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| Freescale Semiconductor, Inc. ANALOG ICs 33395 EVALUATION MOTOR BOARD DESIGNER REFERENCE MANUAL DRM33395/D Rev. 2 05/2003 Freescale Semiconductor, Inc... EMBEDDED MOTION CONTROL ower For More Information On This Product, Go to: www.freescale.com Communicate Control Protect Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... DRM33395 Designer Reference Manual 33395 Evaluation Motor Board MOTOROLA For More Information On This Product, Go to: www.freescale.com Freescale Semiconductor, Inc. 33395 Evaluation Motor Board List of Sections Section 1. Introduction and Setup .................................... 9 Section 2. Operational Description ................................. 15 Freescale Semiconductor, Inc... Section 3. Pin Descriptions..............................................17 Section 4. Schematics and Parts List ............................. 25 Section 5. Design Considerations .................................. 37 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual List of Sections For More Information On This Product, Go to: www.freescale.com 1 Freescale Semiconductor, Inc. List of Sections Freescale Semiconductor, Inc... DRM33395 Designer Reference Manual 2 List of Sections For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board Table of Contents Section 1. Introduction and Setup 1.1 Contents .....................................................................................9 SMOS EVM Motor Board Introduction........................................9 About This Manual......................................................................9 Warnings .................................................................................. 12 Setup Guide.............................................................................. 13 Freescale Semiconductor, Inc... 1.2 1.3 1.4 1.5 Section 2. Operational Description 2.1 2.2 2.3 Contents ...................................................................................15 Introduction...............................................................................15 Electrical Characteristics ..........................................................16 Section 3. Pin Descriptions 3.1 3.2 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 33395 Evaluation Motor Board MOTOROLA Contents ...................................................................................17 Introduction ............................................................................... 17 Signal Descriptions................................................................... 19 Power Connectors J3 and JP4............................................ 19 40-Pin Ribbon Connector J1 ............................................... 19 Output Connectors: J2, J4, FASTONS (J5, J7, J8)............. 22 Jumpers and Switch/Push Button: M0, M1, PWM, SW1..... 22 Test Points .......................................................................... 24 DRM33395 Designer Reference Manual Table of Contents For More Information On This Product, Go to: www.freescale.com 3 Freescale Semiconductor, Inc. Table of Contents Section 4. Schematics and Parts List 4.1 4.2 4.3 4.4 Contents ...................................................................................25 Overview...................................................................................25 Schematics ............................................................................... 25 Parts List...................................................................................32 Section 5. Design Considerations Freescale Semiconductor, Inc... 5.1 5.2 5.3 5.4 5.5 5.6 Contents ...................................................................................37 Overview...................................................................................37 3-Phase H-Bridge .....................................................................37 Bus Voltage and Current Feedback Signals............................. 38 Back-EMF Signals ....................................................................40 Brake Control............................................................................41 DRM33395 Designer Reference Manual 4 Table of Contents For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board List of Figures Figure 1-1 Title Page System Configurations..............................................................10 SMOS EVM Motor Board ver. 140A01 ..................................... 11 SMOS EVM Motor Board Setup ............................................... 14 Freescale Semiconductor, Inc... 1-2 1-3 3-1 40-Pin Input Connector J1 ........................................................ 18 4-1 4-1a 4-2 4-3 4-4 4-5 4-6 SMOS EVM Motor Board ver. 140A01 Overview ....................26 SMOS EVM Motor Board ver. 140A02 Overview ....................27 3-Phase H-Bridge with Gate Driver ..........................................28 Current Feedback Circuits ........................................................29 Back-EMF Signals .................................................................... 30 Brake Control............................................................................31 Brushless DC Motor Connections - Schematic View................31 5-1 5-2 5-3 Phase Current and DC Bus Voltage Sensing ........................... 39 Reconstructed Bus Current ......................................................40 Phase C Back-EMF Feedback .................................................40 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual List of Figures For More Information On This Product, Go to: www.freescale.com 5 Freescale Semiconductor, Inc. List of Figures Freescale Semiconductor, Inc... DRM33395 Designer Reference Manual 6 List of Figures For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board List of Tables Table 2-1 Title Page Electrical Characteristics .......................................................... 16 Freescale Semiconductor, Inc... 3-1 3-2 3-3 3-4 3-5 Connector J1 Signal Descriptions ............................................ 19 Connectors J2 and J4 Signal Descriptions............................... 22 Driver Jumper Groups for Operating Mode .............................. 