IGBT Power module evaluation kit - ST7MC control board
Contents
1. 17 STVD7 for INDART STX Toolset configuration 20 Motor type choice window 22 3 Phase BLAC DC trapezoidal basic parameters window 23 3 Phase BLAC DC trapezoidal advanced parameters window 25 3 Phase AC induction motor sinewave basic parameters window 26 3 Phase AC induction motor sinewave advanced parameters window 28 3 Phase PMAC motor sinewave basic parameters window 29 3 Phase PMAC motor sinewave advanced parameters window 31 ST7VD active project configuration 32 System setup for programming phase 33 Option byte settings 34 Programming option auto window 35 System setupforrunningphase 36 UM0430 System architecture System architecture The generic motor control system can be schematized as the arrangement of four blocks see Figure 2 e Control block e Power block e Motor Power supply Figure 2 Motor control system architecture The system proposed for the IGBT power module eval kit is composed of one control board STEVAL IHM010V1 one power board STEVAL IHM011V1 one motor and the p2. Ger UM0430 YI User manual IGBT Power module evaluation kit ST7MC control board July 2007 Introduction The ST7MC evaluation board STEVAL IHM010V1 is a complete development platform for STMicroelectronics ST7MC microcontroller Based on a cost effective flexible and open design it allows easy demonstration of ST7MC capabilities and enables rapid evaluation of the MTC microcontroller s peripherals It includes the ST7MC 8 bit microcontroller with 16 K internal Flash memory The STEVAL IHM010V1 features motor control Connector MC Connector and hardware features for developing motor control applications based on ST7MC peripherals including motor control peripheral MTC Serial Communication Interface SCI The STEVAL IHM010V1 uses an In Circuit Communication ICC standard interface to connect to your host PC via In Circuit Debuggers Programmers like inDART STX board from Softec Figure 1 8 STEVAL IHM010V1 Features 5 V power supply connector 34 pin dedicated motor control connector Serial communication Interface connector Programming and debug support via 10 pin ICC connector Onboard 2K bit 256 byte serial memory Four potentiometers for runtime settings Start stop button Reset button Debug pins available Rev2 1 48 www st com Contents UM0430 Contents 1 Systemarchitecture 7 2 Safety and operating instructions
3. It is possible to configure the system to drive the BLDC motor in current mode and or in closed loop and restart the demonstration from Section 7 4 4 3 Phase BLAC DC trapezoidal settings Driving the BLAC motor Before proceeding with the motor control demonstration the power board STEVAL IHM011V1 must be set up to drive 3 phase PMAC sinusoidal sensored settings as described in the power board user manual Let s start the demonstration driving the brushless permanent magnet motor in open loop At this point please check that the control board has been set up for open loop driving see Section 7 4 8 3 Phase PMAC motor sinewave settings Specific connections sensor To drive the motor the motor must have three position sensors in this case three Hall sensors For this demonstration we suggest using one Ametek BLDC blower motor voltage max 30 Vdc Refer to the descriptions in Table 17 to connect the motor to the power board Table 17 PMAC Sensored motor connections Motor Power board Phase A red J4 pin 1 Phase B yellow J4 pin 2 Phase C black J4 pin 3 Hall sensor 1 white J1 pin 1 Hall sensor 2 green J1 pin 2 Hall sensor 3 blue J1 pin 3 Hall sensor 5 V red J1 pin 4 Hall ground black J1 pin 5 Specific jumper settings To set up power board jumper follow the instructions in the power board user manual for driving the PMAC motor sensored Open the J5 jumper on contro
4. Driving the AC induction motor Before proceeding with the motor control demonstration the power board STEVAL IHM011V1 must be set up to drive the 3 phases AC induction motor as described in the power board user manual Let s start the demonstration driving the AC induction motor in open loop mode At this point please check that the control board has been set up for Open Loop driving see Section 7 4 6 3 Phase AC induction motor sinewave settings Specific connection sensor To drive the motor also in closed loop mode the motor must include a Tachometer speed sensor For this demonstration we suggest using one AC Induction Selni Motor Connect the two sensor signal wires to the J2 connector of the power board STEVAL IHM011V1 in any order UM0430 Motor control demonstration 7 5 2 Specific jumper settings To set up the power board jumper follow the instructions in the power board user manual Open the J5 jumper on the control board Keep J2 of the control board open 7 5 3 LED behavior after power on Turn on the power supply For this demonstration the power supply output voltage should be set to 220 Vac and current limitation of the power supply should be set to 10 amp After power on the control board LED behavior should be the following Green and red LEDs blink alternatingly signaling that the firmware has started to run e After a while the green LED stays on to indicate idle state 7 5 4 Setting of potentiomet
5. button ky 23 48 Motor control demonstration UM0430 Table 6 3 Phase BLAC DC trapezoidal basic parameters continued Parameter name Duty cycle Description the duty cycle percentage during the Ramp Up only in voltage mode Current reference the value of current flowing inside one of three phases of the motor at the end of the acceleration phase only in current mode Number of Z events before auto switched the number of consecutive Z events that occur before the microcontroller runs the motor in autoswitched mode mode Electrical frequency Minimum the minimum target rotor frequency in closed loop express in Hz Maximum the maximum target rotor frequency in closed loop express in Hz Run settings when the From RV1 checkbox is selected Duty cycle value is defined by the RV1 potentiometer only for voltage mode or From RV1 Current reference is defined by the RV1 potentiometer only for current mode or Target speed is defined by the RV1 potentiometer only for closed loop If this box is unchecked the above parameters are set by the user Duty cycle the Duty cycle percentage when the motor is run in open loop voltage mode Current reference The value of current flowing inside one of three phases of the motor at run time in open mo loop current mode Target speed the target mechanical rotor speed in RPMs or Hz
6. if speed regulation is set to closed loop alternate between RPM and Hz settings by clicking on the RPM button Delay coefficient From RV2 RV3 When the From RV2 RV3 checkbox is selected the value of Rising Delay is defined by the RV2 potentiometer and the value of Falling Delay is defined by the RV3 potentiometer If this box is unchecked the above parameters are set by the user B emf rising edge B emf falling edge the B EMF rising edge delay coefficient value from 0 to 255 the B EMF falling edge delay coefficient value from 0 to 255 Closed loop parameter only in closed loop Integral coefficient Ki the value of the Integral Coefficient Ki of the Proportional Integrative PI regulator Proportional coefficient KP Sampling time the value of the Proportional Coefficient Kp of the PI regulator the regulation sampling time in milliseconds Change motor type the change motor type button enables the user to change the motor type see Figure 10 Advanced settings the advanced settings button enables the user to set the advanced parameters see Section 7 4 5 3 Phase BLAC DC trapezoidal advanced settings Generate source files the generate source files button enables the user to generate the configuration h files shown in Table 5 Configuration h files A save dialog window appears where the user can select in wh
7. 13 1 J4 MC connector 34 pin double line 14 1 J5 Strip line male 3 pin jumper 15 1 J6 2 screw connector 16 1 J7 Strip line male 1 pin 17 1 J8 Strip line male 1 pin 18 3 P1 P2 P3 50 kQ Potentiometer 19 1 P4 100 kO Potentiometer 20 2 R1 R4 2 7 KQ 21 4 R7 R8 R17 R18 47 KQ 22 2 R13 R16 10 KQ 23 1 R14 100 Q 24 1 R15 1 MQ 25 1 R21 33 kO 26 1 Swi Push button 27 1 sw2 Push button 28 1 U2 ST7FMC2S4T6 29 1 U3 M95020 MN3TP S 30 1 x1 16MHz Resonator a UM0430 References 9 10 References This user manual provides information about using your STEVAL IHM010V1 and its hardware features For additional information about supporting software and tools please refer to ST7MC Datasheet Complete information about microcontroller features and peripherals ST7MC Motor Control related application notes Complete information about motor control libraries developed for ST7MC microcontroller Web site http mcu st com Dedicated to the complete STMicroelectronic s microcontroller portfolio Motor Control forum http mcu st com mcu modules php mop modload amp name Splatt_Forums amp file viewforum amp forum 13 Revision history Table 20 Revision history Date Revision Changes 15 Jun 2007 1 First issue Minor text changes 30 Jul 2007 2 Figure 8 modified Table 19 modified 47 48 UM0430 Please Read Carefully Information in this document is provided solely i
