Evaluation Motor Board
Contents
1. 9 AS9 T AS9 I1 VLOEN E z esues goq esus esues ZOEY VINO 1 950 LOCH V Aeet o ___ For More Information On This Product Go to www freescale com Freescale Semiconductor Inc uoneoynuepi 301 ceca _O AS 30001 9029 QNO sjeubis 4 QN9 vioen 55049 007 gt 0L AS 9129 grozn 58010 007 gt pee 01 _O ASt WL v 58010 007 gt 8 301 S0cH _O Ast WI c0cH VINO 49 S 39 5 129 3001 1029 99 9064 VONO VONO dal ZN Jeu 99 esues A 39001 v0co 9oL McE E LZZH AZT J 5 8 9 OF 261 492 8129 501 9129 o VONO VONO ZN 39001 9oL Mc eseud 8 esues it 91 392 0LcH 90 L 40L 8063 9 VONO VONO 9 1029 V eseud _ esues 01 pozy 261 492 0cH 961 401 1029 eseud For More Information This Product Go to www freescale com Freescale Semiconductor Inc Schematics and Parts List MOTOROLA MOTOROLA EMBEDDED MOTION CONTROL EMBEDDED MOTION CONTROL S2. 5 8 V A t O od Ast 6c ee rill ap VQNO QNO lt LN 5022 0797 5049 oez VINO 5019 0197 a 8010 019 1 AS coc d n 9 7 9 ae Y esues v esues PEZ esues esues AS an P vayo ME HhOEE ZN 9 AS O I 5 185079 enr For More Information On This Product Go to www freescale com Freescale Semiconductor Inc eseud e Z p aunbi4 c BeN goa VSOSZ9XVIN QNS elly 88 920 lt jag m D 18 989 3400 3000 344004 AS JnZ v ASe JhZ ASE JJnZ 6019 8019 4010 zii 9012 S012 2019 sod goa 9 5 lt Ben LAZS L 9 B5 0 VSOSZ9XVIN
3. quie dre d 14 MEME TEE 15 Section 2 Operational Description LOU daas cores wey bees bee EURO Kore 17 bch dered bend ERO Rapp AE pP d 17 ascke ei ceesieauedeaeenekee soreness 18 gt os adi Adi aka SURE d ERA Iro d E UR ratios qs 19 Section 3 Pin Descriptions OBIIT oos SR ou xata de waa dci udo dod zl S bg ad dort db EE E ODE ERU PEE RAO d 21 Signal Descriptions 23 EVM Motor Board Power Connectors J3 and 23 EVM Motor Board 40 Pin Ribbon Connector JI 23 EVM Motor Board Output Connector 2 26 Motor Power Conner o4 Sheen bee 26 Motor Hall Sensor Connector 26 Motor Encoder Connectot isis assess ar ces ERR 27 Motor Encoder Cable Connectors 27 e a Poe e CR dee EGER ed 27 User s Manual MOTOROLA Table of Contents 5 For More Information On This Product to www freescale com Freescale Semiconductor Inc LETS Ne User s Manual 4 1 4 2 4 3 4 4 4 5 ed d Ia 5 4 Ve Section 4 Schematics and Parts List La dues fs doleo Dos Ero diets dori V PP wd sU Encoder Connect sede vue RE ERR E ak EV PCS Parts Re da hed ane t RN
4. Plug the free end of the cable connected to input connector J1 into the control board s 40 pin connector Connect 12 Vdc power supply either to connector J3 labeled Power 12V or power jack Either one but not both may be used These connectors are located on the front right hand corner of the board The 12 volt power supply should be rated for at least 4 amps and have its current limit set between 4 and 6 amps If protection features are desired set the control board s overcurrent detection comparator to 2 8 V and its undervoltage detection comparator to 1 24 V These values limit dc bus current to 2 8 amps and turn off drive signals if bus voltage falls below 6 volts Apply power to the EVM motor board The green power on LED lights when power is present Note that the EVM motor board powers the control board making only one power supply necessary to run a complete system CAUTION Since the control board is powered by the EVM motor board it is imperative that only one power supply is used Evaluation Motor Board User s Manual MOTOROLA Introduction and Setup 15 For More Information On This Product to www freescale com Freescale Semiconductor Inc Introduction and Setup User s Manual STANDOFFS 56800 EVALUATION MODULE OR HC08 CONTROL BOARD EVM MOTOR BOARD 40 PIN RIBBON CABLE 12 VOLT MOTOR SUPPLY Figure 1 3 EVM Motor Board Setup E
5. 36 Schematics and Parts List For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor Inc Schematics and Parts List Parts List Table 4 1 Parts List Sheet 2 of 3 Qty Reference Part Value Description Mfg Mfg Part No 1 J4 CON 2screws Z Screws terminal Wago 237 132 200 mils Inductor 330 uH 0 5 1 111 330 uH Duos dcn RLB0914 331K P N MOSFET 3 10101 0102 0103 Si4558DY Si4558DY 1 RI 680 680 5 Vishay Dale CRCWOB805 681J Sensing resistor with 1 15101 PMA A R075 1 terminals Isabellenhutte PMA A R075 1 75 196 R201 R208 R216 10 196 due 10K0 175 vishayDale CRCWO0805 1002F R208 R210 R217 2 67 k 1 ic 2 67 1 Vishay Dale CRCWO805 2671F 1 18104 118 1 Resistor 118 9 Vishay Dale CRCW0805 1180F R105 R106 R108 R109 R112 R113 14 R204 R205 R211 10 0 5 Vishay Dale CRCWO0805 103J R212 R218 R219 R222 R223 1 R107 182 1 182 Q 1 CRCWO0805 1820F 1 R110 1 82 1 1 82 1 Vishay Dale CRCWO0805 1821F 1 R111 1 18 k 1 Resistor 1 18 1 Vishay Dale CRCW0805 1181F 3 R202 R209 R215 1M oM 5 Vishay Dale CRCW0805 105J R206 R213 R220 5 6 9 6 5 Vishay Dale CRCW0805 562J 1 3 8207 R214 221 3 3
