User manual - STMicroelectronics
Contents
1. 17 4 2 Controlalgorithm 21 5 UsingeMotion mnnanuuuza 23 5 1 Evaluate eMotion km 23 5 1 1 Installing eMotion GUI 23 5 1 2 Board configuration 23 5 1 3 Control operations 24 6 Limitations Wi p56 CH hr Eege EC rg EE ae ds 26 6 1 Hardwareissues 26 7 Revision history 27 Appendix A Bibliography 28 2 29 ky UM0289 Overview 1 1 Overview Getting started eMotion is a motion control kit able to manage up to 3 motors DC or BLDC simultaneously it can be used as starting point for the evaluation of control algorithms motors and drivers The complete kit is composed of Windows GUI XP compatible a Multi Windows software for managing through a serial connection the control of up three motors e MDK ST10 board control board based on microcontroller ST10F276 and three connectors compatible with a powerSPIN board eval 62xx Interface board a board with two shielded connectors to be stacked into the sockets of MDK ST10 to allow motor feedback of encoder signals powerSPIN boards the eMotion kit can manage up to three motor driver boards based on L6205 DMOS dual full bridge motor driver and L6235 DMOS fully integ2. Ti UM0289 Sf i User manual eMotion a motion control kit based on ST10F276 Introduction This user manual describes the features of the eMotion Kit and explains how use the kit to perform generic speed control of DC and BLDC motors Figure 1 eMotion kit Key features GUI software Windows XP OS compatible Control board MDK ST10 ST10F276 core 16 bit DSP 64 MHz Shielded interface board for encoder feedback powerSPIN boards L6205 L6235 eval Configurable PID closed speed loop for up three motors DC or BLDC RS232 communication November 2006 Rev 1 1 29 www st com Contents UM0289 Contents 1 RI sins tee oh alent te hv ed oe gel as aoc nm a eG ae Md 3 1 1 Getting started 3 2 Hardware EEN 5 2 1 EE AA AUA EE BC 5 2 2 PowerSPIN boardS 7 2 2 1 L6205 Eval board DC Motor 7 2 2 2 L6235 Eval board BLDC Motor 8 2 3 Feedback board 9 3 PO SoftWare EEN 12 3 1 Motom GUI ees taerees EEN 12 3 1 1 EVAL 6235 WINO W e d sea dan eee dae adhd eV eee wee eee ee 12 3 1 2 EVAL 6205 window 14 3 1 3 LOG WINKOW eer canes oben ees RTE EE 16 4 ST10 firmware enti d ceed EC eee eee ee Rede a eee eee 17 4 1 Communication protocol
3. 0x0c 0x01 Ox2a 10 May 2006 16 43 Socket 2 Ack Frame 0x80 0x1 0x40 10 May 2006 16 43 Socket 2 Parameters from Board to PC 0x2a 0x4 0x0 Ox3F 0x11 0x0 0x5 0x0 0x38 0x0 1 10 May 2006 16 43 Socket 2 AckTrame Ox00 Ox1 Oxb 10 May 2006 16 43 Socket 2 Get Parameters Control Command 0x0b 0x01 Ox2a 10 May 2006 16 43 Socket 2 Ack Frame Ox80 0x1 0x9 10 May 2006 16 43 Socket 2 Set Command for Motor Control 0x09 OxOc Ox2a Oxeb 0x4 0x0 0x0 0x38 0x0 MA May 2NNA 16 43 4 Snrket 2 Ack Frame NxAN fe Ax of H a a 16 29 UM0289 ST10 firmware 4 Note 4 1 ST10 firmware The firmware to manage the eMotion system is organized in two separate modules Communication module able to exchange data with the PC GUI using a structured protocol e Control module able to perform the open and closed loop operation on three motors and communicates with the first module All the firmware is developed in standard C language using tasking toolchain v 8 5 from Altium Communication protocol The serial protocol used for communicate with PC GUI is a frame based protocol with a baud rate of 115200 8 bit data length no parity check 1 bit stop The frame has a variable length with a CRC field A mechanism of acknowledgement for each command is implemented Figure 11 Frame protocol Frame Type Length Payload CRC 1 byte 1 byte variable length 1 byte Figu
4. 0x0C 1 PC MDK ST10 Command Stop_Control oe control 0x0D 1 PC MDK ST10 Command Gol Tales ee 0 PC MDK ST10 Command or error occurred Transmission eee ae 0x40 15 MDK ST10 PC Data ers parameters values Send_Latest_E Send latest 0x41 1 50 MDK ST10 PC Data rror error occurred Confirm the correct MDK ST10 PC ACK reception of a 0x80 1 PC MDK ST10 Acknowledgment frame The length field indicated the number of bytes in the payload In each frame with length greater than 0 the first byte of the payload indicates the association connector powerspin board except Send_Latest_Error see Table 5 Table 5 Connector Eval62xx Byte Value Ox1A First connector with eval 6235 0x1B First connector with eval 6205 Ox2A Second connector with eval 6235 0x2B Second connector with eval 6205 a UM0289 ST10 firmware Byte Value OK3A Third connector with eval 6235 0x3B Third connector with eval 6205 ACK timeout is fixed at 10 ms both for the PC and ST10 and the payload of the ACK frame is the command code to be acknowledged Set_PID_Control 0x09 is the frame used for setting the specific values of each control loop the contents of this frame is shown in the table below Table 6 Table 6 Set PID Control payload Payload gt wata byte order Field Description 1 Motor Connector Association connector powerSPIN board 2 Driver Byte for reserved us