8. 3 Phase BLAC DC trapezoidal advanced settings 25 7 4 6 3 Phase AC induction motor sinewave settings 27 74 7 3 Phase AC induction motor sinewave advanced settings 28 2 48 ky UM0430 Contents 7 4 8 3 Phase PMAC motor sinewave settings 29 74 9 3 Phase PMAC Motor sinewave advanced settings 31 7 4 10 Changing the maximum current allowed by GUI 32 7 4 11 Compiling the firmware 32 7 4 12 Programming the firmware 33 7 4 13 Setupoptionbyte 34 7 4 14 Jumpersettingtable 35 7 4 15 Boardconnection 35 7 5 Driving the AC induction motor 36 7 5 1 Specific connection Sensor 36 7 5 2 Specific jumper settings 37 7 5 3 LED behavior after power On 37 7 5 4 Setting of potentiometer 37 7 5 5 Run the motor LED behavior 37 7 5 6 Changing real time parameters 37 7 5 7 Stop the motor LED behavior 38 7 6 Driving the BLDC Motor trapezoidal sensorless 38 7
9. AC induction motor sinewave advanced parameters window 3PH AC Induction motor Advanced Settings Switches PWM Frequency h25 e KHz Dead Times Value 0 625 v ps Stop Condition e Free Wheeling C DC Current Braking Table 9 3 Phase AC induction motor sinewave advanced parameters Parameter name Description switches PWM Pulse Width Modulation PWM frequency in kHz frequency Dead times val select from available preset dead time duration values in microseconds us Stop condition Free wheeling after stopping the motor continues to spin freely DC current braking active brake obtained injected DC current into the motor Brake level value of duty cycle percentage of pwm brake signal Brake time duration in milliseconds of the active brake a UM0430 Motor control demonstration 7 4 8 3 Phase PMAC motor sinewave settings Figure 15 3 Phase PMAC motor sinewave basic parameters window IGBT PM EV KIT GUI 3 Phase PMAC Motor sinewave ga Poles Pairs Speed Regulation Sensors Configuration Synchronous Speed re Open Loop One Sensor Closed Li Two Sensors Daan C Three Sensors V F Curve Voltage Limitation Min Voltage fo 7255 Low Frequency 50 Hz z Min High Frequency 100 Hz Voltage Low Frequency High Frequency Start up Settings Regulator Settings Voltage Slew Rate Lon YA Integral Coefficient Ki Proportional Coefficient K
10. CPU cycles 7 D Voltage Detection Selection LYD and AVD On EI CKSEL Clock Source Selection PLL clock selected x WDG_SW Watchdog Activation Software SS WDG_HALT Watchdog and Halt Mode NoResetinHALT sl MCO Motor Control Output Options Low e PKG Package Selection TE 11 Press the Auto button in the toolbar and select the programming options as shown in Figure 20 34 48 DI UM0430 Motor control demonstration Figure 20 Programming option auto window Auto Steps Erase Options IV Erase Code Blank Check Code Exit MV Program Code Iw Verify Code Iw Erase Prog Options Iw Verify Options M Run 12 Press start to program the device If an error window appears make sure that the inDART STX board is connected to the ControlIBDST7MC2 control board and that the control board is well supplied 7 4 14 Jumper setting table Table 12 Jumper settings Name Selection Description Jo Open Disable the auxiliary flash memory M95040 Debug feature can be enabled Enable the auxiliary flash memory M95040 Debug feature can not be Closed enabled J5 Between i2 Adjustable The current reference value MCCREF is set by potentiometer P4 Only for 3 Phase BLAC DC trapezoidal Between 2 3 Variable The current reference value MCCREF is driven by the microcontroller PWM W Only for 3 Phase BLAC DC trapezoidal Shan No current
11. Generate Source files y 1 Table 6 3 Phase BLAC DC trapezoidal basic parameters Parameter name Poles pairs Description the number of pole north south pairs in the motor Speed regulation the manner in which to run the motor either open loop without speed regulation or closed loop with speed regulation Driving mode the motor driving mode current mode or voltage mode Current bus limitation the software current limitation value only in voltage mode if the current flowing inside one of three phases of the motor reaches this value overcurrent is not generated but the pwm is managed to limit the current at this level Detection mode the Back EMF BEMF detection mode rotor position either sensorless hall effect sensor 60 or hall effect sensor 120 Alignment phase only for sensorless mode Final duty cycle the percentage of final duty cycle applied at the end of alignment phase only in voltage mode Final current the value of current flowing inside the motor at the end of the alignment phase only in current mode Alignment duration the duration of the alignment phase in milliseconds ms Acceleration phase only for sensorless mode Mechanical acceleration rate the mechanical acceleration rate of the rotor during the ramp up in RPMs or Hz per second alternate between RPM and Hz settings by clicking on the RPM
12. Three methods are available all hardware alternate hardware software or all software Demagnetization time fixed demagnetization time in microseconds us only with demagnetization methods all software Force duty cycle during demagnetization allows using a different value of duty cycle rather than the one in run time setting Duty cycle value of duty cycle percentage forced during demagnetization Stop condition Free wheeling after Stop the motor continues to spin freely DC current braking active brake obtained injected DC current into the motor Brake level value of duty cycle percentage of pwm brake signal Brake time duration in milliseconds of the active brake 7 4 6 3 Phase AC induction motor sinewave settings Figure 13 3 Phase AC induction motor sinewave basic parameters window IGBT PM EV KIT GUI 3 Phase AC Induction Motor sinewave aie Poles Pairs Speed Regulation Speed Sensor Stator Frequency H Open Loop Tacho Hua Minimum 1 Hz Closed Loop 8 KS Maton Ge ue VF Curve Min Voltage jo 4 255 Low frequency 2 Ka Hz High frequency 100 ke Hz SE Low Frequency High Frequency Start up Settings Regulator Settings Voltage Slew Rate 10 Ss so tl EA Zeg Change Motor Type Advanced Settings Generate Source files 26 48 ky UM0430 Motor control demonstration 3 Phase AC inducti
13. event MCDEM Debug pin C D event MISO Master In slave out data SPI MOSI Master Out slave In data SCK Serial clock RDI Received data input TDO Transmit data output AINO Temperature sensor input AIN1 Bus voltage sensing input 10 bit ADC AIN13 Trimmer P1 reading input AIN11 Trimmer P2 reading input AIN4 Trimmer P3 reading input ICCCLK Output serial clock ICC ICCDATA Input Output serial data ICCSEL Vpp Programming voltage input PC2 RBC Resistive Brake Control akeri PC3 CTS Clear to send PEO Start Stop pushbutton PBO LED management OCMP1_B PFC_PWM UI 16 bit Timer B ICAPx_B PFC_SYNC 1 This function will be active only if it is available also in the power board 10 48 a UM0430 Control board electrical characteristics 4 Control board electrical characteristics Stresses above the limit shown in Table 2 may cause permanent damage to the device This is a stress rating only and functional operation of the device under these conditions is not implied Exposure to maximum rating conditions for extended periods may affect device reliability 5 V Bias current measurement can be useful to check the working status of the board If the measured value is considerably greater than the typical value it means that some damage has occurred in the board Table 2 Control board electrical characteristics STEVAL IHM010V1 Control board parameters Unit Min Max 5 V Auxiliary supply ra
14. from 0 to 255 sets the value of falling delay coefficient from 0 to 255 P4 not used not used Current Open loop mode Closed loop P1 sets the current reference value from O A to maximum current allowed sets the target rotor frequency value from minimum value to Maximum value configured see Section 7 4 4 3 Phase BLAC DC trapezoidal settings P2 sets the value of rising delay coefficient from 0 to 255 sets the value of rising delay coefficient from O to 255 P3 sets the value of falling delay coefficient from 0 to 255 sets the value of falling delay coefficient from 0 to 255 P4 not used not used If during the configuration using GUI the from RV1 control has been unchecked the value of duty cycle or the value of current reference is not set by P1 but has a fixed value If during the configuration using GUI the From RV2 RV3 control has been unchecked the value of the rising delay coefficient and the value of the falling delay coefficient are not set by P2 and P3 but have fixed values 42 48 ky UM0430 Motor control demonstration 7 7 7 16 7 8 17 18 7 8 1 7 8 2 The maximum current allowed has been set to 4 1 A see Section 7 4 10 Changing the maximum current allowed by GUI Stopping the motor LED behavior Push the start stop button to stop the motor The LEDs toggle from green to red to indicate idle state
