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Freescale Semiconductor, Inc. MC68HC908MR32 Control Board User’s Manual For More Information On This Product, Go to: www.freescale.com 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 Freescale Semiconductor, Inc... R E Q U I R E D MEMCMR32CBUM/D Rev. 1.0 Freescale Semiconductor, Inc. MC68HC908MR32 Control Board Important Notice to Users Freescale Semiconductor, Inc... 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 User’s Manual 2 MC68HC908MR32 Control Board — Rev. 1.0 MC68HC908MR32 Control Board For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board List of Sections Section 1. Introduction and Setup . . . . . . . . . . . . . . . . . . 11 Freescale Semiconductor, Inc... Section 2. Operational Description . . . . . . . . . . . . . . . . . 21 Section 3. Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . 31 Section 4. Schematics and Parts List . . . . . . . . . . . . . . . 43 Section 5. Design Considerations . . . . . . . . . . . . . . . . . . 53 MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA List of Sections For More Information On This Product, Go to: www.freescale.com User’s Manual 3 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... List of Sections User’s Manual 4 MC68HC908MR32 Control Board — Rev. 1.0 List of Sections For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board Table of Contents Freescale Semiconductor, Inc... Section 1. Introduction and Setup 1.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.3 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.5 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Section 2. Operational Description 2.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.4 2.4.1 2.4.2 2.4.3 2.4.4 2.4.5 2.4.6 User Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Section 3. Pin Descriptions 3.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.3 3.3.1 3.3.2 Control Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Tacho Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Hall Sensor/Encoder Input Connector J2. . . . . . . . . . . . . . . . . . . . 33 MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Table of Contents For More Information On This Product, Go to: www.freescale.com User’s Manual 5 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... Table of Contents 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 40-Pin Emulator Connector J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 40-Pin Emulator Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 40-Pin Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 RS-232 DB-9 Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Power Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 3.4 3.4.1 3.4.2 Daughter Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Section 4. Schematics and Parts List 4.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.4 Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Section 5. Design Considerations User’s Manual 6 5.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.3 Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.4 Simultaneous Conduction Lockout. . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.5 Dead Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.6 Power-Up/Power-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.7 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5.8 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5.9 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.10 Optoisolated RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.11 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 MC68HC908MR32 Control Board — Rev. 1.0 Table of Contents For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board List of Figures Freescale Semiconductor, Inc... Figure Title 1-1 1-2 1-3 1-4 1-5 Systems’ Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Control Board Photograph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Setup Parts Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Setup for High-Voltage Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Setup for Low-Voltage Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2-1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3-1 3-2 Connector Parts Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 40-Pin Ribbon Cable Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4-1 4-2 4-3 4-4 4-5 Daughter Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Connectors J3 and J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Control Board Schematic (Sheet 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Control Board Schematic (Sheet 2) . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Control Board Schematic (Sheet 3) . . . . . . . . . . . . . . . . . . . . . . . . . . 48 5-1 5-2 5-3 5-4 5-5 Hall Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Zero Cross Back EMF Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Page List of Figures For More Information On This Product, Go to: www.freescale.com User’s Manual 7 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... List of Figures User’s Manual 8 MC68HC908MR32 Control Board — Rev. 1.0 List of Figures For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board List of Tables Freescale Semiconductor, Inc... Table Title 1-1 1-2 Jumper JP1–JP5 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Overcurrent and Overvoltage Adjustments . . . . . . . . . . . . . . . . . . . . 18 2-1 2-2 2-3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Timer Channel Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3-1 3-2 3-3 3-4 3-5 3-6 Hall Sensor Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Quadrature Encoder Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Connector J3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Connector J4 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Connector J5 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Connector J6 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4-1 4-2 Control Board Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Daughter Board Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Page List of Tables For More Information On This Product, Go to: www.freescale.com User’s Manual 9 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... List of Tables User’s Manual 10 MC68HC908MR32 Control Board — Rev. 1.0 List of Tables For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board Section 1. Introduction and Setup Freescale Semiconductor, Inc... 1.1 Contents 1.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.3 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.5 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.2 Introduction Motorola’s MC68HC908MR32 motor control board is an integral part of the embedded motion control series of development tools. It interfaces easily with power stages, optoisolators, and emulators to complement software development tools for the MC68HC908MR32 (MR32). The MR32 motor control board is supplied in kit number ECCTR908MR32. It is shipped along with a small printed circuit daughter board (SKT908MR32), an MR32, a 12-volt/4-amp power supply, mounting hardware, a 40-pin ribbon cable, and a CD ROM. The MR32 motor control board is designed as an aid for hardware and software development of 3-phase ac induction, brushless dc (BLDC), and switched reluctance (SR) motor drives. There are two modes of operation. • The MR32 control board can be connected to an M68EM08MR32 emulator board, in an MMDS05/08 or MMEVS05/08 emulation system, through an M68CBL08A impedance-matched ribbon cable. • Alternatively, the daughter board housing an HC908MR32 can be plugged into the control board in place of the emulator cable from the MMDS08. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com User’s Manual 11 Freescale Semiconductor, Inc. Introduction and Setup Freescale Semiconductor, Inc... A few of the more noteworthy features are: • Six motor control PWM outputs with LED indicators • Speed control potentiometer • Optoisolated half-duplex RS-232 interface • Start/Stop and Forward/Reverse switches • Hall effect inputs for brushless dc motor control • Back EMF inputs for brushless dc motor control • Tachometer input • 2-position DIP switch for user option control • Emulator/Daughter board connectors • Processor reset switch • Two system fault inputs • Nine analog inputs • Three softwarecontrolled LEDs • Regulated on-board regulated power supply The MR32 motor control board fits into the systems’ configurations that are shown in Figure 1-1. A photograph of the control board with its daughter board attached appears in Figure 1-2. User’s Manual 12 MC68HC908MR32 Control Board — Rev. 1.0 Introduction and Setup For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Introduction and Setup About this Manual EMULATOR CONTROL BOARD CONTROL BOARD WORKSTATION WORKSTATION LOW-VOLTAGE POWER BOARD Freescale Semiconductor, Inc... EMULATOR OPTOISOLATION BOARD HIGH-VOLTAGE POWER BOARD MOTOR OPTIONAL FEEDBACK MOTOR OPTIONAL FEEDBACK a) LOW VOLTAGE b) HIGH VOLTAGE Figure 1-1. Systems’ Configurations 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 3-2. 40-Pin Ribbon Cable Connector J5, and a pin-by-pin description is contained in 3.3 Control Board Signal Descriptions. • For those interested in the reference design aspects of the board’s circuitry, a description is provided in Section 5. Design Considerations. