MB91470 Family Motor Control Kit User Manual
Contents
1. Adepter or external DC power Through voltage regulator Pin 2 amp 3 Short USB power JP1 JP5 JP8 JP10 Enables the switches when shorted JP11 JP38 JP6 Enables common interrupt when shorted JP44 Enables GND to be connected to X12 Connector when shorted JP45 Enables LED18 when shorted JP42 JP37 For connecting signals form X12 to MCU JP40 Enables PWM LEDs when shorted JP7 JP13 JP16 Enables Potentiometer to be connected to MCU when shorted SW14 For motor selection JP20 JP21 JP22 Connects Hall Zero crossing signal to MCU X12 This connector carries signals between MCU to Inverter board This connector includes signals for interfacing Inverter board as follows Pin 1 GND Pin 2 GND Pin 3 PWM H1 Pin 4 PWM L1 Pin 5 PWM H2 Pin 6 PWM L2 Pin 7 PWM H3 Pin 8 PWM L3 Pin 9 GND Pin 10 GND Pin 11 VCC_MCU Pin 12 VCC_MCU Pin 13 FAULT Enable 25 Pin 14 NC Pin 15 NC Pin 16 NC Pin 17 NC Pin 18 TEMP signal Pin 19 FAULT Pin 20 NC Pin 21 GND Pin 22 NC Pin 23 GND Pin 24 NC Pin 25 GND Pin 26 NC Pin 27 GND Pin 28 ITrip Pin 29 GND Pin 30 PCU Pin 31 GND Pin 32 PCV Pin 33 GND Pin 34 PCW X8 Hall Zero crossing signal interfacing connector Pin 1 VCC Pin 2 GND Pin 3 Hall 1 Pin 4 Hall 2 Pin 5 Hall 3 J7 EXOR signal interfacing connector Pin 1 GND Pin 2 EOR LED26 ON when Adapter power is pluged LED17 Power ON indication L2. Description JP24 AVcc OPEN AVcc is disconnected from Vcc JP27 AVRH2 Closed AVRH2 is connected to AVcc OPEN AVRH2 defined by resistor network 1 JP28 AVRH3 Closed AVRHS3 is connected to AVcc OPEN AVRH3 defined by resistor network 1 JP36 AVRH4 Closed AVRH4 is connected to AVcc OPEN AVRH4 defined by resistor network 1 JP35 AVss Closed AVss is connected to GND OPEN AVss is disconnected from GND 1By default the resistor networks are not mounted on the board By default the A D converter supply and reference voltages are the same as the microcontroller supply voltage Note If JP24 and JP35 are open the user has to supply an adequate analog voltage supply AVcc and AVss to the A D converter If JP27 is open the resistors R27 and R37 define AVRH2 If JP28 is open the resistors R26 and R36 define AVRH3 If JP36 is open the resistors R43 and R47 define AVRH4 By default the resistor networks are not mounted on the board Standard SMD0805 chip resistors can be used 3 1 1 4 UARTO JP 2 3 4 One RS232 transceiver U2 X5 can be connected to the microcontrollers UART interface 0 JP2 JP3 connect UART 0 to the RS232 transceiver U2 X5 JP4 Some programs e g Terminals need a connection between CTS and RTS 12 Setting JP2 SINO Closed SINO of MCU is connected to UARTO OPEN SINO not connected to UARTO JP3 SOTO Closed SOTO of MCU is connected to UARTO OPEN SOTO not
3. connected OPEN RTS and CTS of X7 are not connected By default UART2 SIN2 SOT2 is connected to X7 3 1 1 7 Reset Generation JP 9 23 25 30 In addition to the internal Power On reset the microcontroller can be reset by an external reset circuit Voltage Monitor and also by a RS232 interface JP9 This jumper selects whether the DTR line from UARTO or UART1 will generate a system reset JP23 This jumper connects the MCU Pin 17 Base timer output TOUT to the external watchdog IC s trigger input JP25 Open this jumper if no external Reset shall be generated e g to avoid accidental reset during long term testing or demonstration JP30 This jumper enables the watchdog function of the reset IC US If this is closed US US issues a reset if it is not periodically re triggered by the MCU PJ7 TOUT3 Bumper JP9 Setting 1 2 DTR of UARTO is selected for reset generation 2 3 DTR of UART is selected for reset generation 14 JP23 WD_TOUT3 Closed MCU Pin 17 PJ7 TOUT3 connected to US OPEN MCU Pin 17 PJ7 TOUT3 not connected to U5 JP25 Ext Reset Closed INITX connected to reset circuit supply monitor U5 OPEN No connections to INITX JP30 Closed U5 watchdog Closed US watchdog function function enabled enabled Watchdog OPEN U5 watchdog function disabled Note While a reset signal is asserted the red Reset LED LED16 is lit Du
