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Quick Spin User Manual

1. File Name Purpose tor Class FIRE Files related tothe primary Wotor dass Marep R ras Ts pinar Cr Cas To TE OUTER Woor C ETT iane wrapper class Tor CMU Woort EENS DESET SUES Sd iO TEET T E CMTS TS Pras Fies Fles related tothe GUITabs EE Cae Te rande The About OUEST TaBe P oB TF doo handle We sorching and wean aT bs Tanan epe T h Tode Ta handle Tre Main Setings Tab ard is cones Tanier aram app R Code To handle Te Water Parameters ab and fs cone TPD oT T Tode o ande Te PID Parameters Tag and TE Corri TAP cop Cade Randle Tre PWT formation ta Taba cpoT Code To handle Te Set Pons Tab and ts OMT TabSysem Setup app A Code hande Te System Sartras Tab and TS GOTT THT Cas Files Files related the GUI Configuration Fl niFTe ipo Ce este T63 we and manipulate THEE Custom ControT Fis Pies related to custom contral created Tor This GUT raateThrend pa Tosa Rander code Tor a Seong credits Treaa DTT weed T A Taide a operai and contl te credie Dead Eiri F age To creste and Rande amp ustom E Sop DITET pare Cad 1o cresie and Rande amp cosa Top Dialog EST Message Dig pp TR Code fora asta madal Saloa messas Box EE Cade Tor tie castm startup dalog and sound SEET apg app A Code Tor the System Saas Dialog Bor FCanvaLepo T R Cade Tor Tre estom VI Forekon graph tem Fies es related tothe overal GUL ariapper Bp TA per class for he comunicata TORSTEN TERS ain appi
2. Na Fetus SEEE Command CEE ASCI Siring SK eters Required None Total Tx Characters 2 Description T Siops he motar By providing zars dive ard alaning We ler To mecra coast unti motoniess va rater Descriptor Kaa aquired Torras Sop uang Daca sS Nene Stops the motor Gang ie yem E ogra deoa Eran Te va ater Description ACK PaaS aquired haracters Slap ana DS en raking AC Hes eN SX Nene Stops an AC maiar lng BOO Misclon beng merod NOTE Fore command to operate successfull the DC injection Brake Voltage must be set Value Parameter Desorption TTR Fama Sat SF quired hone Sars the motor a forward dracon NOTE For hs Gonna o pra the system must be clear of any faut conditons Vaie ater Description ACK Command EEEE SR 2501 63 Al Amencan Quick Spin User Manual Wednesday November 29 2006 Desaripton Sans fe rotor n a ever rociar NOTE Forth command operate corey the system must be claar of any faut conditons T EEEN P Total Yx Characters 6 Taga SN iredi characte jeq nge TEBE a Va Description Sete anen moror speed T RPN T Te dive en operation te morar abe accelerated or decelerated otis new speed using he programmable acoeleraton or deceleration times the dre is not in ope
3. Protocol B Main Menu 95 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 The following is the Main Menu for this protocol E tmergency Stop ain Decel tine Stops the motor as quickly as possible K cost to stop ks11 Pi Stops the motor by stopping all drive signals to the board s drive module and allowing the motor to coast until stopped 5 controlled Stop with Dece1 Stops the motor by decelerating to 0 speed Using the programmed Deceleration time X Stop with De Injection Brake AC only Slops AC motors using a DC Injection Braking voltage which is set in the Motor Parameters sub menu The above Stop commands result in the following string being displayed Where sis one of the following strings Beergency Stop min De to Stop i1 Pie F forward at set Speed Initiates forward motion under the folowing conditions 4 At stop using the Acceleration Time set in the Motor Parameters submenu until reaching and maintaining the speed indicated by the Set New Speed command 96 of 63 Al American Quick Spin User Manual Wednesday November 20 2008 2 Ifa speed has not boen set the default speed is 0 RPM and the command is ignored producing no motion 3 If selected while the drive is already producing forward motion the command is ignored 4 If selected while the drive is producing reverse motion the drive decelerates
4. Sets the number of motor poles by displaying 410163 Al American Quick Spin User Manual Wednesday November 20 2008 Current number of poles iz n New pole count iz 2 4 6 or 8 Where n is the current Number of Poles U set Upper Speed Linit Max Speed in apu Sets the maximum speed for the attached motor Upon selection of this command the system will prompt the user with the following string Current Max Speed is n RIM New Max Speed in RPM is Where n is the curent Upper Speed Limit 1 set tower Speed Limit Min Speed in Reu Sets the minimum speed for the attached motor Upon selection of this command the system will prompt the user with the following string Current Min Speed iz n RPM Naw Min Speed in RPM Se Where n is the curent Lower Speed Limit 1 set Accel tine in seconde 0 25 5 sees Sets the Acceleration Time in seconds from 0 to 25 5 seconds in 100m8 increments The following string is displayed Current Accel Time is an n Seconds New Accel time is in tenths of seconds Where nn n is the current Acceleration Time V set Decel tine in Seconds 0 25 5 sees Sots the Deceleration Time in seconds from 0 to 25 5 seconds in 100mS increments The following string is displayed Where nn n is the current Deceleration Time 2 set Boost voltage Sets the Boast Voltage by issuing the following sting Current Boost Voltage is n Volts New Boost Voltage is
5. Taie T FF meter Description Aor valve from Oto FFFF indcaing Diferential gain ofthe Curent Gan PID EAEE aquired Ga sao SA Nene Requests te Te Speed Dracon Sal Parts Ser pris can ba preprogrammed in nanvoisue memory for later recal Upon recall 1 ot he 16 non oat Set Points are loaded asthe caret seting N disabled or in au the 33 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 ive does ho became waive Hough We se oT Wis command Soe We Load Ser Paint e and Save Set Pant C commands or more into ram ater Deseripon Nene returns Ti command reira Ta along Sel POT TG s e Hash Pound indicates the start o a sting sent from the characters Quick Spin board hats something ther han ACK 2preie P The P indicates the folowing is a Set Point string chars 6 TACK 16 sets of he folowing 6 characters staring with Set Point and char runing to Set Point 19 ForR 1 character indicating motor direction in the form ot Forward motion R Reverse motion 0000 4 characters as a 16 bit hex value indicating motor speed in FFFF RPM NOTE The speed value is subject tothe minimem and maximum speed setings Speed setings beyond the minimum ard masmur setings are gnred and default tthe min or max vale e ack character Commands Tae Sa Pont ASCI Siring required FETES went various Tom Ses BAB T
6. Commands ASCI Sting required EEEE S chara sentas E HAY HEB Seis her Type he ek Spit boats ode of operon uerg One othe vals Tae folowing parameter NOTE This command works in conjunction withthe Motor amma mater Description A Tex value Trom 0 toF nicaing T or 16 posse operating wade Tor the Quick Spin Board 0 Open oop Usually AC motors ony 1 Speed PIO using 120 hal sensor Quick Spin Default 2 Speed PID using 60 hal sensors 5 Spoed amp Curent PID using 120 hall sensors Not currenty mplementod 4 Speed amp Curent PID using 60 hall sensors Not curently implemented 5 AE American One Shunt Not cura implemented Renesas One Shunt Net curently implemented 31 of 63 Al American Qui Spin User Manual Wednesday November 29 2006 Values 7 to F are reserved EEEE TTE SE T eharacter sentas EWEX HEB Sere tha Quek Spin board Tor operavon Wr Space HOOPS NDS TOE inte folowing parameter NOTE Ths command works In conjunction with the mater Descriptor x value on 0 10 F ndcaing one of several pole RAT Selections for use wih he Quick Spin board 0 AC Induction motor 1 BLDG moter Values 210 F are reserved m KTT Command Sar for Spend Gan PD Doma oo ASCI Sting SP A charas S607 a TS BTS VANE mater Descriptor A hex valaa Wom Oto FFFF indicata Proportional gain ofthe Speed Gan PI
7. Commenting code as much as possible Helper functions and routines have been written whether used or not Wrapper objects to isolate MFC non MFC and pure C objects Object designed with O S portability in mind Biank space left in GUI tabs for addition functions Avaliable space for additional tabs Hooks for other means of communication Hooks for other Operation Modes Hooks for PID control Hooks and function wrappers for HEW Target Server Command line interface Debug fle that records all Log events with timestamps command ine option 600f63 Al American Quick Spin User Manual Wednesday November 29 2006 7 2 Non Windows C Motor Control Object The primary class object used to control and communicate the Quick Spin hardware system is called CMotor This object is a pure C class and does not rely on MFC or Windows code allowing it to be ported to other operating systems such as Linux or an embedded system Since system features of a typical O S are stil required by CMotor such has timers and event handlers a wrapper class CMotorMFC is also implemented as a means to virtualize the CMotor object 7 3 Files The following is a list of the code files for the Quick Spin GUI In addition various other Visual Studio 6 0 files also exist However the complete project is available The project also contains an Open Source serial communications library which is not listed here