22 Gate Driver PWM Signal Selection ...........................................23 Test Points ...............................................................................24 4-1 Parts List...................................................................................32 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual List of Tables For More Information On This Product, Go to: www.freescale.com 7 Freescale Semiconductor, Inc. List of Tables Freescale Semiconductor, Inc... DRM33395 Designer Reference Manual 8 List of Tables For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board Section 1. Introduction and Setup 1.1 Contents 1.2 SMOS EVM Motor Board Introduction........................................9 About This Manual......................................................................9 Warnings ..................................................................................12 Setup Guide..............................................................................13 Freescale Semiconductor, Inc... 1.3 1.4 1.5 1.2 SMOS EVM Motor Board Introduction Motorola's SMARTMOSTM 33395 evaluation motor board (SMOS EVM motor board) is a 12-volt, 8-amp power stage that is an integral part of Motorola's embedded motion control series of development tools. It is also supplied as a kit. In combination with one of the embedded motion-control series control or evaluation boards, it provides a ready-made development platform for brushless dc motors. The motor can be controlled using Hall sensors, an optical encoder or sensorless techniques. An illustration of system configurations is shown in Figure 1-1. Figure 1-2 depicts the board layout. 1.3 About This Manual Key items can be found in the following locations in this manual: * * * * Setup instructions are found in chapter 1.5. Schematics are found in chapter 4.3. Pin assignments are shown in Figure 3-1, and a pin-by-pin description is contained in chapter 3.3. For those interested in the reference design aspects of the board's circuitry, a description is provided in Section 5. 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Introduction and Setup For More Information On This Product, Go to: www.freescale.com 9 Freescale Semiconductor, Inc. Introduction and Setup MMDS08 HC08 CONTROLLER BOARD WORKSTATION DSP EVM BOARD WORKSTATION SMOS EVM MOTOR BOARD SMOS EVM MOTOR BOARD Freescale Semiconductor, Inc... MOTOR OPTIONAL FEEDBACK a) MC68HC(9)08MR MICROCONTROLLER OPTIONAL FEEDBACK b) 56800(E) DSP MOTOR Figure 1-1 System Configurations DRM33395 Designer Reference Manual 10 Introduction and Setup For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Introduction and Setup About This Manual MOTOR CONNECTORS TRIMMER Freescale Semiconductor, Inc... UNI-3 CONNECTOR POWER SUPPLY CONNECTORS JUMPERS AND SWITCH Figure 1-2 SMOS EVM Motor Board ver. 140A01 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Introduction and Setup For More Information On This Product, Go to: www.freescale.com 11 Freescale Semiconductor, Inc. Introduction and Setup 1.4 Warnings The SMOS 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 10 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. Standalone operation of the board should be allowed only with use of an insulative pad or standoffs as shown in Figure 1-3. Wearing safety glasses, avoiding neckties and jewelry, using shields, and operation by personnel trained in power electronics lab techniques are also advisable. Freescale Semiconductor, Inc... * * DRM33395 Designer Reference Manual 12 Introduction and Setup For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Introduction and Setup Setup Guide 1.5 Setup Guide Setup and connections for the SMOS EVM motor board are straightforward. The SMOS 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 one of the output connectors J2 or J4 or FASTON type (J5 J7 J8). Figure 1-3 depicts a completed setup with control board or module. Follow these steps to set up the board: Freescale Semiconductor, Inc... 1. Mount 4 standoffs to the SMOS EVM motor board at the locations indicated in Figure 1-3. Step 1 and step 3 are optional when making connections to DSP control boards such as the DSP56F8xxEVM that can be placed flat on a bench next to the SMOS EVM motor board. 2. 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 motor board, considering its `default front view' position as in Figure 1-2. The other end of this cable links to the control board's 40-pin output connector. 3. Mount the control board on top of the standoffs with screws and washers. This step is optional with DSP control boards. 4. Connect a 12-Vdc power supply either to connector J3 or power jack JP4, labeled "Power 12V". Either one, but not both, can be used. These connectors are located on the front left-hand corner of the board. The 12-volt power supply should be rated to match the motor current. 5. Apply power to the SMOS EVM motor board. The green power-on LED lights when the voltage supply is present. Note that the SMOS EVM motor board powers the control board as well. CAUTION: Since the control board is powered by the SMOS EVM motor board, it is imperative that only one power supply is used! 6. Temperature, under-voltage or over-voltage faults, or externally sensed bus current overflow disables the gate driver. Board reset is needed. Either switch the power supply off and on or provide a `soft reset'. To provide the soft reset on the 140A01 board version, toggle the SW1 switch from position 3 to 2; on the 140A02 version, press the RESET button. Refer to chapter 3.3.4 to verify the jumper positions. NOTE: Check if the trimmer tagged in Figure 1-2 is set to <2.45V (between bottom trimmer pin-2, R131 label, and GNDA) which thresholds the dc bus current to 10 amps. The closer its value is set to 1.65V, the smaller the bridge current is that can flow. DRM33395 Designer Reference Manual Introduction and Setup For More Information On This Product, Go to: www.freescale.com 13 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Introduction and Setup MOTOR STANDOFFS STANDOFF Freescale Semiconductor, Inc... SMOS EVM MOTOR BOARD 56800(E) EVALUATION MODULE OR HC08 CONTROL BOARD OR HCS12 CONTROL BOARD OR MPC EVALUATION MODULE 40-PIN RIBBON CABLE STANDOFF 12-VOLT MOTOR SUPPLY Figure 1-3 SMOS EVM Motor Board Setup DRM33395 Designer Reference Manual 14 Introduction and Setup For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board Section 2. Operational Description 2.1 Contents 2.2 Introduction ...............................................................................15 Electrical Characteristics ..........................................................16 Freescale Semiconductor, Inc... 2.3 2.2 Introduction Motorola's embedded motion control series SMOS EVM motor board is a 12-volt, 8-amp, surface-mount power stage with an analog SMOS driver. In combination with one of the