15. generated inside release folder under the workspace Make sure that the following string is displayed inside the output pane after the building of the executable lt Firmware name gt elf O error s O warning s After the building of the executable ensure that the file lt firmware name gt s19 generated inside release folder under the workspace has been created To do this show the properties and check the creation date UM0430 Motor control demonstration 7 4 12 Programming the firmware Before programming the firmware the control board must be supplied and connected to the PC using the inDART board We suggest setting up the system as in Figure 18 Figure 18 System setup for programming phase 1 Use the USB cable to connect the inDART STX Board to the PC The green power LED on the inDART STX Board turns on The Windows operating system automatically detects the new hardware and loads the appropriate USB and inDART STX drivers 3 Windows 2000 and Windows XP may issue a warning the first time the inDART STX Power Board is connected to the PC The USB driver used by inDART STX is not digitally signed by Microsoft however the user may safely ignore the warning since every kind of compatibility and security test has been carried out by Softec Microsystems 2 Connect the inDART Board with the control board J1 connector using the 10 pin flat cable 3 Supply the control board u
16. kHz Switches PWM minimum off time PWM minimum off time in microseconds us to detect the BEMF Complementary PWM signal if Synchronous rectification is enable or not Dead time value of dead time in us only if Complementary PWM enabled Current loop Current blanking window time window filter in millisecond to prevents erroneous sampling of the current after the PWM is turned ON Current event counter filter defines the number of counter events required to validate a current limitation event D and Z Sampling parameters Sampling clock Unused MC lx Input ky sets the frequency of the sampling clock for D and Z events in kHz defines in which state the unused MCI input is fixed either Grounded or Hi Z 25 48 Motor control demonstration UM0430 Table 7 3 Phase BLAC DC trapezoidal advanced parameters continued Parameter name Description Zero crossing After D blanking window sets the blanking window after a D event in microseconds us Z event counter filter defines the number of counter events required to validate a Z event Threshold voltage voltage set in Volts for Z detection Demagnetization After C blanking window sets the blanking window after a C event in microseconds us D event counter filter defines the number of counter events required to validate a D event Demagnetization method
17. phase shift the maximum P3 CCW position is 0 of phase shift and the maximum CCW position is 0 of phase shift and the maximum CW position is 360 of phase shift CW position is 360 of phase shift P4 not used not used If during the configuration using GUI the Set Phase Shift according to Pf F curve control has been checked the value of phase shift is not set by P3 but it is calculated as run time based on the Pf F curve see Section 7 4 9 3 Phase PMAC Motor sinewave advanced settings The maximum current allowed has been set to 4 1 A See Section 7 4 10 Changing the maximum current allowed by GUI 7 8 7 Stopping the motor LED behavior Push the Start Stop button to stop the motor The LEDs toggle from green to red to indicate idle state Note It is possible to configure the system to drive the PMAC motor in closed loop and restart the demonstration from Section 7 4 8 3 Phase PMAC motor sinewave settings ky 45 48 Bill of materials UM0430 8 46 48 Bill of materials Table 19 Bill of materials Item Qty Reference Part 1 1 C3 1 pF 25V 2 4 C4 C5 C6 C8 10 nF 25 V 3 2 C7 C10 100 nF 25 V 4 2 C9 C11 100 nF 25 V 5 1 C12 Int 25V 6 1 C13 100 nF 25V 7 2 C14 C15 12 pF 25V 8 1 D1 Red LED 9 1 D2 Green LED 10 1 JP1 Connector 4 pin single line 11 1 J1 ICC connector 10 pin double line 12 1 J2 Strip line male 2 pin jumper
18. reference is required For 3 Phase AC Induction Motor P sinewave and 3 Phase PMAC Motor sinewave J7 This point is connected to C amp Z debug pin J8 This point is connected to C amp D debug pin 7 4 15 Board connection After the board has been programmed the system can be configured as shown in Figure 21 This configuration is called a running configuration The power board must be preventively configured see the power board user manual Remove the ICC flat cable from the control board if present ky 35 48 Motor control demonstration UM0430 7 5 7 5 1 36 48 1 Connect the insulated high voltage power supply to the J6 connector of STEVAL IHM011V1 Pin 2 3 2 Connect the 34 pin flat cable between the two MC connectors J4 of control board and J3 of power board 3 Connect the phases of the motor to the power board J4 connector and if required connect the sensor signal to the Tachometer connector J2 or the hall sensor encoder connector J1 based on the sensor present inside the motor and the driving strategy Section 7 Motor control demonstration see power board user manual If required connect a power supply with lower voltage output For instance the Ametek motor requires the use of power supply voltage output of 30 V max Figure 21 System setup for running phase 220 VAC 36538 tel feed kaw kaa hs soe Power Board Control Board ST
19. the following line MAX_CURRENT 4 1 Replace the value 4 1 with the desired value of current limitation Remember that also the hardware current limitation must be changed accordingly see power board user manual to know how to modify this limitation Compiling the firmware Once the configuration files have been produced manually or using the GUI the binary executable file 519 must be compiled and produced To do this the STVD7 for inDART STX is used with the Cosmic Compiler Section 7 3 Software requirements 1 Runthe STDV7 for inDART STX and choose File gt open workspace 2 Select the workspace file under the firmware working folder depending on the motor type see Section 7 4 1 Choosing the right firmware 3 The default project in use is opened by the environment and is shown on the left side of the window below the opened stw file 4 Make sure that Release is set as the active project configuration see Figure 17 Figure 17 ST7VD active project configuration wa SofTec STVD7 AC 3PH SR stw config h CD File Edit View Project Build Debug Debug instrument Tools Windi asg HE an RR S435 AC_3PH_SR E Belease v3 aa Di Workspace x fs AC_3PH_SR stw AC_3PH_SR PROJECT COMPILER MODULE 5 Use the build pull down menu to display and select the rebuild all command The project will be compiled and built and an executable file lt firmware name gt s19 will be
20. this indicates a fault condition A fault condition is due to one of the following conditions e Hardware overcurrent current flowing inside motor reaches a value greater than max current allowed 4 1 amp see Section 7 4 10 Changing the maximum current allowed by GUN 60 crossing events e observed 15 limitation is in action Changing real time parameters Over voltage bus voltage reaches a value greater than 280 Vac Over temperature onboard temperature sensor measures a temperature greater than Startup failed startup phase ends without getting a sufficient number of valid zero Motor stalled during the run of the motor no other zero crossing events have been Blinking of the red LED during the running of the motor indicates that software current The real time parameters can be changed using the potentiometers of the control board Table 16 explains the potentiometer functionality based on the driving strategy Potentiometer functionality based on open closed loop driving strategy Voltage Open loop mode Closed loop P i P2 sets the duty cycle percentage from 0 to 100 sets the value of rising delay coefficient from 0 to 255 sets the target rotor frequency value from minimum value to maximum value configured see Section 7 4 4 3 Phase BLAC DC trapezoidal settings sets the value of rising delay coefficient from O to 255 P3 sets the value of falling delay coefficient
21. to Maximum value configured see value to maximum value configured see Section 7 4 6 3 Phase AC induction motor Section 7 4 6 3 Phase AC induction motor sinewave settings sinewave settings P2 sets the value of modulation index from 0 to 10096 below the value imposed by the V F curve not used limitation P3 not used not used P4 not used not used 7 5 7 7 6 7 6 1 7 6 2 38 48 10 Stop the motor LED behavior Push the Start Stop button to stop the motor The LEDs toggle from green to red to indicate idle state It is possible to configure the system to drive the AC induction motor in closed loop and restart the demonstration from Section 7 4 6 3 Phase AC induction motor sinewave settings Driving the BLDC Motor trapezoidal sensorless Before proceeding with the motor control demonstration the power board STEVAL IHM011V1 must be set up to drive 3 Phase BLAC DC trapezoidal sensorless settings as described in the power board user manual Let s start the demonstration driving the brushless permanent magnet motor in voltage mode open loop sensorless At this point please check that the control board has been set up for voltage mode open loop sensorless driving see Section 7 4 4 3 Phase BLAC DC trapezoidal settings Specific connection sensor To drive the motor also in closed loop mode it is not required that the motor include any pos