8. 11 Reserved Drive 1 Drive enabled 0 Drive disabled Hal Sensor 1 1 Hall output 0 No all output Hall Sensor 2 1 Hall output 0 No hall output Hall Sensor 3 1 Hall output 0 No hall output Pending Motor Status bt 0 Pending Motor Status Bt 10 Motor ott 01 Motor spinning forward 10 Motor spinning in reverse 11 Reserved 4 characters as a 16 bit hex number retuming programmed motor Speed n RPM 4 characters as a 16 bit hex number retuming actual motor speed RM 3 characters as a 12 bit hex number indicating motor curent in 100 of miiamps wih ine maximum valid motor current being 99 9 Amps or OSE 3 characters as a 12 bit hex number indicating DC Bus Voltage 3 characters as a hex byte indicating drive temperature in egress C tom 2047 to 2047 3 characters as a hex byte indicating ambient temperate in egress C irom 2047 1o 2047 2 characters as a hex byte indicating the raw value of the Quick Spin boars speed control pot 2 characters as a hex byte indicating PWM phase status as below NOTE This rough indication of PWM phase is used oniy 1 create a graphical representaton of the PWM waveforms This fae not real time or accurate for any other purpose ve Bie 0 and 1 as are eg U Bas 2 and 3 as drive leg V Bas and 5 as drive leg W Bie 6 and 7 are reserved 00 Leg oft Not Desing E on Lag i itang aral tne og 10 Leg i driving and is the 60 14 Leg i dri
9. 3 1 5 Temperature Sensors Drive temperature is obtained via a thermistor placed on the heatsink and read via the MCU s ADC Ambient temperature is obtained from U102 and fed back to the MCU via FC bus 3 1 6 MD100 Radiotronix Module The Main board has stuff options for a Radiotronix Wi232DTS EVM module in the event the user wants to experiment with a Radiotronix wireless UART and the isolation it provides See the Jumpers and Stuff Options section for details on Populating the MD100 module 34 7 LEDs There are 3 LEDS on the Main board Their operation is as follows LED Color _ Function Da0 Red T ndcates TV00 T bang supplied T We SPN Sale Eee soo rar fos BUS VaR POSTE ant Green tater TVOG nan ated POETS REST 34 8 Connectors The following tables detail the connectors on the Quick Spin Main board Connector CN300 Name mpu Power Pin Signal 1 EEEIEE 2 TOV ACDC ng Earth Ground 11 0f63 smarcan Quik Spin User Manu Connector CN200 Name Wiotor Dive Pin Signal W Phase OU Pass OUT 7 U Phase DUBE Ear Groni Connector CN109 Name Hall Sensors Pin Signal Nene GSU Te Sted SVD Tr aT Sensors PORT ODOR TART T Phase Wal Sensor RB EA Phase Hal Sensor Tpu Connector ONTO Name R5232 Port Pin Signal Ne Connon Connector CN100 Name FS AGST
10. When requesting technical support please Include the following information 2a Has the Main board or User I O board software been modified What method of control is being used for the board le Windows GUI Text Menu Hardware controls Custom software etc Jumper settings Input voltage Type of motor connected HEW version A detailed description of the problem or issue Getting Started Kit Contents Your Quick Spin kit contains the following items 8of63 Al American Quick Spin User Manual Wednesday November 29 2008 Quick Spin Main amp User I O board Motor Control workshop manual Motor Control workshop CD In rear cover of manual 22 System Requirements The minimum hardware and software requirements are PC running Windows 2000XP or higher HyperTerminal or some other form of terminal program 115200 baud RS 232 por COM port 24V 110V AC or DC power supply 1 25A minimum 3 phase Brushless DC BLDC or AC Induction motor sized with power supply Serial cabio Renesas E8 debugger Recommended Isolation transformer Recommended for high votage development 23 Quick Start The Quick Spin kit is shipped with default code to control a small 24V BLDC motor However this code may have been modified if the kit was used during the All American Motor Control workshop In such case the default code and hex images may be found on the CD that accompanies
11. 0 50 Where n is the current Boost Voltage the folowing string ake Voltage Sets the DC Injection Voltage by issuing 420163 Al American Quick Spin User Manual Wednesday November 20 2008 Where the current DC injection Brake Voltage b set Rated voltage 0 499v Sets the Rated Motor Voltage of the current motor by issuing the following string Current Rated Voltage is a Volta New Rated Voltage is 0 499v Where n is the current Rated Motor Voltage a set Rated Frequency 0 999H2 Sets the Rated Motor Frequency of the current motor by issuing the following string Current Rated Frequency is n Hz New Rated Frequency iz 0 9991 Where n is the current Rated Motor Frequency G set speed Gain Parameters Displays the Set Speed Gain Parameters submenu See the Protocol B Speed Gain Parameters Submenu section for more info Return to sain Menu Returns to the Main Menu See the Protocol B Main Menu section for more inf show this Mens Displays reprints the Motor Parameter submenu 5 4 3 Protocol B Speed Gain Parameters Submenu The following is the Speed Gain Parameters submenu for Protocol B 2 Proportional Gain 0 89 Sets the Proportional Gain value for the Speed Gain PID algorithm by displaying the following string current Proportional Gain is n Mew Proportional Gain is 0 99 Where n is the current Proport
12. BLDC motors There are two points on the graph covering 3 parameters Red Point This point can only move in a Y direction and sets an AC motors Boost Voltage The actual setting will appear if the mouse is hovered over the point 55 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 Greed Point This point can be moved in both the X and Y directions The Y direction sets an AC matar s Rated Voltage while the X direction sets an AC motor s Rated Frequency The actual setting wll appear if the mouse if hovered over the point 6 4 6 PID Parameters Tab The third tab PID Parameters contains controls related to the PID Operation Modes used for BLDC motors When using an AC motor scheme these controls are grayed out disabled Currently only a Speed PID operation mode is implemented and within that algorithm only the P parameters currently adjustable Therefore many of this tab s controls are grayed out disabled See the System Startup Dialog Box section for more information on Operation Modes aaa ae eT pee once iat ae ee en Motor Setup Button This button opens the System Startup Dialog Box to allow the adjustment of critical motor parameters and Operation Modes See System Startup Dialog Box tor more ino Speed Gain PID Parameters These 3 values control the Proportional integral and Differential D values for a Speed based PID algorithm In
13. User Manual Wednesday November 20 2008 Integra Gain Sots the Integral Gain value for the Current Gain PID algorithm by displaying the following string Current Integral Gain is n Mew Integral Gain is 0 99 Where n is the current Integral Gain value tor the Current Gain PID d pigsecential cain Sets the Differential Gain value for the Current Gain PID algorithm by displaying the following string Current Differential Gain iz n New Differential Gain is 0 99 Where the current Differential Gain value for the Currant Gain PID 2 Return to Motor Parameters Returns to the Motor Parameters See the Protocol B Motor Parameters Submenu section for mare info 1 show this wens Displays reprints the Speed Gain Parameters submenu Return to Main Mens Returns to the Main Menu See the Protocol B Main Menu section for more info 5 5 System Variables The following variables are either passed to and from the Quick Spin board and GUI using Protocol A or modified via the Protocol B Menu system 5 5 1 Values set by the GUI or Text Menu system Viable tame sis Desertion Sapecrtm ear core Se Speed HP Ufeespetimt Sat Upper spedire in ners Lcrespeaine 01 Lown satin eae De rjecten trate tage i vote Al American Quick Spin User Manu al Spree fear _ pea saro Seo Wednesday November 20 2008 5 2 Values created by the MCU sent to the GUI or Text Men
14. dacompie or reverse engineer tis sofware Application Notes and Written Materials These materials are provided for reterence purposes oniy They are provided AS IS without warranty or condition of any kind either express ar mpted Without imtation AN American Takas no warranty wih respect fa merchantapity or ness for any para purposes or against te infringement of ary inte ectual propery rights of others This information may include technical inaccuracies or ypograpni errare Al American assumes no responsibilty 10t any errors that may be in these materials and Pas no obligation 1o update these materiale Al information contained in eae materials subject to change wiinout notice irom At American Its your responsibilty when using any of the information contained in these materials to valuate such information as part of a tota system All American shall have no responsibly for any damage ably or other loss resulting fem the information contained herein Al American Feference materials including but not imad 10 appicaton notas code and sofware reference designs and white papers are not intended or authorized Tor Ife suppor space or other miesien tea applications These materials copyright 2007 by All American All ight reserved No part of hese materiala may be reproduced by any meane in whole or in part without the expres weten Consent of Al Amara AI Amarican Quick Spin User Manual Wednesday November 29 200
