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Evaluation
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A G R E E M E N T
Motorola Embedded Motion Control
N O N - D I S C L O S U R E
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R E Q U I R E D
MEMCEVMBUM/D
Freescale Semiconductor, Inc.
Evaluation Motor Board
Important Notice to Users
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While every effort has been made to ensure the accuracy of all information in
this document, Motorola assumes no liability to any party for any loss or
damage caused by errors or omissions or by statements of any kind in this
document, its updates, supplements, or special editions, whether such errors are
omissions or statements resulting from negligence, accident, or any other cause.
Motorola further assumes no liability arising out of the application or use of any
information, product, or system described herein: nor any liability for incidental
or consequential damages arising from the use of this document. Motorola
disclaims all warranties regarding the information contained herein, whether
expressed, implied, or statutory, including implied warranties of
merchantability or fitness for a particular purpose. Motorola makes no
representation that the interconnection of products in the manner described
herein will not infringe on existing or future patent rights, nor do the
descriptions contained herein imply the granting or license to make, use or sell
equipment constructed in accordance with this description.
Trademarks
This document includes these trademarks:
Motorola and the Motorola logo are registered trademarks
of Motorola, Inc.
Motorola, Inc., is an Equal Opportunity / Affirmative Action Employer.
© Motorola, Inc., 2000; All Rights Reserved
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MOTOROLA
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User’s Manual — Evaluation Motor Board
List of Sections
Section 1. Introduction and Setup . . . . . . . . . . . . . . . . . . 11
Freescale Semiconductor, Inc...
Section 2. Operational Description . . . . . . . . . . . . . . . . . 17
Section 3. Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . 21
Section 4. Schematics and Parts List . . . . . . . . . . . . . . . 29
Section 5. Design Considerations . . . . . . . . . . . . . . . . . . 39
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User’s Manual — Evaluation Motor Board
Table of Contents
Freescale Semiconductor, Inc...
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
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
EVM Motor Board Power Connectors J3 and J4. . . . . . . . . . . . . . 23
EVM Motor Board 40-Pin Ribbon Connector J1 . . . . . . . . . . . . . 23
EVM Motor Board Output Connector J2. . . . . . . . . . . . . . . . . . . . 26
Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Motor Hall Sensor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Motor Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Motor Encoder Cable Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 27
Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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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
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User’s Manual — Evaluation Motor Board
List of Figures
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Figure
Title
1-1
1-2
1-3
Systems’ Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
EVM Motor Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
EVM Motor Board Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3-1
40-Pin Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4-1
4-2
4-3
4-4
4-5
4-6
Motor EVM Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3-Phase H-Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Bus Current Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Brushless dc Motor Connections — Schematic View . . . . . . . . . . . . 34
Encoder Connector — Physical View . . . . . . . . . . . . . . . . . . . . . . . . 35
5-1
5-2
5-3
Phase A Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Bus Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Phase C Back EMF Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
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List of Figures
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List of Tables
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Table
Title
2-1
2-2
Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Motor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3-1
3-2
3-3
3-4
3-5
Connector J1 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Connector J2 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Motor Hall Sensor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Motor Encoder Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Test Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4-1
Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
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List of Tables
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User’s Manual — Evaluation Motor Board
Section 1. Introduction and Setup
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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-amp
power stage that is an integral part of Motorola’s embedded motion control
series of development tools. It is supplied in kit number ECMTREVAL, along
with a small brushless dc motor, an encoder, an encoder cable, a 40-pin ribbon
cable, and mounting hardware. In combination with one of the embedded
motion control series control or evaluation boards, it provides a ready-made
software development platform for small brushless dc motors. The motor is
capable of being controlled with either Hall sensors, an optical encoder, or with
sensorless techniques. An illustration of the systems’ configurations is shown in
Figure 1-1. Figure 1-2 is an illustration of the board.
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’s
circuitry, a description is provided in Section 5. Design Considerations.
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Introduction and Setup
HC08
CONTROLLER
BOARD
MMDS08
DSP
EVM
BOARD
WORKSTATION
WORKSTATION
Freescale Semiconductor, Inc...
EVM MOTOR
BOARD
EVM MOTOR
BOARD
MOTOR
OPTIONAL FEEDBACK
MOTOR
OPTIONAL FEEDBACK
a) MC68HC08 MICROCONTROLLER
b) 56800 DSP
Figure 1-1. Systems’ Configurations
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PHASE A
PHASE C
R115
R114
D102
D104
D106
D101
R117 R116
C107
C109
C108
R121R120
Q101
+
R125 R124
+
+
01/00
Q102
D103
Q103
D105
EVM Motor Board
No. 00124_02
R119
R118
R123
R122
Copyright c 2000
PHASE B
+
J2
R101
+
C101
1
2
C102
+
C103
MOTOR
CONNECTOR
Introduction and Setup
About this Manual
DCB_POS
Freescale Semiconductor, Inc...