22. 6 1 Specific connection sensor 38 7 6 2 Specific jumper settings 38 7 6 3 LED behaviorafterpoweron 39 7 64 Setting of potentiometer 39 7 6 5 Running the motor LED behavior 39 7 6 6 Changing real time parameters 39 7 6 7 Stopping the motor LED behavior 40 7 7 Driving the BLDC Motor trapezoidal sensored 40 7 7 1 Specific connection Sensor 41 7 7 2 Specific jumper settings 41 7 7 3 LED behavior after power On 41 7 7 4 Setting of potentiometer 41 7 7 5 Running the motor LED behavior 41 7 7 6 Changing real time parameters 42 7 77 Stopping the motor LED behavior 43 18 Driving the BLAC motor 43 7 8 1 Specific connections sensor 43 7 8 2 Specific jumper settings 43 7 8 3 LED behaviorafterpoweron 44 7 8 4 Setting of potentiometer 44 ky 3 48 Contents UM0430 7 8 5 Runni
23. 8 2 1 Ee e dee Aere ee ere A wa GL he Sater eta ied 8 2 2 Reference design board intended use 8 2 3 Reference design board installation 8 2 4 Electronic connection 8 2 5 Reference design board operation 8 3 ST7FMC2S4T6 Microcontroller functions 9 3 1 Main features 9 4 Control board electrical characteristics 11 5 Boardarchitecture 12 5 1 MC Gonnecton EIA UKI ed EEN ete 13 5 2 IA AA EEES 15 5 3 Serial Data Interface SDI 16 6 Board schematics 17 7 Motor control demonstration 18 7 1 Environmental considerations 18 7 2 Hardware requirements 19 7 3 Software requirements 19 7 3 1 Installing the software 19 7 4 Controlboardsetup 20 7441 Choosing the right firmware 20 7 4 2 Configuring the firmware usingGUI 21 7 4 3 Motor type selection 22 7 4 4 3 Phase BLAC DC trapezoidal settings 23 7 4 5
24. C SYNC ICAPx B 28 3V3 29 PFC PWM OCMP1_B 30 Ground VSS 31 ENCODER A MCIA 32 Ground VSS 33 ENCODER B MCIB 34 ENCODER index MCIC 5 2 ICC connector The ICC Connector is used to establish ICC communication for programming debugging purposes The pin out is shown in Figure 6 This connector is compatible with Softec s inDART STX board not included in the package Figure 6 ICC connector ICC_DATA ICCCLK RESET VPP GND 15 48 Board architecture UM0430 5 3 16 48 Serial Data Interface SDI The board is provided with a serial data interface SDI able to establish SCI communication with an external device We suggest using an isolation board between the SDI and the external devices The pin out is shown in Figure 7 Figure 7 SDI connector GND 2CTs 3RDI 4 TDO Board schematics UM0430 Board schematics 6 Control board schematic Figure 8 17 48 ENEE xa vil a ta an aa t A3
25. IGHT UNLESS EXPRESSLY APPROVED IN WRITING BY AN AUTHORIZED ST REPRESENTATIVE ST PRODUCTS ARE NOT RECOMMENDED AUTHORIZED OR WARRANTED FOR USE IN MILITARY AIR CRAFT SPACE LIFE SAVING OR LIFE SUSTAINING APPLICATIONS NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY DEATH OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE ST PRODUCTS WHICH ARE NOT SPECIFIED AS AUTOMOTIVE GRADE MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER S OWN RISK Resale of ST products with provisions different from the statements and or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever any liability of ST ST and the ST logo are trademarks or registered trademarks of ST in various countries Information in this document supersedes and replaces all information previously supplied The ST logo is a registered trademark of STMicroelectronics All other names are the property of their respective owners 2007 STMicroelectronics All rights reserved STMicroelectronics group of companies Australia Belgium Brazil Canada China Czech Republic Finland France Germany Hong Kong India Israel Italy Japan Malaysia Malta Morocco Singapore Spain Sweden Switzerland United Kingdom United States of America www st com a 48 48
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27. e A red J4 pin 1 Phase B yellow J4 pin 2 Phase C black J4 pin 3 Hall sensor 1 white Ji pin 1 Hall sensor 2 green J1 pin 2 Hall sensor 3 blue J1 pin 3 Hall sensor 5 V red Ji pin 4 Hall ground black J1 pin 5 Specific jumper settings To set up the power board jumper follow the instructions in the power board user manual for driving the BLDC motor trapezoidal sensored Close the J5 jumper on the control board between pin 2 3 Keep J2 of the control board open LED behavior after power on Turn on the power supply For this demonstration the power supply output voltage should be set to 30 Vdc and current limitation of the power supply should be set to 4 amp After power on the control board LED behavior should be the following e Red LEDs blink signaling that the firmware has started to run e After a while a green LED stays on to indicate idle state Setting of potentiometer Set P1 potentiometer in middle position from full counter clockwise to full clockwise Set P2 potentiometer in full clockwise position e Set P3 potentiometer in full clockwise position Running the motor LED behavior Push the start stop button After pushing the button the LEDs toggle from green to red to indicate run state The motor starts to run 41 48 Motor control demonstration UM0430 7 7 6 Table 16 During any state idle start run or brake if the red LED stays on along with the brake of the motor
28. e eval kit system the following items are required e The control board STEVAL IHM010V1 The power board STEVAL IHM011V1 e 34 pin flat cable e High voltage isolated AC power supply up to 220 V 10 A e Isolated DC power supply up to 30V 3A e Softec inDART STX not included in the package e Softec ICC Isolation board not included in the package e Two 10 pin flat cables not included in the package e AC Induction motor Selni not included in the package e Brushless PM motor Ametek not included in the package e Insulated oscilloscope as needed e Insulated multimeter as needed A complete laboratory setup consists of an isolated AC power supply one AC Induction motor or one PM Brushless motor and one isolated power supplies for 15 V as needed Software requirements To customize compile and download the motor control firmware the following software must be installed e IGBT PM EV KIT GUI included in the CD ROM e STVD7 for inDART STX V 3 11 also called ST7 Toolset downloadable from Softec s website www softecmicro com Cosmic Compiler ST7 C Compiler 16 K Free Version 4 5c downloadable from Cosmic s website www cosmic software com Installing the software e IGBT PM EV KIT GUI installation Insert the CD ROM provided with the kit and execute Setup exe e 34 party software installation Follow the instructions of related software to install and configure STVD7 for inDART STX and Cosmic Compi
29. ectrical components must not be mechanically damaged or destroyed to avoid potential health risks Electronic connection Applicable national accident prevention rules must be followed when working on the main power supply with a motor drive The electrical installation shall be completed in accordance with the appropriate requirements e g cross sectional areas of conductors fusing PE connections For further information see Section 7 Motor control demonstration Reference design board operation A system architecture which supplies power to the IGBT power module eval kit boards shall be equipped with additional control and protective devices in accordance with the applicable safety requirements e g compliance with technical equipment and accident prevention rules ky UM0430 ST7FMC2S4T6 Microcontroller functions 3 1 Warning Do not touch the design boards after disconnection from the voltage supply as several parts and power terminals which contain possibly energized capacitors need to be allowed to discharge ST7FMC2S4T6 Microcontroller functions Main features TQFP44 package 16 K dual voltage FLASH program memory with read out protection capability 768 bytes RAM 256 Stack bytes Clock Reset And Supply Management with enhanced reset system enhanced low voltage supervisor LVD for main supply and auxiliary voltage detector AVD with interrupt capability clock sources crystal ceramic
30. er e Set P1 potentiometer to full counter clockwise Set P2 potentiometer to full counter clockwise 7 5 5 Run the motor LED behavior e Push the Start Stop button e After pushing the button the LEDs toggle from green to red to indicate RUN state e Rotate the P2 potentiometer clockwise while the motor start to run During any state idle start run or brake blinking of the red LED indicates a fault condition A fault condition is due to one of the following conditions e Hardware overcurrent current flowing inside motor reaches a value greater than max current allowed 4 amp see Section 7 4 10 Changing the maximum current allowed by GUN Over voltage bus voltage reaches a value greater than 280 Vac e Over temperature onboard temperature sensor measures a temperature greater than 60 e Startup failed no signal from the tachometer sensor is present at the end of startup e Motor stalled during the run of the motor no tachometer sensor signal has been observed 7 5 6 Changing real time parameters The real time parameters can be changed using the potentiometers of the control board Table 13 explains the potentiometer functionality based on the driving strategy 37 48 Motor control demonstration UM0430 Table 13 Potentiometer functionality based on open closed loop driving strategy P1 Open loop Closed loop sets the stator frequency value from minimum sets the target rotor frequency value from minimum value