embedded motion control series control boards, it provides a 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 SMOS EVM motor board has an over-current protection that is independent of the control board, yet some care in its setup and use is required for board or motor protection. Current-measuring circuitry is set up for 8 amps full scale, according to trimmer position. A 25C ambient temperature operation with output current up to 10 amps of continuous RMS value is within the board's thermal limits. Note that there is no thermal protection provided on the board. Input connections are made via a 40-pin ribbon cable connector J1. Pin assignments for the input connector are shown in Figure 3-1. Power connections to the motor are made on one of the output connectors J2 or J4 or FASTON type (J5 J7 J8). Phase A (J8), phase B (J7), and phase C (J5) are labeled on the board, the phase pin order for all three connector types is identical. Power requirements are met by a single external 12-Vdc power supply. Two connectors, labeled J3 and JP4, are 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Operational Description For More Information On This Product, Go to: www.freescale.com 15 Freescale Semiconductor, Inc. Operational Description provided for the 12-volt power supply; they are 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 SMOS EVM motor board follows. For design information, see Section 5. 2.3 Electrical Characteristics Freescale Semiconductor, Inc... The electrical characteristics in Table 2-1 apply to operation at 25C and a 12-Vdc power supply voltage. Table 2-1 Electrical Characteristics Characteristic Power Supply Voltage Quiescent Current High State Logic 1 Input Voltage Low State Logic 0 Input Voltage Input Resistance Analog Output Range Phase Current Sense Voltage Bus Voltage Sense Voltage Power MOSFET On Resistance RMS Output Current Total Power Dissipation Symbol Vdc ICC VIH VIL RIn VOut ISense VBus RDS(On) IM Pdiss Min 10.2 -- 2.4 -- -- 0 -- -- -- -- -- Typ 12 70 3.3 or 5 < 0.4 10 -- 172 206 10 -- -- Max 16 -- 7 0.8 -- 3.3 -- -- 16 10 18 Units V mA V V k V mV/A mV/V m A W DRM33395 Designer Reference Manual 16 Operational Description For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board Section 3. Pin Descriptions 3.1 Contents 3.2 Introduction............................................................................... 17 Signal Descriptions ................................................................... 19 Power Connectors J3 and JP4............................................ 19 40-Pin Ribbon Connector J1 ...............................................19 Output Connectors: J2, J4, FASTONS (J5, J7, J8).............22 Jumpers and Switch/Push Button: M0, M1, PWM, SW1.....22 Test Points .......................................................................... 24 Freescale Semiconductor, Inc... 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.2 Introduction Inputs and outputs are located on six board connectors depicted in Figure 1-2: * There are three motor connectors conducting identical output signals, however only one motor can be connected at run time to one of these connectors. There are two power supply connectors which introduce identical input signals, however only one power supply can be plugged in at run time to one of these connectors. One connector (UNI-3) is associated with the controller board. * * In addition, many test points are located on the SMOS EVM motor board. Pin descriptions for each of these connectors and the test points are identified in the following information. Pin assignments for the input and 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Pin Descriptions For More Information On This Product, Go to: www.freescale.com 17 Freescale Semiconductor, Inc. Pin Descriptions output connectors are shown in Figure 3-1 with their descriptions in Table 3-1 through Table 3-5. J1 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 CON/40 SCHEMATIC VIEW BEMF_sense_C BEMF_sense_B BEMF_sense_A Shielding_A Zero_cross_C Zero_cross_B Zero_cross_A PWM_AT PWM_AB PWM_BT PWM_BB PWM_CT PWM_CB GND +5V_D PWM_ctrl Identification Brake_control Shielding_A GNDA +12V V_sense_DCB I_sense_A I_sense_C Brake_control PWM_ctrl Zero_cross_B Shielding_A BEMF_sense_B Freescale Semiconductor, Inc... I_sense_C I_sense_B I_sense_A I_reconst_DCB V_sense_DCB +12V_A Shielding_A Shielding_A +3.3V_A +5V_D +5V_D GND GND PWM_CB Shielding_D PWM_CT Shielding_D PWM_BB Shielding_D PWM_BT Shielding_D PWM_AB Shielding_D PWM_AT 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 Shielding_D Shielding_D Shielding_D Shielding_D Shielding_D GND +5V_D +3.3V_A GNDA I_reconst_DCB I_sense_B Shielding_A Identification Zero_cross_A Zero_cross_C BEMF_sense_A BEMF_sense_C PHYSICAL VIEW Figure 3-1 40-Pin Input Connector J1 DRM33395 Designer Reference Manual 18 Pin Descriptions For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Signal Descriptions 3.3 Signal Descriptions Pin descriptions are identified in this subsection. 3.3.1 Power Connectors J3 and JP4 Two connectors, labeled J3 and JP4, are provided for the 12-volt power supply. They are located on the bottom left-hand corner of the board. Connector J3 is a 2.5-mm power jack for plug-in type 12-volt power supply connections. Connector JP4 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 required parameters depend on the motor type used. The default output current limit of the board is 10 amps. Freescale Semiconductor, Inc... 3.3.2 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) Pin No. 1 2 3 4 5 6 7 8 Signal Name PWM_AT Shielding_D PWM_AB Shielding_D PWM_BT Shielding_D PWM_BB Shielding_D Description PWM_AT is the gate drive signal for the top half-bridge of phase A. A logic high at input connector J1 turns on the phase A top switch. Pin 2 is connected to a shield wire in the ribbon cable and ground on the board. PWM_AB is the gate drive signal for the bottom half-bridge of phase A. A logic high at input connector J1 turns on the phase A bottom switch. 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 input connector J1 turns on the phase B top switch. Pin 6 is connected to a shield wire in the ribbon cable and ground on the board. PWM_BB is the gate drive signal for the bottom half-bridge of phase B. A logic high at input connector J1 turns on the phase B bottom switch. Pin 8 is connected to a shield wire in the ribbon cable and ground on the board. 