U101
R108
C104
R105
U102
R113
R109
C105
R112
U103
R106
C106
GND
R104 R103 R102
R107 R111 R110
R207 R203 R201
R212
R220 R215
R226
U2
C203
R223
+
+
C3
R219
R225
C302
C4
C2
C201 R204
R213 R209
U302
R222
R206 R202
R205
C303
+
+
R214 R210 R208
C205
R307
R305
U201
GND
U301
C301
R224
+5V_D
R301
R221 R217 R216
C202 R211
GNDA
C204 R218
R306 R304
R303
R302
+3.3V_A
J1
C206
L1
D2
D4
D3
+
F1
J3
POWER 12V
- +
J4
C1
POWER ON
U3
39
40
D1
R1
Figure 1-2. EVM Motor Board
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Introduction and Setup
1.4 Warnings
The EVM motor board kit includes a rotating machine and power transistors.
Both can reach temperatures hot enough to cause burns. To facilitate safe
operation, 12-volt input power should come from a dc laboratory power supply
that is current limited to no more than 6 amps.
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The user should be aware that:
•
Before moving scope probes, making connections, etc., it is generally
advisable to power down the 12-volt supply.
•
Operation in lab setups that have grounded tables and/or chairs should be
avoided.
•
Wearing safety glasses, avoiding ties and jewelry, using shields, and
operation by personnel trained in power electronics lab techniques are
also advisable.
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Introduction and Setup
Setup Guide
1.5 Setup Guide
Setup and connections for the EVM motor board are straightforward. The EVM
motor board connects to a Motorola embedded motion control series control
board via a 40-pin ribbon cable. The motor’s power leads plug into output
connector J2, and its Hall sensors plug into the control board’s Hall
sensor/encoder input connector. Figure 1-3 depicts a completed setup.
Follow these steps to set up the board:
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1. Mount four standoffs to the EVM motor board at the locations indicated
in Figure 1-3. Standoffs, screws, and washers are included in the kit.
This step and step 3 are optional when making connections with DSP
control boards such as the DSP56F805EVM. The DSP boards may be
placed flat on a bench, next to the EVM motor board.
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 board. The other end of this cable
goes to the control board’s 40-pin output connector.
3. Mount the control board on top of the standoffs with screws and washers
from the ECMTREVAL kit. This step is optional with DSP control
boards.
4. Plug the free end of the cable connected to input connector J1 into the
control board’s 40-pin connector.
5. Connect a 12-Vdc power supply either to connector J3, labeled “Power
12V,” or power jack J4. Either one, but not both, may be used. These
connectors are located on the front right-hand corner of the board. The
12-volt power supply should be rated for at least 4 amps and have its
current limit set between 4 and 6 amps.
6. If protection features are desired, set the control board’s overcurrent
detection comparator to 2.8 V and its undervoltage detection comparator
to 1.24 V. These values limit dc bus current to 2.8 amps and turn off drive
signals if bus voltage falls below 6 volts.
7. Apply power to the EVM motor board. The green power-on LED lights
when power is present. Note that the EVM motor board powers the
control board, making only one power supply necessary to run a
complete system.
CAUTION:
Since the control board is powered by the EVM motor board, it is imperative
that only one power supply is used.
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Introduction and Setup
MOTOR
STANDOFFS
STANDOFF
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EVM MOTOR
BOARD
56800
EVALUATION MODULE
OR
HC08 CONTROL BOARD
40-PIN
RIBBON CABLE
STANDOFF
12-VOLT
MOTOR SUPPLY
Figure 1-3. EVM Motor Board Setup
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Section 2. Operational Description
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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-H1
brushless dc motor. In combination with one of the embedded motion control
series control boards, it provides a software development platform that allows
algorithms to be written and tested without the need to design and build a power
stage. It supports algorithms that use Hall sensors, encoder feedback, and back
EMF (electromotive force) signals for sensorless control.
The EVM motor board does not have overcurrent protection that is independent
of the control board, so some care in its setup and use is required if a lower
impedance motor is used. With the motor that is supplied in the kit, the power
output stage will withstand a full-stall condition without the need for
overcurrent protection. Current measuring circuitry is set up for 4 amps full
scale. In a 25οC ambient operation at up to 6 amps continuous RMS output
current is within the board’s thermal limits.
Input connections are made via 40-pin ribbon cable connector J1. Pin
assignments for the input connector are shown in Figure 3-1. 40-Pin Input
Connector J1. Power connections to the motor are made on output connector
J2. Phase A, phase B, and phase C are labeled on the board. Power requirements
are met with a single external 12-Vdc, 4-amp power supply. Two connectors,
labeled J3 and J4, are provided for the 12-volt power supply. J3 and J4 are
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Operational Description
located on the front edge of the board. Power is supplied to one or the other, but
not both.
A summary of the information needed to use the EVM motor board follows. For
design information, see Section 5. Design Considerations.
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2.3 Electrical Characteristics
The electrical characteristics in Table 2-1 apply to operation at 25°C and a
12-Vdc power supply voltage.
Table 2-1. Electrical Characteristics
Characteristic
Symbol
Min
Typ
Max
Units
Power Supply Voltage
Vdc
10
12
16
V
Quiescent Current
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
RDS(On)
—
32
40
MΩ
IM
—
—
6
A
Pdiss
—
—
5
W
Power MOSFET On Resistance
RMS Output Current
Total Power Dissipation
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Operational Description
Motor Characteristics
2.4 Motor Characteristics
The motor characteristics in Table 2-2 apply to operation at 25°C.
