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MC68HC908MR32 Control Board

1. 41 838 821 15 15 1MQ sense DCB 9 AWA C19 5V_A_ref 68 pF 2 820 10 kQ GNDA R34 10kQ Overcurrent 143390 GNDA MP25 DCB ref R36 R30 R25 15 ko 15 1MQ V sense DCB 2 1741 45V A ref 68 pF 822 10 ko GNDA 835 10 kQ Overvoltage FAULT1 GNDA MP26 V DCB ref Figure 5 2 Fault Circuits MC68HC908MR32 Control Board Rev 1 0 MOTOROLA User s Manual Design Considerations For More Information On This Product Go to www freescale com 57 Freescale Semiconductor Design Considerations 5 9 Tachometer Input 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 45V A ref 45 D R24 81 85 R9 lcu 33kQ 2 2 ANV 7 MMSZ5230BT1 T D1 GNDA GNDA Figure 5 3 Tachometer Input 5 10 Optoisolated RS 232 Interface RS 232 serial communication is provided by
2. E 41 41 Daughter Board Signal Descriptions 42 Daughter Board Connector 1 42 Daughter Board Connector J2 eeu e rw E 42 Section 4 Schematics and Parts List Tr 43 43 43 II E TENTI 49 Section 5 Design Considerations Sa iere 33 todo OI ade b dd Re dede ed do oso d 23 Sensor 1A La i oco 54 Simultaneous Conduction 22 Dopad TN 55 Power Up Power DOWN Ey ER s 32 iso 14 SOC Oo E d a 56 n 56 Tachometr DPU 58 Optoisolated RS 232 58 Back EMF 60 MC68HC908MR32 Control Board Rev 1 0 6 Table of Contents MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board List of Figures Figure Title Page 1 1 Systems RE E EG 13 l 2 Board Photograph 16 12b Smp Pas Locion os os 16 14 Setup for High Voltage Systems 17 1 5 Setup Tor Low Voltage
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4. 19 A Block RP Hine nerd E des 22 3 1 Connector 32 32 40 Pin Ribbon Cable Connector 5 38 44 Daughter DONE 2 ces sedeaes feewsie sees ices ceneaee seuss 44 4 2 Connector 45 4 3 Control Board Schematic Sheet 1 46 44 Control Board Schematic Sheet 2 47 4 5 Control Board Schematic Sheet 3 48 d Hall Sensor IDDU cscs ov cise see 54 OU dE ER eR Rees 37 pu INN LEE TED ED 58 2 58 5 5 Zero Cross Back EMF ius dh e RF EHE REEL E 60 MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA List of Figures 7 For More Information On This Product Go to www freescale com Freescale Semiconductor List of Figures User s Manual MC68HC908MR32 Control Board Rev 1 0 8 List of Figures MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board List of Tables Table Title Page l 18 1 2 Overcurrent and Overvoltage Adjustments 18 2 1 Electrical 23 2 2 TimerChannel ConBguraDol RARE 26 23
5. FORWARD REVERSE SPEED ES OPTOISOLATED SWITCH POT TACHOMETER 85 232 I F TERMINAL START STOP E INPUT SWITCH EFFECT INPUTS 3 RESET EMULATOR 9 SWITCH PROCESSOR 2 2 2 SWITCHES REGULATED POWER SUPPLY ORT ee 2 dc POWER s 6 12 Vdc OPTO POWER DRIVER 1 0 CONNECTOR 40 PIN RIBBON OVERCURRENT CONNECTOR OVERVOLTAGE 1 INPUTS INPUTS PWM 6 MISC POWER AND OUTPUTS CONTROL 10 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 MC68HC908MR32 Control Board Rev 1 0 22 Operational Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor 2 3 Electrical Characteristics The electrical characteristics in Table 2 1 apply to operation at 25 C Operational Description Table 2 1 Electrical Characteristics Electrical Characteristics Characteristic Symbol Min Typ Max Units dc power supply voltage 10 8 12 16 5 V Quiescent current loc 80 Min logic 1 input voltage __ __ MR32 2 0 V Max logic 0 input voltage __ __ MR32 0 8 V Propagation delay 2 2 sensor encoder input lay 200 i Analog input range Vin 0 5 0 V RS 232 connection speed 9600
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7. Freescale Semiconductor Operational Description Table 2 2 Timer Channel Configuration Timer Channel Jumper Jumper Inserted Jumper Removed TCHOA JP4 PFC zero crossing Test point PTE4 TCHOB JP5 PFC PWM Test point PTE1 TCH1A Test point PTE5 TCH1B Test point PTE2 TCH2A JP2 Encoder Test point JP3 BEMF zero crossing Test point 1 Test point 7 NOTE 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 User s Manual 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 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 05 Phase 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
8. Freescale Semiconductor Operational Description User s Manual MC68HC908MR32 Control Board Rev 1 0 30 Operational Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board 3 1 Contents 3 4 3 3 3 8 1 22 4 222 3 3 4 222 228 2 3 1 3 4 3 4 1 3 4 2 3 2 Introduction Section 3 Pin Descriptions 31 Control Board Signal 32 Tacho Input Connector Ra 32 Hall Sensor Encoder Input Connector 2 33 40 Pin Emulator Connector 3 34 40 Pin Emulator Connector 4 36 ganara ratita r SEQ AREAS 38 41 41 Daughter Board Signal Descriptions 42 Daughter Board Connector 1 42 Daughter Board Connector J2 42 There are seven connectors on the control board J1 J7 Figure 3 1 illustrates locations for these connectors They are 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