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com User’s Manual 13 Freescale Semiconductor, Inc. Introduction and Setup 1.4 Warnings This development tool set operates in an environment that can include dangerous voltages and rotating machinery. To facilitate safe operation, input power for high-voltage power stages should come from a current-limited dc laboratory power supply, unless power factor correction is specifically being investigated. Freescale Semiconductor, Inc... When operating high-voltage power stages directly from an ac line, power stage grounds and oscilloscope grounds are at different potentials, unless the oscilloscope is floating. Note that probe grounds and, therefore, the case of a floated oscilloscope, are subjected to dangerous voltages. The user should be aware that: User’s Manual 14 • Before moving scope probes, making connections, etc., it is generally advisable to power down the high-voltage supply. • When high voltage is applied to one of the high-voltage power stages, using only one hand for operating the test setup minimizes the possibility of electrical shock. • Operation in labs with grounded tables and/or chairs should be avoided. • Wearing safety glasses, avoiding ties and jewelry, using shields, and operation by personnel trained in high-voltage lab techniques are also advisable. MC68HC908MR32 Control Board — Rev. 1.0 Introduction and Setup For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Introduction and Setup Setup Guide 1.5 Setup Guide Freescale Semiconductor, Inc... Setup and connections for the MR32 motor control board are very straightforward. Input connections to an M68EM08MR32 emulator are made through an M68CBL08A impedance-matched ribbon cable. Output connections to an embedded motion control optoisolation board or low-voltage power stage are made via a 40-pin ribbon cable that is supplied in the ECCTR908MR32 kit. The MR32 motor control board is powered through the 40-pin ribbon cable, regardless if it is connected to the optoisolation board or a low-voltage power stage. The included 12-volt/4-amp power supply provides power for either the optoisolation board or a low-voltage power stage. Figure 1-3 shows parts locations, and Figure 1-4 depicts a completed high-voltage setup. A step-by-step procedure for setup with an optoisolator board and high-voltage power stage follows. 1. Mount four standoffs to the optoisolation board at the locations indicated in Figure 1-4. Standoffs, screws, and washers are included in the MR32 motor control board kit. 2. Plug one end of the 40-pin ribbon cable into the optoisolation board’s input connector J2, labeled “Control Board.” The 40-pin ribbon cable is also supplied in the MR32 motor control board kit. 3. Mount the control board on top of the standoffs. 4. Plug the free end of the 40-pin ribbon cable into the control board’s output connector, J5, located on the right hand side of the board. 5. Plug the square end of an M68CBL08A emulator cable into the emulator cable connectors, J3 and J4, in the center of the board. 6. Plug the free end of the emulator cable into the emulator. If the emulator has not been set up, it will need to be connected to a PC and power source according to its setup instructions. 7. Locate START/STOP switch SW3 and set it to STOP. 8. Locate SPEED potentiometer, P1, and set it to the slowest speed by rotating P1 to its most counter clockwise position. 9. Locate forward (FWD) and reverse (REV) switch SW4 and set it to the desired direction of motor rotation. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com User’s Manual 15 Freescale Semiconductor, Inc... Freescale Semiconductor, Inc. Figure 1-2. Control Board SPEED R35 & V_ref RESET R34 & I_ref SWI2 STOP/START FWD/REV JP1-JP5 RS232 JP7 Figure 1-3. Setup Parts Locations For More Information On This Product, Go to: www.freescale.com Freescale Semiconductor, Inc. Introduction and Setup Setup Guide MOTOR STANDOFFS 40-PIN RIBBON CABLE POWER STAGE Freescale Semiconductor, Inc... +12 Vdc CONTROL BOARD 40-PIN RIBBON CABLE OPTOISOLATOR J1 J2 STANDOFFS HIGH-VOLTAGE MOTOR SUPPLY EM08MR32 EMULATOR Figure 1-4. Setup for High-Voltage Systems 10. If an encoder, tachometer, back EMF signals, or the power factor correction (PFC) circuit are used, it is necessary to configure jumpers JP1–JP5. An “X” in Table 1-1 indicates that the respective jumper should be shorted. The encoder and BEMF zero crossing signals are connected to the same timer channel (TCH2A). Therefore, do not short both JP2 and JP3. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com User’s Manual 17 Freescale Semiconductor, Inc. Introduction and Setup Table 1-1. Jumper JP1–JP5 Settings Function JP1 Tacho JP2 Encoder Encoder JP3 BEMF_z_c JP4 PFC_z_c JP5 PFC_PWM X X X Power factor correction Tachometer X Back EMF X Freescale Semiconductor, Inc... X = Short this jumper. 11. Switch SW2 and jumper JP6 can also be used for configuration. They are set up according to the requirements of the specific software package that is used. 12. Apply dc power to the optoisolation board. 13. Adjust R34 such that the voltage at test point I_ref matches the value indicated in Table 1-2. The ground reference is GND_A. 14. Adjust R35 such that the voltage at test point V_ref matches the value indicated in Table 1-2. The ground reference is GND_A. Table 1-2. Overcurrent and Overvoltage Adjustments Power Stage Overcurrent Comparator U5B Overvoltage Comparator U5C EVM motor board R34 2.8 Vdc R35 1.24 Vdc Low-voltage BLDC power stage R34 3.3 Vdc R35 2.5 Vdc Low-voltage SR power stage R34 3.3 Vdc R35 2.5 Vdc High-voltage ac BLDC power stage R34 3.3 Vdc R35 3.07 Vdc High-voltage SR power stage R34 3.3 Vdc R35 3.07 Vdc 15. Turn off power to the optoisolation board. 16. If a brushless dc motor is controlled with either Hall sensors or an encoder, plug the Hall sensor or encoder cable into Hall sensor / encoder connector J2. User’s Manual 18 MC68HC908MR32 Control Board — Rev. 1.0 Introduction and Setup For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Introduction and Setup Setup Guide 17. If a tachometer is used, plug it into tacho input connector J1. Freescale Semiconductor, Inc... 18. If PC-Master software is used for real-time control of motor operation, it is necessary to set up RS-232 serial communication with a PC. To do this, connect a 9-conductor straight-through cable from the control board’s DB-9 connector, J6, to the COM1 or COM2 serial port of the PC. PC serial ports are wired as DTE (data terminal equipment) and the control board serial communications interface (SCI) port is wired as DCE (data communications equipment). Therefore, a 9-conductor cable wired straight through must be used. Do NOT use a null modem cable. 19. This completes control board setup. If a low-voltage power stage is used, the setup procedure follows the same steps, with the low-voltage power stage substituted for the optoisolation board. For low-voltage systems, setup is depicted in Figure 1-5. STANDOFFS MOTOR CONTROL BOARD 40-PIN RIBBON CABLE LOW-VOLTAGE POWER STAGE 12-VOLT MOTOR SUPPLY STANDOFFS EM08MR32 EMULATOR Figure 1-5. Setup for Low-Voltage Systems MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com User’s Manual 19 Freescale Semiconductor, Inc. Introduction and Setup To switch from operation with the emulator to the daughter board, the following steps apply: 1. Rotate SPEED potentiometer, P1, counter clockwise to its slowest speed setting. 2. Remove power from the entire system (power stage, optoisolator, and emulator). 3. Remove the emulator cable from the control board. Freescale Semiconductor, Inc... 4. Plug the daughter board into the emulator cable socket on the control board. Proper alignment is achieved when the number 1 in a circle on both boards in the vicinity of pins 1 and 2 are located in the same corner. 5. Program an MR32 microcontroller. 6. Insert the programmed microcontroller into its socket on the daughter board. Proper alignment is achieved when pin 1 of U1 is in the same corner of the socket as the 1 in a circle on the daughter board. 7. Restore power and resume operation. It is also possible to use the MR32 motor control board by itself, without connection to any of the other embedded motion control series boards. To do so requires shorting jumper JP7 and plugging the 12-volt power supply into the power jack, J3. User’s Manual 20 MC68HC908MR32 Control Board — Rev. 1.0 Introduction and Setup For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board Section 2. Operational Description Freescale Semiconductor, Inc... 2.1 Contents 2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.4 2.4.1 2.4.2 2.4.3 2.4.4 2.4.5 2.4.6 User Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.2 Introduction Motorola’s embedded motion control series MR32 motor control board is designed to provide control signals for 3-phase ac induction, 3-phase brushless dc (BLDC), and 3-phase switched reluctance (SR) motors. In combination with one of the embedded motion control series power stages, and an optoisolation board, it provides a software development platform that allows algorithms to be written and tested without the need to design and build hardware. With software supplied on the CD-ROM, the control board supports a wide variety of algorithms for ac induction, SR, and BLDC motors. User control inputs are accepted from START/STOP, FWD/REV switches, and a SPEED potentiometer located on the control board. Alternately, motor commands can be entered via a PC and transmitted over a serial cable to DB-9 connector, J6. Output connections and power stage feedback signals are grouped together on 40-pin ribbon cable connector, J5. Motor feedback signals can be connected to Hall sensor/encoder connector J2. Power is supplied through the 40-pin ribbon cable from the optoisolation board or low-voltage power stage. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com User’s Manual 21 Freescale Semiconductor, Inc. Operational Description The control board is designed to run in two configurations. It can be connected to an M68EM08MR32 emulator via an M68CBL08A impedance matched ribbon cable, or it can operate using the daughter board. The M68EM08MR32 emulator board may be used in either an MMDS05/08 or MMEVS05/08 emulation system. Figure 2-1 shows a block diagram of the board’s circuitry. FORWARD/REVERSE SWITCH START/STOP SWITCH EMULATOR/ PROCESSOR CONNECTOR dc POWER 12 Vdc SPEED POT REGULATED POWER SUPPLY TACHOMETER INPUT HALL EFFECT INPUTS (3) RESET SWITCH CONFIG. JUMPERS Freescale Semiconductor, Inc... TERMINAL I/F OPTOISOLATED RS-232 I/F (2) OPTION SWITCHES PWM LEDs (6) OPTO/POWER DRIVER I/O CONNECTOR OVERCURRENT/ OVERVOLTAGE INPUTS BACK EMF INPUTS CURRENT/TEMP SENSE INPUTS PWM (6) OUTPUTS 40-PIN RIBBON CONNECTOR MISC. POWER AND CONTROL I/O Figure 2-1. Block Diagram A summary of the information needed to use the HC908MR32 motor control board is presented in the following sections. A discussion of the design appears in Section 5. Design Considerations. User’s Manual 22 MC68HC908MR32 Control Board — Rev. 1.0 Operational Description For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Operational Description Electrical Characteristics 2.3 Electrical Characteristics The electrical characteristics in Table 2-1 apply to operation at 25°C. Table 2-1. Electrical Characteristics Freescale Semiconductor, Inc... Characteristic Symbol Min Typ Max Units dc power supply voltage Vdc 10.8* 12* 16.5* V Quiescent current ICC — 80 — mA Min logic 1 input voltage (MR32) VIH 2.0 — — V Max logic 0 input voltage (MR32) VIL — — 0.8 V Propagation delay (Hall sensor/encoder input) tdly — — 500 ns Analog input range VIn 0 — 5.0 V — — 9600 Baud — — 20 mA RS-232 connection speed PWM sink current IPK * When operated and powered separately from other Embedded Motion Control tool set products MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com User’s Manual 23 Freescale Semiconductor, Inc. Operational Description 2.4 User Interfaces There are five types of user interfaces on the HC908MR32 motor control board. They include an RS-232 serial interface, potentiometers, switches, jumpers, indicator lights, and test points. Descriptions of these interfaces follow. Freescale Semiconductor, Inc... 2.4.1 Potentiometers Three potentiometers (pot) provide for motor speed control, adjustment of the overcurrent fault threshold, and adjustment of the overvoltage fault threshold. They are: • P1: SPEED — P1, labeled SPEED, is the speed control pot. Clockwise rotation increases motor speed. Speed control commands can also be sent over the RS-232 interface. At power-up and reset, speed control defaults to P1. • R34: Overcurrent Threshold — The overcurrent fault threshold is set by trim pot R34. Clockwise rotation increases the threshold. Default settings for power stages in the embedded motion control tool set are found in Table 1-2. Overcurrent and Overvoltage Adjustments. • R35: Overvoltage Threshold — The overvoltage fault threshold is set by trim pot R35. Clockwise rotation increases the threshold. Default settings for power stages in the embedded motion control tool set are found in Table 1-2. Overcurrent and Overvoltage Adjustments. 2.4.2 Switches Four switches provide for user inputs. They are: User’s Manual 24 • SW1: Reset — SW1, the reset switch, is a push button located near the top of the board. It resets the 68HC908MR32. • SW2: DIP Switch SW2 — DIP switch SW2 contains two switches that are used for software configuration. They are set up according to the specific requirements of the software package used. • SW3: START/STOP — SW3, START/STOP, is a toggle switch located on the left-hand side of the board. It starts and stops the motor. Up (toward the top of the board) turns the motor on and down stops it. MC68HC908MR32 Control Board — Rev. 1.0 Operational Description For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Operational Description User Interfaces • SW4: FWD/REV — SW4, FWD/REV, is a toggle switch located next to the START/STOP switch on the left side of the board. It controls direction of the motor. Up (toward the top of the board) runs the motor forward and down runs it in reverse. 2.4.3 Jumpers Freescale Semiconductor, Inc... There are seven jumpers, JP1–JP7. Jumpers JP1 through JP5 are located together near the center of the board above the emulator cable sockets. Jumper JP6 is located with switch SW2, and JP7 is in the lower left-hand corner of the board. They are: • JP1: Tacho — Jumper JP1 is used to configure the board for a tachometer input. It is shorted when a tachometer is used. • JP2: Encoder — Jumper JP2 is used to configure the board for an encoder input. It is shorted when an encoder is used. It should not be shorted when jumper JP3 is shorted. • JP3: BEMF_z_c — Jumper JP3 is used to configure the board for back EMF signals. It is shorted when back EMF signals are used. It should not be shorted when jumper JP2 is shorted. • JP4: PFC_z_c — Jumper JP4 is used to configure the board for power factor correction. It is shorted when set up for power factor correction (PFC). • JP5: PFC_PWM — Jumper JP5 is also used to configure the board for PFC. It is shorted when set up for PFC. • JP6: Software Configuration — Jumper JP6 can be used for software configuration. It is set up according to the specific requirements of the software package used. • JP7: Power Supply — Jumper JP7 is shorted when power jack J3 is used for the power supply input. This configuration is used only when the HC908MR32 motor control board is operated by itself, without connection to any of the other embedded motion control series boards. Looked at from a timer channel point of view, jumpers JP1–JP5 provide the options summarized in Table 2-2. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com User’s Manual 25 Freescale Semiconductor, Inc. Operational Description Table 2-2. Timer Channel Configuration Timer Channel Jumper Jumper Inserted Jumper Removed TCH0A JP4 PFC zero crossing Test point PTE4 TCH0B JP5 PFC PWM Test point PTE1 TCH1A Test point PTE5 TCH1B Test point PTE2 Freescale Semiconductor, Inc... TCH2A TCH3A NOTE: JP2 Encoder Test point PTE6 JP3 BEMF zero crossing Test point PTE6 JP1 Tacho Test point PTE7 The encoder and BEMF zero crossing signals are connected to the same timer channel (TCH2A). Therefore, both JP2 and JP3 should not be shorted. 2.4.4 Indicator Lights Ten LEDs located on the control board provide status information to the user. Power-on LED, D2, is located in the top right-hand quadrant of the board. The other nine indicator lights are lined up in a row to the left of 40-pin ribbon connector J5. Descriptions are: User’s Manual 26 • D2: Power On — D2, labeled POWER, lights when power is applied to the board. • D3: Phase A Top — D3 lights when PWM signal phase A top is high. • D4: Phase A Bottom — D4 lights when PWM signal phase A bottom is high. • D5: Phase B Top — D5 lights when PWM signal phase B top is high. • D6: Phase B Bottom — D6 lights when PWM signal phase B bottom is high. • D7: Phase C Top — D7 lights when PWM signal phase C top is high. • D8: Phase C Bottom — D8 lights when PWM signal phase C bottom is high. • D9: Run (Green) — D9 lights when the motor is running. • D10: Ready (Yellow) — D10 lights when the motor is ready to run, and blinks when a fault is imminent. • D11: Fault (Red) — D11 lights when a fault has occurred. MC68HC908MR32 Control Board — Rev. 1.0 Operational Description For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Operational Description User Interfaces 2.4.5 Test Points A variety of test points, listed in Table 2-3, are provided to facilitate measurements with an oscilloscope. Freescale Semiconductor, Inc... Table 2-3. Test Points Label Location Signal Name Connected To GND Upper right corner GND Digital ground +5V_D Upper right corner +5V_D 5-volt digital supply GNDA Upper right corner GNDA Analog ground +3.3V_A Upper right corner +3.3V_A 3.3-volt analog supply +5V_Aref Upper right corner +5V_A_ref 5-volt analog reference +15V_A Upper right corner +12/15V_A +12-volt to +15-volt analog supply –15V_A Upper right corner –12/15V_A –12-volt to –15-volt analog supply I_ref Above RUN/STOP Switch Wiper of R34 V_ref Above FWD/REV Switch Wiper of R35 GND Below power-on LED GND Digital ground PWM1 Left of PWM indicator lights PWM_AT Connector J5, pin 1 PWM2 Left of PWM indicator lights PWM_AB Connector J5, pin 3 PWM3 Left of PWM indicator lights PWM_BT Connector J5, pin 5 PWM4 Left of PWM indicator lights PWM_BB Connector J5, pin 7 PWM5 Left of PWM indicator lights PWM_CT Connector J5, pin 9 PWM6 Left of PWM indicator lights PWM_CB Connector J5, pin 11 /IRQ Above emulator connector IRQ1/Vpp PTE7 Above emulator connector PTE7/TCH3A PTE6 Above emulator connector PTE6/THC2A PTE5 Above emulator connector PTE5/TCH1A PTE4 Above emulator connector PTE4/TCH0A PTE3 Above emulator connector PTE3/TCLKA PTE2 Above emulator connector PTE2/TCH1B PTE1 Above emulator connector PTE1/TCTCH0B PTE0 Above emulator connector PTE0/TCLKB MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com User’s Manual 27 Freescale Semiconductor, Inc. Operational Description Freescale Semiconductor, Inc... Table 2-3. Test Points (Continued) Label Location Signal Name Connected To GND Above emulator connector GND Digital ground +5V_D Above emulator connector +5V_D 5-volt digital supply GNDA Below emulator connector GNDA Analog ground PTA0 Below emulator connector PTA0 PTA4 Below emulator connector PTA4 PTA5 Below emulator connector PTA5 ADC0 Below emulator connector Speed Control Wiper of P1 ADC1 Below emulator connector V_sense_DCB Connector J5, pin 21 ADC2 Below emulator connector I_sense_DCB Connector J5, pin 22 ADC3 Below emulator connector I_sense_A Connector J5, pin 23 ADC4 Below emulator connector I_sense_B Connector J5, pin 24 ADC5 Below emulator connector I_sense_C Connector J5, pin 25 ADC6 Below emulator connector Temp_sense Connector J5, pin 26 ADC7 Below emulator connector BEMF_sense_A Connector J5, pin 38 ADC8 Below emulator connector BEMF_sense_B Connector J5, pin 39 ADC9 Below emulator connector BEMF_sense_C Connector J5, pin 40 PTC2 Below emulator connector PTC2 PTC3 Below emulator connector PTC3 FLT3 Left of status indicator lights PTD2/FLT3 FLT4 Left of status indicator lights PTD3/FLT4 OC Left of status indicator lights Overcurrent Output of U5B OV Left of status indicator lights Overvoltage Output of U5C D9 Left of ribbon connector J5 LED3 PTC6 D10 Left of ribbon connector J5 LED2 PTC5 D11 Left of ribbon connector J5 LED1 PTC4 User’s Manual 28 MC68HC908MR32 Control Board — Rev. 1.0 Operational Description For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Operational Description User Interfaces 2.4.6 RS-232 Interface Freescale Semiconductor, Inc... An RS-232 interface is available via DB-9 connector J6. It connects to serial port COM1 or COM2 on a Windows-based PC and enables motor commands to be entered via PC Master software. At power up or reset, control defaults to speed control pot P1, START/STOP switch SW3, and FWD/REV switch SW4. Control is transferred to the serial interface on the receipt of a command entered via PC-Master software. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com User’s Manual 29 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... Operational Description User’s Manual 30 MC68HC908MR32 Control Board — Rev. 1.0 Operational Description For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board Section 3. Pin Descriptions Freescale Semiconductor, Inc... 3.1 Contents 3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 Control Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Tacho Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Hall Sensor/Encoder Input Connector J2. . . . . . . . . . . . . . . . . . . . 33 40-Pin Emulator Connector J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 40-Pin Emulator Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 40-Pin Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 RS-232 DB-9 Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Power Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 3.4 3.4.1 3.4.2 Daughter Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 3.2 Introduction There are seven connectors on the control board, J1–J7. Figure 3-1 illustrates locations for these connectors. They are: • J1 — Tachometer input connector • J2 — 5-pin Hall sensor and encoder connector • J3 — 40-pin emulator connector • J4 — 40-pin emulator connector • J5 — 40-pin ribbon cable connector • J6 — RS-232 DB-9 connector • J7 — Power jack Two connectors on the daughter board are labeled J1 and J2. They mate with connectors J3 and J4 on the control board. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com User’s Manual 31 Freescale Semiconductor, Inc. Pin Descriptions 3.3 Control Board Signal Descriptions The following subsections describe signals on control board connectors J1–J7. 3.3.1 Tacho Input Connector J1 Freescale Semiconductor, Inc... Tacho input connector, J1, is a 2-pin connector that accepts inputs from an analog tachometer. This signal is conditioned with comparator U5A and through jumper JP1 provides an input to timer channel TCH3A. The schematic in Figure 4-4. Control Board Schematic (Sheet 2) shows J1 at the left-center of the page. Pin 1 carries the tachometer input signal, and pin 2 is connected to analog ground, GNDA. Figure 3-1. Connector Parts Locations User’s Manual 32 MC68HC908MR32 Control Board — Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Control Board Signal Descriptions 3.3.2 Hall Sensor/Encoder Input Connector J2 Freescale Semiconductor, Inc... The Hall sensor/encoder input connector, J2, is a 5-pin connector, which accepts input signals from Hall sensors or a quadrature encoder. Due to the likelihood of noise on Hall sensor inputs, these signals are filtered, and passed through a Schmitt trigger before being routed to logic circuitry. The schematic in Figure 4-5. Control Board Schematic (Sheet 3) shows J2 at the left-hand side of the page. The pinouts for a Hall sensor input are shown in Table 3-1. Table 3-1. Hall Sensor Input Pin No. Signal Name 1 +5V +5V supplies power from the control board to the Hall sensors. 2 Gnd Gnd is the Hall sensor ground. 3 Hall A Hall A is an open collector output from Hall sensor A. 4 Hall B Hall B is an open collector output from Hall sensor B. 5 Hall C Hall C is an open collector output from Hall sensor C. Description Pin assignments for quadrature encoder input are shown in Table 3-2. Table 3-2. Quadrature Encoder Input Pin No. Signal Name 1 +5V Pin 1 supplies +5 volts from the control board to the encoder. 2 Gnd Pin 1 is the encoder’s ground. 3 Channel A Pin 3 is the channel A input. 4 Channel B Pin 4 is the channel B input. 5 Index Description Pin 5 is the Index input. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com User’s Manual 33 Freescale Semiconductor, Inc. Pin Descriptions 3.3.3 40-Pin Emulator Connector J3 Connectors J3 and J4 are 40-pin connectors which link signals between the control board and an MR32 emulator cable or daughter board. Figure 4-2. Connectors J3 and J4 shows the pinouts and signal names. Signal descriptions for connector J3 are given in Table 3-3. Freescale Semiconductor, Inc... Table 3-3. Connector J3 Signal Descriptions Pin No. Signal Name 1 I_sense_DCB (PTB2/ATD2) An analog sense input signal that measures the power board’s dc bus current 2 I_sense_A (PTB3/ATD3) An analog sense input signal that measures the phase A current 3 GND 4 I_sense_B (PTB4/ATD4) An analog sense input signal that measures the phase B current 5 I_sense_C (PTB5/ATD5) An analog sense input signal that measures the phase C current 6 Temp_sense (PTB6/TD6) An analog sense input signal that measures power stage substrate temperature 7 BEMF_sense_A (PTB7/ATD7) 8 GND 9 BEMF_sense_B (PTC0/ATD8) An analog sense input signal that measures the back EMF of phase B 10 BEMF_sense_C (PTC0/ATD8) An analog sense input signal that measures the back EMF of phase C 11 Not used 12 Not used 13 Not used 14 +5V_A_ref +5V_A_ref is the A/D converter’s reference voltage. 15 PTB0/ATD0 PTB0/ATD0 is derived from the wiper of the SPEED potentiometer, P1. 16 V_sense_DCB (PTB1/ATD1) User’s Manual 34 Description Digital power supply ground An analog sense input signal that measures the back EMF of phase A Digital power supply ground An analog sense input signal that measures the power board’s dc bus voltage MC68HC908MR32 Control Board — Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Control Board Signal Descriptions Freescale Semiconductor, Inc... Table 3-3. Connector J3 Signal Descriptions (Continued) Pin No. Signal Name 17 GND 18 Brake (PTA7) 19 PTA5 20 S_C (PTA6) 21 Not used 22 PTA4 23 (PTA1) Not used 24 (PTA2) Not used 25 (PTA0) Not used 26 GND 27 xEM_Vdda 28 GND 29 Not used 30 GNDA 31 (Extra GND) 32 Not used 33 EM_RESET 34 IRQ1/Vpp 35 TxD (PTF5/TxD) TxD is an RS-232 serial communications signal transmitted from the MR32. 36 RxD (PTF4/RxD) RxD is an RS-232 serial communications signal received by the MR32. 37 MUX_A (PTF3) MUX_A is a multiplexed digital control signal for phase A used in the back EMF selection logic circuitry. 38 MUX_B (PTF2) MUX_B is a multiplexed digital control signal for phase B used in the back EMF selection logic circuitry. 39 GND 40 MUX_C (PTF1) Description Digital power supply ground Brake is the gate drive signal for the power board’s brake transistor. PTA5 is a digital signal from the START/STOP switch, SW3. S_C is the serial communications signal used for power stage identification. This is a digital signal from the FWD/REV switch, SW4. Digital power supply ground xEM_Vdda is a filtered +5-volt power supply voltage that is derived from +5V_D. Digital power supply ground Analog power supply ground Extra digital power supply ground EM_RESET is the reset signal from the RESET push-button switch SW1. IRQ1/Vpp is a connection from the MR32’s IRQ1/Vpp pin through 10 kΩ to +5 volts. Digital power supply ground MUX_C is a multiplexed digital control signal for phase C used in the back EMF selection logic circuitry. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com User’s Manual 35 Freescale Semiconductor, Inc. Pin Descriptions 3.3.4 40-Pin Emulator Connector J4 Signal descriptions for connector J4 are listed in Table 3-4. Table 3-4. Connector J4 Signal Descriptions Signal Name 1 PTC2 Not used 2 GND Digital power supply ground 3 PTC3 Not used 4 GND Digital power supply ground 5 LED1 (PTC4) 6 GND 7 LED2 (PTC5) 8 GND 9 LED3 (PTC6) 10 Overvoltage (PTD0/FAULT1) Overvoltage is a digital input signal that indicates an overvoltage fault. This pin is at logic 1 when a fault is present. 