5. GND 9 P3 5 T4IN encoder_3 A 10 GND 11 P5 14 T4EUD encoder_3 B 12 GND 13 P2 6 CC16 capture GPIO 14 GND 15 P1L 3 GPIO ADC In 16 GND 17 P1L 4 GPIO ADC In 18 GND 19 5V 20 GND Table 3 Conn2 Feedback board Conn 2 MDK ST10 Pin Functionality 1 P1L 5 GPIO ADC In 2 GND 3 P2 7 CC7 capture GPIO 9 29 Hardware UM0289 10 29 Conn 2 MDK ST10 Pin Functionality 4 GND 5 P1L 6 GPIO ADC In 6 GND 7 P1L 7 GPIO ADC In 8 GND 9 P1H 0 GPIO 10 GND 11 P1H 7 CC27 capture GPIO 12 GND 13 P1H 1 GPIO 14 GND 15 P1H 2 GPIO 16 GND 17 P1H 3 GPIO 18 GND 19 5V 20 GND Figure 6 Feedback board schematic u14 U15 P6 0 P6 1 VAR EF lt GND P6 2 P6 3 P5 10 P5 11 P6 4 P6 5 P5 124 P5 13 2 P6 6 P6 7 P5 14 P5 15 4 P8 0 P8 1 O r5V 6 P8 2 P8 3 P2 0 P2 1 8 P8 4 P8 5 P2 2 P2 3 10 P3 6 P8 7 P2 4 P2 5 12 5 ND P2 6 P2 7 14 P7 0 P7 1 WIS 16 P 2 P7 3 P2 8 P2 9 18 Bi A P7 5 P2 10 P2 11 20 Pip Pi P2 1 P2 13 P5 0 P5 1 P2 14 P2 15 P5 2 P5 3 P3 0 P3 1 P5 4 P5 5 P3 2 P3 3 P5 6 P5 7 P3 4 P3 5 P5 8 P5 9 CON36_A GND 5 CON36_A u16 ui CON36_A CON36_A UM0289 Hardware Note Figure 7 Feedback board TOP In order to report the feedback of motors a 20 pin flat cable could be used The first connector can be used for an incremental encoder as the timer pins
6. application note AN1625 and the L6235 datasheet for more details eMotion kit can manage the evaluation board based on L6235 three phase brushless DC motor Figure 5 Eval 6235 board E a es pi CR des a a s i779 a ef a htt o 45t switch wa 3 ya 2 of S1 A ee a egen S S oe He NGS RI R2 R6 C6 JP2 Refer to Section 5 1 2 Board configuration on page 23 for a description of the board configuration using eMotion UM0289 Hardware 2 3 Feedback board In order to interface the control system with encoder signals coming from motors a special board with two 20 pins connectors in the top side is used Feedback board This is a stackable board and has to be inserted using the four 36 pin connectors around the microcontroller in the MDK ST10 board The insertion orientation is indicated with a dot ina corner of the board corresponding to pin 1 of the ST10 MCU The two connectors Conn1 J3 Conn2 J4 used to allow the encoder feedback are shielded with the pair of pins connected to GND The dimensions of this board are about 6 5 x 6 5 cm The following tables show the pin assignments for each connector Table 2 Conn1 Feedback board Conn 1 MDK ST10 Pin Functionality 1 P3 7 T2IN encoder_1 A 2 GND 3 P5 15 T2EUD encoder_1 B 4 GND 5 P3 6 T3IN encoder_2 A 6 GND 7 P3 4 T3EUD encoder_2 B 8
7. reference Figure 12 Algorithm block diagram Communication Shared Control Layer memory Layer SERIAL BUFFER Figure 12 shows how the two modules interact through shared memory to perform eMotion operations The PID algorithm implemented is approximated with the following formula S e n e n 1 u n Pemi Y et T p ED K 1 21 29 ST10 firmware UM0289 where u n is the output at time n related to the duty cycle sent to driver P I D are respectively proportional gain integrational gain and derivative gain e is the error in terms of encoder pulses T is the sample time 22 29 ky UM0289 Using eMotion 5 5 1 5 1 2 Using eMotion Evaluate eMotion kit In order to start eMotion system all this items should be available e eMotion GUI MDK ST10 board Feedback board At least 1 powerSPIN board Eval 6205 Eval 6235 At least 1 BLDC or 1 DC motor respectively to be used with Eval 6205 or Eval 6235 eMotion firmware Installing eMotion GUI To install the eMotion GUI launch the setup file named eMotion_GUI_XX_Setup exe After the acceptance of the license agreement a new menu item STMicroelectronics eMotion will be created use this link to launch the software The eMotion software is compatible with the Windows XP OS Board configuration MDK ST10 ST10 FLASHING The f