Table 2-2. Motor Characteristics
Characteristic
Terminal Voltage
Symbol
Min
Typ
Max
Units
Vt
—
—
60
V
—
5000
—
RPM
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Speed @ Vt
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
—
—
3.6
°C/W
Thermal Resistance
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Section 3. Pin Descriptions
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3.1 Contents
3.2
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
EVM Motor Board Power Connectors J3 and J4. . . . . . . . . . . . . . 23
EVM Motor Board 40-Pin Ribbon Connector J1 . . . . . . . . . . . . . 23
EVM Motor Board Output Connector J2. . . . . . . . . . . . . . . . . . . . 26
Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Motor Hall Sensor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Motor Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Motor Encoder Cable Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 27
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 motor
board’s breadboard area.
Pin descriptions for each of these connectors and the test points are identified in
the following information. Pin assignments for the input and output connectors
are shown in Figure 3-1. Signal descriptions are provided in Table 3-1 through
Table 3-5.
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Pin Descriptions
J1
Freescale Semiconductor, Inc...
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
BEMF_sense_C
BEMF_sense_B
BEMF_sense_A
Shielding
Zero_cross_C
Zero_cross_B
Zero_cross_A
Serial_Con
PWM_AT
PWM_AB
PWM_BT
PWM_BB
PWM_CT
PWM_CB
GND
+5V_D
GNDA
+12V
V_sense_DCB
Shielding
I_sense_DCB
V_sense_DCB
+12V
GNDA
GNDA
+3.3V_A
+5V_D
+5V_D
GND
GND
PWM_CB
Shielding
PWM_CT
Shielding
PWM_BB
Shielding
PWM_BT
Shielding
PWM_AB
Shielding
PWM_AT
Zero_cross_B
Shielding
BEMF_sense_B
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
Shielding
Shielding
Shielding
Shielding
GND
+5V_D
+3.3V_A
GNDA
I_sense_DCB
Shielding
Serial_Con
Zero_cross_A
Zero_cross_C
BEMF_sense_A
BEMF_sense_C
PHYSICAL VIEW
CON/40
SCHEMATIC VIEW
Figure 3-1. 40-Pin Input Connector J1
User’s Manual
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Pin Descriptions
Signal Descriptions
3.3 Signal Descriptions
Pin descriptions are identified in this subsection.
Freescale Semiconductor, Inc...
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. Connector
J3 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), for
accepting wire inputs. Power is supplied to one or the other, but not both. The
power supply should be able to deliver at least 3.5 amps. For power supplies that
can supply larger currents, 4 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, 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.
Signal Name
Description
1
PWM_AT
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.
2
Shielding
Pin 2 is connected to a shield wire in the ribbon cable, and ground on the board.
3
PWM_AB
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.
4
Shielding
Pin 4 is connected to a shield wire in the ribbon cable, and ground on the board.
5
PWM_BT
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.
6
Shielding
Pin 6 is connected to a shield wire in the ribbon cable, and ground on the board.
7
PWM_BB
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.
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
Table 3-1. Connector J1 Signal Descriptions (Sheet 2 of 3)
Signal Name
Description
9
PWM_CT
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.
10
Shielding
Pin 10 is connected to a shield wire in the ribbon cable, and ground on the board.
11
PWM_CB
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.
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
17
GNDA
Analog power supply ground
18
GNDA
Analog power supply ground, redundant connection
19
+12V
+12-volt power supply
20
—
21
V_sense_DCB
V_sense_DCB is an analog sense signal that measures dc bus voltage. It is scaled
at 0.206 volts per volt of dc bus voltage.
22
I_sense_DCB
I_sense_DCB is an analog sense signal that measures dc bus current. It is scaled
at 0.412 volts per amp of dc bus current.
23
—
No connection
24
—
No connection
25
—
No connection
26
—
No connection
27
—
No connection
28
Shielding
29
—
30
Serial_Con
31
—
No connection
32
—
No connection
33
—
No connection
Freescale Semiconductor, Inc...
Pin
No.
Analog +3.3-volt power supply
No connection
Pin 28 is connected to a shield wire in the ribbon cable, and ground on the board.
No connection
Serial_Con is an identification signal that lets the controller know which power
stage is present. It is nominally a 600-Hz square wave.
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Pin Descriptions
Signal Descriptions
Freescale Semiconductor, Inc...
Table 3-1. Connector J1 Signal Descriptions (Sheet 3 of 3)
Pin
No.
Signal Name
34
Zero_cross_A
Zero_cross_A is a digital signal that is used for sensing phase A back-EMF zero
crossing events.
35
Zero_cross_B
Zero_cross_B is a digital signal that is used for sensing phase B back-EMF zero
crossing events.
36
Zero_cross_C
Zero_cross_C is a digital signal that is used for sensing phase C back-EMF zero
crossing events.
37
Shielding
Pin 37 is connected to a shield wire in the ribbon cable, and ground on the board.
38
BEMF_sense_A
BEMF_sense_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.
39
BEMF_sense_B
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.