11 Overcurrent (PTD1/FAULT2) Overcurrent is a digital signal that indicates an overcurrent fault. This pin is at logic 1 when a fault is present. 12 GND Digital power supply ground 13 GND Digital power supply ground 14 +5V_D 15 FLT3 FLT3 is a digital signal that indicates a commutation error. A logic 1 indicates that a commutation fault occurred. 16 FLT4 FLT4 is a digital signal that indicates an overtemperature fault. This pin is at logic 1 when a fault is present. 17 Zero_Cross_A (PTD4/IS1) Zero_Cross_A is a digital signal used for sensing phase A back EMF zero crossing events. 18 Zero_Cross_B (PTD5/IS2) Zero_Cross_B is a digital signal used for sensing phase B back EMF zero crossing events. 19 Zero_Cross_C (PTD6/IS3) Zero_Cross_C is a digital signal used for sensing phase C back EMF zero crossing events. Freescale Semiconductor, Inc... Pin No. User’s Manual 36 Description LED1 is a digital signal that turns on the red (fault) LED when a fault is present. Digital power supply ground LED2 is a digital that controls the yellow (ready/warning) LED. Digital power supply ground LED3 is a digital signal that turns on the green (run) LED when the motor is running. +5V_D is the digital supply voltage. MC68HC908MR32 Control Board — Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Control Board Signal Descriptions Freescale Semiconductor, Inc... Table 3-4. Connector J4 Signal Descriptions (Continued) Pin No. Signal Name 20 GND 21 PWM2 PWM2 is the gate drive signal for the bottom half-bridge of phase A. 22 PWM1 PWM1 is the gate drive signal for the top half-bridge of phase A. 23 PWM4 PWM4 is the gate drive signal for the bottom half-bridge of phase B. 24 PWM3 PWM3 is the gate drive signal for the top half-bridge of phase B. 25 PWM5 PWM5 is the gate drive signal for the top half-bridge of phase C. 26 PWMGND 27 GND 28 PWM6 29 PTE1/TCTCH0B 30 PTE0/TCLKB Not used 31 PTE3/TCLKA Not used 32 PTE2/TCH1B Not used 33 PTE4/TCH0A When jumper JP4 is shorted, PTE4/TCH0A is the power factor correction circuit’s zero crossing signal, PFC_z_c. 34 GND 35 PTE6/TCH2A When jumper JP2 is shorted, PTE6/TCH2A is the encoder signal from the output of the encoder/Hall sensor XOR logic circuit, U4B. When jumper JP3 is shorted, PTE6/TCH2A is the power factor correction circuit’s zero crossing signal, PFC_z_c. 36 PTE5/TCH1A Not used 37 +5V_D 38 PTE7/TCH3A 39 PFC_inhibit (PTF0/SPSCK) 40 Not used Description Digital power supply ground PWMGND is the PWM timer’s ground. It is tied to digital power supply ground, GND. Digital power supply ground PWM6 is the gate drive signal for the bottom half-bridge of phase C. When jumper JP5 is shorted, PTE1/TCTCH0B is the power factor correction circuit’s gate drive signal, PFC_PWM. Digital power supply ground +5V_D is the 5-volt digital power supply. When jumper JP1 is shorted, the PTE7/TCH3A is the tacho digital output signal from U5A. PFC_inhibit is a digital output from the microcontroller used to enable or disable the power factor correction circuit. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com User’s Manual 37 Freescale Semiconductor, Inc. Pin Descriptions 3.3.5 40-Pin Connector J5 Signals to and from a power stage are grouped together on 40-pin ribbon cable connector J5. Pin assignments are shown in Figure 3-2. In this figure, a schematic representation appears on the left, and a physical layout of the connector appears on the right. The physical view assumes that the board is oriented such that its title is read from left to right. See Table 3-5. Freescale Semiconductor, Inc... J5 BEMF_sense_C BEMF_sense_B BEMF_sense_A Shielding Zero_cross_C Zero_cross_B Zero_cross_A PFC_z_c PFC_inhibit PFC_PWM Serial_Con Brake_control Shielding Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB –12/15V_A +12/15V_A GNDA GNDA +3.3V_A +5V_D +5V_D GND_PS GND PWM_CB Shielding PWM_CT Shielding PWM_BB Shielding PWM_BT Shielding PWM_AB Shielding PWM_AT 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 PWM_AT PWM_AB PWM_BT PWM_BB PWM_CT PWM_CB GND_PS +5V_D GNDA +12/15V_A V_sense_DCB I_sense_A I_sense_C Brake_control PFC_PWM PFC_z_c 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 –12/15V_A I_sense_DCB I_sense_B Temp_sense Shielding Serial_Con PFC_inhibit Zero_cross_A Zero_cross_C BEMF_sense_A BEMF_sense_C PHYSICAL VIEW SCHEMATIC VIEW Figure 3-2. 40-Pin Ribbon Cable Connector J5 User’s Manual 38 MC68HC908MR32 Control Board — Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Control Board Signal Descriptions Freescale Semiconductor, Inc... Table 3-5. Connector J5 Signal Descriptions (Sheet 1 of 3) Pin No. Signal Name 1 PWM_AT PWM_AT is the gate drive signal for the top half-bridge of phase A. A logic high turns phase A’s top switch on. 2 Shielding Pin 2 is connected to an unused wire that helps prevent cross talk between adjacent signals. 3 PWM_AB PWM_AB is the gate drive signal for the bottom half-bridge of phase A. A logic high turns on phase A’s bottom switch. 4 Shielding Pin 4 is connected to an unused wire that helps prevent cross talk between adjacent signals. 5 PWM_BT PWM_BT is the gate drive signal for the top half-bridge of phase B. A logic high turns on phase B’s top switch. 6 Shielding Pin 6 is connected to an unused wire that helps prevent cross talk between adjacent signals. 7 PWM_BB PWM_BB is the gate drive signal for the bottom half-bridge of phase B. A logic high turns on phase B’s bottom switch. 8 Shielding Pin 8 is connected to an unused wire that helps prevent cross talk between adjacent signals. 9 PWM_CT PWM_CT is the gate drive signal for the top half-bridge of phase C. A logic high turns on phase C’s top switch. 10 Shielding Pin 10 is connected to an unused wire that helps prevent cross talk between adjacent signals. 11 PWM_CB PWM_CB is the gate drive signal for the bottom half-bridge of phase C. A logic high turns on phase C’s bottom switch. 12 GND Digital power supply ground 13 GND Digital power supply ground, redundant connection 14 +5V digital Digital +5-volt power supply 15 +5V digital Digital +5-volt power supply, redundant connection 16 +3.3V analog 17 GNDA Analog power supply ground 18 GNDA Analog power supply ground, redundant connection 19 +12/15V_A Description Analog +3.3-volt power supply Analog +12-volt to +15-volt power supply. +12 volts is supplied from low-voltage power stages. +15 volts is supplied from the optoisolation board and high-voltage power stages. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com User’s Manual 39 Freescale Semiconductor, Inc. Pin Descriptions Table 3-5. Connector J5 Signal Descriptions (Sheet 2 of 3) Signal Name Description 20 –12/15V_A Analog –12-volt to –15-volt power supply. –12 volts are supplied from low-voltage power stages. –15 volts are supplied from the optoisolation board and high-voltage power stages. 21 V_sense_DCB V_sense_DCB is an analog sense signal that measures the power board’s dc bus voltage. 22 I_sense_DCB I_sense_DCB is an analog sense signal that measures the power board’s dc bus current. 23 I_sense_A I_sense_A is an analog sense signal that measures current in phase A. 24 I_sense_B I_sense_B is an analog sense signal that measures current in phase B. 25 I_sense_C I_sense_C is an analog sense signal that measures current in phase C. 26 Temp_sense 27 Shielding Pin 27 is connected to an unused wire that helps prevent cross talk between adjacent signals. 28 Shielding Pin 28 is connected to an unused wire that helps prevent cross talk between adjacent signals. 29 Brake_control Brake_control is the gate drive signal for the power board’s brake transistor. 30 Serial_Con Serial_Con is a bidirectional digital serial interface used to identify the power board to the control board. This information is then used by the control board’s software to scale analog feedback signals. 31 PFC_PWM PFC_PWM is the power factor correction circuit’s gate drive signal. 32 PFC_inhibit PFC_inhibit is a digital output from the microcontroller, U1, that is used to enable or disable the power factor correction circuit. 33 PFC_z_c 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 an unused wire that helps prevent cross talk between adjacent signals. 38 BEMF_sense_A BEMF_sense_A is an analog sense signal that measures phase A back EMF. Freescale Semiconductor, Inc... Pin No. User’s Manual 40 Temp_sense is an analog sense signal that measures the power stage’s substrate temperature. PFC_z_c is the power factor correction circuit’s zero crossing signal. MC68HC908MR32 Control Board — Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Pin Descriptions Control Board Signal Descriptions Table 3-5. Connector J5 Signal Descriptions (Sheet 3 of 3) Pin No. Signal Name 39 BEMF_sense_B BEMF_sense_B is an analog sense signal that measures phase B back EMF. 40 BEMF_sense_C BEMF_sense_C is an analog sense signal that measures phase C back EMF. Description Freescale Semiconductor, Inc... 3.3.6 RS-232 DB-9 Connector J6 The RS-232 DB-9 connector, J6, is a 9-pin female connector for serial communications with a PC. It has standard RS-232 pinouts. The schematic in Figure 4-4. Control Board Schematic (Sheet 2) shows J6 at the top-center of the page. Signal descriptions are listed in Table 3-6: Table 3-6. Connector J6 Signal Descriptions Pin No. Signal Name 1 Unused 2 RXD Data received by the PC from the control board 3 TXD Data transmitted from the PC to the control board 4 DTR PC indicates that it is ready to receive data 5 GND Common ground reference 6 Unused 7 RTS 8 Unused N/A 9 Unused N/A Description N/A N/A PC requests to send data to the control board 3.3.7 Power Connector J7 A power connector, J7, is a 2.1-mm power jack provided for connection to the 12-volt power supply included in the HC908MR32 motor control board kit. This power input connector is used only when the control board is operating independently from other boards in the embedded motion control tool set. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com User’s Manual 41 Freescale Semiconductor, Inc. Pin Descriptions 3.4 Daughter Board Signal Descriptions Pin assignments for daughter board connectors J1 and J2 are identified as follows. 3.4.1 Daughter Board Connector J1 Freescale Semiconductor, Inc... Daughter board 40-pin connector J1 mates with control board connector J3. Pin assignments for both connectors are identical. See Table 3-3. 3.4.2 Daughter Board Connector J2 Daughter board 40-pin connector J2 mates with control board connector J4. Pin assignments for both connectors are identical. See Table 3-4. User’s Manual 42 MC68HC908MR32 Control Board — Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board Section 4. Schematics and Parts List Freescale Semiconductor, Inc... 4.1 Contents 4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.4 Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.2 Overview A set of schematics for the control and daughter boards appear in Figure 4-1 through Figure 4-5. Figure 4-1 shows how the 68HC098MR32’s pinouts match signal names on the control board. Figure 4-2 depicts the two 40-pin connector connections that are made with either the daughter board or emulator cable. Figure 4-3 through Figure 4-5 show the control board’s circuitry. 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. Parts lists for the control and daughter boards appear in Table 4-1 and Table 4-2. 4.3 Schematics Schematics for the control and daughter boards appear on the following pages. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Schematics and Parts List For More Information On This Product, Go to: www.freescale.com User’s Manual 43 LED2 PTC3 PTC0/ATD8 PTB6/ATD6 PTE0/TCLKB PWM5 PWM4 PWM2 Zero_cross_C Zero_cross_A FLT3 Overvoltage GNDA C1 .1UF +5V_A_ref PTB4/ATD4 I_sense_DCB PWM6 PWMGND PWM3 PWM1 Zero_cross_B FLT4 Overcurrent LED3 LED1 PTC2 PTC1/ATD9 PTB7/ATD7 PTB5/ATD5 PTB3/ATD3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 For More Information On This Product, Go to: www.freescale.com PTB1/ATD1 PTB0/ATD0 PTA7 PTA6 PTA5 PTA4 PTA3 PTA2 PTA1 PTA0 V_ssa OSC2 OSC1 CGMXFC V_dda RST IRQ1/V_pp PTF5/TxD PTF4/RxD PTF3/MISO PTF2/MOSI PTF1/SS PTF0/SPSCK V_ss V_dd PTE7/TCH3A PTE6/TCH2A PTE5/TCH1A PTE4/TCH0A PTE3/TCLKA PTE2/TCH1B PTE1/TCH0B 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 Figure 4-1. Daughter Board MC68HC908MR24FU PTB2/ATD2 PTB3/ATD3 PTB4/ATD4 PTB5/ATD5 PTB6/ATD6 PTB7/ATD7 PTC0/ATD8 PTC1/ATD9 V_ddad V_ssad V_refl V_refh PTC2 PTC3 PTC4 PTC5 PTC6 PTD0/FAULT1 PTD1/FAULT2 PTD2/FAULT3 PTD3/FAULT4 PTD4/IS1 PTD5/IS2 PTD6/IS3 PWM1 PWM2 PWM3 PWM4 PWMGND PWM5 PWM6 PTE0/TCLKB U1 PTA1 PTA3 PTA5 Brake .1UF PTE2/TCH1B PTE4/TCH0A GND GND C4 .1UF xEM_Vdda PTE6/TCH2A PFC_inhibit MUX_B RxD C2 V_sense_DCB IRQ1/Vpp PTE1/TCTCH0B PTE3/TCLKA PTE5/TCH1A PTE7/TCH3A MUX_C MUX_A TxD EM_RESET PTA0 PTA2 PTA4 S_C PTB0/ATD0 Freescale Semiconductor, Inc... +5V_D GND C3 .1UF R1 10M 4MHz GND X1 Freescale Semiconductor, Inc. PTA5 V_sense_DCB (PTB1/ATD1) +5V_A_ref PTC1/ATD9 PTB7/ATD7 PTB5/ATD5 PTB3/ATD3 (PTA6) S_C (PTA7) Brake PTB0/ATD0 PTC0/ATD8 PTB6/ATD6 PTB4/ATD4 (PTB2/ATD2) I_sense_DCB GND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 J3 EMU_TOP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TARGET A 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 GND (PTC5) LED2 PTC3 (PTC4) LED1 PTC2 GND (PTC6) LED3 (PTD0/FAULT1) Overvoltage (PTD1/FAULT2) Overcurrent GNDA (Extra GND) (Extra GND) xEM_Vdda +5V_D FLT3 FLT4 (PTD4/IS1) Zero_cross_A PTA2 (PTD5/IS2) Zero_cross_B PTA4 (PTD6/IS3) Zero_cross_C IRQ1/Vpp RxD (PTF4/RxD) MUX_B(PTF2) Figure 4-2. Connectors J3 & J4 PTA3 PTA1 PTA0 (J6-28 xEM_Vssa) (Extra GND) EM_RESET TxD(PTF5/TxD) MUX_A (PTF3) MUX_C (PTF1) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Freescale Semiconductor, Inc... 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 J4 EMU_BOT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TARGET B 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 GND PWM2 PWM4 (J7-26 PWMGND) PWM5 PTE1/TCTCH0B PTE3/TCLKA PTE4/TCH0A PTE5/TCH1A PTE7/TCH3A PWM1 PWM3 PWM6 PTE0/TCLKB PTE2/TCH1B PTE6/TCH2A +5V_D (PTF0/SPSCK) PFC_inhibit Freescale Semiconductor, Inc. For More Information On This Product, Go to: www.freescale.com For More Information On This Product, Go to: www.freescale.com C24 100nF GND +5V_D + Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB_5 -12/15V_A +12/15V_A GNDA GNDA +3.3V analog +5V digital +5V digital GND GND PWM_CB Sheilding PWM_CT Sheilding PWM_BB Sheilding PWM_BT Sheilding PWM_AB Sheilding PWM_AT BEMF_sense_C BEMF_sense_B BEMF_sense_A Sheilding Zero_cross_C Zero_cross_B Zero_cross_A PFC_z_c PFC_inhibit PFC_PWM Serial_Con Brake_control Sheilding J5 C23 22uF/10V 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 MP9 PWM6 MP23 PWM3 R28 1.8k D5 LED MP27 PWM1 R37 1.8k D7 LED MP8 GND R39 1.8k D8 LED PTE0/TCLKB PWM4 PWM5 GND PORT E / Timers 3 2 R26 +5V_D C20 100nF PTA4 Fwd/Rev SW4 10k R48 BEMF_z_c PFC_z_c PFC_PWM JP4 JP5 Encoder JP2 C13 GND PTA3 PTA2 PTA1 1 R50 10k R51 10k C11 100nF GNDA 100nF C10 -15V_A+15V_A GND C4 C2 100nF 22uF/10V +3.3V_A + JP6 GND SM/Jumper SW2 Switch/DIP2 4 3 +5V_D FLT1 DS306-55Y5S222M50 3 +5V_D 1 2 GND LED D2 R17 1.8k +5V_D xEM_Vdda R49 10k +5V_D 10uF/35V C22 100nF JP3 Tacho JP1 GND +5V_D 3 10k 10k R27 1 MP12 /IRQ C21 C18 100nF 22uF/10V PTA5 SW1 Reset EM_RESET IRQ1/Vpp 1 SW3 Start/Stop GND MP22 MP19 MP17 MP15 MP13 +5V_D PTE1 PTE3 PTE5 PTE7 MP21 MP20 MP18 MP16 MP14 GND PTE0 PTE2 PTE4 PE6 GND +5V_D PTE1/TCTCH0B PWM3 PWM6 PTE3/TCLKA PTE2/TCH1B PWM2 PTE4/TCH0A PTE5/TCH1A PTE6/TCH2A PTE7/TCH3A PWM1 Zero_cross_A Zero_cross_B Zero_cross_C V_sense_DCB PTB4/ATD4 PTB5/ATD5 PTB6/ATD6 PTB3/ATD3 I_sense_DCB PTB7/ATD7 PTB0/ATD0 GNDA 2 2 Figure 4-3. Control Board Circuitry (Sheet 1 of 3) MP24 PWM2 R31 1.8k D6 LED Motor Control PWMs MP11 PWM4 R23 1.8k D4 LED GND GNDA MP10 PWM5 R19 1.8k D3 LED +5V_D +3.3V_A -12/15V_A +12/15V_A PFC_z_c PFC_inhibit PFC_PWM S_C Brake PTC0/ATD8 PTC1/ATD9 GNDA P1 5k Speed Setup 1 MP48 MP47 MP46 MP45 MP44 MP43 MP42 MP41 MP40 MP39 MP35 ADC9 ADC8 ADC7 ADC6 ADC5 ADC4 ADC3 ADC2 ADC1 ADC0 GNDA 3 +5V_A_ref 2 Analog to Digital Converter + + Freescale Semiconductor, Inc... Freescale Semiconductor, Inc. 1 2 3 1 For More Information On This Product, Go to: www.freescale.com GND C16 10nF +15V_A I_sense_DCB 2 C19 68pF R41 15k -V +V -V Tacho Input J1 J7 Power Jack GNDA GNDA GNDA R34 10k 6 7 R5 3.3k - + R21 1M + LM339D 1 U5B IN C29 100nF 1 2 GND OUT U9 MC78M05CDT Overcurrent C17 68pF R36 15k GNDA 1N4148 SMD 4 5 - + GNDA R35 10k 8 9 - + MP26 V_DCB_ref +5V_A_ref R30 15k GND LM339D 2 U5A +12/15V_A R33 100k JP7 GND_Connection D16 R25 1M LM339D 14 U5C (PTE7/TCH3A) R24 10k +5V_D GNDA J6 Tacho GND LED D10 (+12V) D15 1N4148 SMD D11 LED D9 LED R53 4.7k (PTD0/FAULT1) Overvoltage GND R43 10k GND R42 10k MP31 MP30 MP29 MP28 OV OC FLT3 FLT4 TXD RTS RXD DTR GND R22 10k +5V_D 5 9 4 8 3 7 2 6 1 FLT3 FLT4 R47 1.8k R44 1.8k 3 4 MP33 LED2 MP34 LED1 U7 SFH6106 MP50 PTC3 2 3 2 1 4 1 U6 SFH6106 Isolation Barrier MP32 LED3 R46 1.8k C30 2.2uF/35V D12 1N4148 SMD D14 R52 1N4148 SMD 1k + Figure 4-4. Control Board Circuitry (Sheet 2 of 3) R20 10k R29 470 R32 15k GNDA GNDA V_sense_DCB +5V_D C28 100nF +5V_A_ref GND 3 1N4148 SMD GNDA +5V_A_ref D17 C27 100nF 1 +5V_D VIN VOUT 2 3 6 7 D13 MBR0530T1 C25 100nF MMSZ5230BT1 D1 R9 2.2k C3 220nF/100V GNDA D19 MBR0530T1 C31 10uF/35V D20 MBR0530T1 MP25 I_DCB_ref +5V_A_ref R38 15k R1 3.3k D21 MBR0530T1 D22 MBR0530T1 D18 MBR0530T1 C26 10uF/35V + 8 U8 MC78L05ACD 3 12 +15V_A Freescale Semiconductor, Inc... MP49 PTC2 MP36 PTA0 TxD +5V_D RxD MP37 PTA4 MP38 PTA5 (PTC4) (PTC5) (PTC6) (PTF5/TxD) 330 R45 (PTF4/RxD) GND R40 1k +5V_D PTA5 PTA4 PTA0 PTC2 PTC3 LED1 LED2 LED3 Freescale Semiconductor, Inc. 1 2 3 4 5 Hall Sensor / Encoder J2 Hall Sensor / Encoder Input GND For More Information On This Product, Go to: www.freescale.com R4 1k +5V_D R3 1k R2 1k +5V_D + R8 22 R7 22 GND GND GND +5V_D R6 22 C1 2.2uF/10V +5V_D C5 100nF -12/15V_A +12/15V_A +5V_A_ref +3.3V_A +5V_D GNDA MP1 GND MP3 GNDA C8 470pF R12 22 C7 470pF R11 22 C6 470pF R10 22 2 4 6 MC74HC14AD U2C MC74HC14AD U2B MC74HC14AD U2A 10 9 5 4 13 12 MC74HC03AD U1C MC74HC03AD U1B MC74HC03AD U1D 8 6 11 +5V_D +5V_D R15 10k R14 10k R13 10k 2 1 13 12 5 4 2 1 MC74HC86D U4A MC74HC03AD U3D MC74HC03AD U3B MC74HC03AD U3A Back-EMF Selection Logic Figure 4-5. Control Board Circuitry (Sheet 3 of 3) 5 3 1 +5V_D (PTF1/SS) MUX_C (PTF2/MOSI) MUX_B (PTF3/MISO) MUX_A Zero_cross_A Zero_cross_B Zero_cross_C Filtering & Schmitt Trigger GND MP5 +5V_A_ref MP6 +15V_A MP7 -15V_A MP2 +5V_D MP4 +3.3V_A Freescale Semiconductor, Inc... 3 11 6 3 10 9 R18 5.6k GND +5V_D C12 100nF MC74HC03AD U3C 5 4 GND +5V_D C14 10nF MC74HC86D U4B 6 GND +5V_D C9 10nF VCC (PTE6/TCH2A) GND C15 10nF Encoder BEMF_z_c +5V_D 8 (PTE6/TCH2A) R16 5.6k +5V_D Encoder / Hall Sensor XOR Logic +5V_D Freescale Semiconductor, Inc. Freescale Semiconductor, Inc. Schematics and Parts List Parts Lists 4.4 Parts Lists The following two parts