4. microcontrollers can be used in advanced motor control application The motor control kit supports both Hall sensor and a sensorless control for BLDC motor and sensorless FOC control for PMSM motor This document contains detail information for system specification board physical components board connection installation demo operation signal measurement precaution and trouble shooting guide for the motor control kit 1 2 Evaluation Kit Features e Self contained No additional components required for evaluation e Start Stop and forward reverse direction switches e Hall sensor inputs for sensor brushless dc motor control e Socket for Emulator e Fault indication LEDs e Headers for MCU pins e Support for BLDC and PMSM motor 1 3 Supported Microcontroller series The kit is designed to work only with MB91475 series The following MCU parts can be used with the Kit MB91V470 MB91F479 2 Fujitsu Motor Control Starter Kit Components The kit consists of the following major units 1 Inverter Board 2 MCU Board 3 BLDC PMSM Motor INVERTER BOARD UJITSU 2 1 Inverter Board Following picture shows the Inverter board connector details 1 Hall sensor interface connector Motor 2 Motor interface connector 3 Power supply input jack 4 Fuse 5 MCU signal interface connector FRC 6 Hall sensor interface connector MCU 7 EXOR signal interface connector 8 Fault indication LED 9 Power indication LED 2 2 MCU
5. motor The PMSM motor tested with the hardware Manufacture Faulhaber P N 1628T 012B Specification 3 phase 12V BLDC 19 5 Motor control Kit Operation 5 1 Motor Control Mode configuration Motor can operate in two Modes Open Closed Default mode is Closed loop mode Motor operates in closed loop by varying the Potentiometer P1 on MCU board Motor can switch to open loop mode by pressing UP DWN button on MCU board Once the control is switched from closed loop mode to open loop mode the control stays in open loop mode It cannot be switched back to closed mode Open and closed loop modes are followed both in sensored and sensorless control 5 2 Starter Kit Default Mode Motor control will be in Closed loop mode Motor will RUN in forward clock wise direction Required speed and control will depend on Pot P1 position 5 3 Motor operation Open closed loop 5 4 1 5 4 1 When the power is given to the starterkit it will not start until user presses the Start Stop Button When the Start Stop button is pressed again the Motor will Stop When the start button is pressed the Motor will attain the required speed and it will run in closed loop mode Error will be corrected through the software and in a short period required and actual speed will be same The required speed can be varied by P1 Potentiometer on MCU board The Actual and Required Speed can be observed on the Hyper Terminal UART 0 of MCU board with 2400 8
6. Board Following picture shows the MCU board connector details 1 USB type B connector 2 EXOR signal interface connector 3 Hall Zero crossing signal interface connector 4 Inverter board signal interface connector 5 Power jack 6 Serial programming connector 7 Special function switch 8 Start Stop Switch SW1 9 Reverse Anti clockwise direction rotation switch SW3 10 Speed Increase switch SW4 11 Speed Decrease switch SW5 12 Forward clock wise direction rotation switch SW6 13 Reset switch 14 Potentiometers P2 P3 15 Potentiometer P1 for closed loop speed control 2 3 Interface Between MCU and Inverter board Following picture shows the interface between MCU and Inverter board UIITSU 1 EXOR signal interfacing connections J15 of inverter board and J7 of MCU board 2 Hall sensor Zero crossing and Power supply interfacing connection J7 of Inverter board and x8 of MCU board 3 PWM and other signal interfacing connector J5 of inverter board and X12 of MCU board 2 4 Interface Between MCU Inverter board and Motor Following picture shows Motor connection to Inverter board 7 ch ata mon de FT CEE LE TEN UJITSU 1 3 phase power supply for the motor 2 Hall sensor interface 3 BLDC PMSM Motor 10 3 Board Configuration This chapter describes all jumpers and switches that can be modified on the evaluation board The default setting for MB91F479 is shown with a grey shaded a