8. 29 PC software UM0289 Control Parameters panel Refer to Section 3 1 1 EVAL 6235 window on page 12 Control loop time Refer to Section 3 1 1 EVAL 6235 window on page 12 3 1 3 Log window Using the log window is possible to view the frames sent and received by the GUI to check the state of communication with the board A text string is shown explaining the command and also the hexadecimal value of the command refer to Section 4 1 Communication protocol on page 17 Figure 10 Log window x 10 May 2006 16 43 54 Socket 1 Ack Frame 0x80 0x1 Oxa 10 May 2006 16 43 Socket 1 Set Control Loop Time Command 0x0a 0x02 0x1b Ox2d 10 May 2006 16 43 Socket 1 Ack Frame Ox80 0x1 Der 10 May 2006 R Socket 1 Start Control Command 0x0c 0x01 Oxib 10 May 2006 H Socket 1 Ack Frame ox60 0x1 0x40 10 May 2006 16 43 Socket 1 Parameters from Board to PC 0x1b 0x1 Oxf4 0x34 0x11 0x1 Ox2d 0x0 0x79 Dei 10 May 2006 16 43 Socket 1 Ack Frame 0x80 0x1 Oxb 10 May 2006 16 43 Socket 1 Get Parameters Control Command 0x0b 0x01 Oxla 10 May 2006 16 43 Socket 1 Ack Frame 0x80 0x1 0x9 10 May 2006 16 43 53 Socket 1 Set Command for Motor Control 0x09 OxOc Oxib OxOcd 0x1 Oxf4 0x0 0x79 Det 10 May 2006 16 43 52 Socket 1 Ack Frame 0x80 0x1 Ox 10 May 2006 16 43 52 Socket 1 Set Duty Cycle Command 0x07 0x02 Deia 0x34 10 May 2006 16 43 Socket 2 Ack Frame 0x80 0x1 Oxc 10 May 2006 16 43 Socket 2 Start Control Command
9. 9 Revision history 7 Revision history Table 12 Document revision history Date 30 Nov 2006 Revision 1 Initial release Changes 27 29 Bibliography UM0289 Appendix A Bibliography e AN1794 Application Note PractiSpin evaluation system configuration and setup guide e 16205 datasheet L6235 datasheet e UM0288 MDK ST10 user manual 28 29 DI UM0289 Please Read Carefully Information in this document is provided solely in connection with ST products STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections modifications or improvements to this document and the products and services described herein at any time without notice All ST products are sold pursuant to ST s terms and conditions of sale Purchasers are solely responsible for the choice selection and use of the ST products and services described herein and ST assumes no liability whatsoever relating to the choice selection or use of the ST products and services described herein No license express or implied by estoppel or otherwise to any intellectual property rights is granted under this document If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services or any intellectual property contained therein or considered as a warranty covering the use
10. CTI 1 PRACTI 2 PRACTI 3 2 P2_10 P2_11 P2_12 Interrupt 3 P5_5 P5 6 P5 7 ADC 4 POL O POL 1 POL 2 GPIO 5 6 NC NC NC 7 P1L 0 P1L 1 P1L 2 ADC 8 POL 3 POL 4 POL 5 GPIO 9 NC NC NC 10 POL 6 POL 7 P6 3 GPIO 11 13 NC NC NC 14 P6 0 P6 1 P6 2 GPIO 15 16 17 18 19 NG NC NC 20 P2 0 P2 1 P2 2 GPIO Capcom 21 NC NC NC 22 P8 0 P8 1 P8 2 PWM GPIO 23 GND GND GND 24 25 NC NC NC 26 P7 4 P7 5 P7 6 GPIO Capcom 27 NC NC NC 28 P7 0 P7 1 P7 2 PWM GPIO 29 30 NC NC NC 31 P2 13 P2 14 P2 15 GPIO Capcom 32 P2 3 P2 4 P2 5 GPIO Capcom 33 P1H 4 P1H 5 P1H 6 GPIO Capcom 34 NC NC NC PowerSPIN boards eMotion kit can manage up to three boards based on monolithic driver of L62xx family This first release of system works with DC and BLDC drivers so with boards L6205 and L6235 but also with similar boards for the same motors L6205 Eval board DC Motor refer to application note AN1762 and the L620x datasheet for more details 7 29 Hardware UM0289 2 2 2 8 29 eMotion kit can manage the evaluation board based on DMOS full bridge ICs L6205 L6206 L6207 Figure 4 Eval 6205N board R21 JP1 R3 R5 JP2 C6 ye JP5 ont es i DN e me a CS gt CA JP4 R17 R4 R6 JP3 C7 Refer to Section 5 1 2 Board configuration on page 23 for a description of the board configuration using eMotion L6235 Eval board BLDC Motor refer to