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Pin Descriptions For More Information On This Product, Go to: www.freescale.com 19 Freescale Semiconductor, Inc. Pin Descriptions Table 3-1 Connector J1 Signal Descriptions (Sheet 2 of 3) Pin No. 9 10 11 12 Signal Name PWM_CT Shielding_D PWM_CB GND GND +5V_D +5V_D +3.3V_A GNDA GNDA +12V -- V_sense_DCB I_reconst_DCB I_sense_A I_sense_B I_sense_C -- -- Shielding_A Brake_control Identification Description PWM_CT is the gate drive signal for the top half-bridge of phase C. A logic high at input connector J1 turns on the phase C top switch. Pin 10 is connected to a shield wire in the ribbon cable and ground on the board. PWM_CB is the gate drive signal for the bottom half-bridge of phase C. A logic high at input connector J1 turns on the phase C bottom switch. Digital power supply ground Digital power supply ground, redundant connection Digital +5-volt power supply Digital +5-volt power supply, redundant connection Analog +3.3-volt power supply Analog power supply ground Analog power supply ground, redundant connection +12-volt power supply No connection 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. I_reconst_DCB is an analog sense signal that measures dc bus current. It is scaled at 0.172 volts per amp of dc bus current. I_sense_A is an analog sense signal that measures current in phase A. It is scaled at 0.172 volts per amp of dc bus current. I_sense_B is an analog sense signal that measures current in phase B. It is scaled at 0.172 volts per amp of dc bus current. I_sense_C is an analog sense signal that measures current in phase C. It is scaled at 0.172 volts per amp of dc bus current. No connection No connection Pin 28 is connected to a shield wire in the ribbon cable and ground on the board. Brake_control is the gate drive digital signal for the brake MOSFET. This is an identification signal that lets the controller know which power stage is present. It is nominally a 1.5kHz square wave. Freescale Semiconductor, Inc... 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 DRM33395 Designer Reference Manual 20 Pin Descriptions For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Signal Descriptions Table 3-1 Connector J1 Signal Descriptions (Sheet 3 of 3) Pin No. 31 32 33 34 Signal Name PWM_ctrl -- -- Zero_cross_A Zero_cross_B Zero_cross_C Shielding _A BEMF_sense_A BEMF_sense_B BEMF_sense_C Description This is a gate drive digital signal that is used for power stage board control with use of just one PWM input signal switching according to gate drive signals PWM_xx No connection No connection Zero_cross_A is a digital signal that is used for sensing phase A back-EMF zero crossing events. Zero_cross_B is a digital signal that is used for sensing phase B back-EMF zero crossing events. Zero_cross_C is a digital signal that is used for sensing phase C back-EMF zero crossing events. Pin 37 is connected to a shield wire in the ribbon cable and ground on the board. BEMF_sense_A is an analog sense signal that measures phase A Back-EMF. It is scaled at 0.206 volts per volt of dc bus voltage. BEMF_sense_B is an analog sense signal that measures phase B Back-EMF. It is scaled at 0.206 volts per volt of dc bus voltage. BEMF_sense_A is an analog sense signal that measures phase C Back-EMF. It is scaled at 0.206 volts per volt of dc bus voltage. Freescale Semiconductor, Inc... 35 36 37 38 39 40 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Pin Descriptions For More Information On This Product, Go to: www.freescale.com 21 Freescale Semiconductor, Inc. Pin Descriptions 3.3.3 Output Connectors: J2, J4, FASTONS (J5, J7, J8) Power output to the motor is located on connectors J2, J4 and FASTONS (J5, J7, J8). Pin assignments are described in Table 3-2. FASTON type connectors are labelled with PhA (connector J8) for phase A, PhB (J7) for phase B, and PhC (J5) for phase C. Phase order is identical for all three connectors. Note that wire color may vary with different motor types. Table 3-2 Connectors J2 and J4 Signal Descriptions Freescale Semiconductor, Inc... Pin No. 1 2 3 Signal Name Phase_A Phase_B Phase_C FASTON Pin Name J8 J7 J5 Description Phase_A supplies power to motor phase A. Phase_B supplies power to motor phase B. Phase_C supplies power to motor phase C. 3.3.4 Jumpers and Switch/Push Button: M0, M1, PWM, SW1 The jumper groups M0 (JP2) and M1 (JP3) are used to select the operating mode of the SMOS gate driver (see Table 3-3). For the truth table of the driver, see its data sheet. Table 3-3 Driver Jumper Groups for Operating Mode MO (JP2) + position - position M1 (JP3) + position - position Comment High state logic 1 Low state logic 0 (default) For selection of the PWM signal brought to the gate driver, the 140A01 board version uses the SW1 rotary switch and the 140A02 version uses the PWM (JP5) jumper group and RESET (SW1) push button. Both solutions have the same behavior (see Table 3-4 for an explanation). When one PWM signal is sent from the controller board to the motor board through the UNI-3 interface, the SMOS driver must multiplex it between the three phases according to the mode defined by M0 and M1. The mode selection is not needed when six PWM signals are generated. DRM33395 Designer Reference Manual 22 Pin Descriptions For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Signal Descriptions Table 3-4 Gate Driver PWM Signal Selection SW1 Rotary Switch on 140A01 board Position 1 (1PWM pin) Position 2 (2+ pin) Position 3 (3- pin) Representation on 140A02 board JP5 jumper uni position JP5 jumper + position SW1 button press (RESET) Comment Controller board gives 1 PWM signal High state logic 1 (6 PWM signals, default) Resets drive off status (temporary) Freescale Semiconductor, Inc... NOTE: The gate driver `soft reset' is necessary to leave the drive off status that is not entered by default. When a fault arises or a parallel cable that is connected between a computer and the controller board introduces an obscure voltage from this computer into the motor system, the reset assures correct driver re-initialization. The soft reset is activated either by toggling the SW1 rotary switch from position 3 to 2 (140A01 board version), or by resetting with the SW1 push button (140A02 version). Then the board generates a resetting pulse on the driver PWM_IN pin. 