9. User s Manual MOTOROLA Schematics and Parts List For More Information On This Product Go to www freescale com 49 Freescale Semiconductor Schematics and Parts List Table 4 1 Control Board Parts List Continued Designators Qty Description Manufacturer Part Number J2 1 100 640456 5 Berg 43 44 2 2x20 pin connector male 89465 120 ectronics J5 1 UNI 2x20x 1 shrouded 3M 2540 6002UB J6 1 DB 9 connector Keltron DNR 09SCJB SG J7 1 Power connector Switchcraft RAPC722 Clarostat P1 1 Potentiometer 5 k Sensors and 392 JA 502 Controls Inc 3 3 resistor 1 10W 5 Any 5 0805 acceptable 1 resistor 1 10W 5 Any 0805 acceptable 22 Q resistor 1 10W 5 Any R6 R7 R8 R10 R11 R12 6 0805 acceptable R9 1 2 2 resistor 1 10W 5 Any 0805 acceptable R13 R14 R15 R20 R22 R24 R26 R27 R42 R43 14 resistor 1 10W 5 Any T R48 R51 5 6 resistor 1 10W 5 Any 2 0805 acceptable User s Manual MC68HC908MR32 Control Board Rev 1 0 50 Schematics and Parts List MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Table 4 2 Daughter Board Parts List Schematics and Parts List Parts Lists MC68HC908MR32 Control Board Rev 1 0 Designators Qty Description Manufacturer Part Number R17 R19 R23 R28 R31 10
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12. 27 HalSensor CE 33 3 2 Encoder 33 3 3 Connector 73 Signal Descriptions 34 3 4 Connector J4 Signal Descriptions 36 3 5 Connector J5 Signal 39 3 6 Connector 76 Signal Descriptions 4 4 1 Control Board Parts List 49 Daughter Board Parts List 3 2222222 545555589 5 65 51 MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA List of Tables 9 For More Information On This Product Go to www freescale com Freescale Semiconductor List of Tables User s Manual MC68HC908MR32 Control Board Rev 1 0 10 List of Tables MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board 1 1 Contents 1 2 Introduction Section 1 Introduction and Setup 1 2 Hes oe ESS 11 1 3 5 552424255554 13 E 14 1 5 cec 15 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 develop
13. PWM_CB Shielding PWM_CT Shielding PWM_BB Shielding PWM_BT Shielding PWM_AB Shielding PWM_AT User s Manual PNW FU Ds 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 11 e Shielding PWM_ABI 3 Shielding PWM BT Shielding PWM_BB _ 7 Shielding PWM CT Shielding GND GND_PS 5V_D 7 15 33V 17 GNDA 25V 19 12 15V A V sense 1 21 sense DCB sense A 123 sense B sense C 25 Temp sense Shielding Brake control Serial Con PWM 31 PFC inhibit 133 Zero cross Zero cross 135 Shielding 37 BEMF_sense_B 139 Zero cross C BEMF sense A BEMF sense C PHYSICAL VIEW SCHEMATIC VIEW Figure 3 2 40 Pin Ribbon Cable Connector J5 MC68HC908MR32 Control Board Rev 1 0 38 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Pin Descriptions Control Board Signal Descriptions Table 3 5 Connector J5 Signal Descriptions Sheet 1 of 3 NS S
14. 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 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 28 Operational Description For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor Operational Description User Interfaces 2 4 6 RS 232 Interface An RS 232 interface is available via DB 9 connector J6 It connects to serial port 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 User s Manual MOTOROLA Operational Description 29 For More Information On This Product Go to www freescale com
15. 1 8 resistor 1 10W 5 Any R37 R39 R44 R46 R47 0805 acceptable 9 R21 R25 1 resistor 1 10W 5 ni NE R29 1 560 was 470 Q resistor Any 1 10W 5 0805 acceptable R30 R32 R36 R38 R41 5 22 resistor 1 10W 5 LE R33 1 330 was 100 resistor 1 10W 5 0805 acceptable R45 1 330 resistor 1 10 5 0805 acceptable R53 1 4 7 resistor 1 10W 5 Any 0805 acceptable R34 R35 2 10 kQ 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 Switches M2012SS1G03 U1 U3 2 Semi MC74HCO3AD 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 78 05 No designator 1 Knob for P1 2 8 PKG 40B 1 8 No designator 5 Stick on rubber feet Fastex 5033 01 00 5001 User s Manual MOTOROLA Schematics and Parts List For More Information On This Product Go to www freescale com 51 Freescale Semiconductor Schematics and Parts List Table 4 2 Daughter Board Parts List Continued User s Manual Designators Qty Description Manufacturer Part Number C1 C2 C3 C4 4 0 1UF cap 25 0805 Digi Key PCC1828CT ND J1 J2 20 pin
16. 2 gt HALL A 13 L470 pF C74HC14AD C74HC03AD T GND R3 110 R7 R11 U2B U1B m NW ANN S HALL Lc 45V D aui 470 pF C74HC14AD C74HC03AD R4 R15 1kQ R8 R12 U2C U1C io 220 220 5 AAA S HALL 10 1 470 pF MC74HC14AD MC74HCO3AD GND Figure 5 1 Hall Sensor Inputs MC68HC908MR32 Control Board Rev 1 0 54 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations Simultaneous Conduction Lockout 5 4 Simultaneous Conduction Lockout 5 5 Dead Time 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 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
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18. Baud PWM sink current Ipk 20 mA When operated and powered separately from other Embedded Motion Control tool set products MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Operational Description For More Information On This Product Go to www freescale com 23 2 4 1 Potentiometers 2 4 2 Switches User s Manual 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 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 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 i