11. are used for incremental interface mode The second connector can be used for absolute encoder feedback where the GPIO and capture pins are used The system allows the feedback of encoder signals A and B channels for each motor Signals must be squared and with the right logic level 0 and 5V When necessary refer to the datasheet of the encoder used If needed pull up the encoder signals not provided with encoder kit 11 29 PC software UM0289 3 3 1 12 29 PC software The parameters of eMotion system can be configured through a Windows based GUI eMotion GUI that interacts with the control board via an RS232 straight cable The following paragraphs provide a description of all the software features eMotion GUI Refer to Section 5 1 1 Installing eMotion GUI on page 23 for the installation procedure After start up of the eMotion GUI a series of menu functions are available to the user File Connect Open the Serial Port Selection window from which it is possible to select the serial port to open the communication between the PC and the MDK ST10 board Disconnect Close the connection between the PC and the MDK ST10 board New Open a new 6205 or 6235 window for a DC or BLDC motor respectively Log Window Open the Log Window In this window it is possible to see the communication data as a hexadecimal value sent to the MDK ST10 board Exit Exit the program View Toolbar Display or hide the too
12. ber of encoder pulses per revolution 1 to 65536 3 29 Overview UM0289 4 29 Encoder feedback signals are directly managed by the ST10F276 through its dedicated peripherals In order to guarantee an optimum quality of encoder waveforms a special adapter is included to shield the signals and to avoid interference refer to Section 2 3 on page 9 for further information UM0289 Hardware 2 Hardware 2 1 MDK ST10 Refer to the MDK ST10 User manual UM0288 for more detailed information The core of the eMotion Kit is the control board which is based on the ST10F276 microcontroller in which all the driver board management routines are implemented Board key features ST10F276 core 16 bit with DSP 64 MHz 832 KB Flash 68 KB RAM RS232 RS485 2 CAN DC 3 3V and 5V MC Connector 3 powerSPIN connectors VN808 board GP connector All pin outs available The board design allows the user to develop a high end motion control system based on this 16 bit microcontroller The features of this powerful device allow the integration of complex routines to create advanced motion control algorithms Referring on Figure 2 the eMotion kit uses the connectors PowerSpin_1 2 3 as indicated on the silkscreen of the board with the text PractiSpin 1 PractiSpin 2 PractiSpin 3 To allow the compatibility with powerSPIN evaluation boards for each board connector is inserted a jumper VCC PRACTI X located close to the co
13. ctor 1 J3 Pin 7 Motor on Practi 3 encoder A Connector 1 J3 Pin 9 Motor on Practi 2 encoder B Connector 1 J3 Pin 11 The use of a flat cable is recommended to keep the signals shielded Eval 6205 configuration JP1 Place JP1 in the INT position to enable the on board 5VDC supply JP2 and JP3 Install JP2 and JP3 to assure proper timing operation of the L6205 s internal high side overcurrent protection JP4 and JP5 Install JP4 and JP5 to configure the Vref circuits Supply the power to eval 6205 through connector CN1 Connect the DC motor through CN3 connector OUT1A and OUT2A Refer to the L6205 datasheet for more detailed information For each EVAL 6205 board eMotion kit allows to connect and control one motor Eval 6235 configuration JP1 and JP2 Install JP1 and JP2 to enable the on board 5VDC supply SWITCHES Place all four switches in the OFF position HALL SENSORS Connect the Hall sensors of the BLDC motor at CN5 Connect the power supply wires from the Hall sensors at pins GND and 5V Connect H1 H2 and H3 signals to their respective pins Motor Connections Connect the three motor armature wires at CN3 being careful to match the phasing to the Hall sensor connections Refer to L6235 datasheet for more detailed information To connect the power spin boards use a flat 34 pin cables and before power on all the systems motors and boards please refer to Section 6 1 Hardware issues on page 26 Control operation