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Pin Descriptions For More Information On This Product, Go to: www.freescale.com 23 Freescale Semiconductor, Inc. Pin Descriptions 3.3.5 Test Points Ten test points provide easy access to the power supply, reference voltages and other circuits. They are listed in Table 3-5 with their descriptions and locations. Additional test points appearing left of the UNI-3 connector are numbered adequately to UNI-3 pin numbers and explained in Table 3-1. Table 3-5 Test Points Freescale Semiconductor, Inc... Point No. 1 2 3 4 5 6 7 8 9 10 Signal Name DCB_POS (MP1) GND (MP2) +5V_D (MP3) +3.3V_A (MP4) GND (MP5) GNDA (MP6) 1.65VREF DCB_HALF BRAKE l_reconst (TP22) The Test/Measurement point is connected to: the +12-volt motor bus the 12-volt power supply and motor bus ground the 5-volt digital power supply voltage the 3.3-volt analog power supply voltage the 12-volt power supply and motor bus ground the analog ground the 1.65-volt analog reference voltage Back-EMF zero crossing circuitry the gate of the brake's transistor pin 22 of UNI-3 connector, see Table 3-1 Location above green LED diode below J2 - motor connector above UNI-3 connector on top right corner on top left side of UNI-3 connector in the middle, above SMOS above MP3, below MP4 right of MP1, below SMOS above MP1 left of trimmer and MP3 DRM33395 Designer Reference Manual 24 Pin Descriptions For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board Section 4. Schematics and Parts List 4.1 Contents 4.2 Overview .................................................................................. 25 Schematics ...............................................................................25 Parts List...................................................................................32 Freescale Semiconductor, Inc... 4.3 4.4 4.2 Overview A set of schematics for the SMOS EVM motor board appears in Figure 4-1 up to Figure 4-5. An overview of the whole board is presented in Figure 4-1 (or Figure 4-1a ) . The 3-phase H-bridge, including gate driver, is depicted in Figure 4-2. Current feedbacks are presented in Figure 4-3. Back-EMF signals are shown in Figure 4-4. The brake control is illustrated in Figure 4-5. Brushless dc motor connections are shown in Figure 4-6. Unless otherwise specified, resistor values are in ohms, resistors are specified as 1/8 watt 5%, and interrupted lines coded with the same letters are electrically connected. 4.3 Schematics The schematics for the SMARTMOS evaluation motor board are rendered on the following pages. 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 25 Freescale Semiconductor, Inc... 1 2 3 1 2 3 TP2 1 Phase_C Phase_B Phase_A Schematics and Parts List CE Gnd C3 + C7 3 C8 1 14 14 7 PWM_H 1 -V +V -V 3 2 1 DRM33395 Designer Reference Manual D4 J2 2 GND GND MODE1 MODE0 PWM_IN MODE1 MODE0 GNDA 1 2 3 GND SM/JUMPER1x3 1 2 3 SM/JUMPER1x3 GND Driver Mode Control Jumpers 33395 Evaluation Motor Board +3.3V_A +3.3V_A MOTOROLA Figure 4-1 SMOS EVM Motor Board ver. 140A01 Overview PWM_H 26 SM/1N4001 J5 J7 FASTON FASTON FASTON J8 U16 MC7805 AMP 640387-3 J4 CON/3screws 1 IN GND 2 GNDA Back EMF OUT 3 +5V_D + C1 C6 100nF C5 22uF/20V J1 BEMF_sense_C BEMF_sense_B BEMF_sense_A 100nF GND GND GND GND D3 UNI-36 UNI-35 UNI-34 SM/1N4001 +5V_D UNI-40 UNI-39 UNI-38 L1 +3.3V_A +5V_D 1mH U2 MC78PC33NTR 1 Vin Vout 5 +5V_D GND GNDA Zero_cros_C Zero_cros_B Zero_cros_A Identification BEMF_sense_C BEMF_sense_B BEMF_sense_A Shielding_A Zero_cross_C Zero_cross_B Zero_cross_A + C4 10uF/6.3V +3.3V_A Current processing GND GNDA V_sense_DCB_half DCB_Half UNI-31 UNI-30 UNI-29 22uF/20V 100nF 100nF PWM_ctrl Identification Brake_control Shielding_A GNDA +3.3V_A GNDA GNDA GNDA GNDA GNDA UNI-25 UNI-24 UNI-23 UNI-22 UNI-21 UNI-19 R2 220k MC74HC14A U1B L2 GNDA I_sense_C I_sense_B I_sense_A I_reconst_DCB V_sense_DCB +12V_A 1 100k MC74HC14A U1A R3 2 3 4 1mH C9 100nF GNDA I_zero_ref 3-ph. H-bridge driver + I_zero_ref C10 22uF/20V GNDA DCB_Pos DCB_Pos DCB_Pos_IN Phase_A Phase_B Phase_C I_sense_C I_sense_B I_sense_A I_reconst_DCB I_sense_A1 I_sense_A2 I_sense_B1 I_sense_B2 I_sense_C1 I_sense_C2 +3.3V_A GNDA V_sense_DCB_half V_sense_DCB +5V_D C11 100nF GND DCB_Pos_IN C12 100nF GND GND R1 680 DCB_Pos DCB_Neg DCB_Neg 2 GND +5V_D GC1 GND_Connection GND GND D2 D1 LED Green 1.5SMC15AT3 I_sense_C2 I_sense_C1 I_sense_B2 I_sense_B1 I_sense_A2 I_sense_A1 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 CON/40 PWM_CB Shielding_D PWM_CT Shielding_D PWM_BB Shielding_D PWM_BT Shielding_D PWM_AB Shielding_D PWM_AT J3 Power Jack GND DCB_Neg JP4 CON/2screws/big +5V_D +5V_D +3.3V_A +5V_D +3.3V_A GND GNDA Freescale Semiconductor, Inc. Schematics and Parts List For More Information On This Product, Go to: www.freescale.com GNDA I_reconst_DCB Brake_control LSE_CB HSE_CT LSE_BB HSE_BT LSE_AB HSE_AT DCB_Neg DCB_Neg UNI-11 UNI-9 UNI-7 UNI-5 UNI-3 UNI-1 GND_Connection GC2 GNDA GND GNDA JP3 +5V_D 1 SW1 Rotary Switch A 4X B C JP2 3 2 Freescale Semiconductor, Inc... D4 SM/1N4001 J2 U16 MC7805 AMP 640387-3 OUT 3 J4 CON/3screws J5 J7 J8 L1 1 1 TP2 Phase_C Phase_B Phase_A CE Gnd GND GNDA 100nF V_sense_DCB_half 1 2 14 14 RESET 7 PWM_H D2 1 2 1 MODE1 MODE0 PWM_IN GNDA MODE1 JP3 +5V_D 1 2 3 JP2 MODE0 PWM_H 1 2 3 SM/JUMPER1x3 GNDA 1 2 3 SM/JUMPER1x3 GND SM/JUMPER1x3 Driver Mode Control Jumpers 4 3 2 1 5 DRM33395 Designer Reference Manual GND DCB_Neg +5V_D Schematics and Parts List Schematics Figure 4-1a SMOS EVM Motor Board ver. 140A02 Overview PWM GND GNDA PWM_ctrl MOTOROLA 1 IN GND 2 100nF C6 +5V_D 1 2 3 1 2 3 Ph C Ph B Ph A Uni-25 Uni-24 Uni-23 FASTON FASTON FASTON + C1 C5 22uF/20V 100nF GNDA GND GND D3 SM/1N4001 GND +5V_D BEMF_sense_C BEMF_sense_B BEMF_sense_A GND Back EMF J1 UNI-40 UNI-39 UNI-38 33395 Evaluation Motor Board U2 MC78PC33NTR 5 Vin Vout +5V_D C3 + +3.3V_A C8 +5V_D GND GNDA UNI-36 UNI-35 UNI-34 DCB_Half BEMF_sense_C BEMF_sense_B BEMF_sense_A Shielding_A Zero_cross_C Zero_cross_B Zero_cross_A 1mH Zero_cros_C Zero_cros_B Zero_cros_A Identification C7 3 100nF Current processing + C4 10uF/6.3V 22uF/20V UNI-31 UNI-30 UNI-29 PWM_ctrl Identification Brake_control Shielding_A GNDA GNDA GNDA +3.3V_A GNDA GNDA GNDA +3.3V_A pushbutton SW1 L2 R4 1.5k MC74HC14A U1B UNI-25 UNI-24 UNI-23 UNI-22 UNI-21 I_sense_C I_sense_B I_sense_A I_reconst_DCB V_sense_DCB R2 1 MC74HC14A U1A R3 2 GNDA C9 + UNI-19 3 1mH 4 C10 100nF I_zero_ref 22uF/20V 1 2 3 4 +12V_A 220k 100k I_sense_C I_sense_B I_sense_A I_reconst_DCB I_sense_A1 I_sense_A2 I_sense_B1 I_sense_B2 I_sense_C1 I_sense_C2 +3.3V_A GNDA R5 3.3k C11 100nF C12 100nF +5V_D GNDA GNDA I_zero_ref 3-ph. H-bridge driver V_sense_DCB_half V_sense_DCB GND GND GND GND DCB_Pos DCB_Pos GND DCB_Pos_IN DCB_Pos_IN DCB_Neg DCB_Pos 2 R1 680 DCB_Neg GC1 GND_Connection Phase_A Phase_B Phase_C GND -V +V -V 3 D1 +5V_D GND GND +3.3V_A +5V_D +3.3V_A GND GNDA LED Green J3 Power Jack 1.5SMC18AT3 JP4 CON/2screws/big I_sense_C2 I_sense_C1 I_sense_B2 