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MEMCEVMBUM/D
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Motorola Embedded Motion Control
EvaluationMotor Board
User’s Manual
For More Information On This Product,
Go to: www.freescale.com
Evaluation Motor Board
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Important Notice to Users
While every effort has been made to ensure the accuracy of all information inthis document, Motorola assumes no liability to any party for any loss ordamage caused by errors or omissions or by statements of any kind in thisdocument, its updates, supplements, or special editions, whether such errors areomissions or statements resulting from negligence, accident, or any other cause.Motorola further assumes no liability arising out of the application or use of anyinformation, product, or system described herein: nor any liability for incidentalor consequential damages arising from the use of this document. Motoroladisclaims all warranties regarding the information contained herein, whetherexpressed, implied, or statutory, including implied warranties ofmerchantability or fitness for a particular purpose. Motorola makes norepresentation that the interconnection of products in the manner describedherein will not infringe on existing or future patent rights, nor do thedescriptions contained herein imply the granting or license to make, use or sellequipment constructed in accordance with this description.
Trademarks
This document includes these trademarks:
Motorola and the Motorola logo are registered trademarksof 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,
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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 3 For More Information On This Product,
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List of Sections
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User’s Manual Evaluation Motor Board
4 List of Sections MOTOROLA For More Information On This Product,
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User’s Manual — Evaluation Motor Board
Table of Contents
Section 1. Introduction and Setup
1.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 EVM Motor Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Section 2. Operational Description
2.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4 Motor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Section 3. Pin Descriptions
3.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.1 EVM Motor Board Power Connectors J3 and J4. . . . . . . . . . . . . . 233.3.2 EVM Motor Board 40-Pin Ribbon Connector J1 . . . . . . . . . . . . . 233.3.3 EVM Motor Board Output Connector J2. . . . . . . . . . . . . . . . . . . . 263.3.4 Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263.3.5 Motor Hall Sensor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263.3.6 Motor Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273.3.7 Motor Encoder Cable Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 273.3.8 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Evaluation Motor Board User’s Manual
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Table of Contents
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Section 4. Schematics and Parts List
4.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4 Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.5 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Section 5. Design Considerations
5.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.3 3-Phase H-Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.4 Bus Voltage and Current Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.5 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
User’s Manual Evaluation Motor Board
6 Table of Contents MOTOROLA For More Information On This Product,
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User’s Manual — Evaluation Motor Board
List of Figures
Figure Title Page
1-1 Systems’ Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121-2 EVM Motor Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131-3 EVM Motor Board Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3-1 40-Pin Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4-1 Motor EVM Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304-2 3-Phase H-Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314-3 Bus Current Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324-4 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334-5 Brushless dc Motor Connections — Schematic View . . . . . . . . . . . . 344-6 Encoder Connector — Physical View . . . . . . . . . . . . . . . . . . . . . . . . 35
5-1 Phase A Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405-2 Bus Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415-3 Phase C Back EMF Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Evaluation Motor Board User’s Manual
MOTOROLA List of Figures 7 For More Information On This Product,
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List of Figures
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User’s Manual Evaluation Motor Board
8 List of Figures MOTOROLA For More Information On This Product,
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User’s Manual — Evaluation Motor Board
List of Tables
Table Title Page
2-1 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182-2 Motor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3-1 Connector J1 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 233-2 Connector J2 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 263-3 Motor Hall Sensor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263-4 Motor Encoder Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273-5 Test Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4-1 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Evaluation Motor Board User’s Manual
MOTOROLA List of Tables 9 For More Information On This Product,
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List of Tables
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User’s Manual Evaluation Motor Board
10 List of Tables MOTOROLA For More Information On This Product,
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User’s Manual — Evaluation Motor Board
Section 1. Introduction and Setup
1.1 Contents
1.2 EVM Motor Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 EVM Motor Introduction
Motorola’s evaluation motor board (EVM motor board) is a 12-volt, 4-amppower stage that is an integral part of Motorola’s embedded motion controlseries of development tools. It is supplied in kit number ECMTREVAL, alongwith a small brushless dc motor, an encoder, an encoder cable, a 40-pin ribboncable, and mounting hardware. In combination with one of the embeddedmotion control series control or evaluation boards, it provides a ready-madesoftware development platform for small brushless dc motors. The motor iscapable of being controlled with either Hall sensors, an optical encoder, or withsensorless techniques. An illustration of the systems’ configurations is shown inFigure 1-1. Figure 1-2 is an illustration of the board.