19. EMF 39 GND Digital power supply ground 40 C PTF1 MUX C is a multiplexed digital control signal for phase C used in the back EMF User s Manual MOTOROLA Pin Descriptions 35 For More Information On This Product Go to www freescale com Freescale Semiconductor 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 Pin Signal Name Description No 1 PTC2 Not used 2 GND Digital power supply ground 3 Not used 4 GND Digital power supply ground 5 LED1 PTC4 LED1 is a digital signal that turns on the red fault LED when a fault is present 6 GND Digital power supply ground 7 LED2 PTC5 LED2 is digital that controls the yellow ready warning LED 8 GND Digital power supply ground 9 LED3 PTC6 LED3 is a digital signal that turns on the green run LED when the motor is running 10 Overvoltage Overvoltage is a digital input signal that indicates an overvoltage fault This pin is at PTDO FAULT1 logic 1 when a fault is present 11 Overcurrent Overcurrent is a digital signal that indicates an overcurrent fault This pin is at PTD1 FAULT2 logic 1 when a fault is present 12 GND Digital power supply ground 13 GND Digital power supply ground 14 5V_D 5V_D is the digital supply voltage FLTS is a digital signal that indicates a commutation error A logic 1 indicates that
20. Pin Descriptions Control Board Signal Descriptions Table 3 3 Connector J3 Signal Descriptions Continued MC68HC908MR32 Control Board Rev 1 0 selection logic circuitry Signal Description 17 GND Digital power supply ground 18 Brake PTA7 Brake is the gate drive signal for the power board s brake transistor 19 5 PTAS is digital signal from the START STOP switch SW3 20 S 6 S C is the serial communications signal used for power stage identification 21 Not used 22 4 This is a digital signal from the FWD REV switch SW4 23 PTA1 Not used 24 PTA2 Not used 25 PTAO Not used 26 GND Digital power supply ground 27 xEM_Vdda is a filtered 5 volt power supply voltage that is derived from 5V_D 28 GND Digital power supply ground 29 Not used 30 GNDA Analog power supply ground 31 Extra GND Extra digital power supply ground 32 Not used 33 EM RESET EM RESET is the reset signal from the RESET push button switch SW1 34 IRQ1 Vpp IRQ1 Vpp is a connection from the MR32 s IRQ1 Vpp pin through 10 kO to 5 volts 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 6 digital control signal for phase A used in the back 38 MUX_B PTF2 2 digital control signal for phase B used in the back
21. a 15 FLT3 commutation fault occurred FLT4 is a digital signal that indicates an overtemperature fault This pin is at logic 1 16 FLT4 when a fault is present 17 Zero_Cross_A Zero_Cross_A is a digital signal used for sensing phase A back EMF zero crossing PTD4 IS1 events 18 Zero Cross B Zero Cross B is a digital signal used for sensing phase B back EMF zero crossing PTD5 IS2 events 19 Zero Cross C Zero Cross C is a digital signal used for sensing phase C back EMF zero crossing PTD6 IS3 events User s Manual MC68HC908MR32 Control Board Rev 1 0 36 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Pin Descriptions Control Board Signal Descriptions Table 3 4 Connector J4 Signal Descriptions Continued Signal Description 20 GND Digital power supply ground 21 2 2 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 PWMA is the gate drive signal for the bottom half bridge of phase 24 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 an is the PWM timer s ground It is tied to digital power supply ground 27 GND Digital power supply ground 28 PWM6 PW
22. e Processor reset switch e Two system fault inputs e Nine analog inputs Three softwarecontrolled LEDs e 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 MC68HC908MR32 Control Board Rev 1 0 12 Introduction and Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Introduction and Setup About this Manual CONTROL BOARD EMULATOR OPTOISOLATION BOARD HIGH VOLTAGE POWER BOARD LOW VOLTAGE POWER BOARD OPTIONAL FEEDBACK 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 e Setup instructions are found in 1 5 Setup Guide e Schematics are found in 4 3 Schematics e 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 e For those interested in the reference design aspects of the board s circuitry a description is provided in Section 5 Design Considerations MC68HC908MR32 C
23. 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 M68CBLO8A 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 1 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 User s Manual MOTOROLA Introduction and Setup 15 For More Information On This Product Go to www freescale com Freescale Semiconductor SS 3 A 2 x c X A AE N Brine 5 Figure 1 2 Control Board 9 SPEED 9 R34 amp 1 ref STOPISTAR 2 9 rA FWD REV JP1 JP5 RS232 Figure 1 3 Setup Parts Locations For More Information On This Product Go to www freescale com Freescale Semiconductor Introduction and Setup Setup Guide MOTOR STANDOFFS 1 12 Vdc 40 PIN e RIBBON CABLE CON
24. the circuit in Figure 5 4 It is optically isolated for safety and is suitable for communication rates up to 9600 baud ISOLATION BARRIER 1 014 114148 SMD ns WV D gt U6 012 SFH6106 4 Ne 1N4148 SMD LE ak 3 GND 2 RxD PTFA RxD 015 C30 1N4148 SMD 845 22835 1 330 TM nb X 12 V 07 PTF5 TxD SFH6106 Figure 5 4 RS 232 Interface MC68HC908MR32 Control Board Rev 1 0 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor 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 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 SCIinput 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 p