6. and diode D102 determine gate drive impedance for the lower half bridge transistor A similar network is used on the upper half bridge These networks set turn on gate drive impedance at approximately 430 and turn off gate drive impedance at approximately 100 2 These values produce transition times of approximately 60 ns Transition times of this length represent a carefully weighed compromise between power dissipation and noise generation Generally speaking transition times longer than 250 ns tend to get power hungry at non audible PWM rates and transition times under 50 ns create di dt s so large that proper operation is difficult to achieve The EVM motor board is designed with switching times at the lower end of this range to minimize power dissipation Evaluation Motor Board 40 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Design Considerations Bus Voltage and Current Feedback 5 4 Bus Voltage and Current Feedback Feedback signals proportional to bus voltage and bus current are provided by the circuitry shown in Figure 5 2 Bus voltage is scaled down by a voltage divider consisting of R102 R103 R104 R107 R110 and R111 The values are chosen such that a 16 volt maximum bus voltage corresponds to a 3 3 volt maximum analog to digital A D input Bus current is sampled by resistor R101 in Figure 4 2 and amplified by the circuit in Figu
7. Evaluation Motor Board User s Manual MOTOROLA Pin Descriptions 25 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions 3 3 3 EVM Motor Board Output Connector J2 Power outputs to the motor are located on connector J2 labeled Motor Connector Pin assignments are described in Table 3 2 Table 3 2 Connector J2 Signal Descriptions NS Signal Name Description 1 Phase A Phase A supplies power to motor phase A The motor wire color is white red 2 Phase B Phase B supplies power to motor phase B The motor wire color is white yellow 3 Phase C Phase C supplies power to motor phase C The motor wire color is white black 3 3 4 Motor Power Connector Motor power connections are grouped into a connector that plugs into the EVM motor board s motor connector J2 Pin assignments are identical to EVM motor board output connector J2 3 3 5 Motor Hall Sensor Connector Hall sensor connections are made with a connector that plugs into the control board s Hall sensor encoder connector Pin assignments are described in Table 3 3 Table 3 3 Motor Hall Sensor Connector d Signal Name Description 1 45V 5V supplies power from the control board to the Hall sensors The wire color is red 2 GND GND is the Hall sensor ground The wire color is black 3 Hall A Hall A is an open collector output from Hall sensor A The wire color is green 4 Hall B Hall B is
8. E VSO8Z9XVIN 4 Jeu esues TERI orly 4 QNS AT 8 A0 9018 1 Jav Fo aa esee Bo WMd S SNI f 9 aLno v c o o 1014 19 ew9 lo WMd 17 896 CES 2 Wino im 3 9 5 lt sod god a 5 L 8LL lt voly c o AL AZ ALAO oc lt 504 god _ god esues A 0L lt gt AQT 8 esueg lt i u V G8 04 V VWd 5 E _ 2 god LOLY 10t LIA GIA 201a 999189 vora lt 99 99 k zora av Aaessris ant Aaessvis Ad E ERU Sepa du s Y s Y AGE Jn0 E 9 9 9 Le VL 2 8 lt E 1 1 1 019 20 2 8 vA 5 vA 010 c v 058 2010 c v 058 00 c v 055 89 8 10 ere 18 ero Hd 1v eio LOPLIASHSIA sod goad Sod god Freescale Semiconductor Inc yoeqpess 1ua41n2 sng e p VINO VINO azoseeon ZOEY AOL JnE 30001 Zoen 5059 5059 INSSZW1 1 900 9054 OV 5 5 914901 7054
9. cross C PWM CT Shielding Zero cross B PWM CB GND Zero cross A GND 5V_D 3v D 15 333V A GNDA GNDA 12V Serial_Con sense C 21 sense DCB Shielding Shielding Serial Con Zero cross A Zero cross C BEMF sense A BEMF sense C Zero cross 1 35 sense DCB Shielding C 37 V sense DCB BEMF sense BI 1 39 12V GNDA PHYSICAL VIEW GNDA 43 3V_A 5V_D 5V_D GND GND PWM_CB Shielding PWM CT Shielding PWM BB Shielding PWM BT Shielding PWM AB Shielding PWM AT FWD CON 40 SCHEMATIC VIEW Figure 3 1 40 Pin Input Connector J1 User s Manual Evaluation Motor Board 22 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions Signal Descriptions 3 3 Signal Descriptions Pin descriptions are identified in this subsection 3 3 1 EVM Motor Board Power Connectors J3 and J4 Two connectors labeled J3 and J4 are provided for the 12 volt power supply J3 and are located on the bottom right hand corner of the board Connector J3 is a 2 1 mm power jack for plug in type 12 volt power supply connections Connector has screw terminal inputs labeled plus and minus for accepting wire inputs Power is supplied to one or the other but not both The power supply should be able to deliver at least 3 5 amps For power supplies that can supply larger currents 4 amp
10. ribbon cable and mounting hardware In combination with one of the embedded motion control series control or evaluation boards it provides a ready made software development platform for small brushless dc motors The motor is capable of being controlled with either Hall sensors an optical encoder or with sensorless techniques An illustration of the systems configurations is shown in Figure 1 1 Figure 1 2 is an illustration of the board Key items can be found in the following locations in this manual Setup instructions are found in 1 5 Setup Guide Schematics are found in 4 3 Schematics Pin assignments are shown in Figure 3 1 40 Pin Input Connector J1 and a pin by pin description is contained in 3 3 Signal Descriptions For those interested in the reference design aspects of the board s circuitry a description is provided in Section 5 Design Considerations User s Manual MOTOROLA Introduction and Setup 11 For More Information On This Product to www freescale com Freescale Semiconductor Inc Introduction and Setup HC08 CONTROLLER BOARD MMDS08 l EVM MOTOR BOARD EVM MOTOR BOARD OPTIONAL FEEDBACK OPTIONAL FEEDBACK a MC68HC08 MICROCONTROLLER b 56800 DSP Figure 1 1 Systems Configurations User s Manual Evaluation Motor Board 12 Intro