15. decrease the speed value once he minimum programmed speed is reached Ethe drive 1s aula or in stop mode tis omman is ignored mater Description A number om Ute 7 indicating T ortha B olowing deeman values NOTE Values 8 to Ox are ignored 0 Defaut Decrement by 1 T Decrement by 2 2 Decrement by 5 3 Decrement by 10 4 Increment by 25 Increment by 50 E Iorement by 100 7 Increment by 200 EEEE EE OF SY 2 he STATUS sing om he OU Spr board ater Description 00 FF TS STAT TS TSENG STATUS HG Hash Pound indicates the start of a sting sent om the Guik Spin board hats something oter han ACK The S indicates the folowing is a Status sting 2 characters as a hex byte of Faut indicators 1 Fault 0 No faut 0 Over Votage T Unger Vonage 2 Over Curent S Short Circuit Over Temperature 5 Hall Sensor Eror E Motor Stal T Emergency Stop Loop Lau Open 0 Loop ces 2 characters as a hex byte of Previous Favit indicators The format the same tne Fautndestor bye 2 charactors as a hex byte of System Flags Motor Sse Bt T Motor Statue bit 1 270163 Al American Quick Spin User Manual Wednesday November 20 2008 ooo PEPE ooo PEPE o0 37 o0 FFF o0 FFF 00 FFF o0 3F o0 Gad 0000 FFE arot OF Mator spinning forward 10 Motor spinning in reverse
16. menu system that will provide system variables and status and prompt the user for input based on command selections Upon power up the Quick Spin board initializes i s communication ports and waits for a character If the first character received isa dollar sign the Quick Spin board automatically selects Protocol A as i s communication protocol If the first characteris not a dollar sign Protocol B is used and the Quick Spin board outputs it s Main Menu to the communication port At any time during Protocol B the command will force a switch to Protocol A 5 2 3 Unused ASCII Charact The following characters are reserved and ignored in both protocols Whitespace is also always ignored 220163 Al American Quick Spin User Manual Wednesday November 20 2008 sen x e Peasant rant tem n n Pomen er spees sa ren res Perey ton Decree Speos sen u u eUponr Spena tent aumumspeecin remy Deom ma Stew spens can pio naru peo 1 1 egni can Speed aem ocon p p Ppanona Gan Guromoan peo ft lnagal Gan Curam gan ceo a a extent Gun rege eS SES pent somna Pio rh SP we 5 3 Protocol A Command Set This section details the various commands and data strings for Protocol A which are sent to and received from the Quick Spin board Protocol notes 2301 63 Al American Quick Spin User Manual Wednesday November 29 2006 Commands are shown enc
17. motor status 6 41 GUI Configuration File The GUI Program uses a proprietary text based configuration file called QuickSpin gcf This fle saves all pertinent motor parameters when the GUI is closed Upon GUI startup an option is available to recall these settings The configuration fle can be deleted at any time without harm If GUI is started and the configuration file is not found default parameters within the GUI can be Used 6 42 Splash Screen 49 01 63 Al American Quick Spin User Manual Wednesday November 29 2008 When the Quick Spin GU is started a product splash screen appears for a few seconds along with the sound effect of a starting motor ALL AMERICAN alesder ndertutonechrelogy Qvick Spinis gt At any time during this splash screen the ESC can be pressed to bypass the splash screen and sound effect 6 4 3 System Startup Dialog Box When the GUI is started the System Startup Dialog Box appears This box allows for several critical configurations At any time the ESC button can be pressed to ext nie pme ee Motor Type Allows the user to select drive configuration for either an AC Induction or BLDC Brushless DC motor 50 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 Operation Mode Allows the selection of several types of possible drive schemes for the attached motor Note some of these schemes are not imple
18. the Set Point by clicking on the Save button Atany time a Sot Point can also be selected in thelist and the Execute Set Point button can be clicked to run the Set Point le Make the motor s current Direction and Speed the same as the Set Point Note when executing Set Points only values appearing in the lst are valid le A Set Point must be saved before ican be executed otherwise the Set Point s original values are executed 6 PWM Information Tab The fith GUI tab PWM Information simply displays a graphical representation of data fram the Hall sensors on a BLDG motor The graph will remain flat when Hall sensors are not used le AC motors 57 0f 63 AI Amarican Quick Spin User Manual Wednesday November 20 2008 The information on the graph is for reference only and shows phase relationship between the sensors The waveforms are not actual display outputs from the PWM drive not are they realtime 6 4 9 System Settings Tab The sith tab System Settings contains controls related to the operation of the GU itsel Fea Aaa Seen Auto Status Update When enabled via the Auto Update Enabie button the GUI automaticaly sends a Status command to the Quick Spin system which results in all the GUI parameters being updated The interval at which the Status command is automatically sent is set in the left hand box and can be anything from 5 seconds to 120
19. the current case oniy the P parametar of All American s Speed PID is adjustable Therefore the and Dare grayed out disabled Current Gain PID Parameters These 3 values are similar to the Speed Gain PID Parameters However a Current Gain PID algorithm is not currently implemented therefore these controls are grayed out disabled The Current Operation Mode is This control shows what Operation Modi PID or not is currently being used by the system This values changes based on selections in the System Startup Dialog Box See that section for more info 560f63 Al American Quick Spin User Manual Wednesday November 20 2008 6 4 7 Set Points Tab The fourth GUI tab Set Points contains controls to manipulate 16 different Set Points stored in the Quick Spin system While these Set Points are currently stored in volatile memory embedded code could be modified to store such values in onchip Data Flash Each Set Point defaults to 0 RPMs and Forward direction Set Points are also stored in the GUI s configuration file and their values can be reloaded when a GUI session is started See GUI Configuration File for more info AIL 16 Set Points can be seen in the right hand list along with that Set Point s programmed Direction and Speed Clicking on a Set Point in the list loads its current values into the controls on the left hand side These parameters can be adjusted and saved back into
20. the kit For detailed information on how to connect and start using the Quick Spin system refer to Lab 1 in the Workshop Manual and CD that accompanies the kit 3 Hardware 34 Main Board This section describes various points of the Quick Spin s Main board 3 14 Power Supply To facilitate a wide range of motors as well as isolated and non isolated circuits the Quick Spin board s power supply is highly versatile with the following features Wide input voltage range from 24 to 110 volts AC or DC 9of63 Al American Quick Spin User Manual Wednesday November 20 2008 Bult in voltage doubler for high voltage operation Non isolated Outputs o 24VDC to 200VDC bus voltage depending on input voltage and jumper configuration used to drive motors 15VDC used for IGBT Module gate drive 45VDC used for Motor control MCU and related electronics Isolated Output o 5VDC used for Communication MCU User O board and related electronics 3 4 2 Motor Drive The Fairchild SPM Smart Power Module is the heart of the motor drive The SPM contains 6 IGBTs to drive 3 phase motors up to 3 Amps The SPM is supplied bus voltage from the board s power supply It also receives a 15VDC gate voltage which is controlled via a FET switch extemal to the SPM This switch allows the MCU to safely power down the SPM Bus and log voltage is read via the MCU Bus current is obtained via a current shunt op amp and read by th
21. using the Deceleration Time satin the Motor Parameters submenu until the Minimum Speed set in the Motor Parameters submenu is met The drive will then reverse direction and accelerate as described in bullet 1 R Reverse at set speed Initiates reverse motion under the following conditions 4 At stop using the Acceleration Time set in the Motor Parameters submenu until reaching and maintaining the speed indicated by the Set New Speed command 2 Ita speed has not been set the default speed is 0 RPM and the command is ignored producing no mation 3 I selected while the drive is already producing reverse motion the command is ignored 4 If selected while the drive is producing forward motion the drive ddecelerates using the Deceleration Time set in the Motor Parameters submenu until the Minimum Speed set in the Motor Parameters submenu is met The drive will then reverse direction and accelerate as described in bullet 1 Both Forward and Reverse commands causes the following string to be displayed with the appropriate verbiage Motor ACCELERATING DECELERATING in FORWARD REVERSE motion to n REM Where the current set speed in RPMs N Set New speed Sets a new target speed for the connected motor The system will display the following prompt for a new speed Current speed is a RPM Enter new RPM Speed Where n is the current set speed 97 0f 63 Al American Quick Spin User Manual W