1.3 About this Manual
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’scircuitry, a description is provided in Section 5. Design Considerations.
Evaluation Motor Board User’s Manual
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Introduction and Setup
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Figure 1-1. Systems’ Configurations
HC08CONTROLLER
BOARD
EVM MOTORBOARD
MOTOR
WORKSTATION
MMDS08DSPEVM
BOARD
EVM MOTORBOARD
MOTOR
WORKSTATION
b) 56800 DSPa) MC68HC08 MICROCONTROLLER
OPTIONAL FEEDBACKOPTIONAL FEEDBACK
User’s Manual Evaluation Motor Board
12 Introduction and Setup MOTOROLA For More Information On This Product,
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Introduction and SetupAbout this Manual
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Figure 1-2. EVM Motor Board
R307
R30
6
R305
R30
4 R30
3
R302
R301
R22
1
R220
R21
9
R21
8
R21
7R
216
R215
R21
4
R213
R21
2
R21
1
R21
0
R209
R20
8
R20
7
R206
R20
5
R20
4
R20
3
R202
R20
1
R11
1R
110
R10
7
R10
4R
103
R10
2
R1
R10
5
R10
8
C102
+
C103
+
C104
+
R11
3
R11
2
R10
9
R10
6
C10
7
U101
D3 D2
J4
39 40
J1
21
R10
1
U102
+
C105
+
C106
+
U103
C101
+
U3
L1C
108
C10
9
Q103 Q102 Q101
R222
R223
POWER 12V- +
MO
TO
RC
ON
NE
CT
OR
EVM Motor BoardNo. 00124_02 01/00
R22
4
PHA
SE A
PHA
SE B
PHA
SE C
R225
DCB_POS
GND
Copyright c 2000
+3.3V_A
GNDA
GND
+5V_D
POWER ON
C301
C303
C302+
U301
U302
R226
C3+
D1
C2
J2
U2
J3
U20
1
C203
C20
1
C20
2
C20
4
C20
5
C206
C4+
C1 +
F1
D4
D10
3
R11
9
D10
4
R11
8
R117
D10
2
R116R125
D10
6
R124
D10
5
R12
3R
122
R120R121
R11
5
D10
1R
114
Evaluation Motor Board User’s Manual
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Introduction and Setup
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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 safeoperation, 12-volt input power should come from a dc laboratory power supplythat is current limited to no more than 6 amps.
The user should be aware that:
• Before moving scope probes, making connections, etc., it is generallyadvisable to power down the 12-volt supply.
• Operation in lab setups that have grounded tables and/or chairs should beavoided.
• Wearing safety glasses, avoiding ties and jewelry, using shields, andoperation by personnel trained in power electronics lab techniques arealso advisable.
User’s Manual Evaluation Motor Board
14 Introduction and Setup MOTOROLA For More Information On This Product,
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Introduction and SetupSetup Guide
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1.5 Setup GuideSetup and connections for the EVM motor board are straightforward. The EVMmotor board connects to a Motorola embedded motion control series controlboard via a 40-pin ribbon cable. The motor’s power leads plug into outputconnector J2, and its Hall sensors plug into the control board’s Hallsensor/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 indicatedin Figure 1-3. Standoffs, screws, and washers are included in the kit.This step and step 3 are optional when making connections with DSPcontrol boards such as the DSP56F805EVM. The DSP boards may beplaced flat on a bench, next to the EVM motor board.
2. Plug one end of the 40-pin ribbon cable that is supplied with Motorolaembedded motion control series control boards into input connector J1,located on the right-hand side of the board. The other end of this cablegoes to the control board’s 40-pin output connector.
3. Mount the control board on top of the standoffs with screws and washersfrom the ECMTREVAL kit. This step is optional with DSP controlboards.
4. Plug the free end of the cable connected to input connector J1 into thecontrol board’s 40-pin connector.
5. Connect a 12-Vdc power supply either to connector J3, labeled “Power12V,” or power jack J4. Either one, but not both, may be used. Theseconnectors are located on the front right-hand corner of the board. The12-volt power supply should be rated for at least 4 amps and have itscurrent limit set between 4 and 6 amps.
6. If protection features are desired, set the control board’s overcurrentdetection comparator to 2.8 V and its undervoltage detection comparatorto 1.24 V. These values limit dc bus current to 2.8 amps and turn off drivesignals if bus voltage falls below 6 volts.