lists describe parts content for the control and daughter boards. Table 4-1. Control Board Parts List Freescale Semiconductor, Inc... Designators Qty Description Manufacturer Part Number C1 1 2.2 µF/10 Vdc tantalum Panasonic ECS-T1AY225R C2, C18, C23 3 22 µF/10 Vdc tantalum Panasonic ECS-T1AC226R C3 1 220 nF/63 Vdc polyester Philips/BC 2222 370 12224 C4, C5, C10, C11, C12, C20, C21, C22, C24, C25, C27, C28, C29 13 100 nF/50 Vdc ceramic Panasonic ECJ-2VF1H104Z C6, C7, C8 3 470 pF/50 Vdc ceramic Panasonic ECU-V1H471JCX C9, C14, C15, C16 4 10 nF/50 Vdc ceramic Panasonic ECJ-2VF1H103Z C13, C26, C31 3 10 µF/35 Vdc tantalum Panasonic ECS-T1VD106R C17, C19 2 68 pF/50 Vdc ceramic Panasonic ECU-V1H680JCG C30 1 2.2 µF/35 Vdc tantalum Panasonic ECS-H1VC225R D1 1 Zener diode, 4.7 V ON Semiconductor MMSZ5230BT1 D3–D8, D10 7 LED, yellow, 2 mA, 3 mm Kingbright L-934LYD D11 1 LED, red, 2 mA, 3 mm Kingbright L-934LID D2, D9 2 LED, green, 2 mA, 3 mm Kingbright L-934LGD D12, D14–D17 5 1N4148 Vishay LL4148 D13, D18–D22 6 Schottky diode ON Semiconductor MBR0530T1 FLT1 1 Filter muRata DS306-55Y5S222M50 JP1–JP5 1 Jumper 2x5 x.1oc Berg Electronics 67997-210H JP7 1 Jumper 2x1 x.1oc Berg Electronics 67997-202H J1 1 Connector, tacho input, 2-pin AMP MTA-100-640456-2 MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Schematics and Parts List For More Information On This Product, Go to: www.freescale.com User’s Manual 49 Freescale Semiconductor, Inc. Schematics and Parts List Table 4-1. Control Board Parts List (Continued) Freescale Semiconductor, Inc... Designators Qty Description Manufacturer Part Number J2 1 Connector, Hall input, 5-pin AMP MTA-100-640456-5 J3, J4 2 2x20-pin connector (male) Berg Electronics 89465-120 J5 1 UNI 2x20x.1" shrouded 3M 2540-6002UB J6 1 DB-9 connector Keltron DNR-09SCJB-SG J7 1 Power connector Switchcraft RAPC722 P1 1 Potentiometer 5 k Clarostat Sensors and Controls, Inc. 392-JA-502 R1, R5 2 3.3 kΩ resistor 1/10W 5% 0805 Any acceptable R2, R3, R4, R40, R52 5 1 kΩ resistor 1/10W 5% 0805 Any acceptable R6, R7, R8, R10, R11, R12 6 22 Ω resistor 1/10W 5% 0805 Any acceptable R9 1 2.2 kΩ resistor 1/10W 5% 0805 Any acceptable R13, R14, R15, R20, R22, R24, R26, R27, R42, R43, R48–R51 14 10 kΩ resistor 1/10W 5% 0805 Any acceptable R16, R18 2 5.6 kΩ resistor 1/10W 5% 0805 Any acceptable User’s Manual 50 MC68HC908MR32 Control Board — Rev. 1.0 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Schematics and Parts List Parts Lists Table 4-2. Daughter Board Parts List Freescale Semiconductor, Inc... Designators Qty Description Manufacturer R17, R19, R23, R28, R31, R37, R39, R44, R46, R47 10 1.8 kΩ resistor 1/10W 5% 0805 Any acceptable R21, R25 1 1 MΩ resistor 1/10W 5% 0805 Any acceptable R29 1 560 Ω (was 470 Ω) resistor 1/10W 5% 0805 Any acceptable R30, R32, R36, R38, R41 5 15 kΩ resistor 1/10W 5% 0805 Any acceptable R33 1 330 kΩ (was 100 kΩ) resistor 1/10W 5% 0805 Any acceptable R45 1 330 Ω resistor 1/10W 5% 0805 Any acceptable R53 1 4.7 kΩ resistor 1/10W 5% 0805 Any acceptable R34, R35 2 10 kΩ SMT trimmer Bourns 3364W-1-103E SW1 1 Push-button switch NKK Switches CB15FP SW2 1 2-position DIP switch CTS 206-2 SW3, SW4 2 SPDT toggle switch NKK Switches M2012SS1G03 U1, U3 2 Quad NAND-open collector ON Semi MC74HC03AD U2 1 Quad Schmitt trigger ON Semi MC74HC14AD U4 1 Quad exclusive OR ON Semi MC74HC86AD U5 1 Quad comparator ON Semi LM339D U6, U7 2 Opto coupler Siemens SFH6106 U8 1 Voltage regulator ON Semi MC78L05ACD U9 1 Voltage regulator ON Semi MC78M05CDT Install on JP1, JP2, JP4, JP5, JP7 5 Shunt Specialty Electronics 2JM-G No designator 1 Knob for P1 Thomas & Bates PKG-40B-1/8 No designator 5 Stick-on rubber feet Fastex 5033-01-00-5001 MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Schematics and Parts List For More Information On This Product, Go to: www.freescale.com Part Number User’s Manual 51 Freescale Semiconductor, Inc. Schematics and Parts List Table 4-2. Daughter Board Parts List (Continued) Freescale Semiconductor, Inc... Designators Qty Description Manufacturer Part Number C1, C2, C3, C4 4 0.1UF cap 25 Vdc 0805 Digi-Key PCC1828CT-ND J1, J2 2 2x20-pin connector (female) Berg 87012-620 R1 1 10 MΩ resistor 1/10W 0805 Digi-Key P10MGCT-ND U1 1 Microprocessor 68HC908MR32 Motorola 68HC908MR32CFU X1 1 Ceramic resonator 4 MHz muRata CSTCC4.00MG XU1 1 Socket for U1 Enplas FPQ-64-0.8-02 User’s Manual 52 MC68HC908MR32 Control Board — Rev. 1.0 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. User’s Manual — MC68HC908MR32 Control Board Section 5. Design Considerations Freescale Semiconductor, Inc... 5.1 Contents 5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.3 Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.4 Simultaneous Conduction Lockout. . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.5 Dead Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.6 Power-Up/Power-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.7 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5.8 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5.9 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.10 Optoisolated RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.11 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.2 Overview Motor drive systems have a number of important design considerations related to noise management and protection of the power transistors. They include noise management of Hall sensor inputs, simultaneous conduction lockout, dead time, power-up/power-down, and grounding. These design considerations are discussed in 5.3 Sensor Inputs through 5.7 Grounding. A description of some of the control board’s circuits is included in 5.8 Fault Circuits through 5.11 Back EMF Signals. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com User’s Manual 53 Freescale Semiconductor, Inc. Design Considerations 5.3 Sensor Inputs Freescale Semiconductor, Inc... For brushless motors that use Hall sensor inputs for commutation, noise immunity of the sensor inputs is a key design consideration. Noise on these inputs can be particularly troublesome, since commutating to the wrong state precludes smooth operation of the motor. To facilitate noise robust sensor inputs, Schmitt triggers have been placed between the Hall sensor input connector and the processor. Schmitt triggers improve noise immunity by adding hysteresis to the signal paths. In addition, the sensor inputs are filtered with 100-ns single-pole filters, as shown in Figure 5-1. Using relatively low value pullup resistors, on the order of 1 kΩ, provides an additional measure of noise immunity. How the code is written also has an important influence on noise robustness. Since the sequence of commutation is known, based upon the state of the forward/reverse input, it is relatively easy to detect an out-of-sequence Hall sensor input. Generally, when this occurs it is desirable to turn off all the power transistors until a valid Hall code is received. +5V_D J2 1 2 3 4 5 GND +5V_D +5V_D R2 1 kΩ R6 22 Ω C6 470 pF +5V_D HALL SENSOR/ENCODER R10 22 Ω 1 R13 10 kΩ U1D U2A 2 12 11 HALL A 13 MC74HC03AD MC74HC14AD +5V_D GND R3 1 kΩ +5V_D R4 1 kΩ R7 22 Ω R11 22 Ω C7 470 pF U1B U2B 3 4 4 6 R12 22 Ω C8 470 pF HALL B 5 MC74HC03AD MC74HC14AD GND R8 22 Ω R14 10 kΩ U2C 5 R15 10 kΩ U1C 6 9 +5V_D 8 HALL C 10 MC74HC14AD MC74HC03AD GND Figure 5-1. Hall Sensor Inputs User’s Manual 54 MC68HC908MR32 Control Board — Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Design Considerations Simultaneous Conduction Lockout Freescale Semiconductor, Inc... 5.4 Simultaneous Conduction Lockout Especially on a machine that will be used for software development, it is desirable to prevent simultaneous conduction of upper and lower power transistors in the same phase. This feature is built into the 68HC908MMR32’s PWM module. Once the PWM module has been initialized correctly, simultaneous conduction of a top and bottom output transistor in the same phase is locked out. Software errors that occur after initialization is completed will, therefore, not destroy power stage output transistors by turning on the top and bottom of one-half bridge simultaneously. This feature also prevents simultaneous conduction in the event of a noise-induced software runaway. 5.5 Dead Time In Induction motor drives, providing dead time between turn-off of one output transistor and turn-on of the other output transistor in the same phase is an important design consideration. Dead time is also a feature that is built into the 68HC908MR32’s PWM module. It is programmable to accommodate a variety of gate drives and output transistors. In this tool set, 2 µs of dead time has been selected for operation with the high-voltage power stages. 5.6 Power-Up/Power-Down When power is applied or removed, it is important that top and bottom output transistors in the same phase are not turned on simultaneously. Since logic states are not always defined during power-up, it is important to ensure that all power transistors remain off when the controller’s supply voltage is below its normal operating level. The 68HC908MR32’s PWM module outputs make this easy by switching to a high-impedance configuration whenever the 5-volt supply is below its specified minimum. The embedded motion control tool set’s power boards have pull-down resistors at all of the gate drive inputs. This feature, coupled with the 68HC908MR32 PWM module’s outputs, ensures that all power transistors remain off during power-up and power-down. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com User’s Manual 55 Freescale Semiconductor, Inc. Design Considerations 5.7 Grounding Freescale Semiconductor, Inc... Board layout is an important design consideration. In particular, ground planes and how grounds are tied together influence noise immunity. In order to maximize noise immunity, it is important to get a good ground plane under the 68HC908MR32. Because it is also important to separate analog and digital grounds, there are two ground designations, GND and GNDA. GND is the digital ground plane and power supply return and GNDA is the analog circuit ground. They are both the same reference voltage, but are routed separately, and tie together at only one point. In a design that uses the MR32’s PWM outputs to directly drive opto couplers, it is also a good idea to section the digital ground plane around the PWM module’s outputs. That way the relatively high return current associated with the PWM outputs does not flow all over the board. 5.8 Fault Circuits Two fault signals are generated from analog bus current and bus voltage feedback signals, I_sense_DCB and V_sense_DCB. These analog signals are fed into comparators that have adjustable reference voltages, as shown in Figure 5-2. The comparator outputs provide digital signals to the MR32’s FAULT 1 and FAULT 2 inputs, respectively. Should one or both occur, these faults will force the PWM module into a known inactive state, protecting the power stage outputs. One MΩ resistors R21 and R25 add 20 mV of hysteresis to aid with noise immunity. User’s Manual 56 MC68HC908MR32 Control Board — Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Design Considerations Fault Circuits R41 15 kΩ R38 15 kΩ R21 1 MΩ I_sense_DCB +5V_D C19 68 pF +5V_A_ref R20 10 kΩ U5B GNDA R34 10 kΩ Freescale Semiconductor, Inc... + 6 – 1 Overcurrent (FAULT2) LM339D MP25 I_DCB_ref GNDA R36 15 kΩ 7 R30 15 kΩ R25 1 MΩ V_sense_DCB +5V_D C17 68 pF +5V_A_ref R22 10 kΩ U5C GNDA R35 10 kΩ GNDA 9 + 8 – 14 LM339D Overvoltage (FAULT1) MP26 V_DCB_ref Figure 5-2. Fault Circuits MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com User’s Manual 57 Freescale Semiconductor, Inc. Design Considerations 5.9 Tachometer Input Freescale Semiconductor, Inc... One method for measuring motor speed is to use the analog ac output signal from a tachometer connected to the motor’s shaft. The conditioned signal then can be carried into a timer interrupt on the MR32. The period between interrupts is used to calculate motor shaft speed. The circuit in Figure 5-2 is used to “square” the ac signal from the tachometer output into a digital signal acceptable to the timer. The input of this circuit has a threshold of approximately 180 mV. Its input hysteresis is set at approximately 20 mV to aid with noise immunity. R33 100 kΩ +5V_A_ref R5 3.3 kΩ R1 3.3 kΩ J1 1 2 GNDA GNDA GNDA R24 10 kΩ 3 5 MMSZ5230BT1 C3 D1 220 nF/100 V TACHO INPUT +12/15V_A R32 15 kΩ R9 2.2 kΩ +5V_D + 4 – 2 Tacho (PTE7/TCH3A) LM339D 2 1 R29 470 Ω GND GNDA Figure 5-3. Tachometer Input 5.10 Optoisolated RS-232 Interface RS-232 serial communication is provided by the circuit in Figure 5-4. It is optically isolated for safety and is suitable for communication rates up to 9600 baud. ISOLATION BARRIER D14 1N4148 SMD R52 1 kΩ +5V_D 1 U6 SFH6106 D12 1N4148 SMD J6 5 9 4 DTR 3 TxD RTS RxD 8 7 2 3 2 GND D15 1N4148 SMD + C30 R53 4.7 kΩ 2.2 µF/35V R40 1 kΩ 4 GND (PTF4/RxD) 4 1 R45 330 Ω RxD +5V_D 6 1 3 (+12 V) 2 U7 SFH6106 TxD (PTF5/TxD) Figure 5-4. RS-232 Interface User’s Manual 58 MC68HC908MR32 Control Board — Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Design Considerations Optoisolated RS-232 Interface The EIA RS-232 specification states that signal levels can range from ±3 volts to ±25 volts. A mark is defined as a signal that ranges from –3 volts to –25 volts. A space is defined as a signal that ranges from +3 volts to +25 volts. Therefore, to meet the RS-232 specification, signals to and from a terminal must transition through 0 volts as they change from a mark to a space. Breaking the isolated RS-232 circuit into input and output sections makes explanation of the circuit simpler. Freescale Semiconductor, Inc... Input interface is through opto coupler U6. To send data from a PC through U6, it is necessary to satisfy the SCI input on the MR32. In the idle condition, the SCI input must be at a logic 1. To accomplish that, the transistor in U6 must be off. The idle state of the transmit data line (TXD) on the PC serial port is a mark (–3 V to –25 V). Therefore, the diode in U6 is off and the transistor in U6 is off, yielding a logic 1 to the SCI input. When the start bit is sent to the SCI from the PC’s serial port, the PC’s TXD transitions from a mark to a space (+3 V to +25 V), forward biasing the diode in U6. Forward biasing the diode in D3 turns on the transistor in U6, providing a logic 0 to the input of the SCI. Simply stated, the input half of the circuit provides input isolation, signal inversion, and level shifting from the PC to the MR32’s SCI port. An RS-232 line receiver, such as an MC1489, serves the same purpose without the optoisolation function. To send data from the MR32 control board to a PC serial port input, it is necessary to satisfy the PC’s receive data (RXD) input requirements. In an idle condition, the RXD input to the PC must be at mark (–3 V to –25 V). The data terminal ready output (DTR) on the PC outputs a mark when the port is initialized. The request to send RTS output is set to a space (+3 V to +25 V) when the PC’s serial port is initialized. Because the interface is half-duplex, the PC’s TXD output is also at a mark, as it is idle. The idle state of the transmit data line (TXD) on the MR32’s SCI is a logic 1. The logic 1 out of the SCI’s output port forces the diode in U7 to be turned off. With the diode in U7 turned off, the transistor in U7 is also turned off. The junction of D12 and D15 are at a mark (–3 V to –25 V). With the transistor in U7 turned off, the input is pulled to a mark through current limiting resistor R53, satisfying the PC’s serial input in an idle condition. When a start bit is sent from the MR32’s SCI port to the output of the MR32’s SCI, output transitions to a logic 0. That logic 0 turns on the diode in U5, thus turning on the transistor in U7. The conducting transistor in U5 passes the voltage output from the PC’s RTS output, that is now at a space (+3 V to +25 V), to the PC’s receive data (RXD) input. Capacitor C30 is a bypass capacitor used to “stiffen” the mark signal. The output half of the circuit MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com User’s Manual 59 Freescale Semiconductor, Inc. Design Considerations provides output isolation, signal inversion, and level shifting from the MR32’s SCI output port to the PC’s serial port. Again an RS-232 line driver, such as an MC1488, serves the same purpose without the optoisolation function. 5.11 Back EMF Signals Freescale Semiconductor, Inc... Back EMF signals are provided for sensorless control of brushless dc motors and dead time distortion correction in ac induction motors. Analog signals BEMF_sense_A, BEMF_sense_B, and BEMF_sense_C are passed directly from connector J5 pins 38, 39, and 40 to A/D inputs ADC7, ADC8, and ADC9. Digital signals Zero_cross_A, Zero_cross_B, and Zero_cross_C are routed to the circuit illustrated in Figure 5-5. +5V_D +5V_D R18 5.6 kΩ Zero_cross_A MUX_A 1 U3A 3 2 R16 5.6 kΩ MC74HC03AD Zero_cross_B MUX_B 4 U3B 6 5 12 MUX_C 13 U3C 10 8 BEMF_z_c (PTE6/TCH2A) MC74HC03AD MC74HC03AD Zero_cross_C 9 U3D 11 MC74HC03AD Figure 5-5. Zero Cross Back EMF Circuit User’s Manual 60 MC68HC908MR32 Control Board — Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc. Design Considerations Back EMF Signals Freescale Semiconductor, Inc... The back-EMF selection logic in Figure 5-5 is designed to provide an interrupt to channel 2 of the MR32’s timer A input upon each motor phase’s zero-crossing. The three open collector NAND gates U3A, U3B, andU3D are wire ORed such that any one of these outputs switching to logic 0 will provide an interrupt to the MR32’s timer A input. MUXA, MUXB, and MUXC inputs to the NAND gates enable zero cross signals from each phase to interrupt the processor. During system operation, the software is aware of the window when a zero-crossing interrupt should occur for any given phase. MUXA, MUXB, and MUXC inputs to the NAND gates are enabled for each phase during its computed zero cross window. This technique increases noise robustness by eliminating noise glitches from triggering false interrupts outside of the computed zero cross-windows. MC68HC908MR32 Control Board — Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com User’s Manual 61 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... Design Considerations User’s Manual 62 MC68HC908MR32 Control Board — Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA Freescale Semiconductor, Inc... Freescale Semiconductor, Inc. For More Information On This Product, Go to: www.freescale.com Freescale Semiconductor, Inc... Freescale Semiconductor, Inc. Motorola reserves the right to make changes without further notice to any products herein. Motorola makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does Motorola assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation consequential or incidental damages. "Typical" parameters which may be provided in Motorola data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. 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