22. 6 WARNING THE QUICK SPIN BOARD CONSISTS OF BOTH ISOLATED AND NON ISOLATED CIRCUITS NON ISOLATED CIRCUIT GROUND IS CONNECTED DIRECTLY TO ONE SIDE OF THE POWER SUPPLY INPUT HAZARDOUS VOLTAGES IN EXCESS OF 300 VOLTS ARE PRESENT WHEN QUICK SPIN IS POWERED FROM THE AC LINE ONLY QUALIFIED PERSONS SHOULD OPERATE THE QUICK SPIN BOARD FAILURE TO OBSERVE PROPER SAFETY MEASURES COULD RESULT IN SEVERE ELECTRICAL SHOCK OR EVEN DEA Al American Quick Spin User Manual Wednesday November 20 2008 Acknowledgements This project and it s accompanying workshop is produced by All American in conjunction with the folowing companies Many thanks to the individuals that worked with us Renesas Technology of America www renesas com Fairchild Semiconductor www fairchildsemicom Contract Manufacturing PCB Solutions Layton UT www peb solutions net Al American Quick Spin User Manual TABLE OF CONTENTS Legal Salty Acknowledgments 1 Introduction 11 Features 12 Bock Diagram 14 Technical Support 2 Getting Started 21 Kt Contents 22 Systom Requrements 28 Quik Sar 3 Hardware 81 Main Board 8 1 1 Power Supp 312 Motor Drive a13 mou a14 isolated Serial Pr 315 Temperature Sensors 3 1 8 MO100 Rasta module option 347 LEDs 818 Connectors 8 1 9 Jumpers and Options a2 User UO Board 321 E8Debug Intertace 322 Debug isolation Bridge 323 mou a24 LEDs 325 Batons a26 Pot 227 Conne
23. AI Amarican Quick Spin User Manual Wednesday November 20 2008 Ovich Spinis gt Quick Spin Motor Controller User Manual All American MCUexperts AllAmerican com ALL AMERICAN a leader in distribution technology 2007 All American All Rights Reserved Al American Quick Spin User Manual Wednesday November 20 2008 ALL AMERICAN LEGAL NOTICE Sample Code and Software This stare is provided for reference purposes oniy Is provided AS IS without warranty or Condo af any kind einer express or mpled Without imitaton Al American makes no Warranty with respect to merchentabily fness for any particular purpose lack of viruses or accuracy or completeness of responses or reste A8 American also makas no warranty af itle ar against the infringement of any intelectual property rigis of hes Any use of this software is at your sole risk You are responsible for ensuring the applicability of th software wih your own systema AIl Ameran has no response tor any damage habe r lose resuting from your use of this sofware Any use by you of his software may oniy be with producta purchased trom Al American Ths sofware ie not ended nor authorized for e Elppor space or ather mission crtica applications Tris software may contain copyrighted materials trade secrets and other AIl American proprietary Information and a subject ta copyright laws rade secret law and other Intellectual property laws Yau agree not to disseminata
24. AS 422 Pom Pin Signal R reba roa Sea Connector CN102 Name General Purpose Isolated VO Pin_ Signal T eolted SVOE z eolated supor are I esta roin To RE tae cron NOTE CNIOZTs avalabia Tor general use ard has no cumant TANG Connector _CNT0S Name User 10 board connector Pin_ Signal T f eolated SVOC 2 Downstream Saral RT Downstesn Serax User TO Board Preven 120163 Wednesday November 29 2006 AI American Quick Spin User Manual Wednesday November 29 2006 Upson Seva TE Upatvear Seal Ri Tested Cou Connector CN108 Name User VO board connector Pin Signal Pin Signal T Es SK 2 Nor ote oo I LERCH 4 NESEN EE TAD Nor oarra ECE Non Teoaed SVI o TEREG T0 Nor eolted trouna TER FED 13 Nor salted Grou Tapes Ta Nor estates rouna Connector Pin_ Signal Non ole VOT TNO Name rou Connector Pin_ Signal T reset CENTOS Name FISK Header Pin_ Signal Nosed GPO Hal Vin us Carer ADO E ADTT RSK Header Pin_ Signal Pad RSK EXTAT Tore Ougut UF Tome Dutu Vr Tome Oui TRSKTAISTAT Connector N1065 Name FSK Feader Pin Sianal Pin Signal 1 feus Vos ADT ZU Phase Vols ADS z 5 ots ATES a WPhase Vos ADT 130163 AI American Quick Sp
25. Application Layer Code in this layer handles the GUI controls and Windows interface This code is dependant on the operating system build and application environment le A GUI built as a Dialog Box in Windows using Visual Studio 6 vs a GUI buit for the Renesas HEW tool GUI interface OSI Layer 6 Presentation Layer Code in this layer works to transform and interpret information between the Application Layer and the Session Layer Essentially this layer is a series of wrapper functions that hide structural details from the Command Processor Command Processor OSI Layer 5 Session Layer This layer handles all of the actual data processing and functionality done in the GUI system It communicates to the user upwards through OSI layers 6 and 7 and communicates with the Quick Spin board downwards through OSI layers 4 and2 Comm Interface OSI Layer 4 Transport Layer This layer is essentially another series of wrapper functions allowing the Command Processor to communicate with know functions while hiding their actual implementation Comm VO OSI Layer 2 Data Link Layer This is the lowest software layer of the OSI model The code in this layer handles communication and basic protocol details Basically a communication driver For example code in this layer would be differ from a serial vs a USB implementation Hardware OSI Layer 1 Physical This is the only layer in the OSI model which is not
26. D EEEE SeT tr Sed Gan PD DEn ST quired 4 characters sent asa T6 BE FEX VaR Total Tx Characters 6 ogra Ga varias he DO maior Speed Gan PID ager mater Descriptor A hex value from Oto FFFF indicaba Iriegral gan of he Speed Gain POD Ta EAEE Command Sat Dor Speed Gain PO OO ata Oy ASCI Siring ST 1 characiers samt as a TS Bhar Va 92 0f 63 AI American Quick Spin User Manual Wednesday November 29 2006 Description Ses the Oerertal Gan varable oe DO moter Speed Gan PD aao Value Parameter Descriptor O FFEF A hex vakse Worn 1o FFFF indicaa Diarental gain otha Speed Gain PID params EEEE Sat for Curent Gan PD UC nate or Sp jqured 4 characters sent asa TG BT REx val ater Descriptor A hex valse Worn 1 FF Tren Proporional gan oh Curent Gain PID m ECEE Command Sat er Covent Gan POC metas oy ASCI Siring rs Required Tx Characters A characers S607 a TE BYVAL Sets the T FFF gral Gan arabe of he DC motor Curent Gan PID agoe mater Descriptor A hex vaue Wom 0 1o FFFF ilcaing negral gan af he Curent Gain PID reams EEEN Command Sar Der Goren Gan PD DO aos Say ASCI Siring d Te rs Required Ta Characters 1 charas S65 a TS BERS VANE Description Seis tha Diferatal Gan varane oi he DO nar Curent Gan PD Saor
27. N I N ts selected the system returns to the Main Menu Otherwise the communication system is switched to Protocol A mode No other actions are taken with the board It remains in the same state Once switched the system must be reset to return to Protocol B 5 4 2 Protocol B Motor Parameters Submenu The following is the Motor Parameters submenu for Protocol B 40 0f 63 Al American Quick Spin User Manual Wednesday November 29 2008 3 operation Mode Selects the type of operating methodology by displaying ihe following The current Operation Mode iz e Select a new operation Mode 0 open 100p ac motors 1 spoed PID w 120 degree hall sensors 2 Sheed PID u 60 degres hall sensors 3 Speed and Current PID w 120 degree hall sensors amp Speed and Current PID w 60 degres hall sensore Where s is the current Operation Mode Upon a valid selection the board is configured internally to that methodology and displays the following string Where s is one of the Operating Mode listed above x Motor type Selects the type of motor connected to the Quick Spin board by displaying the following the current Motor type is 2 Select a new Motor type Where sis the current Motor Type Upon a valid selection the board is configured intemally for the type of motor selected and displays the following string Where sis one of the Motor Types listed above the folowing string
28. Option Siu Redon TSH J Point Jumpers ows hardware onta at upto 18 Set Points ETE a CRT PS TO COSTED TS REET SORTS TOT connections This setup could be used as a 1 of 16 input tothe Communications MCU to provide 190f63 Al American Quick Spin User Manual Wednesday November 29 2006 a hardware control of 16 dilarent motor speed Set Points This feature is currently not implemented See BOM and schematic for detalls and component part number 4 Embedded Software 41 Main Board RBC Files The following list briefly describes the C files for the Main board s MCU Note this lst does not includes various files which are automatically generated by HEW File Name Purpose Denese Contains system constans ard POSITS ieh e Contains ADC initalzaton code Cmi ProeRTE Gantains the command process whch anos al sara commands GU and Text Manu TTS Vana ATAR Contains varale used by 8nd 15 SOMTT HS MOTTE operation TE EGER e Contain to may a ana aa eae Dann e Contains UART ever code Tane Main siatup code Tor the Mair Corra CU eR T TEC aver code Mstoch Contains the ore Stor E 42 UO Board H8 Files The following list briefly describes the C files for the User I O board s MCU Note this lst does not includes various files which are automatically generated by HEW File Name Purpose TDeires h Contains system constants ard Rasines Teds RTE TERRE Co