7. Apply power to the EVM motor board. The green power-on LED lightswhen power is present. Note that the EVM motor board powers thecontrol board, making only one power supply necessary to run acomplete system.
CAUTION: Since the control board is powered by the EVM motor board, it is imperativethat only one power supply is used.
Evaluation Motor Board User’s Manual
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Introduction and Setup
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Figure 1-3. EVM Motor Board Setup
MOTOR
56800
EVM MOTOR40-PINRIBBON CABLE
STANDOFF
12-VOLTMOTOR SUPPLY
STANDOFF
BOARD
EVALUATION MODULEOR
HC08 CONTROL BOARD
STANDOFFS
User’s Manual Evaluation Motor Board
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User’s Manual — Evaluation Motor Board
Section 2. Operational Description
2.1 Contents
2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4 Motor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 Introduction
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-H1brushless dc motor. In combination with one of the embedded motion controlseries control boards, it provides a software development platform that allowsalgorithms to be written and tested without the need to design and build a powerstage. It supports algorithms that use Hall sensors, encoder feedback, and backEMF (electromotive force) signals for sensorless control.
The EVM motor board does not have overcurrent protection that is independentof the control board, so some care in its setup and use is required if a lowerimpedance motor is used. With the motor that is supplied in the kit, the poweroutput stage will withstand a full-stall condition without the need forovercurrent protection. Current measuring circuitry is set up for 4 amps fullscale. In a 25οC ambient operation at up to 6 amps continuous RMS outputcurrent is within the board’s thermal limits.
Input connections are made via 40-pin ribbon cable connector J1. Pinassignments for the input connector are shown in Figure 3-1. 40-Pin InputConnector J1. Power connections to the motor are made on output connectorJ2. Phase A, phase B, and phase C are labeled on the board. Power requirementsare 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
Evaluation Motor Board User’s Manual
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Operational Description
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located on the front edge of the board. Power is supplied to one or the other, butnot both.
A summary of the information needed to use the EVM motor board follows. Fordesign information, see Section 5. Design Considerations.
2.3 Electrical Characteristics
The electrical characteristics in Table 2-1 apply to operation at 25°C and a12-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 ICC — 50 — mA
Min Logic 1 Input Voltage VIH 2.4 — — V
Max Logic 0 Input Voltage VIL — — 0.8 V
Input Resistance RIn — 10 — kΩ
Analog Output Range VOut 0 — 3.3 V
Bus Current Sense Voltage ISense — 412 — mV/A
Bus Voltage Sense Voltage VBus — 206 — mV/V
Power MOSFET On Resistance RDS(On) — 32 40 MΩ
RMS Output Current IM — — 6 A
Total Power Dissipation Pdiss — — 5 W
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Operational DescriptionMotor Characteristics
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2.4 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 @ Vt — 5000 — RPM
Torque Constant Kt — 0.08 — Nm/A
Voltage Constant Ke — 8.4 — V/kRPM
Winding Resistance Rt — 2.8 — Ω
Winding Inductance L — 8.6 — mH
Continuous Current Ics — — 2 A
Peak Current Ips — — 5.9 A
Inertia Jm — 0.075 — kgcm2
Thermal Resistance — — 3.6 °C/W
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Operational Description
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User’s Manual Evaluation Motor Board
20 Operational Description MOTOROLA For More Information On This Product,
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User’s Manual — Evaluation Motor Board
Section 3. Pin Descriptions
3.1 Contents
3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.1 EVM Motor Board Power Connectors J3 and J4. . . . . . . . . . . . . . 233.3.2 EVM Motor Board 40-Pin Ribbon Connector J1 . . . . . . . . . . . . . 233.3.3 EVM Motor Board Output Connector J2. . . . . . . . . . . . . . . . . . . . 263.3.4 Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263.3.5 Motor Hall Sensor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263.3.6 Motor Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273.3.7 Motor Encoder Cable Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 273.3.8 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.2 Introduction
Inputs and outputs are located on eight connectors:
• Three connectors are located on the board.
• 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 motorboard’s breadboard area.
Pin descriptions for each of these connectors and the test points are identified inthe following information. Pin assignments for the input and output connectorsare shown in Figure 3-1. Signal descriptions are provided in Table 3-1 throughTable 3-5.