I_sense_B1 I_sense_A2 I_sense_A1 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 PWM_CB Shielding_D PWM_CT Shielding_D PWM_BB Shielding_D PWM_BT Shielding_D PWM_AB Shielding_D PWM_AT CON/40 DCB_Neg DCB_Neg Freescale Semiconductor, Inc. Schematics and Parts List For More Information On This Product, Go to: www.freescale.com +5V_D GNDA GND GND_Connection I_reconst_DCB Brake_control LSE_CB HSE_CT LSE_BB HSE_BT LSE_AB HSE_AT UNI-11 UNI-9 UNI-7 UNI-5 UNI-3 UNI-1 GND GC2 +3.3V_A +3.3V_A JP5 27 Freescale Semiconductor, Inc... Schematics and Parts List 14 7 28 DCB_Pos DCB_Pos Q107 MTD3302T4 DCB_Pos_IN Gate_AT 51 MBRM140T3 D101 51 R120 R123 Gate_BT Q101 MTD3302T4 51 MBRM140T3 D103 51 Gate_CT Q103 MTD3302T4 51 MBRM140T3 D105 51 R128 Q105 MTD3302T4 DCB_IGN R119 C107 VGDH R124 R127 C101 C102 + Q102 MTD3302T4 Q104 MTD3302T4 C103 + + 1uF Phase_A Phase_A Phase_B Phase_B Phase_C Phase_C Brake Control R121 330uF/35V 330uF/35V 330uF/35V R122 51 51 51 51 R125 R126 R129 R130 51 Q106 MTD3302T4 DCB_Pos Gate_AB Gate_BB 51 DCB_Brake D102 MBRM140T3 sense Gate_CB Brake_control DCB_Neg sense R101 I_sense_B1 I_sense_A1 D104 MBRM140T3 D106 MBRM140T3 sense R103 I_sense_C1 R102 PMA-A-R030-1 DRM33395 Designer Reference Manual sense PMA-A-R030-1 I_sense_B2 sense sense I_sense_C2 PMA-A-R030-1 I_sense_A2 DCB_Neg +5V_D 2 DCB_Neg 4 3 LSE_AB 1 DM74ALS1034M U104B DM74ALS1034M U104A HSE_AT GND 6 LSE_BB +3.3V_A +3.3V_A C104 C106 10nF 8 12 13 5 HSE_BT +5V_D +5V_D 9 C105 10nF U103 U104F DM74ALS1034M U104C DM74ALS1034M 10 LSE_CB GND 150nF 11 HSE_CT GND GND GNDA Phase_A Gate_AT Phase_B Gate_AB DCB_IGN VGDH DCB_Pos U104D DM74ALS1034M U104E DM74ALS1034M GNDA Gate_BT Phase_C Gate_BB Gate_CT Gate_CB DCB_Neg C108 100nF PC33395 MODE0 MODE1 PWM_IN +5V_D needed +5V_D 10k R104 R105 3.30V @ 16V V_sense_DCB 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 C2H CRES VIGN VGDH VIGNP S1 GDH1 GDL1 S2 GDH2 GDL2 S3 GDH3 GDL3 PGND TLIM C2L C1H C1L LSE1 LSE2 LSE3 HSE1 HSE2 HSE3 MODE0 MODE1 PWM VDD GND IS+ IS- 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 C109 100nF 10k 10k 10k 10k 10k 10k 10k 10k DCB_Pos R106 120-1% R116 R117 R118 R110 R111 R112 R113 R114 R115 Freescale Semiconductor, Inc. Schematics and Parts List For More Information On This Product, Go to: www.freescale.com GND 2 1 10k-1% 2.7k-1% 3 +3.3V_A GNDA R131 10k/TRIMR/SPECTROL/64Y R107 180-1% R108 R109 DCB_Neg 1.8k-1% 1.2k-1% R133 100k R132 100k I_reconst_DCB 3.0V @ 16V V_sense_DCB_half I_zero_ref Figure 4-2 3-Phase H-Bridge with Gate Driver 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc... delta = +/-288 mV @ +/- Imax 4 GNDA 1.65V +/- 1.65V @ +/- Imax R303 6k8-1% 8 R304 39k-1% +3.3V_A R305 1.65V ref +3.3V_A 390 100nF 4 - 8 5 1.65V ref R306 100k-1% GNDA LM285M U303 1 4 R307 33k-1% I_zero_ref C302 100nF 8 GNDA GNDA GNDA R308 39k-1% delta = +/-288 mV @ +/- Imax R309 6k8-1% - I_sense_B1 7 + 6 5 R310 6k8-1% 1.65V +/- 1.65V @ +/- Imax I_sense_B +3.3V_A GNDA GNDA I_sense_B2 U301B MC33502D Freescale Semiconductor, Inc. R314 6k8-1% R315 39k-1% DRM33395 Designer Reference Manual R312 39k-1% Schematics and Parts List Schematics Figure 4-3 Current Feedback Circuits + I_sense_C2 5 - Schematics and Parts List For More Information On This Product, Go to: www.freescale.com R318 33k-1% C301 R319 33k-1% 1.65Vref R311 39k-1% delta = +/-288 mV @ +/- Imax R313 6k8-1% 6 1.65V +/- 1.65V @ +/- Imax I_sense_C1 7 I_sense_C U302B MC33502D + + 33395 Evaluation Motor Board R301 39k-1% R302 6k8-1% I_sense_A2 U301A MC33502D R317 33k-1% R316 33k-1% 3 - MOTOROLA 2 I_sense_A1 1 I_sense_A GNDA 2 3 1 U302A MC33502D +3.3V_A I_reconst_DCB C303 100nF +3.3V_A 29 Freescale Semiconductor, Inc... Schematics and Parts List Freescale Semiconductor, Inc. V_sense_DCB_half GND GNDA GNDA C205 22pF GNDA 33395 Evaluation Motor Board C204 100pF MOTOROLA Figure 4-4 Back-EMF Signals 12 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com C201 100pF 3.30V @ Phase_C = 16V 10k 5 3 30 Phase_A max. 16V u+ <6V u+ =2*V_sense_DCB_half@3.3V R201 10k-1% R202 1M +5V_D +5V_D R205 10k +5V_D R203 2.7k-1% 3.30V @ Phase_A = 16V R204 10k R206 5.6k GND GND BEMF_sense_A 14 R207 3.3k-1% 9 + 8 U201C LM339D Zero_cros_A GNDA DRM33395 Designer Reference Manual GNDA GNDA GNDA Phase_B +5V_D max. 16V R208 10k-1% u+ <6V u+ =2*V_sense_DCB_half@3.3V R226 33k R223 10k R224 R209 1M +5V_D R225 33k 3.30V @ Phase_B = 16V R210 2.7k-1% R211 10k 7 + R213 5.6k R212 10k 1 U201B LM339D 33k BEMF_sense_B R214 3.3k-1% C202 100pF 6 - Zero_cros_B GND 11 + 13 10 U201D LM339D Identification R222 GNDA GNDA Phase_C R215 1M C206 47nF 10k max. 16V Frequency: 1500Hz +/-20% GND R216 10k-1% u+ <6V u+ =2*V_sense_DCB_half@3.3V +5V_D C203 +5V_D R218 R220 5.6k 100nF GND R217 2.7k-1% R219 10k + BEMF_sense_C R221 3.3k-1% 2 4 U201A LM339D Zero_cros_C Freescale Semiconductor, Inc. Schematics and Parts List Schematics DCB_Pos R403 D401 U401 1 NC R404 DCB_Brake 100 C401 1nF R401 10k C402 100nF MC33152D 4 InB GND OutB 5 2 InA OutA 7 VCC 6 1R NC 8 R402 100 Brake MBRS330 Q401 MTD3302T4 DCB_Neg Freescale Semiconductor, Inc... Figure 4-5 Brake Control MOTOROLA EMBEDDED MOTION CONTROL SERIES 56800(E) EVALUATION MODULE OR HC08 CONTROL BOARD OR HCS12 CONTROL BOARD OR MPC EVALUATION MODULE 40-PIN RIBBON CABLE J1 MOTOROLA EMBEDDED MOTION CONTROL SERIES SMOS EVM MOTOR BOARD 3 + + 12 Vdc - J3/JP4 J2/J4 J5,J7,J8 Phase_C Phase_B Phase_A 3 2 1 1 WHITE/BLACK BRUSHLESS MOTOR WHITE/YELLOW WHITE/RED HALL/ENCODER CONNECTOR 1 2 3 4 5 HALL C (BLUE) HALL B (WHITE) HALL A (GREEN) GND (BLACK) +5V (RED) Figure 4-6 Brushless DC Motor Connections - Schematic View 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 31 Freescale Semiconductor, Inc. Schematics and Parts List 4.4 Parts List The SMOS EVM motor board's list of parts is described in the following table. Table 4-1 Parts List (Sheet 1 of 4) Qty. 3 Reference C1, C3, C9 C4 Part Value 22 F/25 V 10 F/ 6.3 V Description Tantalum capacitor, D, 22 F/20 V, 10%, AVX ESR 0.2 Tantalum Capacitor, A, AVX, ELNA 10 F/6.3 V, 10% Capacitor, 0805, Ceramic 100 nF/25 V, Z5U, 20% Vishay Vitramon Mfg. Mfg. Part No. Freescale Semiconductor, Inc... 1 14 C5, C6, C7, C8, C10, C11, C12, C108, 100 nF C109, C203, C301, C302, C303, C402 C101, C102, C103 C104 C105, C106 C107 C201, C202, C204 C205 C206 C401 D1 D2 D3, D4 D101, D102, D103, D104, D105, D106 D401 JP2, JP3, JP5 330 F/35 V 150 nF 10 nF 1 uF 100 pF 22 pF 47 nF 1 nF 1.5SMC18AT3 LED Green 1N4001 MBRM140T3 MBRS330 JUMPER1x3 3 1 2 1 3 1 1 1 1 1 2 6 1 3 Electrolytic Capacitor ELNA 330 F/35 V, Type RE2 Ceramic capacitor, 0805, 150 nF, 5% Ceramic capacitor, 0805, 10 nF, 5% Polyester Capacitor 