25. 4 12 15 Section 2 Operational Description 2 1 LOB EE a E 21 2 2 RESI ORENSE ER P E SR EA ERE SENS 21 23 Electrical Characteristics 23 22 User Interfaces 24 2 4 1 Potente 24 2 4 2 24 2 4 3 25 2 4 4 26 2 4 5 Tou POMS 224 bbe oh a eh kee eh WU ee eee eda 27 2 4 6 RS 232 Mer ICE License s E RR EET REA EEN 29 Section 3 Pin Descriptions 3 1 ues bus maa pu AE PL a 31 3 2 odd wo CE HE OE EP C Ub ob CERE ES ES 31 33 Control Board Signal Descriptions ete aha 32 324 Tacho Input Connector 32 222 Hall Sensor Encoder Input Connector 2 33 MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Table of Contents 5 For More Information On This Product Go to www freescale com Freescale Semiconductor 3 53 3 3 4 3 32 3 3 6 2221 3 4 3 4 1 3 4 2 4 1 4 2 4 3 4 4 2d 5 2 5 3 5 4 5 6 m 5 8 5 9 5 11 User s Manual 40 Pin Emulator Connector 3 34 40 Pin Emulator Connector 4 36 40 Pin Connector 38 R5 232 DB 9
26. 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 us 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 65HC908MR32 PWM module s outputs ensures that all power transistors remain off during power up and power down MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Design Considerations 55 For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations 5 7 Grounding 5 8 Fault Circuits User s Manual Board layout is an important design consideration In particular ground planes and how grounds are tied together influence noise immunity In or
27. Freescale Semiconductor MEMCMR32CBUM D Rev 1 0 Motorola Embedded Motion Control MC68HC908MR32 Control Board User s Manual Mj MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor MC68HC908MR32 Control Board Important Notice to Users While every effort has been made to ensure the accuracy of all information in this document Motorola assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document its updates supplements or special editions whether such errors are omissions or statements resulting from negligence accident or any other cause Motorola further assumes no liability arising out of the application or use of any information product or system described herein nor any liability for incidental or consequential damages arising from the use of this document Motorola disclaims all warranties regarding the information contained herein whether expressed implied or statutory including implied warranties of merchantability or fitness for a particular purpose Motorola makes no representation that the interconnection of products in the manner described herein will not infringe on existing or future patent rights nor do the descriptions contained herein imply the granting or license to make use or sell equipment constructed in accordance with this description Trademarks This document inclu
28. JP1 Tacho Jumper 1 1 is used to configure the board for 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 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 Jumper 1 5 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 User s Manual MOTOROLA Operational Description 25 For More Information On This Product to www freescale com
29. M6 Left of PWM indicator lights PWM_CB Connector J5 pin 11 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 TCHOA PTE3 Above emulator connector PTE3 TCLKA PTE2 Above emulator connector PTE2 TCH1B PTE1 Above emulator connector PTE1 TCTCHOB PTEO Above emulator connector PTEO TCLKB MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Operational Description 27 For More Information On This Product Go to www freescale com Operational Description Table 2 3 Test Points Continued Freescale Semiconductor Inc User s Manual MC68HC908MR32 Control Board Rev 1 0 Label Location Signal Name Connected To GND Above emulator connector GND Digital ground 45V D Above emulator connector 45V D 5 volt digital supply GNDA Below emulator connector GNDA Analog ground PTAO Below emulator connector PTAO PTA4 Below emulator connector PTA4 5 Below emulator connector 5 ADCO Below emulator connector Speed Control Wiper of 1 ADC1 Below emulator connector V_sense_DCB Connector J5 pin 21 ADC2 Below emulator connector sense DCB Connector J5 pin 22 ADC3 Below emulator connector sense A Connector J5 pin 23 ADC4 Below emulator connector sense B Connector J5 pin 24 ADC5 Below emulator connector sense C Connector J5
30. M6 is the gate drive signal for the bottom half bridge of phase C 29 1 22 A is the power factor correction 30 PTEO TCLKB Not used 31 PTES TCLKA Not used 32 2 1 Not used 33 PTE4 TCHOA 21 sid 7 is the power factor correction circuit s 34 GND Digital power supply ground When jumper JP2 is shorted 2 is the encoder signal from the output of 35 PTE6 TCH2A the encoder Hall sensor logic circuit U4B When jumper 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 5V_D is the 5 volt digital power supply 38 7 JP1 is shorted the 7 is the tacho digital output signal 39 PFC_inhibit PFC_inhibit is a digital output from the microcontroller used to enable or disable the PTFO SPSCK power factor correction circuit 40 Not used MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Pin Descriptions 37 For More Information On This Product Go to www freescale com Freescale Semiconductor Pin Descriptions 3 3 5 40 Pin Connector J5 15 BEMF sense C BEMF sense B BEMF sense A Shielding Zero cross C Zero cross B Zero cross A PFC zc PFC inhibit PFC PWM Serial Con Brake control Shielding Temp sense sense C sense B sense A sense DCB V sense DCB 12 15V A 12 15V_A GNDA GNDA 3 3V_A 5V_D 5V_D GND_PS GND
