LPCXpresso Motor Control Kit User s Guide Page 37 failed The LPCXpresso LPC1114 board is likely the failing part in this case When doing this test be sure to not have anything connected in the USB connector on the LPCXpresso board or anything connected to the SWD JTAG interface connector 4 Verify that the startup message is appearing on the OLED 5 Forthis test to work the demo application must be recompiled In file config application h there is a define define USE UART that must be set to 1 for the UART to be active By default this define is set to 0 Change this recompile and download the application Connect a USB cable mini B to A as included in the k
57. you can post visit www nxp com Ipcxpresso forum m ation Quickstart 23 69 Variabl NXP LPCXpresso website mation on upgrades etc visit the Code Red Technologies LPCXpresso website Embedded Artists LPCXpresso website Start here Te New project v Import Example project s ar Build all projects Debug amp Build BLDC Sensored Debu of Clean BLDC Sensored Deby Debug BLDC Sensored Deb Quick Settings v Ds impor r Export S Refresh Clean Selected File s Build Selected File s Run As Debug As Profile As 2 Select Binary Utility Team Compare With 3 Select Program Flash Replace With Launch Configurations Exclude from build OORE Build Configurations b To v 4c5c BLDC Sensored axf Make Targets p jum Ox2dd ffef in BLDC Sensored bin at offset Oxic BLDC Sensored NXP LPC1114 301 Figure 17 LPCXpresso IDE Binary Utility Unplug the USB cable to the LPCXpresso LPC1114 board and press the reset push button A startup message should be displayed on the OLED 5 2 Installing USB Driver The LPCXpresso Motor Control Board contains an USB to UART bridge chip FT232R from FTDI that connects a UART channel from the controlling MCU to a virtual COM port on the PC laptop via USB This UART channel is typically used as the console channel for applications Printf output can for example be directed to this UART channel The UAR

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