29. W 120 DEGREE HALL SENSORS 1 ALL avanzeax ome sewr Q RENESAS one SHEN speed in RPM s the current set speed in RPM speed in hertz is the current set speed in hertz actual speed in RPM is the actual speed in RPM based on input from the hall sensors Aaa the DC buss current in amps and miliamps up to 99 amps and 800 miliamps with a 100mA resolution VVV is the buss voltage in voltage nnn is the drive and ambient board temperature in degrees Celsius 99 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 0 100 is a percentage representation of the board s speed control pot 2 Motor Parameters Displays the Motor Parameters submenu See the Protocol B Motor Parameters Submenu section for mare info 2 show this Mens Displays reprints the Main Menu Unseen Command Qa switch Protocole Pressing the at symbol twice causes the Quick Spin board to switch to communication protocol A Once switched the Quick Spin board accepts commands only in Protocol A format Switching to Protocol A may be undesirable when using Protocol B since Protocol Ais a terse menu less ASCII protocol design for use with machine interfaces See the Protocol A Command Set section for more info Upon operation of this command the following string Is displayed aRa2NG Switching to Protocol A will cause commands to change and all manus to disappear Are you sure Y
30. a software layer but rather a hardware layer For the Quick Spin GUI application this layer in inherently designed into the hardware of the Quick Spin board and Host PC 47 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 OSI Layer 3 Network This OSI layer handles routing and switching operations between nodes Itis curently not implemented in the Quick Spin board or GUI as the system is currently designed for single boardisingle GUI operation However changes to the system to incorporate multi node protocols such as RS 422 or RS 485 could take advantage of the addition of this layer 63 GUI Overview The following is a list of features and attributes that shall be incorporated into and or inherent of the All American Quick Spin control GUI regardless of it s actual form appearance or implementation The Quick Spin GUI shall be design to allow a user to interface to and manipulate data to and from the Quick Spin board using communication Protocol A The GUI shall be intuitive and user friendly requiring little to no skill for operation other than basic Windows skills The GUI shall provide more control and substance that simple eye candy GUIs as seem in some competitor products Further the GUI shall be void of inane or overly complex settings also found on the GUIs of other competitor products Dangerous or consequential settings in the GUI system shall always result in prompti
31. ae SEAT oponen To HA SET Ter 110 Jumpers and Options section for mere info Connector J2 Name Sot Point Jumpers Pin Signal Pin Signar 18 0f63 Al American Quik Spin User Manual Wednesday November 29 2006 SatPaaT RRS EEEIEE Sa POTTUET CEECEE PETS Tate To et Pert pu eoated Grou KOTE Set Point Jumpers TE cireni Und ard may be programed a5 desired See Te User l O Jumpers and Options section for mre info 3 2 8 Jumpers and Options The following tables iist the various options and jumper settings for the Quick Spin User I O bo ard Jumper Ji Name ES Dabug Selector Ope arial operator TWC 1 Pse felted aby oe Main DOSS REC TUTOR CU HB GTA RT MCU ited te Main board Z T CaS Nor aes debug othe User TO BESTS HETIOU Enooder Sut Option ESSE Option Sut EK Encoder contro wth push buton N RZE REF NOTE Sea BOW ard scherma ca Tor COMBAT VARS ard a TBO CAN Por Stal Option aT Option Su aman A UTAST ROZ RI CCT optional CAN port NOTE Sa BOW and arera Tov SOMONE VATES APT TODE TOD Stuf Option 7 et Option suit anar TODT R36 EEEE optional LCD TOD paciai Pnt posve PRE SGV T RT an TT TOD bastaght Pat negate Prat postive RAZ and RAT NOTE Sas BOW and schematics for component values and part numbers See User TO Connactnr for LCD pinout Sai Points Su i
32. ake voltage in vots o p 1 character as a hex nibble indicating the mode ot operation See he Mode of Operation j command for more into o F 1 character as a hex nibble indicating the motor selection See ihe Motor Type K command for more inio 00 FF 2 characters as a hex byte indicating the motors Rated Frequency in heniz 00 FF 2 characters as a hex byte indicating he motors Rated Voltage Tammara ASCI Siring Parameters Required character sent as a hex nla Total Tx Characters Description Sets The mumbar ai maior pales Tor Wa Hla connect To The GU Spn board Value T Parameter Desorption 290163 Al American Quick Spin User Manual Wednesday November 29 2006 Ta Characters T F Rex vate Wom 010 F acain he number oi maar PaaS contained wit the motor curently connected to the Quick Spin boar Fata ACK aL Command Set Upper Speed LNT ARPEI ASCI Siring su meters Required 4 characore sent as a singe 16 BE Hex valus Sete the Upper speed Tm Vas Tre OU Sin Boa mater Description Ror value Wort FFFF acaba malar speed it PW TREE Command Sel Lower Speed LRT a RPT ASCII Siring SL P jequred 4 characters sentas a single TSB hex value Total Tx Characters 6 mater Descriptor A hex valve from Oto FFFF indcaing malor speed ie RPM m EEEE Tommand ay Recaro Tine 100 Mifaasond nevanens ASCI Sting ST q
33. ammed and Saved in non volatle memory for later cal Saved set point can also be default loaded on power up andlar whe in operation trough the use of a 4 bit input on the Guies Spin board Ithe drive is clear of faut ading a set point causes the motor to change to the new set points speed and direction using the programmed azceleraton and deceleration imes I cases where the new set points speed value is beyond the programmed minimum or maximum speed values the deve WI stop atthe minimum or maximum set value Loading an unprogrammed Set Point results in a stopped condition zero speed zero direction rather han a minimum speed conation See th Save Set Point C Gat Set Pant A Set Acceleranon Time T Set Deceleration Time V Set Minimum Speed Land Set Maximum Speed commands tor more into Parameter Desorption characters a nex neble Wom To Fineang Torte aerer motor speed and direction Set Points D T ETEEN 5 4 Protocol B Details Protocol B is for use with terminal programs It is a full ASCII based text menu system Unused characters are ignored Atany time Escape Esc may be pressed to abort a command or variable entry Pressing Enter without a value keeps the current value of any parameter Commands that require values to be entered also require Enter to be pressed Other commands such as Forward Reverse etc and Submenu Commands do not require Enter
34. ara TOO Tor moral instead of the Close J100 operation onboard ABC OTE Ary ASK Trat suppor maior Gono may be sal PSK must Tace yp wih ph headers on bottom See BOM for defals on CNTO4 CN107 Meorect parts are not used for CNG4 CNTO aards wil not tao corset Headless Operation Option Headless With User 10 board To use Te OWE f Remove the USS TO bears Pug the User TO bow Ba On Te Spin board wehout tam the Main board Main board a User VO boar NOTE nis TO Ts ar Board carnat be GEBLDET oar Hs EE DEBUT 32 User VO Board This section describes various points of the Quick Spin s User I O board 32 1 E8 Debug Interface To facilitate debugging the User O board contains an E8 Debug port This port can be used for the HB Communication MCU on the User VO board the R amp C Motor Control MCU on the Main board or an optional RSK fitted to the Main board A simple jumper change is all that is needed to switch between MCUs See the Jumpers and Stuff Options section for the User I O board for details on jumper settings 3 22 Debug Isolation Bridge Abi directional optical isolation bridge for the E8 debug interface in built into the User V O board This isolation bridge is used to communicate with either the Main board s REC MCU U106 or an optional RSK fitted to the Main board Since either of these devices operate using nor isolated voltages the built in isolation bridge provid
35. cates a short circuit exists between 1 or more ot the 3 motor drive legs or between 1 ar more of the 3 drive leg and ground Over Temp Indicates the drive module is at it s rated temperature and must Be shut down to prevent damage Hall Error Indicates a hall sensor error This could be a faulty hall device a bad connection incorrect motor movement or other such conditions 2 Motor Stall Indicates the motor has stalled This could be from the motor being mechanically restricted trom starting mechanically forced to stop while running or being undersized tor a particular purpose Fault Clear Button Click this button once to clear current faults and twice to clear bath current and old faults 6 4 5 Motor Parameters Tab The second tab of the GUI Motor Parameters contains controls to setup various default and limit parameters for a given motor a TT apo 5401 63 Al American Quick Spin User Manual Wednesday November 20 2008 Accel Decel Times These variables set the motors acceleration and deceleration times Values can be from 0 to 25 5 seconds in 10 second increments Number of Motor Poles This is the number of poles in the connected motor This value can be found on the motor s nameplate or spec sheet Default is 8 poles DC Injection Break Voltage AC motors only This is the amount of DC voltage that is added to an AC motor to snub stop the motor Se