11. 196 2 0 kO 1 Vishay Dale CRCW0805 2001F 1 18102 10 7 1 10 7 1 CRCWO0805 1071F User s Manual Evaluation Motor Board 38 Schematics and Parts List MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc User s Manual Evaluation Motor Board Section 5 Design Considerations 5 4 Contents 34 1 ao 1b 39 3 3 ed 39 54 Bus Voltage and Current Feedback 41 24 EMP Sinil 42 5 2 Overview From a systems point of view the EVM motor board kit fits into an architecture that is designed for code development In addition to the hardware that is needed to run a motor a variety of feedback signals that facilitate control algorithm development are provided The EVM motor board s power output stage is a complementary MOS field effect transistor MOSFET 3 phase bridge that is capable of supplying and sensing 4 amps of continuous current Feedback signals include bus voltage bus current back EMF electromotive force and zero crossing Descriptions of each of these blocks are contained in 5 3 3 Phase H Bridge 5 4 Bus Voltage and Current Feedback and 5 5 Back EMF Signals 5 3 3 Phase H Bridge The output stage is configured as a 3 phase H bridge with complementary MOSFET output transistors It is simplified considerably by dual integrat
12. 2 k 1 3 32 1 Vishay Dale CRCWO805 3321F R224 R225 R226 33k Buc 33 5 VishayDale CRCWO805 333J 2 301 R304 105 1 dc 10 5 176 Vishay Dale CRCW0805 1053F 2 302 R303 21 k 1 21 1 Vishay Dale CRCWO805 2102F 1 1 8305 390 390 9 5 Vishay Dale CRCWO805 391 J Evaluation Motor Board User s Manual MOTOROLA Schematics and Parts List 37 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Schematics and Parts List Table 4 1 Parts List Sheet 3 of 3 Qty Reference Part Value Description Mfg Mfg Part No 1 1 8306 100 1 100 1 Vishay Dale CRCW0805 1003F 1 1 307 33 2 k 1 93 2 1 Vishay Daie CRCWO805 3322F R114 R116 R118 Resistor 330 5 6 2120 Ri22 Riza 330 Vishay Dale CRCWO805 331 J R115 R117 R119 Resistor 100 595 6 Ries 100 Vishay Dale CRCW0805 101J 1 102 MC78PC33NTR voltage SN MC78PC33NTR regulator Semiconductor 1 U3 LM2574N 005 Switching voltage SN LM2574N 5 regulator Semiconductor 3 U101 U102 0103 MAX628CSA MOSFET driver Maxim MAX4428CSA 1 0201 LM339D Comparator LM339D Semiconductor 1 U301 MC33502D Operational amplifier JON MC33502D rail to rail Semiconductor 1 0302 LM285M Adujstable voltage National LM285M reference Semiconductor 1 R103 2 0 k
13. 20 uF 10 V Type Tantalum Capacitor A 2 C4 3 3 uF 20 V 3 3 uF 20 V 10 Vishay Sprague 293D335X 010A2 Electrolytic Capacitor 3 C101 C102 103 330 uF 35 V 330 uF 35 V Type ELNA RE2 35V331MMA Tantalum Capacitor D 3 C104 C105 C106 4 7 uF 35 V 4 TuF 85 V 10 Vishay Sprague 293D475X 035D2 C107 C108 C109 Capacitor 805 7 C203 C206 100 nF Ceramic 100 nF 25 V Vishay Vitramon VJ0805U104MXXA C301 C303 Z5U 20 Ceramic capacitor 3 201 C202 C204 100 pF 0805 100 pF 5 Vishay Vitramon VJ0805A101JXA Ceramic capacitor 1 C205 22 pF 0805 22 pF 5 Vishay Vitramon VJ0805A220JXA Tantalum capacitor A 1 C302 3 3 V 3 3 V 10 Vishay Sprague 293D335X 010A2 1 Di PesMBigAT3 181 voltage P6SMB18AT3 suppressor 18 V Semiconductor Low VF Shottky ON MBRDSSSL Rectifiers 35 V 8 A Semiconductor MBRDBJIL 1 D3 LED Green 009 amm Kingbright L 934GT 10 mA green D4 D101 D102 7 D103 D104 D105 1 9hotiky Rectifiers 40 V ON MBRM140T3 1A Semiconductor D106 1 105 BZX84C5V6LT1 Zener diode 5 6 V ON BZX84C5V6LT1 Semiconductor 1 RUE400 Resetable fuse Raychem RUE400 Header 40 pins Fischer Lom SONO breakaway connector Elektronik 1 142 640387 3 3 pins AMP 640387 3 1 da Power Jack CUI Stack PJ 002A connector 2 1 mm User s Manual Evaluation Motor Board
14. Descriptions 3 2 T e a P E EER E 21 3 3 oa 23 3 3 1 EVM Motor Board Power Connectors J3 and 14 23 1 3 2 EVM Motor Board 40 Pin Ribbon Connector JI 23 3 3 3 EVM Motor Board Output Connector 2 26 3 3 4 Motor Power Connector as rr Re 26 3 3 3 Motor Hall Sensor Connector consi kerReRRt 26 3 3 6 Motor Encoder ARE uia 27 3 3 7 Motor Encoder Cable Connectors 27 3 3 8 32 46 Keak wee dk Eee HRM 27 Inputs and outputs are located on eight connectors e Three connectors are located on the board e Three connectors are associated with the motor Two connectors are attached to a cable for the encoder In addition six test points are located on the right hand side of the EVM motor board s breadboard area Pin descriptions for each of these connectors and the test points are identified in the following information Pin assignments for the input and output connectors are shown in Figure 3 1 Signal descriptions are provided in Table 3 1 through Table 3 5 User s Manual MOTOROLA Pin Descriptions 21 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions BEMF sense C 1 e Shielding BEMF sense B PWM AB E Shielding BEMF sense A PWM_BT Shielding Shielding PWM BB Shielding Zero