7. ED16 ON when RESET switch is pressed 26 9 2 Inverter board Component Description Operation Inverter Board J8 J9 J10 selects Either zero crossing signals when Pin 1 amp 2 short or Hall signals when Pin 2 amp 3 short J11 J12 J13 J14 Selects the signal for MCU Interrupt generation when shorted J4 For Enabling power supply for MCU board Shorted Enables supply Open Disables supply J3 For Enabling power supply for IGBT module Shorted Enables supply Open Disables supply J6 Hall sensor interface connector Motor Pin 1 VCC Pin 2 GND Pin 3 Hall 1 Pin 4 Hall 2 Pin 5 Hall 3 J7 Hall sensor interface connector MCU board Pin 1 VCC Pin 2 GND Pin 3 Hall 1 Pin 4 Hall 2 Pin 5 Hall 3 J15 For connecting EXOR signal to MCU board J5 This connector carries signals between MCU to Inverter board J1 12V Power supply input through standard power adapter F1 Fuse 1A J2 Motor connector Pin 1 Phase U Pin 2 Phase V Pin 3 Phase W D1 Error Indication LED D2 Power ON Indication 27 9 3 Motor Connector 9 3 1 BLDC Motor Function Wire Color A Phase Brown B Phase Orange C Phase White A Hall Sensor Blue B Hall Sensor Green C Hall Sensor Yellow 6V Logical Supply Red GND Logical Black 9 3 2 PMSM Motor Function W
8. MB91470 Family Motor Control Kit User Manual P N A91470 MOTOR Kit Revision History Revision Date comment Warranty and Disclaimer To the maximum extent permitted by applicable law Fujitsu Microelectronics America Inc restricts its warranties and its liability for the Product its performance and any consequential damages on the use of the Product in accordance with i the terms of the License Agreement and the Sale and Purchase Agreement under which agreements the Product has been delivered ii the technical descriptions and iii all accompanying written materials This product has been created to work in laboratory environment only In addition to the maximum extent permitted by applicable law Fujitsu Microelectronics America Inc disclaims all warranties and liabilities for the performance of the Product and any consequential damages in cases of unauthorized decompiling and or reverse engineering and or disassembling 1 Fujitsu Microelectronics America Inc warrants that the Product will perform substantially in accordance with the accompanying written materials this manual for a period of 90 days form the date of receipt by the customer Concerning the hardware components of the Product Fujitsu Microelectronics America warrants that the Product will be free from defects in material and workmanship under use and service as specified in the accompanying written materials for a duration of 1 year from the date of receip
9. N 1 baud setting Whenever Up or Down Button is pressed the motor will come out of the Closed loop and it will run in Open Loop Mode The Motor will always remain in Open Loop if the Up or Down Button is Pressed In Running condition the direction of the motor can be changed by Pressing the FWD or REV Button LED s Indication 1 LEDs on Power ON LED D2 ON LED17 ON LED26 ON LEDI ON LED10 LED12 LED14 ON 20 5 4 1 2 LEDs when Start button SW2 Pressed e LED9 LED11 LED13 ON 5 4 1 3 LEDs when Reset button SW7 Pressed e LED16 ON RED 21 6 Monitor Motor Control Parameters by UARTO The UARTO can be used for monitoring the Actual and Required Speed of the motor using Hyper Terminal software on PC The required settings are as follows Baud rate 2400 8 N 1 In case of closed loop control both Actual and Required speed will change e Required speed can be changed through Pot P1 on MCU board e Actual speed will be controlled through sensored sensorless algorithm through software e Incase of open loop control only Actual speed can be changed through switches SW4 amp SWS 22 Error Condition on Starter kit e LED D1 on Inverter power board will be RED e If this LED is RED for more than 5 seconds press the RESET switch on the MCU board e When the Start button is pressed or during run state and if the motor is not running smoothly or stalling or still then press the RESET switch on the MC