36. ctors 328 Jumpers and Options 4 Embedded Software AA Main Board R8C Fies 5 of 63 Wednesday November 20 2008 AI American Quick Spin User Manual Wednesday November 20 2008 42 User VO Board H8 Fies 20 5 Communications Software Specification 20 51 Overview a 52 Communication Protocols 21 521 Communication medum a 522 Communication Protocols Overview 21 523 Unused ASCI Characters 2 524 Protocol Commands ata Glano 2 5a Protocol A Command Set 2 531 Protocol A Command Dette 54 Protocol B Details 3 S41 Protocol B Main Menu 542 Protocol B Motor Parameters Submenu 0 543 Protocol B Speed Gain Parameters Submenu pes 544 Protocol B Current Gain Parameters Submenu 4 5 3 System Variables 45 531 Values setby the GUI or Text Menu system 45 532 Values created by the MCU sent to the GUI or Text Menu system 46 6 GUI Interface 46 61 GUICompatbty 4 62 GuISmucure 63 GUI Overview s 64 GUI implementation in Windows 20007 641 GUI Configuration Fie 4 642 Splash Sree 0 641 System Starup Dialog Box 50 642 MainSatings Tab 2 643 Motor Parameters Tab s 644 PID Parameters Tab s 645 Set Points Tab s 646 PWM Information Tab s 647 System Setings Tab se 648 About Quick Spin Tab s 6S Non Windows GUI Implementation re 7 Windows GUI Code 60 71 tnvoducton o 72 Non Windows Ces Motor Control Object 6r 73 Fies et 8 Troubleshooting 62 6of63 Al American Quick Spin User Manual Wednesday Novemb
37. de To Control and scan We boar TEDE mE PERTE ants The com mard processor which Randas al Tal commands GU and Text Menu TTS Vana ATAR Contains varables used by 8nd 15 Soa hE MOTTE operation PE ERLE TE Caras AAT ASOT ST TST ERE LERES artane UART Arver code Tn ain startup code Tor tre ComMUERTONE MOU 5 Communications Software Specification 2001 63 Al American Quick Spin User Manual Wednesday November 20 2008 5 1 Overview The Quick Spin GUI and Communication specification hereafter referred to as the spec provides information on the following 1 The communication protocols used by the Quick Spin motor control board s Renesas microcontroller There ara two separate protocols a A terse menu tess protocol designed for use with other processing systems such as a mater MCU controller or GUI This protocol operates through commands that are not formatted for human readability b A verbose ASCII text based protocol designed for use with terminal communications or systems This protocol is preformatted with simple menu and command prompts making easily human readable 2 APC based GUI interface using Protocol A as i s communication method Designed for use with Windows 2000 and Windows XP using Visual Studio 6 0 the GUI provides an open source framework that may be incorporated into user applications as well as an example control surface for the Quick Spin system 5 2 Commu
38. e response and in a timely manner the GUI will automatically try the command again The value here telis the GUI how many times to retry a command before it fails for good The default is 3 times 10 About Quick Spin Tab The final tab About Quick Spin is a credits and hyperlink page This tab Contains credits for the Quick Spin system and project It also contains the logos of the 3 companies involved in the project Each log is hyperlinked so clicking on alogo takes you to that company s website Music starts playing when this tab is opened To stop the music press the ESC button at any time 59 01 63 Al American Quick Spin User Manual Wednesday November 29 2008 n a RENESAS Face 65 Non Windows GUI Implementation There are currently no other implementations for the Quick Spin GUI However the GUIs full Visual G source code is available Further the primary C object which handles all communication with the Quick Spin system is created as a pure C object rather than a Windows reliant object 7 Windows GUI Code 7 1 Introduction To aide the developer in geting started the entire Windows GUI code is available The code is written in Visual Studio 6 0 C and uses MFC to create and interact with Windows controls Several efforts were taken to aide in the development of future code and to utilize the Quick Spin GUI as a jumping off point for development Some of those efforts include
39. e MCU 34 3 MCU Performing the Motor Control functions is the Renesas R amp C MCU This MCU generates complementary 3 phase drives signals for the Fairchild SPM In addition it handles all motor control calculations and operations which include the reading of BLDC hall sensors bus current and voltage A D conversion drive and ambient temperature reading control of the SPM s gate drive voltage and communication to the system s isolated Communication MCU Note unused pins on the R amp C MCU are routed out to SMT pads on the top side of the Main board for ease in prototyping 3 1 4 Isolated Serial Port The Main board contains an isolated serial port for communication with off board control software RS 232 is the port s default standard with stuff options for RS 485 and RS 422 Soe the Jumpers and Stuff Options section for details on switching to RS 485 RS 422 100163 Al American Quick Spin User Manual Wednesday November 29 2006 With the User I O board removed from the Main board the Motor Control MCU communicates across the isolation bridge to the serial transceiver RS 232 defaut However with the User IO board installed the Motor Control MCU communicates across the isolation bridge with the Communication MCU on the User VO board which in tum communicates with the serial transceiver This switching between which MCU communicates with the outside world is automatic when the User UO board is installed or removed
40. e the Stop with DC Injection Brake AC Motor Only on the Main Settings tab for more into Boost Voltage AC motors only This is the boost voltage for an AC motors VIF curve This value influences the V F Function graph Motor Setup Button This button opens the System Startup Dialog Box to allow the adjustment of additional critical motor parameters Seo System Startup Dialog Box for more into Motor Name Plate Ratings Voltage and Current These two values are motor parameters that can be found on the motors nameplate or spec sheet While used for both AC and DC motors these parameters infiuence the V F Function graph for AC motors only Upper Speed Frequency Limit This parameter sets the motor s upper speed limit and can be specified in RPMs or hertz If a value is entered which is less than the current Set Speed the current Set Speed is reduced to match See Set Speed on the Main Settings tab for more into Lower Speed Frequency Limit This parameter sets the motor s lower speed limit and can be specified in RPMs or hertz If a value is entered which is more than the current Set Speed the current Set Speed is increased to match See Set Speed on the Main Settings tab for more into VIF Function Graph AC motors only This graph control allows the user to graphically set an AC motor s control curve This control is grayed out disabled when using
41. eaion Windows startup code ikspi epp Wain application and handing code 61 0f 63 Al American Quick Spin User Manual Wednesday November 29 2006 Data aoa WARTS SPA STON COTTA Herek Dines amp ME elass Tor custom VF Faenor Enta FINFET Feader Tie Tor Tre sera Sommarisnon Toray 8 Troubleshooting Possible Solution User 10 ara Mair board wont Bad software Test w Galak Soha Reset both Boards Ensure User VO board is corectly itd to Main boar wan Teac Check cable Ensure corect COM port Check BAUD rate IF USB to Serial Converter ty dedicated serial port Reset boards Ensure al ather programs requiring he same COM port are closed erty system by attempting to communicate using Text Menu Protocol and HyperTerminal Narenta Very motor dive Tegs and hal sensara Tres are COTE red Swap phases to check and lest erty corect motor parameters Vari correct Operation Mode and Motor Type setings Veri hali sensors operate at 5VDC oniy Verify corect input voltage and current 1o Quick Spin Vari communication Try using manua butions Veri Speed Pot is nat ful GOW Verify Gate Votage LED is t Test wih default code 62 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 End of the Quick Spin User Manual ALL AMERICAN a leader in distribution technology
42. ednesday November 20 2008 spend Displays the following menu to allow the current motor speed to be increased by 1 of the following 8 possible RPM selections Upon completion the command returns the following string speed incremented by a to x REM Where n is the value of the increment step in RPM and is the motor s new set speed 1 pecreaze speed Displays the following menu to allow the current motor speed to be decreased by 1 of the folowing 8 possible RPM selections Upon completion the command returns the following string speed decremented by a to x REM Where sot speed the value of the decrement step in RPM and x is the moto s new 98 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 x statuz Tato Display system information and variables as the following with the appropriate verbiage otor Type ac a oe Cirzent Rotor direction FORWARD REVERSE STOPPED jaltage oxyraut ver Voltage OR FAULE Voltage OR FAULE Under Voltage OK FAULT vor Current OR FAULT Over Current OR FAULE Short Circuit QR PAULT Short Circuit OR PAULT Gwez Temp OK FAULP ver Temp OR PAULT Mail Error C oK FAULT Hall Error OR PAULT Mise Steli C oR PaEP Motor Steli OR FADET Where sis one of the following drive types b spezo P19 w 120 DECREE matt seNsons G SPEED AND CURRENT PID