Evaluation Motor Board User’s Manual
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Pin Descriptions
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Figure 3-1. 40-Pin Input Connector J1
40393837363534333231302928272625242322212019181716151413121110987654321
BEMF_sense_CBEMF_sense_BBEMF_sense_AShieldingZero_cross_CZero_cross_BZero_cross_A
Serial_Con
Shielding
I_sense_DCBV_sense_DCB
+12VGNDAGNDA+3.3V_A+5V_D+5V_DGNDGNDPWM_CBShieldingPWM_CTShieldingPWM_BBShieldingPWM_BTShieldingPWM_ABShieldingPWM_AT
SCHEMATIC VIEW
J1
CON/40
2468
10121416182022242628303234363840
13579111315171921232527293133353739
ShieldingShieldingShieldingShieldingShieldingGND+5V_D+3.3V_AGNDA
I_sense_DCB
ShieldingSerial_Con
Zero_cross_AZero_cross_CBEMF_sense_ABEMF_sense_C
PWM_ATPWM_ABPWM_BTPWM_BBPWM_CTPWM_CB
GND+5V_DGNDA+12V
V_sense_DCB
Zero_cross_BShielding
BEMF_sense_B
PHYSICAL VIEW
User’s Manual Evaluation Motor Board
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Pin DescriptionsSignal Descriptions
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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 J4 are located on the bottom right-hand corner of the board. ConnectorJ3 is a 2.1-mm power jack for plug-in type 12-volt power supply connections.Connector J4 has screw terminal inputs labeled + (plus) and – (minus), foraccepting wire inputs. Power is supplied to one or the other, but not both. Thepower supply should be able to deliver at least 3.5 amps. For power supplies thatcan supply larger currents, 4 amps 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, locatedon the right side of the board. Pin assignments are shown in Figure 3-1. Pindescriptions are listed in Table 3-1.
Table 3-1. Connector J1 Signal Descriptions (Sheet 1 of 3)
PinNo.
Signal Name Description
1 PWM_ATPWM_AT is the gate drive signal for the top half-bridge of phase A. A logic high atinput 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.
3 PWM_ABPWM_AB is the gate drive signal for the bottom half-bridge of phase A. A logic highat input connector J1 turns on the phase A bottom switch.
4 Shielding Pin 4 is connected to a shield wire in the ribbon cable, and ground on the board.
5 PWM_BTPWM_BT is the gate drive signal for the top half-bridge of phase B. A logic high atinput 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.
7 PWM_BBPWM_BB is the gate drive signal for the bottom half-bridge of phase B. A logic highat 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.
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Pin Descriptions
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9 PWM_CTPWM_CT is the gate drive signal for the top half-bridge of phase C. A logic high atinput connector J1 turns on the phase C top switch.
10 Shielding Pin 10 is connected to a shield wire in the ribbon cable, and ground on the board.
11 PWM_CBPWM_CB is the gate drive signal for the bottom half-bridge of phase C. A logic highat 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 +5V_D Digital +5-volt power supply
15 +5V_D Digital +5-volt power supply, redundant connection
16 +3.3V_A Analog +3.3-volt 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
21 V_sense_DCBV_sense_DCB is an analog sense signal that measures dc bus voltage. It is scaledat 0.206 volts per volt of dc bus voltage.
22 I_sense_DCBI_sense_DCB is an analog sense signal that measures dc bus current. It is scaledat 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 wire in the ribbon cable, and ground on the board.
29 — No connection
30 Serial_ConSerial_Con is an identification signal that lets the controller know which powerstage is present. It is nominally a 600-Hz square wave.
31 — No connection
32 — No connection
33 — No connection
Table 3-1. Connector J1 Signal Descriptions (Sheet 2 of 3)
PinNo.
Signal Name Description
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34 Zero_cross_AZero_cross_A is a digital signal that is used for sensing phase A back-EMF zerocrossing events.
35 Zero_cross_BZero_cross_B is a digital signal that is used for sensing phase B back-EMF zerocrossing events.
36 Zero_cross_CZero_cross_C is a digital signal that is used for sensing phase C back-EMF zerocrossing events.
37 Shielding Pin 37 is connected to a shield wire in the ribbon cable, and ground on the board.
38 BEMF_sense_ABEMF_sense_A is an analog sense signal that measures phase A back EMF. It isscaled at 0.206 volts per volt of dc bus voltage.