15. ERIES SERIES 56800 EVALUATION MODULE EVM MOTOR BOARD OR r gt HC08 CONTROL BOARD O 12 0 L _14 40 PIN RIBBON CABLE jl m WHITE BLACK BRUSHLESS Phase C 3 MOTOR WHTENELLOW 3 Phase 2 22 7 2 Phase 1 gt WHITERED _ E lI HALL ENCODER CONNECTOR 123 4 5 ai 00000 HALL C BLUE HALL B WHITE HALL A GREEN GND BLACK V RED Figure 4 5 Brushless dc Motor Connections Schematic View 4 4 Encoder Connector The encoder is shown in Figure 4 6 The mark on the motor in this view indicates pin 1 on the encoder s 5 pin connector User s Manual Evaluation Motor Board 34 Schematics and Parts List MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc For More Information On This Product Go to www freescale com Figure 4 6 Encoder Connector Physical View Schematics and Parts List 4 5 Parts List Freescale Semiconductor Inc The EVM motor board s parts content is described in the following parts list Table 4 1 Parts List Sheet 1 of 3 Qty Reference Part Value Description Mfg Mfg Part No Tantalum capacitor D 1 C1 22 uF 25 V 22 uF 25 V 10 AVX TPSD226K025R0200 ESR 0 2 1 C2 220 Capacitor ei RE2 10V221MMA 2
16. Freescale Semiconductor Inc MEMCEVMBUM D Motorola Embedded Motion Control Evaluation Motor Board User s Manual MOTOROLA For Mo d ww s ale Freescale Semiconductor Inc Evaluation Motor Board Important Notice to Users While every effort has been made to ensure the accuracy of all information in this document Motorola assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document its updates supplements or special editions whether such errors are omissions or statements resulting from negligence accident or any other cause Motorola further assumes no liability arising out of the application or use of any information product or system described herein nor any liability for incidental or consequential damages arising from the use of this document Motorola disclaims all warranties regarding the information contained herein whether expressed implied or statutory including implied warranties of merchantability or fitness for a particular purpose Motorola makes no representation that the interconnection of products in the manner described herein will not infringe on existing or future patent rights nor do the descriptions contained herein imply the granting or license to make use or sell equipment constructed in accordance with this description Trademarks This document includes these trademarks Motorola a
17. Section 5 Design Considerations doo s ATCP A Phu Bus Voltage and Current Feedback Back EMF Signals Evaluation Motor Board 6 Table of Contents For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor Inc User s Manual Evaluation Motor Board List of Figures Figure Title Page 1 1 Systems cies eb EE WERE PRETEREA E PG 12 1 2 EVM Motor Bosius sess sentes be SIR EE P RS RAE 13 1 3 EVM Motor Board e AE 16 3 1 TL or ih eevee 5 qx EX We p EXPE ERR 22 4 1 Motor EVM Board 30 22 eR R4dSRTESPEON 31 4 3 Bus Current Esedbuck 32 Back EMF Signals 33 4 5 Brushless dc Motor Connections Schematic View 34 4 6 Encoder Connector Physical View 35 sl 15 co EPIS 40 5 2 Bus PesdBuck 41 5 3 Phase C Back EMF 42 Evaluation Motor Board User s Manual MOTOROLA List of Figures 7 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc List of Figures User s Manual Evaluation Motor Board 8 List of Figures MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc
18. User s Manual Evaluation Motor Board Table Title 2 1 Electrical Characteristics 2 7 Motor 3 Connector Signal Descriptions 3 2 Connector J2 Signal Descriptions 3 3 Motor Hall Sensor Connector 3 4 Motor Encoder 4 1 PUE LISE Evaluation Motor Board List of Tables User s Manual MOTOROLA List of Tables For More Information On This Product Go to www freescale com 9 Freescale Semiconductor Inc List of Tables User s Manual Evaluation Motor Board 10 List of Tables MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc User s Manual Evaluation Motor Board 1 1 Contents 1 2 1 3 1 4 Section 1 Introduction and Setup EVM Motor Introduction ua iden odore od hee e Re end Res 11 ADI 11 i d rao S ECRIRE ol eed d oa a 14 SEND CO CECI aera E OR DEI ER 15 1 2 EVM Motor Introduction 1 3 About this Manual Evaluation Motor Board Motorola s evaluation motor board EVM motor board is a 12 volt 4 amp power stage that is an integral part of Motorola s embedded motion control series of development tools It is supplied in kit number ECMTREVAL along with a small brushless dc motor an encoder an encoder cable a 40 pin