43. er 20 2008 1 Introduction Thank you for your interest in All American s Quick Spin Motor Controller kit and workshop We ve designed the kit and it s materials to aide today s busy engineer in Quickly Spinning a motor controller design based on Renesas MCUs and Fairchild SPMS of their own We hope you enjoy the kit 1 12 Features Control 3 phase AC Induction or Brushless DC BLDC motors from 24V to 220V up to 3 Amps Wide input power supply 24 110 volts AC or DC EMI fitered Hall Sensor Inputs Built in isolated serial port with RS 232 and RS 422 RS 485 stuft option Separate Motor Control and Communication MCUs allow for co development of motor algorithms and communication protocols Support option for Renesas RSKs Bilin isolated Renesas E8 debugger interface In system programming for R amp C and H8 MCUs Isolated User interface board Fully programmable user buttons LEDs Pot and optional Encoder LCD intertace option GAN interface option Radiotronix wireless UART interface option On board temperature sensors Block Diagram Block Diagram of the All American Quick Spin system 70f63 Al American Quick Spin User Manual Wednesday November 29 2008 13 ae eos Ed ee Technical Support For technical support please contact your local All American FAE You may also email MCUexperts alamerican com
44. es protection to external E8 hardware Host PCs etc 150f63 Al American Quick Spin User Manual Wednesday November 29 2008 Noted that the User O board is INTENTIONALLY DESIGNED to interfere with a User plugging into the various ports on RSK fitted to the Main board including the RSK s E8 port This again is because the RSK operates referenced to the input voltage and is considered HOT Bypassing mechanical or electrical isolation features may result in equipment or component damage to both the Quick Spin system and connected external devices 32 3 MCU Performing communications functions is the Renesas H8 MCU This MCU is provided to allow separate development of high level control protocols such as Modbus Profibus and CAN without interfering with development of motor control algorithms This power MCU features a CAN interface timers UARTs otc It also bolts up to several user interface components such as LEDs buttons a pot optional encoder and LCD This Communications MCU is on the isolated side of the Quick Spin system and communicates with the Main board s MCU or fitted RSK via an isolated serial port See the Isolated Serial Port section for the Main beard for more Information Note unused pins on the H8 MCU are routed out to SMT pads on both sides of the User I O board for ease in prototyping 32 4 LEDs There are 4 fully programmable dual color red and green LEDs on the User VO board Their default o
45. eters selections on the System Startup Dialog Box may change If undesirable these selections can be modified and Apply can be used to send the new selections back to the Quick Spin system Close Button Clicking the Close button will close the System Startup Dialog Box and take you into the GUI program Note you must click the Apply button after making your selections Clicking Clase without icking Apply will abandon you changes If this is the case you will be asked if this is what you want to do If the program cannot continue based 51 0f63 Al American Quic Spin User Manual Wednesday November 29 2008 on your selections the GUI will exit otherwise you will enter the GUI program 6 4 4 Main Settings Tab The first tab of the GUI Main Settings contains controls for speed stop types forward and reverse mation fault indicators and a range of status fields testes TREAT waa Set Speed Enter the desired speed of the motor here in either RPMs or hertz Entering a speed value does not start mation but will dynamically change the mators speed if already running Use the Forward and averse button to intiate motion Note the Values here are subject to the Minimum and Maximum Speed values found on the Motor Parameters tab Increase and Decrease Speed Buttons These buttons add or subtract RPMs fo the current Set Speed value The amount added or subt
46. in User Manual Wednesday November 20 2008 TXT TET maT 0 anna rect 17 onret rst 7 onret rect T onret eet 2 ane Connector CN107 Name ASK Header Pin Signal Pin_ Signal 1 Pad RS DEGI 2 Pad SK DACK rn T orrea rst i onret rect T onret mea a ant 3 1 9 Jumpers and Options The following tables ist the various options and jumper settings for the Quick Spin Main board Jumper J300 Name Figh Valage Jumper Open ACT operaron sar SV Voge Solr abd TOC para aave SO Vanags Ga srat WARNING in this mode INPUT VOLTAGE IS DOUBLED le At 120V in Bus Voltage is in excess of 240V FAILURE TO OBSERVE PROPER SAFETY MEASURES COULD RESULT IN SEVERE ELECTRICAL SHOCK OR EVEN DEATH NOTE Ta aese 00 SOGGY TE IE We O PREET Jumper J100 Name Ra Roser Tistate Open Normal REC UTET operate Cad REC U0 sin reset and al prs WaT SNES When ag an ROTC he Quia S n bar hamper MUST BE CLOSED 1o keep he onboard Racin a ratate condo 14063 Al American Quick Spin User Manual Wednesday November 29 2006 Serial Port Stuff Options Sea Option Stuff Wo Stat i RTRT ITE RTT RS AES TRSA T RT20 UTOT COL CTO RTE RTTS ralegs UART MOTD CTOS RTE RIZ User TO oa NOTE See BOM and schematics Tor Component Values and part rambo RSK Sui Opon I aea Option Sta To Sut To use s RSK ONTO ONTOS CNTOR CNTO7 Remove RSK
47. ional Gain value for the Speed Gain PID 430163 Al American Quick Spin User Manual Wednesday November 20 2008 1 Integral Gain Sots the Integral Gain value for the Speed Gain PID algorithm by displaying the folowing string Current Integral Gain is a Mew Integral Gain is 0 99 Where n is the curent Integral Gain value for the Speed Gain PID D bigferential cain Sets the Differential Gain value for the Spoed Gain PID algorithm by displaying the folowing string Current Differential Gain iz x New Differential Gain is 0 99 Where n is the curent Differential Gain value for the Speed Gain PID 2 Return to Motor Parameters Returns to the Motor Parameters See the Protocol B Motor Parameters Submenu section for more info G show this Mens Displays reprints the Speed Gain Parameters submenu 4 Return to tain Menu Returns to the Main Menu See the Protocol B Main Menu section for more inf 5 4 4 Protocol B Current Gain Parameters Submenu NOTE THIS SECTION IS NOT IMPLEMENTED AT THIS TIME The following is the Current Gain Parameters submenu for Protocol B P Proportional cain Sets the Proportional Gain value for the Current Gain PID algorithm by displaying the folowing string current Proportional Gain is n Mew Proportional Gain is 0 99 Where n is the current Proportional Gain value for the Current Gain PID 440163 Al American Quick Spin
48. losed with single quotes for clarity oniy Single quotes are not actually used Whitespace in between characters is added for clarity only and is not required Any whitespace in commands is ignored AlI values are sent in hex as ASCII characters For example The number 23 is hex 0x17 and would be sent as 0x31 7 0x37 Hex value OxAS would be sent as A 0x41 and 5 0x35 The number 175 is hex OxAF and would be sent as A 0x41 F 0x48 The Quick Spin board returns an exclamation point 1 as an ACK after each command provided that command was successful Noting is returned ifthe command fails Protocol A Command Details Tat Z cod Description Reses ie Guise Sp boards a Wow and oad Sa Motor stopped Drive system disabled PWM ottine Dynamic motor variables reset to detaut Value Parameter Description K Trese wo safey characters TT e OUES TS A OC RT Winout hese the reset commana 1s ignored prams a e F Fash Poord ndcaies e Sian ola sing sent Trom The Quik Spin board hats something oter han ACK R Rt indicates a reset command has been received andi being processed bo fe crack ea Total Tx Characters Description Sips he mato cag he minimum decoaraTon TE Vae TP ter Descripian 240163 Al American Quick Spin User Manual Wednesday November 29 2006
49. mented Communication Method There are two options o Serial Port This method uses a standard serial port from COM 1 to 8 Virtual serial ports over USB are allowed HEW Target Server This option works in conjunction with the Renesas HEW Target Server The physical link is the Renesas E8 operating over USB and connected to the Quick Spin s E8 Debug port NOTE this method is not curently implemented Communication Protocol Default selection is the Quick Spin s Protocol A GUI protocol Options for the industry standard ModBus and ProfiBus protocols are present however these protocols have not been implemented Variable Setup There are two options Use the Quick Spin board s current settings This selection asks the Quick Spin board tor it s current configuration and loads this data into all GUI variables Use Settings from the Last Time the Program was Run This selection retrieves motor parameters from the GUI Configuration File QuickSpin GCF and loads them into the GUIs variables If the configuration file cannot be found default variables within the GUI are used Apply Button This button applies the current selections on the System Startup Dialog Box needed the GUI communicates with the Quick Spin system to retrieve or send parameters At any time selections can be changed and the Apply button clicked again For example it Apply is Clicked to retrieve board param