31. TROL BOARD 40 P IN POWER STAGE RIBBON CABLE OPTOISOLATOR 12 STANDOFFS HIGH VOLTAGE MOTOR SUPPLY EM08MR32 EMULATOR Figure 1 4 Setup for High Voltage Systems 10 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 User s Manual MOTOROLA Introduction and Setup 17 For More Information On This Product Go to www freescale com Freescale Semiconductor Introduction and Setup Table 1 1 Jumper JP1 JP5 Settings Function JP1 JP2 JP3 JP4 JP5 Tacho Encoder 2 2 Encoder factor X X correction Tachometer X Back EMF X 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 Tab
32. 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 User s Manual MOTOROLA Pin Descriptions 41 For More Information On This Product Go to www freescale com Freescale Semiconductor 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 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 MC68HC908MR32 Control Board Rev 1 0 42 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board 4 1 Contents 4 2 Overview 4 3 Schematics Section 4 Schematics and Parts List 4 2 43 4 3 oo 2 43 4 4 Pul Li SIRE ES 49 set of schematics for the control and daughter boards appear in Figure 4 1 through Figure 4 5 Figure 4 1 sho
33. Yellow D10 lights when the motor is ready to run and blinks when a fault is imminent 011 Fault Red D11 lights when a fault has occurred MC68HC908MR32 Control Board Rev 1 0 26 Operational Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor 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 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 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 PWM 1 Left of PWM indicator lights PWM AT Connector J5 pin 1 PWM2 Left of PWM indicator lights PWM AB Connector J5 pin 3 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 PW
34. are labeled J1 and J2 They mate with connectors J3 and J4 on the control board MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Pin Descriptions 31 For More Information On This Product Go to www freescale com Freescale Semiconductor 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 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 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 18 connected to analog ground GNDA Figure 3 1 Connector Parts Locations User s Manual MC68HC908MR32 Control Board Rev 1 0 32 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Pin Descriptions Control Board Signal Descriptions 3 3 2 Hall Sensor Encoder Input Connector J2 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 lo
35. at measures phase A back EMF MC68HC908MR32 Control Board Rev 1 0 40 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Pin Descriptions Control Board Signal Descriptions Table 3 5 Connector J5 Signal Descriptions Sheet 3 of 3 Pin No 39 40 Signal Name BEMF_sense_B BEMF_sense_C Description is an analog sense signal that measures phase back EMF BEMF_sense_C is an analog sense signal that measures phase C back EMF 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 Signal Description 1 Unused N A 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 N A 7 RTS PC requests to send data to the control board 8 Unused N A 9 Unused N A 3 3 7 Power Connector J7 A power connector J7 is 2 1 mm power jack provided for connection to the 12 volt power supply included in the HC908MR32 motor control board kit
36. cluded in 5 8 Fault Circuits through 5 11 Back EMF Signals MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Design Considerations 53 For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations 5 3 Sensor Inputs 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 KQ 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 HALL SENSOR ENCODER User s Manual 45V D R10 U2A UID 115 20 12 ANS
37. connector Berg 87012 620 female R1 Digi Key P10MGCT ND 0805 Microprocessor U1 1 68HC908MR32 Motorola 68HC908MR32CFU X1 1 Ceramic resonator 4 MHz muRata CSTCC4 00MG XU1 1 Socket for U1 Enplas FPQ 64 0 8 02 MC68HC908MR32 Control Board Rev 1 0 52 Schematics and Parts List For More Information On This Product Go to www freescale com MOTOROLA Freescale Semiconductor User s Manual 68 908 32 Control Board 5 1 Contents 5 2 Overview 5 2 2 3 5 4 ms 5 6 m 5 8 59 5 11 Section 5 Design Considerations is 54 E E 23 DOUG CE 54 Simultaneous Conduction 33 Du 55 Power Up Power DOWN od Leseesosepxerree5Drt REA Re Ex 55 Eo oc NOE RR 56 FOU oua o 56 Tachometr HOS CER 58 Optoisolated RS 232 58 Back EMF Signals 22227 3 39x 9 de 60 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 in
38. 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 User s Manual MOTOROLA Operational Description 21 For More Information On This Product Go to www freescale com Freescale Semiconductor Operational Description The control board is designed to run in two configurations It can be connected to an 68 08 32 emulator an M68CBLO8A 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 505 08 emulation system Figure 2 1 shows a block diagram of the board s circuitry
39. der 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 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 MQ resistors R21 and R25 add 20 mV of hysteresis to aid with noise immunity MC68HC908MR32 Control Board Rev 1 0 56 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations Fault Circuits