10. U board e Ifthe above mentioned conditions are repeated despite pressing reset switch switch OFF the power supply check if all the connections are made and are intact Verify the Jumper position e If the problem is not solved after all the above mentioned steps then contact support team 23 8 0 Programming MCU board Remove the power to Inverter power board Connectors J1 J16 should be unpopulated Connect the power to MCU board Connect X15 with 12V power supply Switch SW8 is to be set in PROG mode in MCU board Jumper JP41 to be in ADPT DC IN position on MCU board Connect UARTO of MCU board with a RS232 connector cable and the other end should be on the PC side e Run the Fujitsu Flash Programmer software and program the hex file 24 9 Jumpers and Connector Summary 9 1 MCU board Component Description Operation MCU Board JP41 This Jumper selects power for MCU board either form DC Adapter or form the external DC power source l e From inverter board Pin 1 amp 2 Short Power from DC Adapter Pin 2 amp 3 Short Power form external DC source JP25 Enables External reset when connected JP2 JP3 JP4 Connects RS232 transceiver to UARTO when shorted JP12 JP14 JP15 Connects RS232 transceiver to UART1 when shorted JP17 JP18 JP19 Connects RS232 transceiver to UART2 when shorted JP49 This Jumper selects power for MCU board either form Voltage regulator on MCU board or form USB Pin 1 amp 2 Short
11. connected to UARTO JP4 RTS CTS Closed RTS and CTS of X5 are connected OPEN RTS and CTS of X5 are not connected By default UARTO SINO SOTO is connected to X5 UARTO is also used for asynchronous in circuit Flash programming and also to view the motor control result 3 1 1 5 UART1 JP 12 14 15 One RS232 transceiver U3 X6 can be connected to the microcontrollers UART interface 1 JP12 JP14 connect UART 1 to the RS232 transceiver U3 X6 JP15 Some programs e g Terminals need a connection between CTS and RTS Setting JP12 SIN1 Closed SINI of MCU is connected to UART1 OPEN SINI not connected to UARTI JP14 SOT1 Closed SOT1 of MCU is connected to UART1 OPEN SOTI not connected to UARTI JP15 RTS CTS Closed RTS and CTS of X6 are connected OPEN RTS and CTS of X6 are not connected By default UART1 SIN1 SOT1 is connected to X6 13 3 1 1 6 UART2 JP 17 18 19 One RS232 transceiver U4 X7 can be connected to the microcontrollers UART interface 2 JP17 JP18 connect UART 2 to the RS232 transceiver U4 X7 JP19 Some programs e g Terminals need a connection between CTS and RTS umpe Setting Description JP17 SIN1 Closed SIN2 of MCU is connected to UART2 OPEN SIN2 not connected to UART2 JP18 SOT1 Closed SOT2 of MCU is connected to UART2 OPEN SOT2 not connected to UART2 JP19 RTS CTS Closed RTS and CTS of X7 are
12. e 19 5 Motor Control Kit Operations mec iersnnunneeenesmenues Page 20 5 1 Mode Configuration nn Page 20 5 2 Starter kit Default mode Page 20 5 3 Motor OPGrallOn Hesse nds en cn unes en nan Page 20 5 4 LEDS Indication ESS ps sn ane ors a rie ces nant eee Page 20 6 Monitoring Motor control Parameter Page 22 7 Error Condition on Starter Kite issue Page 23 8 Programming MCU bOAr ess En RS ete rude Page 24 9 Jumper and Connector Summary Page 25 9 1 MCU Doard Sn Ra nn re nn rue ne Page 25 9 2 IAVerIS Gm 612 6 Renner Re ere eee Or eRe re Page 27 9 3 Motor CONMECIONS cas cast dundee a Mes Geeta aaah mr to Page 28 9 4 PMSM motor COnneclor EE SAS ee ote NA na Page 28 10 Recommended Reading Page 29 11 Appendix 11 1 Definitions Acronyms and Abbreviations 1 Introduction 1 1 Overview The BLDC PMSM Motor control kit is an evaluation kit to provide the user a platform to evaluate the Fujitsu motor control microcontroller and develop the own solution with no external component The starter kit is built around the Fujitsu 32 bit MB91F479 microcontroller which has the integrated peripheral for motor control application The motor peripherals can control three phase motor such as Brushless DC motors PMSM motor and Induction motor The motor control kit shows how effectively the Fujitsu family of
13. ire Color A Phase Brown B Phase Orange C Phase Yellow A Hall Sensor Green B Hall Sensor Blue C Hall Sensor Grey 5V Logical Supply Red GND Logical Black 28 10 Recommended Reading This document describes how to use the Fujitsu Motor Control Kit Additional technical information can be found on the following documents e MB91F479 Data sheet e Fujitsu motor Control Kit Schematic e Fujitsu motor control software for BLDC PMSM motor e Fujitsu motor control Application Note for Sensored BLDC and sensorless BLDC PMSM 29 11 Appendix 11 1 Definitions Acronyms and Abbreviations BLDC Brushless DC Motor BEMF Back Electro Magnetic Force PWM Pulse Width Modulation PI Proportional Integral IGBT Insulated Gate Bipolar Transistor PMSM Permanent Magnet Synchronous Motor FOC Field oriented control for PMSM 30