14. e indicating the kind of driver OxCD for a6205 0xEB for a 6235 3 4 Encoder 2 Bytes indicating number of pulse for revolution of motor encoder 3 2 Bytes indicating the reference speed of motor Se Speed range 1 3000 rpm 2 Bytes indicating the proportional gain of the 7 8 P speed control range 1 1000 with a firmware scaling 9 10 2 Bytes indicating the integral gain of the speed control range 1 1000 with a firmware scaling 11 12 D 2 Bytes indicating the derivative gain of the speed control range 1 1000 with a firmware scaling Set Control Loop time OKOA is a frame used to set the control loop time of each motor control according to the table below Table 7 Payload byte order 1 Field Motor Connector Time Set_Control loop time payload Description 1 Byte indicating which powerSPIN board is connected to a specific connector Byte indicating the control loop time number of 200us steps to be added to the basic control loop of 1ms Send_Parameters 0x40 is a particular frame used to send the status of all system parameters to the PC the contents of this frame is shown in Table 8 19 29 ST10 firmware UM0289 Table 8 Send_Parameters contents Payload W byte order Field Description 1 Motor Connector 1 Byte indicating which powerSPIN board is connected to a specific connector 2 3 Encoder 2 Bytes indicating the
15. e panels are disabled when the Closed Loop check button is not checked In each case the Get push button is always enabled Motor Control Command panel e Enable Enables the 6205 driver This command switches ON all Power MOSFETs of the driver pin EN high e Disable Disables the 6205 driver This command switches OFF all Power MOSFETs of the driver pin EN low e Forward This command set low the pin IN1 of the EVAL6205 pin IN1A of 6205 driver e Reverse This command set high the pin IN1 of the EVAL6205 pin IN1A of 6205 driver e Duty Cycle Set This slider allows the user to set the duty cycle of the PWM generated by the ST10 as input for the IN2 of the EVAL6205 pin IN2A of the 6205 driver The direction of rotation of the motor depends on the Forward Reverse radio buttons If Forward Reverse radio button is checked a value of PWM of 0 100 stops the motor while a value of PWM of 100 0 runs the motor at maximum velocity Note The real direction clockwise or counterclockwise depends on the connection between the 6205 and the motor e PWM set This slider allows the user to change the frequency of the PWM generated by the ST10 The allowed values go from a minimum of 17 kHz to a maximum of 30 kHz steps 1 kHz Note At systems startup the default value are disable forward PWM duty cycle 50 PWM frequency 17 kHz Enable Disable Control Parameters panel Refer to Section 3 1 1 EVAL 6235 window on page 12 15
16. firmware UM0289 Frame Description Value Hex Set PWM to 22 for 6235 driver on connector 2 08 02 2A 16 4A Set 2ms of control loop time for a 6205 driver on connector 2 0A 02 2B 05 3C Set control for a DC motor with a 1024 revolution encoder 09 0C 1B CD 04 00 00 64 00 04 connected to the first connector Set the speed reference to 100 00 02 00 01 6D rpm with control parameters of P 0 04 l 0 02 D 0 01 Receive the parameters of connector 3 with a BLDC motor with 500 revolution encoder controlled at 200 rpm with P 0 60 40 0F 3A 01 F4 00 0A 16 02 01 l 0 02 D 0 00 and control loop of 1 2 ms With actual PWM 00 C8 00 3C 00 02 00 00 A9 signal 10 22 Khz 4 2 Control algorithm Communication layer after the reception and checking of a complete frame puts the microcontroller in an execution state in which the right control layer function is involved The management of open loop signals is executed with functions that directly act in the register of PWM signals or through the pins for the right generation of connector signals Closed loop operations are instead managed through three independent ISR where the reload timing depends on the closed loop time of the specific control The speed reference is expressed in terms of encoder pulses counted in the closed loop timing imposed so each ISR works with the actual values of encoder inputs and with PWM duty cycles to perform a PID action for reach the right value of encoder
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18. irst operation to perform before starting to use eMotion kit is to flash ST10 microcontroller with eMotion firmware in order to achieve this task ST10Flasher V2 4B or above software has to be used i e a software windows compatible useful to program the internal flash of ST10 Connect MDK ST10 to PC via a RS232 straight cable and puts ST10 in BSL mode turn on bit 5 of switch 3 and reset the board Using ST10Flasher load file named emotion hex and perform the flashing of microcontroller so turn off bit 5 of switch 3 and reset the board Now MDK ST10 is ready to be used with eMotion kit EA jumpers has to be switched to 1 J206 jumpers In order to use