40. des 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 MC68HC908MR32 Control Board Rev 1 0 2 68 908 32 Control Board MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board List of Sections Section 1 Introduction and Setup 11 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 User s Manual MOTOROLA List of Sections For More Information On This Product Go to www freescale com 3 Freescale Semiconductor List of Sections User s Manual MC68HC908MR32 Control Board Rev 1 0 4 List of Sections MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board Table of Contents Section 1 Introduction and Setup 11 12 Introduction 11 1 3 About tus 13 1 4 E E EEEE 1
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42. er 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 MC68HC908MR32 Control Board Rev 1 0 20 Introduction and Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor User s Manual 68 908 32 Control Board 2 1 Contents 2 2 Introduction Section 2 Operational Description 2 2 0 21 2 3 Electrical Characteristics 23 2 4 User 24 2 4 1 Polen 24 2 44 2 E E T IIT Ore ge T T 24 2 4 3 5 P rr 25 2 4 4 LIED 26 24 5 27 2 4 6 RS 232 Interface Lascia aea eg a UR RO EX REOR ORO ACER CR 29 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
43. gic 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 Ho Signal Name Description 1 45V 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 Pin assignments for quadrature encoder input are shown in Table 3 2 Table 3 2 Quadrature Encoder Input Pin Signal Description 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 Pin 5 is the Index input MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Pin Descriptions For More Information On This Product Go to www freescale com 33 Freescale Semiconductor 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 give
44. h 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 05 thus turning on the transistor in U7 The conducting transistor in 05 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 is a bypass capacitor used to stiffen the mark signal The output half of the circuit MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Design Considerations 59 For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations provides output isolation signal inversion and level shifting from the MR32 s SCI output port to the PC s serial port Again RS 232 line driver such an MC1488 serves the same purpose without the optoisolation function 5 11 Back EMF Signals Back EMF signals are provided for sensorless control of brushless 4 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 15 pins 38 39 and 40 to A D inputs ADC7 ADC8 ADC9 Digital signals Zero_cross_A Zero_cross_B and Zero_cross_C are routed to the circ
45. hich the failure of the Motorola product could create a situation where personal injury or death may occur Should Buyer purchase or use Motorola products for any such unintended or unauthorized application Buyer shall indemnify and hold Motorola and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reasonable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use even if such claim alleges that Motorola was negligent regarding the design or manufacture of the part Motorola and M are registered trademarks of Motorola Inc Motorola Inc is an Equal Opportunity Affirmative Action Employer How to reach us USA EUROPE Locations Not Listed Motorola Literature Distribution P O Box 5405 Denver Colorado 80217 1 303 675 2140 or 1 800 441 2447 Customer Focus Center 1 800 521 6274 JAPAN Motorola Japan Ltd SPS Technical Information Center 3 20 1 Minami Azabu Minato ku Tokyo 106 8573 Japan 81 3 3440 8573 ASIA PACIFIC Motorola Semiconductors Silicon Harbour Centre 2 Dai King Street Tai Po Industrial Estate Tai Po N T Hong Kong 852 26668334 HOME PAGE hitp motorola com semiconductors Motorola Inc 2000 MOTOROLA MEMCMR32CBUM D For More Information On This Product Go to www freescale com
46. hrough must be used Do NOT use a null modem cable 19 This completes control board setup If alow 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 2227 22246 40 PIN RIBBON CABLE 7 v 12 VOLT MOTOR SUPPLY LOW VOLTAGE POWER STAGE 22228422 71111222 Pr STANDOFFS EM08MR32 Figure 1 5 Setup for Low Voltage Systems EMULATOR N MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Introduction and Setup 19 For More Information On This Product Go to www freescale com Freescale Semiconductor 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 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 microcontroll
47. ignal Name Description is the gate drive signal for the top half bridge of phase A logic high 1 PWM_AT turns phase A s top switch on Pin 2 is connected to an unused wire that helps prevent cross talk between 2 Shielding adjacent signals is the gate drive signal for the bottom half bridge of phase A A logic high 3 PWM_AB turns on phase A s bottom switch ENT Pin 4 is connected to an unused wire that helps prevent cross talk between 4 Shielding adjacent signals PWM BT is the gate drive signal for the top half bridge of phase B A logic high 5 PWM BT turns on phase B s top switch Pin 6 is connected to an unused wire that helps prevent cross talk between 6 Shielding adjacent signals is the gate drive signal for the bottom half bridge of phase A logic high 7 i turns on phase B s bottom switch EA Pin 8 is connected to an unused wire that helps prevent cross talk between 8 Shielding adjacent signals CT is the gate drive signal for the top half bridge of phase C A logic high 9 PWM CT 4 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 is the gate drive signal for the bottom half bridge of phase C A logic high 11 turns on phase C s bottom switch 12 GND Digital power supply ground 13 GND Digital power supply grou