31. eventually the driving strategy sinusoidal or trapezoidal The three options are e 3 Phase BLAC DC trapezoidal to select PM brushless motor trapezoidal driven e 3 Phase AC induction motor sinewave to select AC Induction motor sinusoidal driven and e 3 Phase PMAC motor sinewave to select PM Brushless motor sinusoidal driven Figure 10 Motor type choice window SF GBT PM EV KIT GUI ver 2 0 Motor Type Choice 3 Phase BLAC DC Motor trapezoidal C 3 Phase AC Induction Motor sinewave C 3 Phase PMAC Motor sinewave Ok Cancel The user must select the desired value and press OK UM0430 Motor control demonstration 7 4 4 3 Phase BLAC DC trapezoidal settings Figure 11 3 Phase BLAC DC trapezoidal basic parameters window IGBT PM EV KIT GUI 3 Phase BLAC DC Motor trapezoidal DER Poles Pairs Speed Regulation Driving Mode Detection Mode E Open Loop C Current Sensorless pa A GES C Sensor 60 Closed Loop e Voltage Current Bus Limitation 3 A Sensor 120 Alignment Phase Acceleration Phase Electrical Frequency fics Dam Ha ba 4 Mechanical Acceleration Rate 1000 Rpm s Duty Cycl 30 Alignment Duration 1250 ms Kia Duty Cycle Number of Z events before 7 i auto switched mode 2 Time Run Settings Delay Coefficient Iw From RY1 From RY2 Rv3 B emt rising edge D po B emf falling edge 20 fo Change Motor Type Advanced Settings
32. hoose which firmware should be used Together with the installation of IGBT PM EV KIT GUI the firmware source code is installed on the PC inside the installation folder under the name PMK Firm folder Each firmware is stored inside the working folder under the same name as the firmware itself The following files are present inside each working folder stw file STVD7 workspace file stp file STVD7 project file source folder Containing all c and h files required 20 48 DI UM0430 Motor control demonstration Table 4 Firmware libraries arranged according to driving strategy Firmware name Description AC_3PH_SR to drive sensored AC Induction motor sinusoidal driven BLAC_3PH_SR to drive sensored PM brushless motor sinusoidal driven BLDC_3PH_SL to drive sensorless PM brushless motor trapezoidal driven BLDC_3PH_SR to drive sensored PM brushless motor trapezoidal driven Note We suggest making a backup copy of the original working folder for each firmware The following procedure modifies the original content of the workspace folder without leaving the possibility to return to a previous step 7 4 2 Configuring the firmware using GUI Before using the firmware it must be configured The term configure indicates the act of selecting a specific driving strategy such as open or closed loop voltage or current mode and so on The setting of customized parameters such as current limitatio
33. ich folder to create the file User must choose the right source directory in the firmware working folder see Section 7 4 1 Choosing the right firmware 24 48 a UM0430 Motor control demonstration 7 4 5 3 Phase BLAC DC trapezoidal advanced settings Clicking the advanced settings button see Figure 11 opens the advanced settings dialog box see Figure 12 This is where the advanced 3 phase BLAC DC trapezoidal motor type parameters are set Figure 12 3 Phase BLAC DC trapezoidal advanced parameters window 3PH PMDC AC or BLDC AC Advanced Settings x Pw Settings Demagnetization Switches PWM Frequency wei KHz After C Blanking Window 5 vius Switches PWM Minimum Off Time 2 5 el HS D event Counter Filter 2 X Complementary PWM Signal Disabled C All Hardware Synchronous Rectification Alternate Hardware Software Dead Times He C All Software Current Loop Force Duty Cycle during demagnetization Current Blanking Window 0 5 yi ps Current Event Counter Filter 1 Ej Stop Condition D andZ Sampling Parameters e Free Wheeling Sampling Clock fSCF 1000 _y KHz DC Current Braking Unused MClx Input Grounded sl Zero Crossing After D Blanking Window 5 ps Z event Counter Filter 1 KA Cancel Threshold Voltage 0 2 jY Table 7 3 Phase BLAC DC trapezoidal advanced parameters Parameter name Switches PWM frequency Description Pulse Width Modulation PWM frequency in
34. ition or speed sensor For this demonstration we suggest using one Ametek BLDC Blower motor voltage max 30 Vdc Specific jumper settings To set up the power board jumper follow the instructions in the power board user manual for driving the BLDC motor trapezoidal sensorless Close the J5 jumper on the control board between pin 2 3 Keep J2 of the control board open UM0430 Motor control demonstration 7 6 3 7 6 4 7 6 5 11 7 6 6 Table 14 LED behavior after power on Turn on the power supply For this demonstration the power supply output voltage should be set to 30 Vdc and current limitation of the power supply should be set to 4 amp After power on the control board LED behavior should be the following e Red LEDs blink signaling that the firmware has started to run e After a while a green LED stays on to indicate idle state Setting of potentiometer Set P1 potentiometer in middle position from full counter clockwise to full clockwise Set P2 potentiometer in middle position from full counter clockwise to full clock wise Set P3 potentiometer in middle position from full counter clockwise to full clockwise Running the motor LED behavior Push the start stop button After pushing the button the LEDs toggle from green to red to indicate RUN state The motor starts to run During any state idle start run or brake blinking of the red LED along with the brake of the motor indicates a faul
35. l board Keep J2 of the control board open 43 48 Motor control demonstration UM0430 7 8 3 7 8 4 7 8 5 19 7 8 6 Table 18 LED behavior after power on Turn on the power supply For this demonstration the power supply output voltage should be set to 30 Vdc and current limitation of the power supply should be set to 4 amp After power on the control board LED behavior should be the following Green and red LEDs blink alternatingly signaling that the firmware has started to run e After a while a green LED stays on to indicate idle state Setting of potentiometer Set P1 potentiometer in full counter clockwise position Set P3 potentiometer in full counter clockwise position Running the motor LED behavior Push the start stop button After pushing the button the LEDs toggle from green to red to indicate RUN State Turn P1 in clockwise direction Keeping P1 fixed turn P3 in clockwise direction until the motor runs Turning the P3 potentiometer modifies the phase shift parameter To optimize the driving the right value of this parameter must be set Finding the optimum value of phase shift can be useful to monitor the DC current provided by the power supply The user should try to fine tune the P3 potentiometer to minimize the current absorption When this parameter is found the potentiometer P3 can be left at this value for all future tests ex Closed loop During any state idle start run o
36. lay coefficient from O to Voltage mode 255 sets the value of rising delay coefficient from O to 255 P3 sets the value of falling delay coefficient from O to 255 sets the value of falling delay coefficient from O to 255 P4 not used not used Current mode Open loop Closed loop P1 sets the current reference value from 0 A to value to Maximum value configured see sets the target rotor frequency value from minimum maximum current allowed Section 7 4 4 3 Phase BLAC DC trapezoidal settings P2 sets the value of rising delay coefficient from O to 255 sets the value of rising delay coefficient from 0 to 255 P3 sets the value of falling delay coefficient from 0 to 255 sets the value of falling delay coefficient from O to 255 P4 not used not used 7 6 7 7 7 40 48 12 13 14 If during the configuration using GUI the From RV1 control has been unchecked the value of duty cycle or the value of current reference is not set by P1 but has a fixed value If during the configuration using GUI the From RV2 RV3 control has been unchecked the value of the rising delay coefficient and the value of the falling delay coefficient are not set by P2 and P3 but have fixed values The maximum duty cycle allowed in voltage mode depends on the value of PWM frequency and the value of PWM min off time set by the GUI The maximum current allowed has been set
37. ler e Installation note 1 Install first Cosmic Compiler Use the default installation folder C Program Files COSMIC CXST7_16K After installation the product must be registered before using it You can perform this procedure at any time by running the Imreg16k exe file inside Cosmic s installation folder complete the form and click on register by email button You will receive a license file license lic that must be copied inside the installation folder under license folder 2 Then install STVD7 for inDART STX 19 48 Motor control demonstration UM0430 During the first run of the software after installation a prompt for the configuration of the toolset should appear The toolset can be configured at any time by opening the tools options inside stvd7 To do this click toolset select the Toolset menu tab and select ST7Cosmic and configure as in Figure 9 Figure 9 STVD7 for InDART STX Toolset configuration Options f Toolbars Commands Edit Debug Styles Languages Workspace Directories Toolset ee Toolset EEL Root path Program Files COSMIC CXST 7_16K Fi Toolset sub paths relative to the Root path Bin path Include path Hst Lib path Lib Cancel 7 4 Control board setup 7 4 1 Choosing the right firmware Motor control firmwares are arranged according to the kind of motor to be driven and according the driving strategy See Table 4 to c