40
BEMF_sense_C
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.
Description
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Pin Descriptions
3.3.3 EVM Motor Board Output Connector J2
Power outputs to the motor are located on connector J2, labeled “Motor
Connector.” Pin assignments are described in Table 3-2.
Freescale Semiconductor, Inc...
Table 3-2. Connector J2 Signal Descriptions
Pin
No.
Signal Name
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.
Description
3.3.4 Motor Power Connector
Motor power connections are grouped into a connector that plugs into the EVM
motor board’s motor connector, J2. Pin assignments are identical to EVM motor
board output connector J2.
3.3.5 Motor Hall Sensor Connector
Hall sensor connections are made with a connector that plugs into the control
board’s Hall sensor/encoder connector. Pin assignments are described in
Table 3-3.
Table 3-3. Motor Hall Sensor Connector
Pin
No.
Signal Name
1
+5V
+5V supplies power from the control board to the Hall sensors. The wire color is
red.
2
GND
GND is the Hall sensor ground. The wire color is black.
3
Hall A
Hall A is an open collector output from Hall sensor A. The wire color is green.
4
Hall B
Hall B is 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.
Description
User’s Manual
26
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Pin Descriptions
Signal Descriptions
3.3.6 Motor Encoder Connector
The encoder connector has five pins. Pin 1 orientation is shown in Figure 4-6.
Encoder Connector — Physical View. Pin assignments are described in
Table 3-4.
Freescale Semiconductor, Inc...
Table 3-4. Motor Encoder Connector
Pin
No.
Signal Name
1
GND
Pin 1 is the encoder’s ground.
2
Index
Pin 2 is the index output.
3
Channel A
4
+5V
5
Channel B
Description
Pin 3 is the channel A output.
Pin 4 supplies +5 volts from the control board to the encoder.
Pin 5 is the channel B output.
3.3.7 Motor Encoder Cable Connectors
The encoder cable has two connectors, one at each end. They assume the pin
assignments of their respective mating connectors, one on the EVM motor
board and the other on the control board.
3.3.8 Test Points
Six test points provide easy access to power supply and ground voltages. They
are listed in Table 3-5 as they appear from top to bottom on the board.
Table 3-5. Test Points
Pin
No.
Signal Name
1
DCB_POS
2
GND
3
+3.3V_A
4
GNDA
Test point GNDA is connected to analog ground.
5
+5V_D
Test point +5V_D is connected to the 5-volt digital power supply voltage.
6
GND
Description
Test point DCB_POS is connected to the +12-volt motor bus.
Test point GND is connected to the 12-volt power supply and motor bus ground.
Test point +3.3V_A is connected to the 3.3-volt analog power supply voltage.
Test point GND is an additional connection to the 12-volt power supply and motor
bus ground.
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Pin Descriptions
User’s Manual
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Freescale Semiconductor, Inc.
User’s Manual — Evaluation Motor Board
Section 4. Schematics and Parts List
Freescale Semiconductor, Inc...
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 through
Figure 4-5. An overview of the whole board is shown in Figure 4-1. The
3-phase H-bridge, including gate drivers, appears in Figure 4-2. Bus current
feedback is shown in Figure 4-3. Back EMF signals appear in Figure 4-4. The
brushless dc motor is shown in Figure 4-5.
Unless otherwise specified, resistor values are in ohms, resistors are specified
as 1/8 watt ±5%, and interrupted lines coded with the same letters are
electrically connected.
4.3 Schematics
The schematics for the evaluation motor board appear on the following pages.
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J3
2
Power Jack
1
F1
RUE400
D2
MBRD835L
3
GND
GND
P6SMB18AT3
D1
+
CE
CON/2screws
J4
330uH
L1
DCB_POS
C4
3.3uF/20V
+3.3V_A
GNDA
+3.3V_A
GND
+5V_D
GND
DCB_POS
+5V_D
GND
GNDA
GND
GNDA
+3.3V_A
+3.3V_A
+5V_D
GNDA
GND
GND
GND GNDA
+5V_D
Back EMF
3
2
1
Phase_C
Phase_B
Phase_A
BREAD BOARD 10x10
PWM_CB
PWM_CT
PWM_BB
PWM_BT
PWM_AB
PWM_AT
I_Sense_DCB2
I_Sense_DCB1
Phase_A
Phase_B
Phase_C
V_sense_DCB_half
V_sense_DCB
BREAD BOARD 10x10
DCB_Pos
DCB_Neg
I_sense_DCB1
I_sense_DCB2
I_sense_DCB
3-ph. H bridge, drivers
Current processing
+3.3V_A
GNDA
Current processing
Zero_cros_C
Zero_cros_B
Zero_cros_A
Identification
BEMF_sense_C
BEMF_sense_B
BEMF_sense_A
J2
AMP 640387-3
V_sense_DCB_half
Figure 4-1. Motor Evaluation Module Overview
GND
D3
LED Green
+5V_D
C2
220uF/10V
BZX84C5V6LT1
D5
R1
680
GNDA
+
+
GND
D4
MBRM140T3
GND
7
1
U2
MC78PC33NTR
5
Vin Vout
GC1
3
1
GND
OUT
VIN FDBK
U3
LM2574N-5
GND
GNDA
Ground_Connection
C3
3.3uF/20V
+5V_D
GND
C1
22uF/25V
2
1
+
5
GND
GND
OFF
4
2
3
Gnd
2
Freescale Semiconductor, Inc...