14. nected to INT3 wired OR COMM INT OPEN Only SW3 is connected to INT3 JP25 Reset Closed INITX is connected to the reset IC and SW7 OPEN No connection to INITX By default all push buttons as well as the reset circuit are connected to the microcontroller For Motor control operation the switches are used for the following functionality e Start Stop Switch SW1 It is used to start or stop the motor Default condition will be stop e Reverse Anti clockwise direction rotation switch SW3 It is used to rotate the motor in reverse direction e Speed Increase switch SW4 This is used to increase the speed of motor while in open loop control e Speed Decrease switch SW5 It is used to decrease the speed of motor while in open loop control e Forward clock wise direction rotation switch SW6 It is used to rotate the motor in forward direction e Reset switch SW7 This switch will reset the controller 16 e Potentiometer P1 It is used for closed loop speed control Anti clockwise rotation will result in decrease of speed while clockwise rotation will result in increase of speed e Switch SW14 Decide for sensored sensorless BLDC Motor Control If on SW14 A 0 B 0 then the code will execute for sensorless control If A 1 B 0 then the code will execute for Hall sensored control SW1 SW4 SWS5 SW6 SW3 POT P1 Start Stop Speed Increase Speed Decrease Forward rotation Reverse rota
15. rea 3 1 MCU Board 3 1 1 Jumper and Switches 3 1 1 1 Power Supply JP 26 41 The onboard voltage regulator provides stabilized 5V supply to the MCU and peripherals Even though it is thermally protected against overload care must be taken when supplying current for additional circuitry like sensors JP41 Selects on board X15 or ext X12 DC input JP26 Connects the MCU supply to VCCS can be used for MCU current measurement JP26 MCU VCC Closed MCUVCC connected to VCCS OPEN for current measurement JP41 DCIN EXT INT 1 2 DC input by X15 2 3 DC input by INVERTER board J16 JP49 1 2 DC input by inverter Power board or by X15 2 3 USB POWER 3 1 1 2 Programming Jumper JP32 This jumper is used for the purpose of executing the existing code in MCU or programming the MCU Setting Description JP41 DCIN EXT INT Aw RUN Mode Programming mode Note Switch SW8 is to be set in RUN mode to execute the program in the MCU 3 1 1 3 Analog Power Supply Voltage JP 24 27 28 35 36 The power supply as well as the positive reference voltages for the A D converters can be 11 provided internally or externally JP24 JP35 connects analog power supply voltages AVcc and AVss JP27 connects the analog reference voltage AVRH2 to AVcc JP28 connects the analog reference voltage AVRH3 to AVcc JP36 connects the analog reference voltage AVRH4 to AVcc Jumper Setting
16. ring normal operation this LED should be off If the reset LED is steadily on or blinks periodically check the power supply input voltage and the settings for the reset generation by UART as well as the jumpers JP23 and JP30 3 1 1 8 Buttons SW1 SW7 JP 1 5 6 8 10 11 25 38 JP1 JP5 JP8 JP10 JP11 JP38 Six user push buttons SW1 SW6 can be connected to the microcontroller SW2 also serves as test button for the MCU DTTI function which stops the PWM output e g in case of an inverter fault JP6 Common interrupt for SW3 SW6 Eases up button event handling when the buttons are used to control an application JP25 External reset circuit and button SW7 can be connected to the microcontroller ITs Setting JP1 SW1 Closed NMIX of the MCU is connected to SW1 OPEN No connection to the microcontroller JP38 SW2 Closed DTTI button LEDI5 connected to MCU Pin 57 DTTI OPEN No connection to the microcontroller 15 JPS SW3 Closed Pin 23 INT3 of MCU is connected to SW3 and JP6 OPEN No connection to the microcontroller JP8 SW4 Closed Pin 14 TIN2 is connected to SW4 OPEN No connection to the microcontroller JP10 SW5 Closed Pin 56 CKIO of the MCU is connected to SW5 OPEN No connection to the microcontroller JP11 SW6 Closed Pin 67 ADTG4 of the MCU is connected to SW6 OPEN No connection to the microcontroller JP6 Closed SW3 SW6 con