19. an Ltd SPS Technical Information Center 3 20 1 Minami Azabu Minato ku Tokyo 106 8573 Japan 81 3 3440 8573 ASIA PACIFIC Motorola Semiconductors Ltd Silicon Harbour Centre 2 Dai King Street Tai Po Industrial Estate Tai Po N T Hong Kong 852 26668334 HOME PAGE hitp motorola com semiconductors Motorola Inc 2000 MOTOROLA MEMCEVMBUM D For More Information On This Product Go to www freescale com
20. an open collector output from Hall sensor B The wire color is white 5 Hall C Hall C is an open collector output from Hall sensor C The wire color is blue User s Manual Evaluation Motor Board 26 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions Signal Descriptions 3 3 6 Motor Encoder Connector The encoder connector has five pins Pin 1 orientation is shown in Figure 4 6 Encoder Connector Physical View Pin assignments are described in Table 3 4 Table 3 4 Motor Encoder Connector s Signal Name Description 1 GND Pin 1 is the encoder s ground 2 Index Pin 2 is the index output 3 Channel A Pin 3 is the channel A output 4 45V Pin 4 supplies 5 volts from the control board to the encoder 5 Channel B Pin 5 is the channel B output 3 3 7 Motor Encoder Cable Connectors 3 3 8 Test Points The encoder cable has two connectors one at each end They assume the pin assignments of their respective mating connectors one on the EVM motor board and the other on the control board Six test points provide easy access to power supply and ground voltages They are listed in Table 3 5 as they appear from top to bottom on the board Table 3 5 Test Points Ne Signal Name Description 1 DCB POS Test point DCB POS is connected to the 12 volt motor bus 2 GND Test point GND is connected to the 12 v
21. cified as 1 8 watt 5 and interrupted lines coded with the same letters are electrically connected The schematics for the evaluation motor board appear on the following pages User s Manual MOTOROLA Schematics and Parts List 29 For More Information On This Product Go to www freescale com NPON uonen e 3 L p 01 01 MUS A que APEP ai pu AA AMA 4 sr QNS er V A O dQQV AE Et CN QNO an ww 1 QNO ASt o lt Act guo Q c 8d QNS 19 89 O used q31 ed Ov NOO 1804 esueg Sod god esues QNO 5 burprreus eseud gu av g eseud LLT9ASOvSXZG 1819 4594 E v V eseud 5 sa 9 ad L Sod _ god burptreus 8 jey esues A sod god 089 JoAUp ud4 IH E SOd m DuisseooJd Juang 6 esues VINO aNd Q esues o dod esues A ke goq esues T ve god esues 92 A0c 3nE 92 juang A
22. duction and Setup MOTOROLA For More Information On This Product Go to www freescale com Evaluation Motor Board Freescale Semiconductor Inc Copyright c EVM Motor Board 00124_02 01 00 pos eov T 8 24 5 GNDA GND R221 R217 R216 R207 R203 R201 CO R214 R210 R208 E n m m R205 R219 7201 07 wm m e 3 Hz LI Figure 1 2 EVM Motor Board Tru or ru R104 RIO R102 Introduction and Setup About this Manual User s Manual MOTOROLA Introduction and Setup For More Information On This Product Go to www freescale com 13 Freescale Semiconductor Inc Introduction and Setup 1 4 Warnings The EVM motor board kit includes a rotating machine and power transistors Both can reach temperatures hot enough to cause burns To facilitate safe operation 12 volt input power should come from a dc laboratory power supply that is current limited to no more than 6 amps The user should be aware that Before moving scope probes making connections etc it is generally advisable to power down the 12 volt supply e Operation in lab setups that have grounded tables and or chairs should avoided e Wearing safety glasses avoiding ties and jewelry using shields and op
23. e in the ribbon cable and ground on the board 29 No connection Serial Con is an identification signal that lets the controller know which power 30 Serial Con stage is present It is nominally a 600 Hz square wave 31 No connection 32 No connection 33 No connection Evaluation Motor Board 24 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions Signal Descriptions Table 3 1 Connector J1 Signal Descriptions Sheet 3 of 3 Ho Signal Name Description 34 Zero cross A Zero cross A is a digital signal that is used for sensing phase A back EMF zero crossing events 35 Zero cross B Zero cross B is a digital signal that is used for sensing phase B back EMF zero crossing events 36 Zero cross C Zero cross is a digital signal that is used for sensing phase C back EMF zero crossing events 37 Shielding Pin 37 is connected to a shield wire in the ribbon cable and ground on the board 38 BEMF sense A BEMF sense Ais an analog sense signal that measures phase A back EMF It is scaled at 0 206 volts per volt of dc bus voltage 39 sense B BEMF sense is an analog sense signal that measures phase B back EMF It is scaled at 0 206 volts per volt of dc bus voltage 40 sense C BEMF sense Ais an analog sense signal that measures phase C back EMF It is scaled at 0 206 volts per volt of dc bus voltage