39 BEMF_sense_BBEMF_sense_B is an analog sense signal that measures phase B back EMF. It isscaled at 0.206 volts per volt of dc bus voltage.
40 BEMF_sense_CBEMF_sense_A is an analog sense signal that measures phase C back EMF. It isscaled at 0.206 volts per volt of dc bus voltage.
Table 3-1. Connector J1 Signal Descriptions (Sheet 3 of 3)
PinNo.
Signal Name Description
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Pin Descriptions
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3.3.3 EVM Motor Board Output Connector J2
Power outputs to the motor are located on connector J2, labeled “MotorConnector.” Pin assignments are described in Table 3-2.
3.3.4 Motor Power Connector
Motor power connections are grouped into a connector that plugs into the EVMmotor board’s motor connector, J2. Pin assignments are identical to EVM motorboard output connector J2.
3.3.5 Motor Hall Sensor Connector
Hall sensor connections are made with a connector that plugs into the controlboard’s Hall sensor/encoder connector. Pin assignments are described inTable 3-3.
Table 3-2. Connector J2 Signal Descriptions
PinNo.
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.
Table 3-3. Motor Hall Sensor Connector
PinNo.
Signal Name Description
1 +5V+5V supplies power from the control board to the Hall sensors. The wire color isred.
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 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
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Pin DescriptionsSignal Descriptions
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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 inTable 3-4.
3.3.7 Motor Encoder Cable Connectors
The encoder cable has two connectors, one at each end. They assume the pinassignments of their respective mating connectors, one on the EVM motorboard and the other on the control board.
3.3.8 Test Points
Six test points provide easy access to power supply and ground voltages. Theyare listed in Table 3-5 as they appear from top to bottom on the board.
Table 3-4. Motor Encoder Connector
PinNo.
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 +5V Pin 4 supplies +5 volts from the control board to the encoder.
5 Channel B Pin 5 is the channel B output.
Table 3-5. Test Points
PinNo.
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-volt 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 GNDTest point GND is an additional connection to the 12-volt power supply and motorbus ground.
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Pin Descriptions
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User’s Manual Evaluation Motor Board
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User’s Manual — Evaluation Motor Board
Section 4. Schematics and Parts List
4.1 Contents
4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4 Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.5 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2 Overview
A set of schematics for the EVM motor board appears in Figure 4-1 throughFigure 4-5. An overview of the whole board is shown in Figure 4-1. The3-phase H-bridge, including gate drivers, appears in Figure 4-2. Bus currentfeedback is shown in Figure 4-3. Back EMF signals appear in Figure 4-4. Thebrushless dc motor is shown in Figure 4-5.
Unless otherwise specified, resistor values are in ohms, resistors are specifiedas 1/8 watt ±5%, and interrupted lines coded with the same letters areelectrically connected.
4.3 Schematics
The schematics for the evaluation motor board appear on the following pages.
Evaluation Motor Board User’s Manual
MOTOROLA Schematics and Parts List 29 For More Information On This Product,
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eilding
o_cross_B
o_cross_A
F_sense_B
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ial_Con
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eilding
ense_DCB
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F_sense_C
eilding
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_BB
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F_sense_A
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5L
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12
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31
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For More Information On This Product,
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ense_DCB
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104
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Fig
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ase
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10.7k-1%
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R111
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DCB_Pos
DCB_Pos
DCB_Neg
PWM_BB
PWM_BTPWM_A
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U30
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+5
V_
D
R20
810
k-1%
Ph
ase
_A
+5
V_
D
R21
43.
32k-
1%
Fig
ure
4-4
. B
ack
EM
F S
ign
als
(2.5V @ Phase(
BE
MF
_se
nse
_C
Ph
ase
_B
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Schematics and Parts List
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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 viewindicates pin 1 on the encoder’s 5-pin connector.
MOTOROLAEMBEDDED MOTION CONTROL
SERIES
J4
Phase_C
Phase_B
Phase_A
BRUSHLESS
+ 12 Vdc
56800 EVALUATION MODULEOR
40-PINRIBBON CABLE
1 2 3 4 5
MOTOR
HC08 CONTROL BOARD
MOTOROLAEMBEDDED MOTION CONTROL
SERIESEVM MOTOR BOARD
3
2
1
J2
HALL/ENCODERCONNECTOR
WHITE/RED
WHITE/YELLOW
WHITE/BLACK
+
–
J1
HALL C (BLUE)
HALL B (WHITE)
HALL A (GREEN)
GND (BLACK)
+5V (RED)
User’s Manual Evaluation Motor Board
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Fig
ure
4-6
. E
nc
od
er C
on
ne
cto
r –
Ph
ys
ica
l Vie
w
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4.5 Parts List
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.