38. lew rate of the voltage during the motor start up phase before reaching the potentiometer set value only in open loop Start up stator frequency sets the stator frequency during the start up sequence only in closed loop Max duration sets the maximum duration of the start up sequence in milliseconds ms only in closed loop Min rotor frequency to validate closed loop sets the rotor speed or frequency to validate the Closed Loop mode only in closed loop Regulator settings Integral coefficient Ki sets the value of the Integral Coefficient Ki of the Proportional Integrative PI regulator Proportional coefficient Kp sets the value of the Proportional Coefficient Kp of the PI regulator Sampling time sets the regulator sampling frequency in milliseconds ms Set phase shift according to Ph F curve Phase shift software sets in run time the actual Phase Shift from the Ph F curve defined in the advanced settings based on the rotor speed Set Phase Shift according by P3 manual setting of the Phase Shift using potentiometer P3 the maximum CCW position is 0 of Phase Shift and the maximum CW position is 360 of Phase Shift Change motor type Advanced settings the change motor type button enables the user to change the motor type see Figure 10 the Advanced Settings button enables the user to set the advanced parameters see Section 7 4 9 3 Pha
39. motor sinewave advanced parameters 31 JUMBE TE ln e EE 35 Potentiometer functionality based on open closed loop driving strategy 38 Potentiometer functionality based on open closed loop driving strategy 39 BLDC Sensored motor connections 41 Potentiometer functionality based on open closed loop driving strategy 42 PMAC Sensored motor connections 43 Potentiometer functionality based on open closed loop driving strategy 44 Biliof materials e aa kA eee KA ewe EE ERENNERT 46 REVISION NISO BN en wee Eeer AA 47 5 48 List of figures UM0430 List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 6 48 STEVAL IHMO10V1 e ones decd desde LUMAD SEN A eed ooo PP NPA doe ae een 1 Motor control system architecture 7 Control board architecture 12 Control board layout 13 MC Connector pin out 14 ICC connector uuau eee 15 SDICONNECION a stein bebe oe ade eas KG a SEENEN Paro Gee eae ada Ba 16 Control board schematic
40. n motor settings driving related parameters and so on is also indicated Configuring the firmware is performed by compiling a set of h files inside the source folder and writing a series of values as fields of define statements To do this configuration solid knowledge of the hardware and the architecture of the firmware is required Otherwise the configuration tool provided inside the CD ROM called IGBT PM EV KIT GUI can be used This allows the user to select and set all required parameters visually and the software automatically generates the h files required refer to the h files that constitute the configuration related to the firmware Table 5 Configuration h files Firmware name Configuration files ACMparam h config h AC_3PH_SR Mainparam h MTCparam h PMACparam h config h BLAC_3PH_SR Mainparam h MTCparam h MTC_Settings_Sensorless h BLDC_3PH_SL spec_settings h version h MTC_Settings_Sensor h BLDC_3PH_SR spec_settings h version h ky 21 48 Motor control demonstration UM0430 7 4 3 22 48 For a detailed description of the configuration files and how to manually customize the related parameters see AN1904 AN1905 AN1947 Motor type selection After IGBT PM EV KIT GUI is started the motor type choice dialog box appears see Figure 10 In this window the user can choose the kind of motor AC Induction or PM brushless and
41. n connection with ST products STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections modifications or improvements to this document and the products and services described herein at any time without notice All ST products are sold pursuant to ST s terms and conditions of sale Purchasers are solely responsible for the choice selection and use of the ST products and services described herein and ST assumes no liability whatsoever relating to the choice selection or use of the ST products and services described herein No license express or implied by estoppel or otherwise to any intellectual property rights is granted under this document If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein UNLESS OTHERWISE SET FORTH IN ST S TERMS AND CONDITIONS OF SALE ST DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ST PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY R
42. ng the motor LED behavior 44 7 8 6 Changing real time parameters 44 7 8 7 Stopping the motor LED behavior 45 8 Bill of materials 46 9 References scr ENER AR iduna EELER a a E E eee ee ES 47 10 Revision history 47 4 48 ky UM0430 List of tables List of tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 ST7FMC2S4T6 Functions 00 eee eee nena 10 Control board electrical characteristics 11 Motor control connector 14 Firmware libraries arranged according to driving strategy 21 Configuration h files 21 3 Phase BLAC DC trapezoidal basic parameters 23 3 Phase BLAC DC trapezoidal advanced parameters 25 3 Phase AC induction motor sinewave basic parameters 27 3 Phase AC induction motor sinewave advanced parameters 28 3 Phase PMAC motor sinewave basic parameters 29 3 Phase PMAC
43. nge J6 4 5 5 5 V MC Connector pin 25 5V 4 5 5 5 MC Connector pin 28 VDD Micro 4 5 5 5 V 5V Bias current typical 10 30 mA MC PWM Output current source 25 mA MC PWM Output current sink 50 mA MC BEMF Input sink 25 mA GP I O Pin source 25 mA GP I O Pin sink 25 mA HS I O Pin source 25 mA 11 48 Board architecture UM0430 5 12 48 Board architecture The STEVAL IHM010V1 can be schematized as in Figure 3 Figure 3 Control board architecture User Interface Start Stop Reset MC Connector Communication ICC scl Power BD Memory SPI EEProm Control BD The heart of the control board is the ST7MC microcontroller which is provided with a dedicated peripheral to drive the three phase brushless motor The user interface is constituted of four potentiometers P1 P2 P3 P4 which are used to set parameters related to the specific drive see Section 7 Motor control demonstration Two push buttons are also present e Reset button for a hardware reset of the board e Stari stop button used to start and stop motor driving see Section 7 Motor control demonstration Two LEDs green and red provide information about the status of the system Their behavior is related to the specific drive see Section 7 Motor contro demonstration In normal functionality it is expected that the board is supplied by the MC connector but for stand alone operation an auxiliary supply c
44. oard keeping the compatibility with the power board if the standard MC connector configuration is used 13 48 Board architecture UM0430 Figure 5 MC Connector pin out Fault Shut_Down L6386 GND PWM_1H GND Dedicated PWM_1L GND PWM_2H GND PWM_2L GND PWM_3H GND PWM_3L Bus voltage mmm ADC ADC n ng Current PhaseA GND ADC n 1 agama Current PhaseB ADC n 2 agama Current PhaseC GND GPIO NTC bypass Relay GND GP PWM Dissipative Brake PWM GND 5V Heatsink temperature gt ADC GP capture PFC Sync 3V3 GP PWM PFC PWM GND Dedicated Encoder A GND GND Encoder B Encoder Index GP Capture Table 3 Motor control connector Pin N Description Pin on ST7MC 1 Emergency stop MCES 2 Ground VSS 3 High side PWM phase A MCOO 4 Ground VSS 5 Low side PWM phase A MCO1 6 Ground VSS 7 High side PWM phase B MCO2 8 Ground VSS 9 Low side PWM phase B MCO3 10 Ground VSS 11 High side PWM phase C MCO4 12 Ground VSS 13 Low side PWM phase C MCO5 14 BUS voltage AIN1 15 Phase A current 16 Ground VSS 17 Phase B current MCCFI 14 48 UM0430 Board architecture Table 3 Motor control connector continued Pin N Description Pin on ST7MC 18 Ground VSS 19 Phase C current 20 Ground VSS 21 NTC PYPASS relay 22 Ground VSS 23 Dissipative BRAKE PC2 24 Ground VSS 25 5V VDD 26 HEATSINK temperature AINO 27 PF
45. on motor sinewave basic parameters Table 8 Description Parameter name the number of pole north south pairs in the motor Poles pairs i the manner in which to run the motor either open loop without speed regulation Speed regulation or closed loop with speed regulation Speed sensor gt the number of pulses per revolution of the speed sensor tacho pulse x rev Stator frequency Minimum sets the minimum stator frequency in Hz for open loop mode or minimum mechanical speed for closed loop mode Masini sets the maximum stator frequency in Hz for open loop mode or maximum mechanical speed for closed loop mode V F Voltage vs frequency curve Min voltage sets the voltage level expressed as a part of the 255 of the bus voltage in the 9 first corner of the V F curve Low freguency sets the frequency of the first corner of the V F curve in Hz High frequency sets the frequency of the second corner of the V F curve in Hz Startup settings affects the slew rate of the voltage during the motor start up phase before Voltage slew rate f reaching the potentiometer set value only in open loop Start Up stator frequency sets the stator frequency during the start up sequence only in closed loop sets the maximum duration of the start up sequence in milliseconds ms only in Max duration closed loop Min rotor frequency to validate sets the rotor speed or freq