24. ed gate drivers that each have one inverting and one non inverting driver A simplified schematic that shows one phase is illustrated in Figure 5 1 Evaluation Motor Board User s Manual MOTOROLA Design Considerations 39 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Design Considerations DCB Pos MBRM140T3 D101 Q101 o 1 9 E Phase A 4 INB OUTB 5 R116 R117 2 R108 10k 309 100 5E 1 Si4558DY GND 50 3 MAX628CSA MBRM140T3 User s Manual Figure 5 1 Phase A Output At the input pulldown resistors R105 and R108 set a logic low in the absence of a signal Open input pulldown is important since it is desirable to keep the power transistors off in case of either a broken connection or absence of power on the control board Gate drive is supplied by a Maxim MAX628CSA This part has a minimum logic 1 input voltage of 2 4 volts and maximum logic 0 input voltage of 0 8 volts The EVM motor board will therefore accept inputs for either 3 3 or 5 volt logic Under voltage lockout is not included in the gate drive If this feature is desired the control board s under voltage detection comparator can be set for 1 24 volts One of the more important design decisions in a motor drive is selection of gate drive impedance for the output transistors In Figure 5 1 resistors R116 R117
25. eration by personnel trained in power electronics lab techniques are also advisable User s Manual Evaluation Motor Board 14 Introduction and Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc 1 5 Setup Guide Introduction and Setup Setup Guide Setup and connections for the EVM motor board are straightforward The EVM motor board connects to a Motorola embedded motion control series control board via a 40 pin ribbon cable The motor s power leads plug into output connector J2 and its Hall sensors plug into the control board s Hall sensor encoder input connector Figure 1 3 depicts a completed setup Follow these steps to set up the board 1 Mount four standoffs to the EVM motor board at the locations indicated in Figure 1 3 Standoffs screws and washers are included in the kit This step and step 3 are optional when making connections with DSP control boards such as the DSP56F805EVM The DSP boards may be placed flat on a bench next to the EVM motor board Plug one end of the 40 pin ribbon cable that is supplied with Motorola embedded motion control series control boards into input connector J1 located on the right hand side of the board The other end of this cable goes to the control board s 40 pin output connector Mount the control board on top of the standoffs with screws and washers from the ECMTREVAL kit This step is optional with DSP control boards
26. nd the Motorola logo are registered trademarks of Motorola Inc Motorola Inc is an Equal Opportunity Affirmative Action Employer Motorola Inc 2000 All Rights Reserved User s Manual Evaluation Motor Board 2 Evaluation Motor Board MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc User s Manual Evaluation Motor Board List of Sections Section 1 Introduction and Setup 11 Section 2 Operational Description 17 Section 3 Pin Descriptions 21 Section 4 Schematics and Parts List 29 Section 5 Design Considerations 39 Evaluation Motor Board User s Manual MOTOROLA List of Sections For More Information On This Product Go to www freescale com 3 Freescale Semiconductor Inc List of Sections User s Manual Evaluation Motor Board 4 List of Sections MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc User s Manual Evaluation Motor Board Evaluation Motor Board 1 1 1 2 1 3 1 4 1 5 21 2 4 23 2 4 3 1 3 2 3 3 3 3 1 3 3 2 35 3 3 3 4 EC 3 5 5 JAT 3 3 8 Table of Contents Section 1 Introduction and Setup c CD 11 EVM Introduction iue no dk aco md le C ACC RE cenite 11 us texere be RT ERE CENE RIS 11 s pde ad
27. ne output from this divider produces back EMF sense voltage BEMF sense C Resistor values are chosen such that a 16 volt maximum phase voltage corresponds to a 3 3 volt maximum A D input A zero crossing signal is obtained by comparing motor phase voltage with the motor bus voltage Comparator U201A performs this function producing zero crossing signal Zero cross C Phase C R217 R219 2 67 1 10k BEMF sense C R221 Zero_cross_C 3 32 k 1 V sense DCB LM339D C205 12 C GNDAN 7 100 pF 22 pF GNDA GNDAN7 Figure 5 3 Phase C Back EMF Feedback N gt User s Manual Evaluation Motor Board 42 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Motorola reserves the right to make changes without further notice to any products herein Motorola makes no warranty representation or guarantee regarding the suitability of its products for any particular purpose nor does Motorola assume any liability arising out of the application or use of any product or circuit and specifically disclaims any and all liability including without limitation consequential or incidental damages Typical parameters which may be provided in Motorola data sheets and or specifications can and do vary in different applicatio