GND
GNDA
+3.3V_A
+5V_D
DCB_Pos
GNDA
CON/40
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
J1
PWM_CB
Sheilding
PWM_CT
Sheilding
PWM_BB
Sheilding
PWM_BT
Sheilding
PWM_AB
Sheilding
PWM_AT
+12V
I_sense_DCB
V_sense_DCB_3.3
Sheilding
Serial_Con
BEMF_sense_C
BEMF_sense_B
BEMF_sense_A
Sheilding
Zero_cross_C
Zero_cross_B
Zero_cross_A
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DCB_Neg
PWM_BB
PWM_BT
DCB_Pos
DCB_Neg
PWM_AB
PWM_AT
DCB_Pos
D CB_Neg
D CB_Pos
+
10k
R113
10k
R112
330uF /35V
C101
10k
R108
10k
+
Gate_AT
3
MAX628CSA
OUTB
4 I NB
GND
OUTA
6
VDD
MAX628CSA
2 I NA
U102
3
OUTB
4 I NB
GND
2
4
1
3
5
7
5
7
Gate_BB
Gate_BT
Gate_AB
Gate_AT
D CB_Pos
Gate_BB
C104
+
C105
10k
R109
10k
R106
+
4 INB
2
4
C107
U103
2 INA
D104
100
R121
C106
MBRM140T3
330
R120
R119
100
D103
C108
100nF
3
OUTB
OUTA
100nF
C109
5
7
330
R124
Gate_CB
D106
100
R125
R123
100
D105
DCB_Neg
DCB_Pos
MBRM140T3
Gate_CT
Gate_CB
R122
330
MBRM140T3
Phase_B
Gate_CT
Si4558D Y
6
5
Q102
8
7
MAX628CSA
GN D
6
VD D
1
3
Figure 4-2. 3 Phase H-Bridge
DCB_Neg
4.7uF/35V 4.7uF/35V 4.7uF/35V 100nF
+
DCB_Pos
DCB_Neg
PWM_CB
R118
330
MBRM140T3
Phase_A
Gate_BT
Si4558DY
6
5
Q101
8
7
PWM_CT
I_Sense_DCB1
R101
e
s PMA-A-R075-1
n
e
s
I_Sense_DCB2
OUTA
6
VDD
e
s
n
e
s
MBRM140T3
D102
100
330
R114
R117
R115
R116
100
D101
330
MBRM140T3
2 I NA
U101
Gate_AB
330uF/35V
C103
DCB_Neg
330uF/35V
R105
+
C102
DCB_Pos
Freescale Semiconductor, Inc...
1.82k-1%
R110
10.7k-1%
R102
2
4
1.18k-1%
R111
Phase_C
3.0V @ 16V
V_sense_DCB_half
R107
182-1%
R104
118-1%
3.30V @ 16V
V_sense_DCB
Si4558DY
6
5
Q103
8
7
2.0k-1%
R103
1
3
Freescale Semiconductor, Inc.
C303
100nF
+3.3V_A
( +/-297 mV
GNDA
+
390
R305
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R307
33.2k-1%
R306
100k-1%
R304
105k-1%
3
2
R301
GNDA
1
100nF
C301
+3.3V_A
U301A
MC33502D
GNDA
105k-1%
@ +/- Imax)
I_sense_DCB
(1.65V +/- 1.65V
Figure 4-3. Bus Current Feedback
GNDA
5
1.65V ref
R303 21k-1%
LM285M
C302
U302
3.3uF/10V
@ +/- Imax)
I_sense_DCB2
I_sense_DCB1
R302 21k-1%
GNDA
+3.3V_A
8
GNDA
8
4
4
+
-
+3.3V_A
GNDA
5
6
+
-
Freescale Semiconductor, Inc...
7
U301B
MC33502D
Freescale Semiconductor, Inc.
BEMF_sense_C
Phase_C
GNDA
R221
3.32k-1%
R217
2.67k-1%
R216
10k-1%
GNDA
C202
100pF
10k
R211
GNDA
R220
5.6k
R213
5.6k
C201
100pF
R206
5.6k
C205
22pF
4
5
6
7
8
9
-
+
1
U201B
LM339D
U201A
LM339D
2
100nF
C203
R215
1M
GND
14
U201C
LM339D
R209
1M
+5V_D
-
+
-
+
R202
1M
GND
+5V_D
+5V_D
+5V_D
R219
10k
R212
10k
R205
10k
Figure 4-4. Back EMF Signals
GNDA
R204
10k
V_sense_DCB_half
C204
100pF
10k
R218
GNDA
R214
3.32k-1%
GNDA
(2.5V @ Phase_B = 12V)
BEMF_sense_B
R210
2.67k-1%
R208
10k-1%
R207
3.32k-1%
GNDA
(2.5V @ Phase_A = 12V)
BEMF_sense_A
R203
2.67k-1%
R201
10k-1%
3
Phase_B
(2.5V @ Phase_C = 12V)
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Phase_A
Zero_cross_C
Zero_cross_B
Zero_cross_A
Freescale Semiconductor, Inc...