46. onnector for 5 V power supply is included on the board Providing more than 5 5 V through this connector may cause permanent damage to the device since no over voltage protection device is present The board is supplied with 2 Kbit EEPROM M95020 connected to the micro by an SPI bus To enable the onboard EEPROM memory the jumper J2 must be closed and the debug feature must be disabled inside the firmware J5 can be set by the user by connecting a jumper between pins 1 2 or 2 3 This setting is related to a specific drive see Section 7 Motor control demonstration UM0430 Board architecture 5 1 Two communication systems can be established with the microcontroller ICC Used for programming debugging purposes SCI Used for data exchange through SDI connector The control board is connected to the power board through a specific connector MC Connector Figure 4 Control board layout Potentiometers P1 P2 P3 P4 ICC Connector Debug Pins SUD o Aa RR e 5V Auxiliary Supply MC Connector J4 MC Connector The 34 pin MC connector has been designed as the standard to connect the control board to the power board Following the configuration of the MC connector it is possible to design a different control board or power board preserving the compatibility between the two systems For instance it is possible for any user to redesign the control b
47. ower supply The control board STEVAL IHM010V1 is a microcontroller ST7MC based board that provides the driving signals related to the motor selected and the driving strategies Driving signals are constituted of 6 PWM signals in the range of 0 5V paired in high side low side pairs of one pair for each leg In the system proposed three legs are present three phase inverter The power board STEVAL IHM011V1 is based on the power module STG3P2M10N60B that converts the control signal to power signals in order to drive the motor see Power Board User Manual for further details The connection between the control board and the power board is performed through dedicated a 32 pin connector called motor control connector see Section 5 1 MC Connector The IGBT power module eval kit it is able to drive the following kinds of motors e AC induction motor sensored e Brushless permanent magnet motor trapezoidal driven sensored or sensorless e Brushless permanent magnet motor sinusoidal driven sensored The power board is supplied by a high voltage AC power supply 220 V or 110 V with the capability to generate current up to 10 amps 7 48 Safety and operating instructions UM0430 2 2 1 2 2 2 3 2 4 2 5 8 48 Safety and operating instructions General During assembly and operation the IGBT power module eval kit poses several inherent hazards including bare wires moving or rotating parts and hot
48. p Start Up Stator Frequency 1 Hz SEN fo RS Max Duration ms e Phase Shift Min rotor frequency m C Set Phase Shift according to Pf F Curve to validate closed loop Hz e Set Phase Shift according to P3 Ng Change Motor Type Advanced Settings Generate Source files Table 10 3 Phase PMAC motor sinewave basic parameters Parameter name Poles pairs Description the number of Pole north south pairs in the motor Speed regulation Sensor configuration the manner in which to run the motor either open loop without speed regulation or closed loop with speed regulation the number of Hall sensors on the motor One sensor Two sensors Three sensors Synchronous speed Min sets the target minimum stator frequency in Hz for closed loop mode Max sets the target maximum stator frequency in Hz for closed loop mode V F Voltage vs Frequency curve limitation th R Min voltage sets the voltage level expressed as a part of the 255 of the bus voltage in the first corner of the V F curve Low frequency sets the frequency of the first corner of the V F curve in Hz High frequency sets the frequency of the second corner of the V F curve in Hz a 29 48 Motor control demonstration UM0430 Table 10 3 Phase PMAC motor sinewave basic parameters continued Parameter name Description Start up settings Voltage slew rate affects the s
49. r brake blinking of the red LED indicates a fault condition A fault condition is due to one of the following conditions hardware overcurrent current flowing inside motor reaches a value greater than max current allowed 4 1 amp see Section 7 4 10 Changing the maximum current allowed by GUI e Over voltage bus voltage reaches a value greater than 280 Vac Over temperature onboard temperature sensor measures a temperature greater than 60 e Startup failed no signal from the tachometer sensor is present at the end of startup e Motor stalled during the run of the motor no tachometer sensor signal has been observed Changing real time parameters The real time parameters can be changed using the potentiometers of the control board Table 18 explains the potentiometer functionality based on the driving strategy Potentiometer functionality based on open closed loop driving strategy P1 P2 44 48 Open loop Closed loop sets the target rotor frequency value from Minimum sets the voltage modulation index from 0 to 100 value to Maximum value configured see of bus voltage Section 7 4 8 3 Phase PMAC motor sinewave settings not used not used ky UM0430 Motor control demonstration Table 18 Potentiometer functionality based on open closed loop driving strategy continued Open loop Closed loop manual setting of the phase shift the maximum manual setting of the
50. re uses this curve to set the value of the phase shift based on the actual value of the Ph F curve rotor frequency when the set phase Shift according to Ph F curve option is set in the main window The curve is a linear interpolation between two knee points First knee point Phase shift sets the value of phase shift of the first knee point of the curve Frequency sets the value of frequency of the first knee point of the curve Second knee point Phase shift sets the value of phase shift of the second knee point of the curve Frequency sets the value of frequency of the second knee point of the curve Stop condition Free wheeling after stopping the motor continues to spin freely Active braking the motor is braked generating a stator field 90 in advance with respect to the rotor field Brake voltage voltage level expressed as a part of the 255 of the bus voltage of the active braking stator field Brake min speed a brake stays active until the motor is brought below this rotor frequency 31 48 Motor control demonstration UM0430 7 4 10 7 4 11 Note 32 48 1 Changing the maximum current allowed by GUI The maximum current allowed by GUI has been set to 4 1 amps This value may be changed by modifying the file gui ini inside the folder where the file IGBT PM EV KIT GUI is installed Open the gui ini file using the notepad and change the value of
51. resonator oscillators and by pass for external clock clock security system four power saving modes halt active halt wait and slow configurable window watchdog timer nested interrupt controller with 14 interrupt vectors two 16 bit timers one 8 bit auto reload timer Serial Peripheral Interface SPI Serial Communication Interface LINSCI Motor Controller MTC peripheral with 6high sink Pulse Width Modulator PWM output channels asynchronous Emergency Stop nalog inputs for rotor position detection permanent magnet motor coprocessor including multiplier programmable filters blanking windows and event counters Op Amp and Comparator for current limitation 10 bit Analog to Digital Converter ADC with 11 inputs In Circuit Communication Interface ICC debug 9 48 ST7FMC2S4T6 Microcontroller functions UM0430 Table 1 ST7FMC2S4T6 Functions Function UO name Description depends on embedded software MCOO to MCO5 PWM outputs MCIA MCIB MCIC Analog or digital input for position sensor or B E M F detection MCVpgep B E M F Detection comparator reference NMCES Emergency stop OAP Operational amplifier positive input OAN Operational amplifier negative input MTC OAZ Operational amplifier output MCCrer Current limitation reference MCPWMU PWM Output U MCPWMV PWM Output V MCPWMW PWM Output W MCZEM Debug pin C Z