1uF/63V, 10%, Type MKT 220-7 Ceramic capacitor, 0805, 100 pF, 5% Ceramic capacitor, 0805, 22 pF, 5% Ceramic capacitor, 0805, 47 nF, 5% Ceramic capacitor, 0805, 1 nF, 5% Zener Transient Voltage Suppressor 18V LED diode, SMD, 20 mA, green Vishay Vitramon Vishay Vitramon EPCOS Vishay Vitramon Vishay Vitramon Vishay Vitramon Vishay Vitramon ON Semiconductor Kingbright 1.5SMC18AT3 AA3528SGT 1N4001 MBRM140T3 MBRS330 General Purpose Axial ON Rectifier 50V, 1A Semiconductor Shottky Rectifiers 40 V, ON 1A Semiconductor Schottky Rectifier 30V, ON 3A Semiconductor Jumper, 3-pin header, 0.1", M20-973 type HARWIN DRM33395 Designer Reference Manual 32 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Schematics and Parts List Parts List Table 4-1 Parts List (Sheet 2 of 4) Qty. 1 1 1 1 1 JP4 J1 J2 J3 J4 J5, J7, J8 L1, L2 Q101, Q102, Q103, Q104, Q105, Q106, Q107, Q401 R1 R2 R3, R132, R133 R4 R5 R101, R102, R103 R104, R201, R208, R216 R105, R203, R210, R217 R106 R107 R108 R109 Reference Part Value CON/2screws CON/40 AMP 640387-3 Power Jack CON/3screws FASTON 1 mH MTD3302T4 680R 220k 100k 1.5k 3.3k PMA-A-R030-1 10k-1% 2.7k-1% 120-1% 180-1% 1k8-1% 1k2-1% Description Mfg. Mfg. Part No. 237-132 ASLG40G 640387-3 PJ-002 237-133 2 screws PCB terminal, WAGO 5mm pin spacing Header 40 pins breakaway connector Header 3 pins Power Jack type connector 2.5 mm Fischer Elektronik AMP CUI Stack Freescale Semiconductor, Inc... 3 screws PCB terminal, WAGO 5mm pin spacing Faston connector V90P vertical, 6.3mm wide Inductor 1 mH, 0.2 A Power N MOSFET Transistor, 30 V, 18 A Resistor 680 , 5%, 0805 Resistor 220 k, 5%, 0805 Resistor 100 k, 5%, 0805 Resistor 1.5k, 5%, 0805 Resistor 3.3k, 5%, 0805 Sensing resistor with Kelvin terminals, 30 m, 1% Resistor 10 k, 1%, 0805 Resistor 2.7 k, 1%, 0805 Resistor 120 , 1%, 0805 Resistor 180 , 1%, 0805 Resistor 1.8 k, 1%, 0805 Resistor 1.2 k, 1%, 0805 AMP Epcos ON Semiconductor Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Isabellenhuette Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale 3 2 8 1 1 3 1 1 3 4 4 1 1 1 1 MTD3302T4 PMA-A-R030-1 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 33 Freescale Semiconductor, Inc. Schematics and Parts List Table 4-1 Parts List (Sheet 3 of 4) Qty. Reference R110, R111, R112, R113, R114, R115, R116, R117, R118, R204, R205, R211, R212, R218, R219, R222, R223, R401 R119, R120, R121, R122, R123, R124, R125, R126, R127, R128, R129, R130 R131 R202, R209, R215 R206, R213, R220 R207, R214, R221 R224, R225, R226 R301, R304, R308, R311, R312, R315 R302, R303, R309, R310, R313, R314 R305 R306 R307, R316, R317, R318, R319 R402, R404 R403 Part Value Description Mfg. Mfg. Part No. 18 10k Resistor 10 k, 5%, 0805 Vishay Dale 12 51R Resistor 51 , 5%, 0805 Vishay Dale Freescale Semiconductor, Inc... 1 3 3 3 3 6 2 1 1 5 2 1 1 1 1 1 10k/TRIMMER 1M 5.6k 3k3-1% 33k 39k-1% 6k8-1% 390R 100k-1% 33k-1% 100R 1R Cermet-Trimmer 10 Hinkel-elektronik k, 0.15W, 4315-SMD Resistor 1 M, 5%, 0805 Resistor 5.6 k, 5%, 0805 Resistor 3.3 k, 1%, 0805 Resistor 33 k, 5%, 0805 Resistor 39 k, 1%, 0805 Resistor 6.8 k, 1%, 0805 Resistor 390 , 5%, 0805 Resistor 100 k, 1%, 0805 Resistor 33 k, 1%, 0805 Resistor 100 , 5%, 0805 Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Vishay Dale Resistor 1 , 1%, SQM Meggit CGS type, 5-7W Rotary Switch, RTE03 type, 3 positions Tactile SMD switch, B3S-1000 type, 6x6mm Hex Schmitt Inverter Linear Voltage Regulator ITT Cannon OMRON ON Semiconductor ON Semiconductor RS#183-701 MC74HC14A MC78PC33NTR SW1 (only in 140A01 Rotary Switch board version) SW1 (only in 140A02 pushbutton board version) U1 U2 MC74HC14A MC78PC33NTR DRM33395 Designer Reference Manual 34 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Schematics and Parts List Parts List Table 4-1 Parts List (Sheet 4 of 4) Qty. 1 1 1 1 2 U16 U103 U104 U201 U301, U302 U303 U401 Reference Part Value MC7805 MC33395 DM74ALS1034M LM339D MC33502D LM285M MC33152D Description Positive Voltage Regulator, 5V, 1A 3-phase Gate Driver Hex Non-Inverting Driver Quad Comparator Operational Amplifier, rail-to-rail Adjustable Voltage Reference High-Speed Dual MOSFET Driver Mfg. ON Semiconductor Motorola Fairchild ON Semiconductor ON Semiconductor ON Semiconductor ON Semiconductor Mfg. Part No. MC7805ACT MC33395T DM74ALS1034M LM339D MC33502D LM285M MC33152D Freescale Semiconductor, Inc... 1 1 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 35 Freescale Semiconductor, Inc. Schematics and Parts List Freescale Semiconductor, Inc... DRM33395 Designer Reference Manual 36 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. 33395 Evaluation Motor Board Section 5. Design Considerations 5.1 Contents 5.2 Overview...................................................................................37 3-Phase H-Bridge .....................................................................37 Bus Voltage and Current Feedback Signals............................. 38 Back-EMF Signals .................................................................... 40 Brake Control ........................................................................... 41 Freescale Semiconductor, Inc... 5.3 5.4 5.5 5.6 5.2 Overview From a systems point of view, the SMOS EVM motor board kit fits into an architecture that is designed for application 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 SMOS 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 8 amps of continuous current. Feedback signals include bus voltage, phase currents, reconstructed bus current, Back-EMF (electromotive force), and zero crossing. The following sections describe these features. 5.3 3-Phase H-Bridge Use of the Motorola integrated 3-phase gate driver, MC33395, considerably simplifies control of the output stage which is configured as a 3-phase H-bridge with six complementary N-MOSFET output transistors. Together with external components this device provides 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Design Considerations For More Information On This Product, Go to: www.freescale.com 37 Freescale Semiconductor, Inc. Design Considerations reverse battery protection, a high-side, MOSFET switch, PWM frequencies up to 28 kHz and built-in protective circuitry to prevent damage to the MOSFET bridge and the drive's IC, and includes: thermal (not used), over-current, over-voltage (>27V) and under-voltage (<4V) shutdown. A schematic is shown in Figure 4-2. At the input, pulldown resistors R110 thru R118 set 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. In order to accept 5-volt MCUs and 3.3-volt DSPs, a Fairchild non-inverting driver DM74ALS1034M unifies the level of the LSEx and HSEx input signals. This component has a minimum high-state logic 1 input voltage of 2.0 volts, and a maximum low-state logic 0 input voltage of 0.8 volts. The SMOS EVM motor board will thus enable the connection of large number of controller boards with various MCUs or DSPs, for example MC68HC908, HCS12, MPC555, DSP56F8XX(E), etc. 