GND
GND
+
C206
100nF
10k
+5V_D
13
R223
10k
+5V_D
GNDA
GND
U201D
LM339D
R222
-
33k
33k
10
R224
R225
11
R226
33k
GNDA
GND
+5V_D
Identification
Freescale Semiconductor, Inc.
Freescale Semiconductor, Inc.
Schematics and Parts List
MOTOROLA
EMBEDDED MOTION CONTROL
SERIES
56800 EVALUATION MODULE
OR
HC08 CONTROL BOARD
MOTOROLA
EMBEDDED MOTION CONTROL
SERIES
EVM MOTOR BOARD
+
+ 12 Vdc
–
J4
Freescale Semiconductor, Inc...
40-PIN
RIBBON CABLE
J1
J2
Phase_C
3
Phase_B
2
Phase_A
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 4-5. Brushless dc Motor Connections — Schematic View
4.4 Encoder Connector
The encoder is shown in Figure 4-6. The mark on the motor in this view
indicates pin 1 on the encoder’s 5-pin connector.
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Figure 4-6. Encoder Connector – Physical View
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Schematics and Parts List
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)
Freescale Semiconductor, Inc...
Qty.
Reference
Part Value
Description
Tantalum capacitor, D,
22 µF/25 V, ±10%,
ESR 0.2
Electrolytic Capacitor
220 µF/10 V, Type RE2
Tantalum Capacitor, A,
3.3 µF/20 V, ±10%
Electrolytic Capacitor
330 µF/35 V, Type RE2
Tantalum Capacitor, D,
4. 7µF/35 V, ±10%
Capacitor, 805,
Ceramic 100 nF/25 V,
Z5U, ±20%
Ceramic capacitor,
0805, 100 pF, ±5%
Ceramic capacitor,
0805, 22 pF, ±5%
Tantalum capacitor, A,
3.3 µF/10 V, ±10%
Transient voltage
suppressor 18 V
Low VF Shottky
Rectifiers 35 V, 8 A
LED diode, 3mm,
10 mA, green
1
C1
22 µF/25 V
1
C2
220 µF/10 V
2
C3, C4
3.3 µF/ 20 V
3
C101, C102, C103
330 µF/35 V
3
C104,C105,C106
4.7 µF/35 V
7
C107, C108, C109,
C203, C206,
C301, C303
100 nF
3
C201, C202, C204
100 pF
1
C205
22 pF
1
C302
3.3 µF/10 V
1
D1
P6SMB18AT3
1
D2
MBRD835L
1
D3
LED Green
7
D4, D101, D102,
D103, D104, D105,
D106
MBRM140T3
1
D5
BZX84C5V6LT1 Zener diode 5.6 V
1
F1
RUE400
1
J1
CON/40
1
J2
AMP 640387-3
1
J3
Power Jack
Mfg.
AVX
TPSD226K025R0200
ELNA
RE2-10V221MMA
Vishay Sprague 293D335X_010A2
ELNA
Vishay Vitramon VJ0805U104MXXA
Vishay Vitramon VJ0805A101JXA
Vishay Vitramon VJ0805A220JXA
Vishay Sprague 293D335X_010A2
ON
Semiconductor
ON
Semiconductor
Kingbright
ON
Semiconductor
Raychem
Fischer
Elektronik
AMP
CUI Stack
User’s Manual
36
RE2-35V331MMA
Vishay Sprague 293D475X_035D2
Shottky Rectifiers 40 V, ON
1A
Semiconductor
Resetable fuse
Header 40 pins
breakaway connector
Header 3 pins
Power Jack type
connector 2.1 mm
Mfg. Part No.
P6SMB18AT3
MBRD835L
L-934GT
MBRM140T3
BZX84C5V6LT1
RUE400
ASLG40G
640387-3
PJ-002A
Evaluation Motor Board
Schematics and Parts List
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Freescale Semiconductor, Inc.
Schematics and Parts List
Parts List
Table 4-1. Parts List (Sheet 2 of 3)
Freescale Semiconductor, Inc...
Qty.