52. se PMAC Motor sinewave advanced settings Generate source files 7 4 9 the generate source files button enables the user to generate the configuration h files shown in Table 5 Configuration h files A Save dialog window appears where the user can select in which folder to create the file User must choose the right Source directory in the firmware working folder see Section 7 4 1 Choosing the right firmware 3 Phase PMAC Motor sinewave advanced settings Clicking the advanced settings button see Figure 15 opens the advanced settings dialog box see Figure 16 This is where the advanced 3 Phase PMAC motor sinewave motor type parameters are set 30 48 a UM0430 Motor control demonstration Figure 16 3 Phase PMAC motor sinewave advanced parameters window 3PH PMAC or BLAC Advanced Settings Stop Condition Switches PWM Frequency 1 ei KH g Dead Times Value 1 000 si SE EE Active Braking DR Ph F Curve First Knee Point Phase Shift 190 255 Frequency 40 Hz Second Knee Point Phase Shift 200 255 Frequency 280 Hz F requency Cancel Table 11 3 Phase PMAC motor sinewave advanced parameters Params name Switches PWM frequency Description Pulse Width Modulation PWM Frequency in kHz Dead times value selects from available preset dead time duration values in microseconds us Softwa
53. sing 5 V power supply connected to J6 observing the polarity ky 33 48 Motor control demonstration UM0430 Once the ST7VD for inDART has been installed the datablaze programmer utility that can be used to program the firmware using the inDART STX can also be installed 4 Run the Softec datablaze programmer utility 5 Click the select device button on the toolbar 6 Inthe select device window select inDART STX in the programmer hardware box and ST7FMC2S4 as the device code and press OK 4 Ifan error occurs make sure that the inDART STX board is connected to the PC A green LED lights up if the board is connected 7 Click on the file pull down menu select open then code buffer 8 Inthe load file to code buffer dialog box format menu select motorola S Rec settings 9 Click the button near name box and select the binary code S19 to download into the microcontroller and press OK in order to know which binary code to select see Section 7 4 11 Compiling the firmware 7 4 13 Setup option byte 10 Press the option byte button in the toolbar and select the value as shown in the Option Configuration window see Figure 19 and press OK Figure 19 Option byte settings Edit Option Bytes FMP_R Read Out Protection Read Out Protection Disabled EI DIV2 Divider by 2 DIV2 divider enabled E See RSTC RESET Clock Cycle Selection Reset phase with 4096
54. surfaces There is danger of serious personal injury and damage to property if it is improperly used or installed incorrectly All operations involving transportation installation and use as well as maintenance are to be carried out by skilled technical personnel national accident prevention rules must be observed For the purposes of these basic safety instructions skilled technical personnel are suitably qualified people who are familiar with the installation use and maintenance of power electronic systems Reference design board intended use The IGBT power module eval kit boards are components designed for demonstration purposes only and shall not be used for electrical installation or machinery The technical data as well as information concerning the power supply conditions shall be taken from the documentation and strictly observed Reference design board installation The installation and cooling of the reference design boards shall be in accordance with the specifications and the targeted application see Section 7 Motor control demonstration e The motor drive converters shall be protected against excessive strain In particular no components are to be bent or isolating distances altered during the course of transportation or handling e No contact shall be made with other electronic components and contacts e The boards contain electrostatically sensitive components that are prone to damage through improper use El
55. t condition A fault condition is due to one of the following conditions e Hardware overcurrent current flowing inside motor reaches a value greater than max current allowed 4 1 amp Section 7 4 10 Changing the maximum current allowed by GUN e Over voltage bus voltage reaches a value greater than 280 Vac e Over temperature onboard temperature sensor measures a temperature greater than 60 e Startup failed startup phase ends without getting a sufficient number of valid zero crossing events e Motor stalled during the run of the motor no other zero crossing events have been observed Blinking of the red LED during the running of the motor indicates that software current limitation is in action Changing real time parameters The real time parameters can be changed using the potentiometers of the control board Table 14 explains the potentiometer functionality based on the driving strategy Potentiometer functionality based on open closed loop driving strategy Voltage mode Open load Closed loop P1 sets the target rotor frequency value from Minimum sets the duty cycle percentage from 0 to the value to Maximum value configured maximum duty cycle allowed see Section 7 4 4 3 Phase BLAC DC trapezoidal settings 39 48 Motor control demonstration UM0430 Table 14 Potentiometer functionality based on open closed loop driving strategy continued P2 sets the value of rising de
56. tion Environmental considerations Warning The IGBT Power Module Eval Kit must only be used in a power laboratory The high voltage used in any HV drive system presents a serious shock hazard The kit is not electrically isolated from the AC input This topology is very common in AC drives The microprocessor is grounded by the integrated Ground of the DC bus The microprocessor and associated circuitry are hot and MUST be isolated from user controls and serial interfaces Warning Any measurement equipment must be isolated from the main power supply before powering up the motor drive To use an oscilloscope with the kit it is safer to isolate the AC supply AND the oscilloscope This prevents a shock occurring as a result of touching any SINGLE point in the circuit but does NOT prevent shocks when touching TWO or MORE points in the circuit An isolated AC power supply can be constructed using an isolation transformer and a variable transformer A schematic of this AC power supply is in the application note AN438 TRIAC Microcontroller safety precautions for development tools Although this application note was written for TRIAC the isolation constraints still apply for fast switching semiconductor devices such as IGBTs Isolating the application rather than the oscilloscope is highly recommended in any case UM0430 Motor control demonstration 7 2 7 3 7 3 1 Hardware requirements To set up the IGBT power modul
57. to 4 1A see Section 7 4 10 Changing the maximum current allowed by GUI Stopping the motor LED behavior Push the Start Stop button to stop the motor The LEDs toggle from green to red to indicate idle state It is possible to configure the system to drive the BLDC motor in current mode and or in closed loop and restart the demonstration from Section 7 4 4 3 Phase BLAC DC trapezoidal settings Driving the BLDC Motor trapezoidal sensored Before proceeding with the motor control demonstration the power board STEVAL IHM011V1 must be set up to drive 3 Phase BLAC DC trapezoidal sensored settings as described in the power board user manual Let s start the demonstration driving the brushless permanent magnet motor in voltage mode open loop sensor 60 At this point please check that the control board has been ky UM0430 Motor control demonstration 7 7 1 7 7 2 7 7 3 7 7 4 7 7 5 set up for voltage mode open loop sensor 60 driving see Section 7 4 4 3 Phase BLAC DC trapezoidal settings Specific connection sensor To drive the motor the motor must have three position sensors in this case three hall sensors For this demonstration we suggest using one Ametek BLDC Blower motor voltage max 30 Vdc Refer to the descriptions in Table 15 to connect the motor to the power board Table 15 BLDC Sensored motor connections Motor Power board Phas
58. uency to validate the Closed Loop mode only in closed closed loop loop Regulator settings Integral Coefficient Ki sets the value of the Integral RRE of the Proportional Integrative PI sets the value of the Proportional Coefficient Kp of the PI regulator Proportional Coefficient Kp Sampling time sets the regulator sampling frequency in milliseconds ms the change motor type button enables the user to change the motor type see Change motor type Figure 10 the Advanced settings button enables the user to set the advanced parameters Advanced settings ae 8 3 s F see Section 7 4 7 3 Phase AC induction motor sinewave advanced settings the Generate source files button enables the user to generate the configuration h files shown in Table 5 Configuration h files A save dialog window Generate source files appears where the user can select in which folder to create the file User must choose the right Source directory in the firmware working folder see Section 7 4 1 Choosing the right firmware 27148 a Motor control demonstration UM0430 7 4 7 28 48 3 Phase AC induction motor sinewave advanced settings Clicking the advanced settings button see Figure 13 opens the advanced settings dialog box see Figure 14 This is where the advanced 3 Phase AC induction motor sinewave motor type parameters are set Figure 14 3 Phase
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