1 C1 22 µF/25 VTantalum capacitor, D,22 µF/25 V, ±10%,ESR 0.2
AVX TPSD226K025R0200
1 C2 220 µF/10 VElectrolytic Capacitor220 µF/10 V, Type RE2
ELNA RE2-10V221MMA
2 C3, C4 3.3 µF/ 20 VTantalum Capacitor, A,3.3 µF/20 V, ±10%
Vishay Sprague 293D335X_010A2
3 C101, C102, C103 330 µF/35 VElectrolytic Capacitor330 µF/35 V, Type RE2
ELNA RE2-35V331MMA
3 C104,C105,C106 4.7 µF/35 VTantalum Capacitor, D,4. 7µF/35 V, ±10%
Vishay Sprague 293D475X_035D2
7C107, C108, C109,C203, C206,C301, C303
100 nFCapacitor, 805,Ceramic 100 nF/25 V,Z5U, ±20%
Vishay Vitramon VJ0805U104MXXA
3 C201, C202, C204 100 pFCeramic capacitor,0805, 100 pF, ±5%
Vishay Vitramon VJ0805A101JXA
1 C205 22 pFCeramic capacitor,0805, 22 pF, ±5%
Vishay Vitramon VJ0805A220JXA
1 C302 3.3 µF/10 VTantalum capacitor, A,3.3 µF/10 V, ±10%
Vishay Sprague 293D335X_010A2
1 D1 P6SMB18AT3Transient voltagesuppressor 18 V
ONSemiconductor
P6SMB18AT3
1 D2 MBRD835LLow VF ShottkyRectifiers 35 V, 8 A
ONSemiconductor
MBRD835L
1 D3 LED GreenLED diode, 3mm,10 mA, green
Kingbright L-934GT
7D4, D101, D102,D103, D104, D105,D106
MBRM140T3Shottky Rectifiers 40 V,1A
ONSemiconductor
MBRM140T3
1 D5 BZX84C5V6LT1 Zener diode 5.6 VONSemiconductor
BZX84C5V6LT1
1 F1 RUE400 Resetable fuse Raychem RUE400
1 J1 CON/40Header 40 pinsbreakaway connector
FischerElektronik
ASLG40G
1 J2 AMP 640387-3 Header 3 pins AMP 640387-3
1 J3 Power JackPower Jack typeconnector 2.1 mm
CUI Stack PJ-002A
User’s Manual Evaluation Motor Board
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Schematics and Parts ListParts List
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1 J4 CON/2screws2 screws PCB terminal,200 mils
WAGO 237-132
1 L1 330 µHInductor 330 µH, 0.5 A,thruhole, d = 9mm
Bourns RLB0914-331K
3 Q101, Q102, Q103 Si4558DYP+ N MOSFETtransistor, 30 V, 6 A
Vishay Si4558DY
1 R1 680Resistor 680 Ω, 5%,0805
Vishay Dale CRCW0805-681J
1 R101 PMA-A-R075-1Sensing resistor withKelvin terminals,75 MΩ, 1%
Isabellenhutte PMA-A-R075-1
3 R201, R208, R216 10 k-1%Resistor 10 kΩ, 1%,0805
Vishay Dale CRCW0805-1002F
3 R203, R210, R217 2.67 k-1%Resistor 2.67 kΩ, 1%,0805
Vishay Dale CRCW0805-2671F
1 R104 118-1%Resistor 118 Ω, 1%,0805
Vishay Dale CRCW0805-1180F
14
R105, R106, R108,R109, R112, R113,R204, R205, R211,R212, R218, R219,R222, R223
10 kResistor 10 kΩ, 5%,0805
Vishay Dale CRCW0805-103J
1 R107 182-1%Resistor 182 Ω, 1%,0805
Vishay Dale CRCW0805-1820F
1 R110 1.82 k-1%Resistor 1.82 kΩ, 1%,0805
Vishay Dale CRCW0805-1821F
1 R111 1.18 k-1%Resistor 1.18 kΩ, 1%,0805
Vishay Dale CRCW0805-1181F
3 R202, R209, R215 1 MResistor 1 MΩ, 5%,0805
Vishay Dale CRCW0805-105J
3 R206, R213, R220 5.6 kResistor 5.6 kΩ, 5%,0805
Vishay Dale CRCW0805-562J
3 R207, R214, R221 3.32 k-1%Resistor 3.32 kΩ, 1%,0805
Vishay Dale CRCW0805-3321F
3 R224, R225, R226 33 kResistor 33 kΩ, 5%,0805
Vishay Dale CRCW0805-333J
2 R301, R304 105 k-1%Resistor 10 5kΩ, 1%,0805
Vishay Dale CRCW0805-1053F
2 R302, R303 21 k-1%Resistor 21 kΩ, 1%,0805
Vishay Dale CRCW0805-2102F
1 R305 390Resistor 390 Ω, 5%,0805
Vishay Dale CRCW0805-391J
Table 4-1. Parts List (Sheet 2 of 3)
Qty. Reference Part Value Description Mfg. Mfg. Part No.