Reference
Part Value
1
J4
CON/2screws
1
L1
330 µH
3
Q101, Q102, Q103
Si4558DY
1
R1
680
1
R101
PMA-A-R075-1
3
R201, R208, R216
10 k-1%
3
R203, R210, R217
2.67 k-1%
1
R104
118-1%
14
R105, R106, R108,
R109, R112, R113,
R204, R205, R211,
R212, R218, R219,
R222, R223
10 k
1
R107
182-1%
1
R110
1.82 k-1%
1
R111
1.18 k-1%
3
R202, R209, R215
1M
3
R206, R213, R220
5.6 k
3
R207, R214, R221
3.32 k-1%
3
R224, R225, R226
33 k
2
R301, R304
105 k-1%
2
R302, R303
21 k-1%
1
R305
390
Description
2 screws PCB terminal,
200 mils
Inductor 330 µH, 0.5 A,
thruhole, d = 9mm
P+ N MOSFET
transistor, 30 V, 6 A
Resistor 680 Ω, 5%,
0805
Sensing resistor with
Kelvin terminals,
75 MΩ, 1%
Resistor 10 kΩ, 1%,
0805
Resistor 2.67 kΩ, 1%,
0805
Resistor 118 Ω, 1%,
0805
Resistor 10 kΩ, 5%,
0805
Resistor 182 Ω, 1%,
0805
Resistor 1.82 kΩ, 1%,
0805
Resistor 1.18 kΩ, 1%,
0805
Resistor 1 MΩ, 5%,
0805
Resistor 5.6 kΩ, 5%,
0805
Resistor 3.32 kΩ, 1%,
0805
Resistor 33 kΩ, 5%,
0805
Resistor 10 5kΩ, 1%,
0805
Resistor 21 kΩ, 1%,
0805
Resistor 390 Ω, 5%,
0805
Mfg.
WAGO
237-132
Bourns
RLB0914-331K
Vishay
Si4558DY
Vishay Dale
CRCW0805-681J
Isabellenhutte
PMA-A-R075-1
Vishay Dale
CRCW0805-1002F
Vishay Dale
CRCW0805-2671F
Vishay Dale
CRCW0805-1180F
Vishay Dale
CRCW0805-103J
Vishay Dale
CRCW0805-1820F
Vishay Dale
CRCW0805-1821F
Vishay Dale
CRCW0805-1181F
Vishay Dale
CRCW0805-105J
Vishay Dale
CRCW0805-562J
Vishay Dale
CRCW0805-3321F
Vishay Dale
CRCW0805-333J
Vishay Dale
CRCW0805-1053F
Vishay Dale
CRCW0805-2102F
Vishay Dale
CRCW0805-391J
Evaluation Motor Board
MOTOROLA
Mfg. Part No.
User’s Manual
Schematics and Parts List
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37
Freescale Semiconductor, Inc.
Schematics and Parts List
Table 4-1. Parts List (Sheet 3 of 3)
Qty.
1
U2
1
U3
3
U101, U102, U103
Description
Resistor 100 kΩ, 1%,
100 k-1%
0805
Resistor 33.2 kΩ, 1%,
33.2 k-1%
0805
Resistor 330 Ω, 5%,
330
0805
Resistor 100 Ω, 5%,
100
0805
Linear voltage
MC78PC33NTR
regulator
Switching voltage
LM2574N-005
regulator
MAX628CSA
MOSFET driver
1
U201
LM339D
1
U301
MC33502D
1
U302
LM285M
1
R103
2.0 k-1%
1
R102
10.7 k-1%
1
R306
1
R307
6
6
Freescale Semiconductor, Inc...
Reference
R114, R116, R118,
R120, R122, R124
R115, R117, R119,
R121, R123, R125
Part Value
Comparator
Operational amplifier,
rail to rail
Adujstable voltage
reference
Resistor 2.0 kΩ, 1%,
0805
Resistor 10. 7kΩ, 1%,
0805
Mfg.
Vishay Dale
CRCW0805-1003F
Vishay Dale
CRCW0805-3322F
Vishay Dale
CRCW0805-331J
Vishay Dale
CRCW0805-101J
ON
Semiconductor
ON
Semiconductor
Maxim
ON
Semiconductor
ON
Semiconductor
National
Semiconductor
MC78PC33NTR
LM2574N-5
MAX4428CSA
LM339D
MC33502D
LM285M
Vishay Dale
CRCW0805-2001F
Vishay Dale
CRCW0805-1071F
User’s Manual
38
Mfg. Part No.
Evaluation Motor Board
Schematics and Parts List
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MOTOROLA
Freescale Semiconductor, Inc.
User’s Manual — Evaluation Motor Board
Section 5. Design Considerations
Freescale Semiconductor, Inc...
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 architecture
that is designed for code development. In addition to the hardware that is needed
to run a motor, a variety of feedback signals that facilitate control algorithm
development are provided.
The EVM motor board’s power output stage is a complementary MOS field
effect transistor (MOSFET) 3-phase bridge that is capable of supplying and
sensing 4 amps of continuous current. Feedback signals include bus voltage,
bus current, back EMF (electromotive force), and zero crossing. Descriptions of
each of these blocks are contained in 5.3 3-Phase H-Bridge, 5.4 Bus Voltage
and Current Feedback, and 5.5 Back EMF Signals.
5.3 3-Phase H-Bridge
The output stage is configured as a 3-phase H-bridge with complementary
MOSFET output transistors. It is simplified considerably by dual integrated
gate drivers that each have one inverting and one non-inverting driver. A
simplified schematic that shows one phase is illustrated in Figure 5-1.
Evaluation Motor Board
MOTOROLA
User’s Manual
Design Considerations
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39
Freescale Semiconductor, Inc.
Design Considerations
DCB_Pos
MBRM140T3
D101
U101
R105
10 k
PWM_AT
6
VDD
2 INA
OUTA
330 Ω
100 Ω
R114
R115
7
4
3
8
Q101
7
6
4 INB
PWM_AB
R108
10 k
OUTB
5
GND
3 MAX628CSA
R116
R117
330 Ω
100 Ω
MBRM140T3
D102
Phase_A
5
2
1
Si4558DY
Freescale Semiconductor, Inc...