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 0.85 volts. Freescale Semiconductor, Inc... 5.4 Bus Voltage and Current Feedback Signals Feedback signals proportional to bus voltage, phase currents and reconstructed bus current are provided in this section. Bus voltage is scaled down by a voltage divider consisting of R104, R105, R106, R107, R108, and R19. 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. Figure 5-1 depicts the dc bus voltage circuitry. Phase currents are sampled by resistors R101, R102 and R103 in Figure 4-2 and amplified by the circuit in Figure 5-1, which shows the circuitry for phase A. This circuit provides a voltage output suitable for sampling with A/D inputs. An MC33502 is used as a differential amplifier. The gain is given by: A = R301/R302 DRM33395 Designer Reference Manual 38 Design Considerations For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Design Considerations Bus Voltage and Current Feedback Signals The output voltage is shifted up by 1.65 V into the middle of the converter range, to accommodate both positive and negative current swings. A 300-mV voltage drop across the shunt resistor corresponds to a measured current range of 10 amps (peak value), again with 3.3V maximum on the output. The SMOS EVM motor board measures and limits current according to a reconstructed bus current value that inverts swings of phase current signals and also shifts the output up by 1.65V with gain A=1. Its significance is adjustable with a trimmer, R131, used for setting an over-current comparator implemented in the SMOS driver. This comparator disables the driver outputs when the IS- (the driver pin) voltage rises above IS+, see Figure 5-2. This happens when the following is true: IS- IS+ Freescale Semiconductor, Inc... VIS+off 0.08 * ImaxDCB + 1.65 [V; A] CAUTION: The value, VIS+ > 2.45V, disables the over-current circuit protection functionality since the value on the VIS- pin is always smaller than 2.45 volts. Allowing a larger VIS+ value can lead to permanent damage of the board if a current higher than 18 amps is applied! For resetting board faults see step 6 in chapter 1.5. R301 39 k-1% I_sense_A1 I_sense_A2 R302 6k8 -1% 2 - 3+ R303 6k8 -1% R304 39 k-1% 1 U301A MC33502D I_sense_A DCB_Pos R104 R105 V_sense_DCB 10 k-1% 2.7 k-1% R106 120 -1% +3.3V_A R305 390 LM285M U303 8 1.65 Vref R306 100 k-1% R307 33 k-1% R108 DCB_Neg 1.8 k-1% 1.2 k-1% R109 R107 180 -1% V_sense_DCB_half 5 4 GNDA Figure 5-1 Phase Current and DC Bus Voltage Sensing 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Design Considerations For More Information On This Product, Go to: www.freescale.com 39 Freescale Semiconductor, Inc. Design Considerations I_sense_A I_sense_B I_sense_C +3.3V_A R317 33 k-1% R318 33 k-1% R319 33 k-1% R305 390 3 +1.65V R316 33 k-1% 2 - 3+ 1 R132 100 k R133 100 k I_reconst_DCB = GNDA U302A MC33502D IS- (pin 17 of U103) C108 100 nF IS+ (pin 18 of U103) R131 10 k 1 GNDA 2 Figure 5-2 Reconstructed Bus Current Freescale Semiconductor, Inc... 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 the circuitry for phase C, the raw phase voltage is scaled down by a voltage divider consisting of R216, R217, and R221. One output from this divider, BEMF_sense_C produces Back-EMF sense voltage. 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 the motor phase voltage with 1/2 the value of the motor bus voltage. Comparator U201A performs this function, producing a zero crossing signal, Zero_cross_C. Phase_C R216 10 k-1% R215 1M +5V_D R219 10 k 2 U201A LM339D Zero_cross_C R218 10 k R217 2.7 k-1% BEMF_sense_C R221 3.3 k-1% GNDA C204 100 pF GNDA R220 5.6 k 5 + V_sense_DCB_half C205 22 pF GNDA 4- 12 Figure 5-3 Phase C Back-EMF Feedback DRM33395 Designer Reference Manual 40 Design Considerations For More Information On This Product, Go to: www.freescale.com 33395 Evaluation Motor Board MOTOROLA Freescale Semiconductor, Inc. Design Considerations Brake Control 5.6 Brake Control A brake circuit is included to dissipate re-generative motor energy during periods of active deceleration or rapid reversal. Under there conditions, motor Back-EMF adds to the dc bus voltage. Without a means to dissipate excess energy, an over-voltage condition could easily occur. The circuit shown in Figure 4-5 connects R403 across the dc bus to dissipate energy. The transistor Q401 is turned on by software when the bus voltage sensing circuit in Figure 5-1 indicates that the bus voltage could exceed safe levels. On-board power resistor R403 will safely dissipate up to 5 watts continuously or up to 50 watts for 5 seconds. Freescale Semiconductor, Inc... 33395 Evaluation Motor Board MOTOROLA DRM33395 Designer Reference Manual Design Considerations For More Information On This Product, Go to: www.freescale.com 41 Freescale Semiconductor, Inc. HOW TO REACH US: USA/EUROPE/LOCATIONS NOT LISTED: Motorola Literature Distribution P.O. Box 5405 Denver, Colorado 80217 1-800-521-6274 or 480-768-2130 JAPAN: Motorola Japan Ltd. SPS, Technical Information Center 3-20-1, Minami-Azabu, Minato-ku Tokyo 106-8573, Japan 81-3-3440-3569 ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd. Silicon Harbour Centre 2 Dai King Street Tai Po Industrial Estate Tai Po, N.T., Hong Kong 852-26668334 HOME PAGE: http://motorola.com/semiconductors Freescale Semiconductor, Inc... Information in this document is provided solely to enable system and software implementers to use Motorola products. There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits or integrated circuits based on the information in this document. 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 that may be provided in Motorola data sheets and/or specifications can and do vary in different applications 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 the Stylized M Logo are registered in the US Patent and Trademark Office. All other product or service names are the property of their respective owners. Motorola, Inc. is an Equal Opportunity/Affirmative Action Employer. (c) Motorola Inc. 2003 DRM33395/D Rev. 2 05/2003 For More Information On This Product, Go to: www.freescale.com |
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