the power spin boards J206 jumpers have to placed in Practi position VCC Practi X Jumpers leave open the Jumper VCC Practi1 VCC Practi2 and VCC Practi3 SW3 All OFF SW5 CSSELO ON CLK1 ON all the remains bits OFF Feedback board Connect the feedback board to the four expansion connectors of MDK ST10 the connectors surrounding microcontroller The correct connection for incremental encoder of motors is shown in Table 17 23 29 Using eMotion UM0289 Note 24 29 Table 11 Feedback connector MDK Connector Motor Value Feedback board connector Motor on Practi 1 encoder A Connector 1 J3 Pin 1 Motor on Practi 1 encoder B Connector 1 J3 Pin 3 Motor on Practi 2 encoder A Connector 1 J3 Pin 5 Motor on Practi 2 encoder B Conne
19. lbar Status Bar Display or hide the status bar in the bottom right corner of the main window Help Help Topics Open the Help Topics About Displays eMotion Project credits EVAL 6235 window The 6235 window allows the user to drive a BLDC motor through the EVAL6235 board After starting eMotion click on the 6235 window icon or choose New 6235 window from the File menu A new 6235 window opens UM0289 PC software Figure 8 6235 window ls Connector Selection Enable Disable Control Parameters Socket M Socket2 Socket3 JM Closed Loop Motor Control Command Control Parameters Enc Pulses r Io Enable UnBrake Speed RPM fe Disable c Brake Duty Cycle i Mase PWM Control Loop Time Parameters Valuelms Ga 19 KH2 Set l E Set Get The Connector Selection panel shows the connector of the MDK ST10 with which the EVAL6235 can be connected Some connector selections could be disabled if the connector is used by other windows The left part of this window allows the user to control a BLDC motor in open loop mode The right part of the window allows the user to perform a PID speed closed loop control with encoder feedback The Motor Control Command panel is always enabled while the Control Parameters and Control Loop Time panels are disabled when the Closed Loop check button is not checked In each case the Get button is always enabled Motor Cont
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21. nnector that if closed provides a 5V power supply to the respective board Communication with a PC and GUI system is achieved via an RS232 channel through a standard DB9 female connector and using a standard RS232 cable 5 29 Hardware UM0289 Figure 3 _MDK ST10 board POWERSPIN_1 O O MC_CONNECTOR CAN1 O O POWERSPIN_2 O ST10F276 CAN2O O VN808 GP PCO RS485O ean am O POWERSPIN_3 RS232 O Note Refer also to Section 5 1 2 Board configuration on page 23 6 29 The default configuration of the board once programmed is EA jumper 1 in order to obtain the fetch of the code from internal flash of microcontroller SW3 switches all OFF SW5 switches Switch 2 CSEL 0 ON Switch 7 CLK 1 ON Other switches OFF Selector J206 PRACTI position in order to connect micro lines to powerSPIN connectors These configurations impose a 60 MHz core clock frequency and leave port 6 of microcontroller free for I Os needed because P6 0 CSO is used to manage powerSPIN boards To better understand how powerSPIN boards are managed by control board Table 7 provides a description of the powerSPIN connectors UM0289 2 2 2 2 1 Hardware Table 1 PractiSPIN connectors description PIN No PractiSPIN 1 PractiSPIN 2 PractiSPIN 3 Functionality 5V via Jumper 5V via Jumper 5V via Jumper 1 J207 VCC J208 VCC J209 VCC PRA
22. number of pulses for revolution of motor encoder 4 PWM Byte indicating the duty cycle value of PWM range 0 100 5 PWM Freq Byte indicating the frequency PWM range 17 30 6 Time controlilo Byte indicating the control loop time number of 200us H steps to be added to the basic control loop of 1ms 7 Status Byte indicating if the control is enabled 0 or 1 8 9 Speed 2 Bytes indicating the reference speed of motor range 1 3000 rpm 10 11 P 2 Bytes indicating the proportional gain of the speed control range 1 1000 with a firmware scaling 12 13 2 Bytes indicating the integral gain of the speed control range 1 1000 with a firmware scaling 2 Bytes indicating the derivative gain of the speed control 14 15 D range 1 1000 with a firmware scaling Send latest error 0x41 is a particular frame in which the payload is formed by a text string indicating the last error occurred typical values are shown below Table 9 Error strings String Types No error CRC not valid Command not valid Command not executable Motor error Value out of range A series of protocol frames used for communication are provided in Table 10 Table 10 Frame examples Frame Description Value Hex Connect 00 00 00 Enable 6235 driver on powerSPIN connector 1 01 01 1A 1C Brake 6205 driver on powerSPIN connector 3 03 01 3B 3F ACK for a Forward command 80 01 05 86 20 29 a ST10