Evaluation Motor Board User’s Manual
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Schematics and Parts List
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1 R306 100 k-1%Resistor 100 kΩ, 1%,0805
Vishay Dale CRCW0805-1003F
1 R307 33.2 k-1%Resistor 33.2 kΩ, 1%,0805
Vishay Dale CRCW0805-3322F
6R114, R116, R118,R120, R122, R124
330Resistor 330 Ω, 5%,0805
Vishay Dale CRCW0805-331J
6R115, R117, R119,R121, R123, R125
100Resistor 100 Ω, 5%,0805
Vishay Dale CRCW0805-101J
1 U2 MC78PC33NTRLinear voltageregulator
ONSemiconductor
MC78PC33NTR
1 U3 LM2574N-005Switching voltageregulator
ONSemiconductor
LM2574N-5
3 U101, U102, U103 MAX628CSA MOSFET driver Maxim MAX4428CSA
1 U201 LM339D ComparatorONSemiconductor
LM339D
1 U301 MC33502DOperational amplifier,rail to rail
ONSemiconductor
MC33502D
1 U302 LM285MAdujstable voltagereference
NationalSemiconductor
LM285M
1 R103 2.0 k-1%Resistor 2.0 kΩ, 1%,0805
Vishay Dale CRCW0805-2001F
1 R102 10.7 k-1%Resistor 10. 7kΩ, 1%,0805
Vishay Dale CRCW0805-1071F
Table 4-1. Parts List (Sheet 3 of 3)
Qty. Reference Part Value Description Mfg. Mfg. Part No.
User’s Manual Evaluation Motor Board
38 Schematics and Parts List MOTOROLA For More Information On This Product,
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User’s Manual — Evaluation Motor Board
Section 5. Design Considerations
5.1 Contents
5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.3 3-Phase H-Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.4 Bus Voltage and Current Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.5 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.2 Overview
From a systems point of view, the EVM motor board kit fits into an architecturethat is designed for code development. In addition to the hardware that is neededto run a motor, a variety of feedback signals that facilitate control algorithmdevelopment are provided.
The EVM motor board’s power output stage is a complementary MOS fieldeffect transistor (MOSFET) 3-phase bridge that is capable of supplying andsensing 4 amps of continuous current. Feedback signals include bus voltage,bus current, back EMF (electromotive force), and zero crossing. Descriptions ofeach of these blocks are contained in 5.3 3-Phase H-Bridge, 5.4 Bus Voltageand 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 complementaryMOSFET output transistors. It is simplified considerably by dual integratedgate drivers that each have one inverting and one non-inverting driver. Asimplified 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,
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Design Considerations
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Figure 5-1. Phase A Output
At the input, pulldown resistors, R105 and R108, set a logic low in the absenceof a signal. Open input pulldown is important, since it is desirable to keep thepower transistors off in case of either a broken connection or absence of poweron the control board. Gate drive is supplied by a Maxim MAX628CSA. Thispart has a minimum logic 1 input voltage of 2.4 volts and maximum logic 0input voltage of 0.8 volts. The EVM motor board will, therefore, accept inputsfor either 3.3- or 5-volt logic. Under voltage lockout is not included in the gatedrive. If this feature is desired, the control board’s under-voltage detectioncomparator can be set for 1.24 volts.