DCB_Neg
Figure 5-1. Phase A Output
At the input, pulldown resistors, R105 and R108, set a logic low in the absence
of a signal. Open input pulldown is important, since it is desirable to keep the
power transistors off in case of either a broken connection or absence of power
on the control board. Gate drive is supplied by a Maxim MAX628CSA. This
part has a minimum logic 1 input voltage of 2.4 volts and maximum logic 0
input voltage of 0.8 volts. The EVM motor board will, therefore, accept inputs
for either 3.3- or 5-volt logic. Under voltage lockout is not included in the gate
drive. If this feature is desired, the control board’s under-voltage detection
comparator can be set for 1.24 volts.
One of the more important design decisions in a motor drive is selection of gate
drive impedance for the output transistors. In Figure 5-1, resistors R116, R117,
and diode D102 determine gate drive impedance for the lower half-bridge
transistor. A similar network is used on the upper half-bridge. These networks
set turn-on gate drive impedance at approximately 430 Ω and turn-off gate drive
impedance at approximately 100 Ω. These values produce transition times of
approximately 60 ns.
Transition times of this length represent a carefully weighed compromise
between power dissipation and noise generation. Generally speaking, transition
times longer than 250 ns tend to get power hungry at non-audible PWM rates;
and transition times under 50 ns create di/dt’s so large that proper operation is
difficult to achieve. The EVM motor board is designed with switching times at
the lower end of this range to minimize power dissipation.
User’s Manual
40
Evaluation Motor Board
Design Considerations
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MOTOROLA
Freescale Semiconductor, Inc.
Design Considerations
Bus Voltage and Current Feedback
5.4 Bus Voltage and Current Feedback
Freescale Semiconductor, Inc...
Feedback signals proportional to bus voltage and bus current are provided by
the circuitry shown in Figure 5-2. Bus voltage is scaled down by a voltage
divider consisting of R102, R103, R104, R107, R110, and R111. The values are
chosen such that a 16-volt maximum bus voltage corresponds to a 3.3-volt
maximum analog-to-digital (A/D) input. Bus current is sampled by resistor
R101 in Figure 4-2 and amplified by the circuit in Figure 5-2. This circuit
provides a voltage output suitable for sampling with A/D inputs. An MC33502
is used for the differential amplifier. The gain is given by:
A = R301/R302
The output voltage is shifted up by 1.65 V, to accommodate both positive and
negative current swings. A ±300-mV voltage drop across the shunt resistor
corresponds to a measured current range of ±4.0 amps.
Note that the EVM motor board measures, but does not limit, current. Current
limiting is performed on the control board, where a 2.8-volt setting for the
overcurrent detection comparator produces a 2.8-amp current limit.
R301
105 k-1%
R302 21 k-1%
I_sense_DCB1
I_sense_DCB2
+3.3V_A
2
–
3 +
8
R304
105 k-1%
R303 21 k-1%
R305
390 Ω
LM285M
U302
1
U301A
MC33502D
I_sense_DCB
DCB_Pos
R102
R103
V_sense_DCB
10.7 k-1% 2.0 k-1%
R104
118 Ω
1.65 Vref
8
5
4
R107
182 Ω
R306
100 k-1%
R307
33.2 k-1%
R110
R111
V_sense_DCB_half
DCB_Neg
1.82 k-1% 1.18 k-1%
GNDA
Figure 5-2. Bus Feedback
Evaluation Motor Board
MOTOROLA
User’s Manual
Design Considerations
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Freescale Semiconductor, Inc.
Design Considerations
5.5 Back EMF Signals
Back EMF and zero crossing signals are included to support sensorless
algorithms for brushless dc motors. Referring to Figure 5-3, which shows
circuitry for phase C, the raw phase voltage is scaled down by a voltage divider
consisting of R216, R217, and R221. One output from this divider produces
back EMF sense voltage BEMF_sense_C. Resistor values are chosen such that
a 16-volt maximum phase voltage corresponds to a 3.3-volt maximum A/D
input.
Freescale Semiconductor, Inc...
A zero crossing signal is obtained by comparing motor phase voltage with the
motor bus voltage. Comparator U201A performs this function, producing zero
crossing signal Zero_cross_C.
Phase_C
R216
10 k-1%
R215
+5V_D
1M
R217
2.67 k-1%
R218
10 k
R221
3.32 k-1%
V_sense_DCB_half
R220
5.6 k
5
BEMF_sense_C
GNDA
+
4 –
C204
100 pF
GNDA
R219
10 k
3
C205
22 pF
12
2
U201A
LM339D
Zero_cross_C
GNDA
Figure 5-3. Phase C Back EMF Feedback
User’s Manual
42
Evaluation Motor Board
Design Considerations
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MOTOROLA
Freescale Semiconductor, Inc...
Freescale Semiconductor, Inc.
For More Information On This Product,
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Freescale Semiconductor, Inc...
Freescale Semiconductor, Inc.
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