23. rated three phase motor driver chips for DC and BLDC motors respectively e Firmware for open closed loop operation a complete source library is developed to manage the control of DC and BLDC motors in open loop mode PWM and driver settings and closed loop mode speed regulation with encoder feedback using 62xx eval boards e Protocol communication a complete frame based protocol is developed to allow the exchange of data with GUI via standard RS232 channel Figure 2 eMotion kit block diagram RS232 Encoder Encoder Serial signals Feedback signals board Protocol Control shielded BLDC or PC GUI board MDK DC ST10 ki gt PowerSPIN motors PWM boards gt Power Driver signals Power It is possible via the GUI to interact with the ST10F276 control board MDK ST10 and generate open loop signals for up three DC or BLDC motors The PWM frequency 17 30 kHz and duty cycle 0 100 can be managed together with driver signals such as enable disable brake unbrake BLDC and forward reverse DC The closed loop operation can be performed in terms of motor speed with encoder feedback Board Power A complete PID Proportional Integrative And Derivative control algorithm is implemented The user can configure e the value of PID terms from 0 01 to 100 e the speed from 1 to 3000 rpm e the control loop time from 1 to 52 ms e the num
24. re 11 shows the general frame format on which the communication is based the CRC is a field of 1 byte length computed with this formula 16_Total_Length 16_bit FRAME_TYPE LENGTH DATA CRC 8_bit High_Byte 16_Total_Length Low_Byte 16_Total_Length Table 4 shows the general description of the frames Table 4 Frame description Frame name Description Frame Type Length Direction Type Connect Open 0x00 0 PC MDK ST10 Command connection Enable Motor SC motor 0x01 1 PC MDK ST10 Command Disable_Motor Ge motor 0x02 1 PC MDK ST10 Command Brake Motor enable Drake 0x03 1 PC MDK ST10 Command motor drive Unbrake_Motor Disable Drake 0x04 1 PC MDK ST10 Command motor drive Set forward Forward_Motor Mee 0x05 1 PC MDK ST10 Command 6205 motor drive 17 29 ST10 firmware UM0289 18 29 Frame name Description Frame Type Length Direction Type Set reverse Reverse_Motor motor direction 0x06 1 PC MDK ST10 Command 6205 motor drive Set PWM Set duty cycle 0x07 2 PC MDK ST10 Command Data of PWM Set_Freq_PWM Set freguency 0x08 2 PC MDK ST10 Command Data of PWM Set the PID Steeg andspeed 009 12 PC MDK ST10 Command Data values Set the time for Set Control executing the OKOA 2 PC MDK ST10 Command Data _Loop Time closed control loop Get_Parameter Get the control 0x0B 1 PC MDK ST10 Command s parameters Start_Control SH control
25. rol Command panel e Enable Enables the 6235 driver This command switches ON all Power MOSFETs of the driver pin EN high e Disable Disables the 6235 driver This command switches OFF all Power MOSFETs of the driver pin EN low e Unbrake Sets the pin BRAKE high of the 6235 and enables the normal mode six step control strategy e Brake Sets the pin BRAKE low of the 6235 This command switches ON all High Side Power MOSFETs implementing the Brake Function e Duty Cycle Set This slider allows the user to set the duty cycle of the PWM generated by the ST10 as input for the FWD REV pin of the 6235 driver Values between 0 and 50 cause the rotation of the motor in one direction while values between 50 and 100 cause the rotation of the motor in the other direction A 50 value corresponds to no motor rotation Note The real direction clockwise or counterclockwise depends on the connection between the 6235 and the motor e PWM set This slider allows the user to change the frequency of the PWM generated by the ST10 The allowed values go from a minimum of 17 kHz to a maximum of 30 kHz with 1 kHz steps Note At system startup the default values are disable brake PWM duty cycle 50 PWM frequency 17 kHz 13 29 PC software UM0289 Note Note Note 14 29 Enable Disable Control Parameters panel Closed Loop This check control enables disables the text boxes and push buttons of the Control Parameter