28. ns and actual performance may vary over time All operating parameters including Typicals must be validated for each customer application by customer s technical experts Motorola does not convey any license under its patent rights nor the rights of others Motorola products are not designed intended or authorized for use as components in systems intended for surgical implant into the body or other applications intended to support or sustain life or for any other application in which the failure of the Motorola product could create a Situation where personal injury or death may occur Should Buyer purchase or use Motorola products for any such unintended or unauthorized application Buyer shall indemnify and hold Motorola and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reasonable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use even if such claim alleges that Motorola was negligent regarding the design or manufacture of the part Motorola and M are registered trademarks of Motorola Inc Motorola Inc is an Equal Opportunity Affirmative Action Employer How to reach us USA EUROPE Locations Not Listed Motorola Literature Distribution P O Box 5405 Denver Colorado 80217 1 303 675 2140 or 1 800 441 2447 Customer Focus Center 1 800 521 6274 JAPAN Motorola Jap
29. nse Voltage VBus I 206 mvV V Power MOSFET On Resistance Rps on E 32 40 MO RMS Output Current IM 6 A Total Power Dissipation 5 User s Manual Evaluation Motor Board 18 Operational Description For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor Inc 2 4 Motor Characteristics Operational Description Motor Characteristics The motor characteristics in Table 2 2 apply to operation at 25 C Table 2 2 Motor Characteristics Characteristic Symbol Min Typ Max Units Terminal Voltage Vt 60 V Speed V 5000 Torque Constant Ki 0 08 Nm A Voltage Constant 8 4 V kRPM Winding Resistance 2 8 Q Winding Inductance L 8 6 mH Continuous Current les 2 A Peak Current lps 5 9 A Inertia Jm 0 075 kgcm Thermal Resistance zm 3 6 C W Evaluation Motor Board User s Manual MOTOROLA Operational Description For More Information On This Product Go to www freescale com 19 Freescale Semiconductor Inc Operational Description User s Manual Evaluation Motor Board 20 Operational Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc User s Manual Evaluation Motor Board 3 1 Contents 3 2 Introduction Evaluation Motor Board Section 3 Pin
30. olt power supply and motor bus ground 3 3 3V_A Test point 3 3V_A is connected to the 3 3 volt analog power supply voltage 4 GNDA Test point GNDA is connected to analog ground 5 5V_D Test point 5V_D is connected to the 5 volt digital power supply voltage 6 GND Test point GND is an additional connection to the 12 volt power supply and motor bus ground Evaluation Motor Board User s Manual MOTOROLA Pin Descriptions 27 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions User s Manual Evaluation Motor Board 28 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Inc User s Manual Evaluation Motor Board 4 1 Contents 4 2 Overview 4 3 Schematics Evaluation Motor Board 4 2 4 3 4 4 4 5 Section 4 Schematics and Parts List 3 5 12 29 29 Encoder Connec 34 36 A set of schematics for EVM motor board appears in Figure 4 1 through Figure 4 5 An overview of the whole board is shown in Figure 4 1 The 3 phase H bridge including gate drivers appears in Figure 4 2 Bus current feedback is shown in Figure 4 3 Back EMF signals appear in Figure 4 4 The brushless dc motor is shown in Figure 4 5 Unless otherwise specified resistor values are in ohms resistors are spe
31. r More Information On This Product Go to www freescale com Freescale Semiconductor Inc Pin Descriptions Table 3 1 Connector J1 Signal Descriptions Sheet 2 of 3 User s Manual qol Signal Name Description No PWM CT is the gate drive signal for the top half bridge of phase C A logic high at 9 PWM CT 4 input connector J1 turns on the phase C switch 10 Shielding Pin 10 is connected to a shield wire in the ribbon cable and ground on the board PWM CBis the gate drive signal for the bottom half bridge of phase C A logic high 11 PWM CB i at input connector J1 turns on the phase C bottom switch 12 GND Digital power supply ground 13 GND Digital power supply ground redundant connection 14 45V D Digital 5 volt power supply 15 45V D Digital 5 volt power supply redundant connection 16 3 3V_A Analog 3 3 power supply 17 GNDA Analog power supply ground 18 GNDA Analog power supply ground redundant connection 19 12V 12 volt power supply 20 No connection 24 V sense DCB V sense DCB is an analog sense signal that measures dc bus voltage It is scaled at 0 206 volts per volt of dc bus voltage sense DCB is an analog sense signal that measures dc bus current It is scaled 22 sense DCB at 0 412 volts per amp of dc bus current 23 No connection 24 No connection 25 No connection 26 No connection 27 No connection 28 Shielding Pin 28 is connected to a shield wir