48. le 1 2 The ground reference is GND A Table 1 2 Overcurrent and Overvoltage Adjustments Power Stade Overcurrent Overvoltage 9 Comparator U5B 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 R34 3 3 R35 3 07 Vdc stage High voltage SR power stage R34 3 3 Vdc R35 3 07 Vdc 15 Turn off power to the optoisolation board 16 Ifa brushless dc motor is controlled with either Hall sensors or encoder plug the Hall sensor or encoder cable into Hall sensor encoder connector J2 User s Manual MC68HC908MR32 Control Board Rev 1 0 18 Introduction and Setup MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Introduction and Setup Setup Guide 17 Ifatachometer is used plug it into tacho input connector 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 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 t
49. ment 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 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 68 08 32 emulator board in an MMDS05 08 or MMEVS05 08 emulation system through an M68CBLO0S8A impedance matched ribbon cable e 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 User s Manual MOTOROLA Introduction and Setup 11 For More Information On This Product Go to www freescale com Freescale Semiconductor Introduction and Setup A few of the more noteworthy features are e Six motor control PWM outputs with LED indicators Speed control potentiometer e Optoisolated half duplex RS 232 interface e Start Stop and Forward Reverse switches e Hall effect inputs for brushless dc motor control e Back EMF inputs for brushless dc motor control e Tachometer input e 2 position DIP switch for user option control e Emulator Daughter board connectors
50. miconductor Inc Schematics and Parts List Parts Lists The following two parts lists describe parts content for the control and daughter boards Table 4 1 Control Board Parts List Designators Qty Description Manufacturer Part Number C1 1 2 2 uF 10 Vdc tantalum Panasonic ECS T1AY225R C2 C18 C23 3 22 wF 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 13 100 nF 50 ceramic Panasonic ECJ 2VF1H104Z C27 C28 C29 C6 C7 C8 3 470 pF 50 ceramic Panasonic ECU V1H471JCX C9 C14 C15 C16 4 10nF 50 ceramic Panasonic ECJ 2VF1H103Z C13 C26 C31 3 10 uF 35 Vdc tantalum Panasonic ECS T1VD106R C17 C19 2 68 pF 50 ceramic Panasonic ECU V1H680JCG C30 1 2 2 uF 35 Vdc tantalum Panasonic ECS H1VC225R 01 1 Zener diode 4 7 V MMSZ5230BT1 Semiconductor 03 08 010 7 LED yellow 2 mA 3 mm Kingbright L 934LYD 011 1 LED red 2 mA 3 mm Kingbright L 934LID D2 D9 2 LED green 2 mA 3 mm Kingbright L 934LGD 012 014 017 5 1N4148 Vishay LL4148 013 018 022 6 Schottky diode 0530 1 Semiconductor FLT1 1 Filter muRata DS306 55Y5S222M50 JP1 JP5 1 Jumper 2 5 1 Ped 67997 210 Electronics JP7 1 Jumper 2x1 1 67997 202 Electronics 1 22 100 640456 2 68 908 32 Control Board Rev 1 0
51. mp sense Temp sense is an analog sense signal that measures the power stage s substrate temperature 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 Serial Con is a bidirectional digital serial interface used to identify the power board 30 Serial Con to the control board This information is then used by the control board s software to scale analog feedback signals 31 PFC PWM PWM is the power factor correction circuit s gate drive signal TI PFC inhibit is a digital output from the microcontroller U1 that is used to enable or 32 PFC inhibit disable the power factor correction circuit 33 PFCzc 2 cis the power factor correction circuit s zero crossing signal 34 Zero cross A Zero cross A is a digital signal that is used for sensing phase A back EMF zero crossing events 35 Zero cross B Zero cross B is a digital signal that is used for sensing phase B back EMF zero crossing events 36 Zero cross C Zero cross is a digital signal that is used for sensing phase C back EMF zero crossing events 37 Shielding Pin 37 is connected to an unused wire that helps prevent cross talk between adjacent signals 38 BEMF sense A BEMF sense A is an analog sense signal th
52. n in Table 3 3 Table 3 3 Connector J3 Signal Descriptions Pn Signal Name Description No 1 An analog sense input signal that measures the power board s dc bus current PTB2 ATD2 sense A 2 An analog sense input signal that measures the phase A current 3 GND Digital power supply ground sense B 4 PTB4 ATD4 An analog sense input signal that measures the phase B current sense C PTB5 ATD5 An analog sense input signal that measures the phase C current Temp_sense 6 PTB6 TD6 An analog sense input signal that measures power stage substrate temperature BEMF_sense_A 7 PTB7 ATD7 An analog sense input signal that measures the back EMF of phase A 8 GND Digital power supply ground BEMF sense B 9 PTCO ATD8 An analog sense input signal that measures the back EMF of phase B BEMF sense C 10 8 An analog sense input signal that measures the back EMF of phase 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 PTBO ATDO PTBO ATDO is derived from the wiper of the SPEED potentiometer P1 V sense DCB 16 PTB1 ATD1 An analog sense input signal that measures the power board s dc bus voltage User s Manual MC68HC908MR32 Control Board Rev 1 0 34 Pin Descriptions MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor
53. ncreases the threshold Default settings for power stages in the embedded motion control tool set are found in Table 1 2 Overcurrent and Overvoltage Adjustments Four switches provide for user inputs They are 5 1 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 24 Operational Description MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor 2 4 3 Jumpers 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 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 1 7 18 in the lower left hand corner of the board They are
54. nd redundant connection 14 5V digital Digital 5 volt power supply 15 5V digital Digital 5 volt power supply redundant connection 16 3 3V analog Analog 3 3 power supply 17 GNDA Analog power supply ground 18 GNDA Analog power supply ground redundant connection Analog 12 volt to 15 volt power supply 12 volts is supplied from low voltage 19 12 15V_A power stages 15 volts is supplied from the optoisolation board and high voltage power stages MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Pin Descriptions 39 For More Information On This Product Go to www freescale com Freescale Semiconductor Pin Descriptions Table 3 5 Connector J5 Signal Descriptions Sheet 2 of 3 User s Manual HS Signal Name Description Analog 12 volt to 15 volt power supply 12 volts are supplied from low voltage 20 12 15V A 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 sense sense DCB is an analog sense signal that measures the power board s dc bus current 23 sense A sense A is an analog sense signal that measures current in phase A 24 sense B sense B is an analog sense signal that measures current in phase B 25 sense C sense C is an analog sense signal that measures current in phase C 26 Te
55. ontrol Board Rev 1 0 User s Manual MOTOROLA Introduction and Setup 13 For More Information On This Product Go to www freescale com Freescale Semiconductor 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 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 e 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 e Wearing safety glasses avoiding ties and jewelry using shields and operation by personnel trained in high voltage lab techniques are also advisable User s Manual MC68HC908MR32 Control Board Rev 1 0 14 Introduction and Set
56. ort 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 1489 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 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 15 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 77 is also turned off The junction of D12 and D15 are at a mark 3 V to 25 V Wit
57. s 61 For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations User s Manual MC68HC908MR32 Control Board Rev 1 0 62 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor For More Information On This Product Go to www freescale com Freescale Semiconductor 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 All operating parameters including Typicals must be validated for each customer application by customer s technical experts Motorola does not convey any license under its patent rights nor the rights of others Motorola products are not designed intended or authorized for use as components in systems intended for surgical implant into the body or other applications intended to support or sustain life or for any other application in w
58. uit illustrated in Figure 5 5 45V D 45V D Q Q Zero cross A S MUX A y 7 Zero_cross_B y 4 MUX_B gt MC74HCO3AD MC74HC03AD BEMF z c PTEG TCH2A Zero cross C Sk d 11 MC74HC03AD Figure 5 5 Zero Cross Back EMF Circuit User s Manual MC68HC908MR32 Control Board Rev 1 0 60 Design Considerations MOTOROLA For More Information On This Product Go to www freescale com Freescale Semiconductor Design Considerations Back EMF Signals 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 zero crossing interrupt should occur for any given phase 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 User s Manual MOTOROLA Design Consideration
59. up MOTOROLA For More Information On This Product Go to www freescale com 1 5 Setup Guide Freescale Semiconductor Inc Introduction and Setup Setup Guide Setup and connections for the MR32 motor control board are very straightforward Input connections to M68EM08MR32 emulator are made through an M68CBLO08A 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 ECCTR908MR22 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
60. ws 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 Schematics for the control and daughter boards appear on the following pages MC68HC908MR32 Control Board Rev 1 0 User s Manual MOTOROLA Schematics and Parts List 43 For More Information On This Product Go to www freescale com Freescale Semiconductor AOHOLOL LALd gt g8LHOL C3d gt vX10L e31d gt _ VOHO L r3 Ld AS O VIHOL S31d gt 1 1 9 1 4 QN VEHOL 31d gt B xnW anv wus O 2 ddA LOHI 2 1 INOL IN3X LH 2 14 gt Ss ayeig gt odLv 0ald gt goq esues g80H9 L L3 Ld 91 21 31 VY T0 L 3 Ld VOHO L r3 Ld VIHOL GALd V2HO L 93 1d VEHOL ZALd pp ss MOSdS 04 1d 559 414 ISOW ZsLd OSIIN Ld 414 dd A LOuI ISH O4XWDO 1280 5950 ess 0

MC68HC908MR32 Control Board

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