26. s Before starting to use the motors ensure that all the connection are correctly established Turn on MDK ST10 and later turn the power of motors Open Loop For a DC enable the driver and modify the PWM in terms of DUTY depending on the motor connection a 0 value corresponds to either the minimum or the maximum speed ky UM0289 Using eMotion The direction of rotation depends on the connection of motor At startup the Duty cycle is fixed at 50 For a BLDC enable the driver and unbrake the motor Start to vary the PWM Duty At startup the Duty cycle is fixed at 50 Closed Loop The parameter values of P and D depend on the type of motor and the suggestion is to start with lower values and increment them in order to reach better performance At low speeds it is recommended to use a high control loop time 25 29 Limitations UM0289 6 6 1 26 29 Limitations This section provides tips for use of the eMotion system to avoid incorrect operation Hardware issues Due to the sharing of some microcontroller configuration pins with the powerSPIN connectors POL O and POL 1 the reset phase when a L6235 evaluation board is connected through the practi1 or practi2 connectors causes the micro to enter ADAPT or EMU modes when a pull up is used A feature release v 1 2 of MDK ST10 will include a series of buffers to isolate these pins from connectors during the reset phase UM028
27. s and Control Loop Time panels Control Parameters panel This panel allows the user to perform a PID speed closed loop control with encoder feedback The user must fill the following text boxes and then press the Set button in order to set the control parameters e Enc Pulses r The number of pulses per revolution of motor encoder Speed Speed of the motor expressed in RPM Allowed values go from 0 to 3000 rpm steps 1 rpm e P Proportional gain of the PID control Allowed values go from 0 to 100 in steps of 0 01 e LC Integral gain of the PID control Allowed values go from 0 to 100 in steps of 0 01 e D Derivative gain of the PID control Allowed values go from 0 to 100 in steps of 0 01 Set Set the control parameters If values out of range are inserted in one or more text boxes a pop up window will appear indicating that at least one value is out of range e Start Start the PID speed closed loop control The rotation of the motor remains the same of the motor before starting the control e Stop Stop the PID speed closed loop control The motor will rotate with a speed accordingly to the duty cycle calculated in the last control routine before stopping Get This command returns the status of the control parameters and of the control loop time actually memorized in the MDK ST10 board Control loop time This text box allow the user to insert the value of control loop time in case of closed loop operation
28. the range of this parameter is from 1 to 52 ms with 200 us steps For control loop time is intended the frequency of adjustment of PWM duty cycle according to PID action in order to reach the speed reference EVAL 6205 window The 6205 window is designed to allow the user to drive a DC motor through EVAL6205 After starting eMotion click on the 6205 window icon or choose New 6205 window from the File menu A new 6205 window is now opened The functions of this window are the same of 6235 window except for the motor control panel UM0289 PC software Figure 9 6205 window 210 x Connector Selection Enable Disable Control Parameters M Socket Socket2 Socket3 JW Closed Loop Motor Control Command Control Parameters Enc Pulses r 500 P foo Enable Forward Speed RPM fa om Disable Reverse SE D o oo uty Cycle e se s ae Control Loop Time Parameters Valuelms 10 00 Set The Connector Selection panel shows the connector of the MDK ST10 with which the EVAL6205 can be connected some connector selections could be disabled if the connector is used by other windows The left part of this window allows the user to control a DC motor in open loop mode The right part of the window allows the user to perform a PID speed closed loop control with encoder feedback The Motor Control Command panel is always enabled while the Control Parameters and Control Loop Tim
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