17. t by the customer 2 Should a Product turn out to be defect Fujitsu Microelectronics America Inc entire liability and the customer s exclusive remedy shall be at Fujitsu Microelectronics America Inc sole discretion either return of the purchase price and the license fee or replacement of the Product or parts thereof if the Product is returned to Fujitsu Microelectronics America Inc in original packing and without further defects resulting from the customer s use or the transport However this warranty is excluded if the defect has resulted from an accident not attributable to Fujitsu Microelectronics America Inc or abuse or misapplication attributable to the customer or any other third party not relating to Fujitsu Microelectronics America Inc 3 To the maximum extent permitted by applicable law Fujitsu Microelectronics America Inc disclaims all other warranties whether expressed or implied in particular but not limited to warranties of merchantability and fitness for a particular purpose for which the Product is not designated 4 To the maximum extent permitted by applicable law Fujitsu Microelectronics America Inc and its suppliers liability is restricted to intention and gross negligence NO LIABILITY FOR CONSEQUENTIAL DAMAGES To the maximum extent permitted by applicable law in no event shall Fujitsu Microelectronics America Inc and its suppliers be liable for any damages whatsoever including but without limitation conseq
18. tion Closed Loop 17 3 2 Inverter Board sections 1 Power supply jack 12V This is the power to be supplied to run the motor 2 Connector for BLDC PMSM Motor Phases 3 Connector for BLDC Motor Hall sensors and power 4 IGBT module It supplies the 3 phase PWM to Motor Inverter Board Connectors jumper setting Jl 12V power supply J2 Motor Phase J15 To J7 on MCU board J7 To X8 on MCU board J5 To X12 on MCU board Fuse F1 connect 1 5A fuse Jumper J3 J4 J11 Closed 3 2 1 BLDC Motor Control Hall Sensor e Connector J6 should be populated with Hall connector e Jumpers J8 J9 J10 should be in position 2 3 near to hall connector e In switch SW14 on MCU board A 1 B 0 J6 on Inverter board Should be populated with Hall Connector Jumper J8 J9 J10 on Inverter board Should be in position 2 3 Switch SW14 on MCU A 1 ON B 0 OFF 3 2 2 BLDC Motor Control Sensorless e Jumpers J8 J9 J10 should be in position 1 2 away from hall connector e In switch SW14 on MCU board A 0 B 0 3 2 3 PMSM Motor Control Sensorless Motor Connected to the inverter board should be PMSM motor No extra conditions required 18 4 Motor Specification 4 1 BLDC Motor The kit comes with the following motor Manufacture BLDC motor from BPMC P N BL2644 12 004 is a Specification 3 phase 12V 4 2 PMSM Motor The motor control kit can also be used with PMSM
19. uential and or indirect damages for personal injury assets of substantial value loss of profits interruption of business operation loss of information or any other monetary or pecuniary loss arising from the use of the Product Should one of the above stipulations be or become invalid and or unenforceable the remaining stipulations shall stay in full effect Date 22 01 99 V1 0 Contents lOVOIVIONE LE RAS Rene tts a trl iach cee A Chat Mato cca ae Page 05 1 OVGIVICW 22202 e gaina a a a a aia Ati DEEE Page 05 1 2 Evaluation Kit Features ie pme etant Page 05 1 3 Supported Microcontroller Series Page 05 2 Fujitsu Motor Control Starter Kit Components Page 06 2 1 Inverter DOA sexes er cute SRS lath eet nn nn Page 06 22 MCU Doade eriaren dad a ia iaaa lee tnt Page 07 2 3 Interface between MCU and Inverter Board Page 09 2 4 Interface between MCU Inverter Board and Motor Page 10 3 Board ComiguraOnia ctw ska iar ee onl ahs ten ses Page 11 9 1 MICU DO ats irate A E eis us id te aud Page 11 3 1 1 Jumper and Switches Page 11 3 2 Inverter Board 3 2 1 BLDC motor control Hall sensor Page 18 3 2 2 BLDC motor control sensorless Page 18 4 Motor Specification eean AU ne ne ie eva a tn use es Page 19 A BLDE MOTO en cs A Sn ns Page 19 4 2 PMSM Motor PSS en de tenta are Pag
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