One of the more important design decisions in a motor drive is selection of gatedrive impedance for the output transistors. In Figure 5-1, resistors R116, R117,and diode D102 determine gate drive impedance for the lower half-bridgetransistor. A similar network is used on the upper half-bridge. These networksset turn-on gate drive impedance at approximately 430 Ω and turn-off gate driveimpedance at approximately 100 Ω. These values produce transition times ofapproximately 60 ns.
Transition times of this length represent a carefully weighed compromisebetween power dissipation and noise generation. Generally speaking, transitiontimes 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 isdifficult to achieve. The EVM motor board is designed with switching times atthe lower end of this range to minimize power dissipation.
DCB_Pos
PWM_AT
PWM_AB
DCB_Neg
R105
10 k
R108
10 k2
4
U101
INA
INB
GND
3
6VDD
OUTA
OUTB
7
5
MBRM140T3
MBRM140T3
D101
R114
R116
330 Ω
D102
R117
100 Ω
100 Ω
R115
4
2
1
8Q101
330 Ω
3
7
6
5 Phase_A
Si4558DYMAX628CSA
User’s Manual Evaluation Motor Board
40 Design Considerations MOTOROLA For More Information On This Product,
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Design ConsiderationsBus Voltage and Current Feedback
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5.4 Bus Voltage and Current Feedback
Feedback signals proportional to bus voltage and bus current are provided bythe circuitry shown in Figure 5-2. Bus voltage is scaled down by a voltagedivider consisting of R102, R103, R104, R107, R110, and R111. The values arechosen such that a 16-volt maximum bus voltage corresponds to a 3.3-voltmaximum analog-to-digital (A/D) input. Bus current is sampled by resistorR101 in Figure 4-2 and amplified by the circuit in Figure 5-2. This circuitprovides a voltage output suitable for sampling with A/D inputs. An MC33502is 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 andnegative current swings. A ±300-mV voltage drop across the shunt resistorcorresponds to a measured current range of ±4.0 amps.
Note that the EVM motor board measures, but does not limit, current. Currentlimiting is performed on the control board, where a 2.8-volt setting for theovercurrent detection comparator produces a 2.8-amp current limit.
Figure 5-2. Bus Feedback
+
–R302 21 k-1%
R303 21 k-1%R304105 k-1%
R306100 k-1%
R30733.2 k-1%
GNDA
LM285MU302
R305
390 Ω+3.3V_A
I_sense_DCB1
I_sense_DCB2
5
4
8
1.65 Vref
I_sense_DCB
R301
105 k-1%
2
31U301AMC33502D
DCB_Pos
DCB_Neg
R102
10.7 k-1% 2.0 k-1%
R103 V_sense_DCB
R110
1.18 k-1%1.82 k-1%
R111
182 ΩR107
118 ΩR104
V_sense_DCB_half
8
Evaluation Motor Board User’s Manual
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Design Considerations
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5.5 Back EMF Signals
Back EMF and zero crossing signals are included to support sensorlessalgorithms for brushless dc motors. Referring to Figure 5-3, which showscircuitry for phase C, the raw phase voltage is scaled down by a voltage dividerconsisting of R216, R217, and R221. One output from this divider producesback EMF sense voltage BEMF_sense_C. Resistor values are chosen such thata 16-volt maximum phase voltage corresponds to a 3.3-volt maximum A/Dinput.
A zero crossing signal is obtained by comparing motor phase voltage with themotor bus voltage. Comparator U201A performs this function, producing zerocrossing signal Zero_cross_C.
Figure 5-3. Phase C Back EMF Feedback
–
+
GNDA
GNDA GNDA
10 k-1%R216
R2172.67 k-1%
R2213.32 k-1%
10 kR218
C204100 pF
R2205.6 k
C20522 pF
V_sense_DCB_half
R215
1 M
10 kR219
+5V_D
U201ALM339D
3
4
5
12
2 Zero_cross_CBEMF_sense_C
Phase_C
User’s Manual Evaluation Motor Board
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MEMCEVMBUM/D
© Motorola, Inc., 2000
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 itsproducts 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 differentapplications 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 systemsintended 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 asituation 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 holdMotorola 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 thedesign or manufacture of the part. Motorola and are registered trademarks of Motorola, Inc. Motorola, Inc. is an Equal Opportunity/Affirmative Action Employer.
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