32. re 5 2 This circuit provides a voltage output suitable for sampling with A D inputs An MC33502 is used for the differential amplifier The gain is given by A R301 R302 The output voltage is shifted up by 1 65 V to accommodate both positive and negative current swings A 300 mV voltage drop across the shunt resistor corresponds to a measured current range of 4 0 amps Note that the EVM motor board measures but does not limit current Current limiting is performed on the control board where a 2 8 volt setting for the overcurrent detection comparator produces a 2 8 amp current limit Dc81 J R302 21 1 V pum anei sense sense DCB Pos I sense DCB2 ANN U301A 10 7 k 1 2 0 k 1 R303 21 1 8 MC33502D R104 R304 1180 105 k 1 R306 R107 100 k 1 5 1820 8307 R110 R111 V sense DCB half 33 2 k 1 DCB_Neg gt VW W e 1 82 1 1 18 k 1 Figure 5 2 Bus Feedback Evaluation Motor Board User s Manual MOTOROLA Design Considerations 41 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Design Considerations 5 5 Back EMF Signals Back EMF and zero crossing signals are included to support sensorless algorithms for brushless dc motors Referring to Figure 5 3 which shows circuitry for phase C the raw phase voltage is scaled down by a voltage divider consisting of R216 R217 and R221 O
33. s is the default current limit setting 3 3 2 EVM Motor Board 40 Pin Ribbon Connector J1 Signal inputs are grouped together on 40 pin ribbon cable connector J1 located on the right side of the board Pin assignments are shown in Figure 3 1 Pin descriptions are listed in Table 3 1 Table 3 1 Connector J1 Signal Descriptions Sheet 1 of 3 rm Signal Name Description No PWM AT is the gate drive signal for the top half bridge of phase A A logic high at 1 PWM AT input connector J1 turns on the phase A top switch 2 Shielding Pin 2 is connected to a shield wire in the ribbon cable and ground on the board is the gate drive signal for the bottom half bridge of phase A logic high 3 PWM AB input connector J1 turns on phase A bottom switch 4 Shielding Pin 4 is connected to a shield wire in the ribbon cable and ground on the board PWM BT is the gate drive signal for the top half bridge of phase B A logic high at 5 PWM BT input connector J1 turns on the phase B top switch 6 Shielding Pin 6 is connected to a shield wire in the ribbon cable and ground on the board is the gate drive signal for the bottom half bridge of phase B A logic high 7 PWM_BB at input connector J1 turns on the phase B bottom switch 8 Shielding Pin 8 is connected to a shield wire in the ribbon cable and ground on the board Evaluation Motor Board User s Manual MOTOROLA Pin Descriptions 23 Fo
34. tinuous RMS output current is within the board s thermal limits Input connections are made via 40 pin ribbon cable connector J1 Pin assignments for the input connector are shown in Figure 3 1 40 Pin Input Connector J1 Power connections to the motor are made on output connector J2 Phase A phase B and phase C are labeled on the board Power requirements are met with a single external 12 Vdc 4 amp power supply Two connectors labeled J3 and J4 are provided for the 12 volt power supply J3 and J4 are User s Manual MOTOROLA Operational Description 17 For More Information On This Product Go to www freescale com Freescale Semiconductor Inc Operational Description located on the front edge of the board Power is supplied to one or the other but not both A summary of the information needed to use the EVM motor board follows For design information see Section 5 Design Considerations 2 3 Electrical Characteristics The electrical characteristics in Table 2 1 apply to operation at 25 C and a 12 Vdc power supply voltage Table 2 1 Electrical Characteristics Characteristic Symbol Min Typ Max Units Power Supply Voltage Vdc 10 12 16 V Quiescent Current lec 50 mA Min Logic 1 Input Voltage Vin 2 4 V Max Logic 0 Input Voltage Vi 0 8 V Input Resistance 10 Analog Output Range Vout 0 3 3 V Bus Current Sense Voltage ISense 412 Bus Voltage Se
35. valuation Motor Board 16 Introduction and Setup For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor Inc User s Manual Evaluation Motor Board 2 1 Contents 2 2 Introduction Evaluation Motor Board Section 2 Operational Description 2 2 InirodUollOl edes roca p 17 2 4 Electrical Characteristics 2 4 40 18 2 4 Motor Characteristics 4 6644 64440 ad iy 0400658045 0465485 19 Motorola s embedded motion control series EVM motor board is a 12 volt 4 amp surface mount power stage that is shipped with an MCG IB23810 H1 brushless dc motor In combination with one of the embedded motion control series control boards it provides a software development platform that allows algorithms to be written and tested without the need to design and build a power stage It supports algorithms that use Hall sensors encoder feedback and back EMF electromotive force signals for sensorless control The EVM motor board does not have overcurrent protection that is independent of the control board so some care in its setup and use is required if a lower impedance motor is used With the motor that is supplied in the kit the power output stage will withstand a full stall condition without the need for overcurrent protection Current measuring circuitry is set up for 4 amps full scale In a 25 C ambient operation at up to 6 amps con
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