50. ng from the GUI to make sure the user wants to make changes All buttons readouts and other controls shall be help context sensitive allowing the user to call up a help system at any time for information Optionally the GUI shall contain a script engine and processor allowing users to ould save open and execute command scripts When executing command scripts shall have the ably to alter settings in a timed fashion thus providing a method of automation to the GUI useful for demos tests and other repeatable tasks 6 4 GUL Implementation in Windows 2000 XP This section details the various windows and controls in the Quick Spin GUI The GUI shall be a non sizeable Dialog Box utiizing tabbed pages to access various controls as shown Each tab shall contain an Emergency Stop control or quickly stopping the system 48 0f 63 A American Quic Spin User Manual Wednesday November 22 2006 oe lace Naa we Oe maaan ETET mm The lower face of the GUI consists of an Event Log which records messages from the GUI including commands errors warnings and other information as wall as data received tram the Quick Spin system Also found on the lower face of the GUI are buttons to manually retrieve the Quick Spin system s status clear the Event Log window and obtain GUI help The bottom of the GUI contains a status bar which prints currant message fram the GUI and indicates connection and
51. nication Protocols 5 21 Communication Medium The Quick Spin board communicates primarily through two diferent methods In both cases the physical portion of the protocol shall comply with common standards allowing the use of serial to USB converters if necessary 1 A2wire RS 232 serial interface consisting of Tx Rx and Gnd 2 A 4 wire RS 422 485 serial interface consisting of Ti Tx Rx Rx and Gra A CAN interface is implemented as an option for future development 5 2 2 Communication Protocols Overview 21 0f63 Al American Quick Spin User Manual Wednesday November 29 2006 Both protocols are based solely on ASCII text All commands and variables including those in hex are passed as ASCII text character thus simplifying the implementation of either protocol Both protocols use the same command characters however Protocol A is designed to be used as a program controlled interface in conjunction with a microcontroller microprocessor or other inteligent managing system Each command with Protocol A must be preceded with a dolar sign Command variables with Protocol A are sent directly following the command and upon reception and successful processing of a command the Quick Spin board retum an exclamation mark as an ACK character The GUI that comes with the Quick Spin system uses this protocol Protocol B is used in conjunction with terminal interfaces and programs Protocol B is a complete text based
52. nnectors on the Quick Spin User I O board Connector CNI Name E8 Debug connector Pin Signal Pin_ Signal 1 ee scik 2 oot AE EE IE 4 NEES ETD a wana ERTE Tete SVD ese 0 ears rare Tres 12 estes rare ToT ESRESET Te wares roa Gonnesior ONZ Name Main board Debug Pin_ Signal Pin Signal EEES 2 Nor saa aaa 3 WarteststegEECNVES a Werasatg EE EPRE NwteoetegEs TA Wer teas troona NW TeategES CE NOTES SVD Wor ste Ee Bey To Worst rons Tr nonon 8 Wa 12 Wares Grana Ta eros ES REST Ta nense Gr 170163 Al American Qui Spin User Manual Wednesday November 29 2006 Connector CN3 Name FSK E8 Debug Pin_ Signal Pin Signal 1 Non so RSE SOLE 2 Ne saa aaa 7 EE 4 Worst En EPRE TSRS ES T Wer eas Gora Nw sated ES CE NOTES SVD 7 Say 0 Woes rons 7 12 Noes Crs NOROS EB REST Te ores Grana Connector CN GAN Par Pin Signal TP CaN Da 2 cana Gonnestor CNS Name Usor VO board connector Pin Signal T Teolted 15V0C Domneream Sera a taimatesr Sena a f User TO Board Present TESTES COURS pn Upatiean Seal Ti Uostear Sorat Fe Tasted Coun Connector LCDI Name LCD Option Pin_ Signal LED pacKigh See User TO Jumpers and Options Seaton Tar more vo TED bai Se Uso TO Jumpers ard Ootone secon rere NOTE Ts LCD 5 a aH Gta and a
53. otal Tx Characters Description Saves Grecian and cposd value 1o Tar T8 sel pont salons W Aon vas memory Set points can be preprogrammed and saved in non volatile memory for iater rezat Upon recall tof ie Te non volanie set points are loaded as he Curent motor speed and drection Saved set point can aiso be default oaded on power up andar while in operation tough the se ofa amp bit input on the Quek Spin board Saving set points has no elect on the crive s current operation Ses the Load Set Ponte and Get Set Pant commands Tor more val O F fs 1 characiar as a hex nibble fom Ow F indicating T af 16 diferant motor speed and direction Set Pot Values 0 10 F 16 correspond to Set Point storage locations 010 1 Fork 1 character indicating motor direction inthe torm ot Forward motion R Reverse motion 0000 e 4 characters as a 16 bit her value indicating motor speed in FFFF RPM NOTE The speed value is subject tothe minimum and maximum speed setings Speed setings beyond the minimum 340163 Al American Quick Spin User Manual Wednesday November 20 2008 as mT SERS ae hore ard eta To eT OT value Taa 0 ACK anes Commands Toad Sa Pont aser strng A jaquired 1 character sent a5 Hex nS Total Tx Characters 3 Toads a Grecion and speed vale Tom Tot T no alane at pont oaen ae the motors curent spega and direction Set points can be preprogr
54. peration is as follows 1 On startup the User IO board s MCU estabshes communication wih the Main board s MGU During this time each LED is tumed on for 5 sec according to the flowing sequence a Green D5 gt D6 gt D7 gt D8 gt 5 RedO8 gt D7 gt D6 gt D5 Repeat ful sequence ntl connected 2 Once the boards have connected D7 Red turns on to indicate that the motoris Stopped Al oter LEDS ae of 8 5 Red turs on in case ot a motor fault DS Red and Green Yellow are on ifthe fault is old The direction LEDS wil remain on in the state of the current direcion 4 DS Green tums on when the motor is moving in the reverse econ DS remains in he same state and all other LEDs are oft 160163 Al American Quick Spin User Manual Wednesday November 29 2006 5 D7 Red tums on when the motor is stopped DS remains in the same state and al oher LEDs are ott 6 D8 Green tums on when the motor is running forward DS remains in the same state ard all oer LEDs are of 3 25 Buttons There are 4 fully programmable buttons on the User I O board Their default operation is as follows Button Default Operation Swa Cear Monor Faune Swa Motor Revers Sws Si Swe Motor Fama 3 26 Pot An analog pot is connected to an input of the H8 Communication MCU s ADC The pot can be programmed for any use with its default being that of a speed control 3 2 7 Connectors The following tables detail the co
55. racted is set in the Inc Dac Amount InciDec Amount Selects 1 of 8 different amounts to increment or decrement the current Set Speed by This value is used the Increase and Decrease buttons Actual Speed This is the actual motor speed in RPMs and hertz This value is determined by hall sensor data and may be different that the Set Speed Pot Value This is a percentage trom 0 to 100 of the Quick Spin system s speed pot position Forward Button Click to start forward motion at the Set Speed 52 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 Reverse Button Click to start reverse motion at the Set Speed Note if the motor is running in the opposite direction a Stop command is automaticaly issued before changing directions Forward and Reverse Motion LEDs These two LEDs indicate either forward or reverse motion A blinking LED indicates a command has been given for motion in the indicated direction but the motor is not currently traveling in that direction Stop Button Stops the motor using one of the selected Stop Types Stop Type Selection of 4 different stop types used when the Stop button is pressed o Emergency Stop Controlled stop using the quickest time possible Coast to Stop Shuts down all motor drive and allows the motor to mechanically coast to a stop Controlled Stop using Deceleration Controlled stop
56. ration the speed value E changed but no moton tesute The drive does not bebome aciive or nactve trough tre use of his command fhe vakse sent with tres command beyond above or below the Minimum or Maximum speed brits the valu Is replaced win that it Vata A Rex value Wor Oto FFFF ndeaing maar speed iy RPM NOTE The spoed value is subject to the minimum and maximum speed setings Speed settngs beyond he minimum and marmur Emits use the speed sereng to Become the minimum or maximum Imt m T EEEE Commands ASCI Sting Increases the Gaon Speed by TOTS valas Bs Gained We TaTowTS parametar The command ceases 10 increase or decrease the speed value once fe maximum or minum programmed speed is reached If the drive Ie fale orin stop mode tis command is ignored va ater Description A number fom 0 o 7 indicating T artha B olowing Tener VARS NOTE Values 8 to Ox are ignored 0 Default Increment by 1 T Increment by 2 2 Iorement by 5 3 Increment by 10 increment by 25 Iorement by 50 E Increment by 100 7 Increment by 200 Ta r ESSE Commands CEE ASCI Siring Ts 26 0f 63 Al American Quick Spin User Manual Wednesday November 29 2006 P TE Tenaracter sent 35a nae BBE Total Tx Characters 7 Description Doxeares parameter The arani peed by Tole valuas ae Gatied ns Tolweg The command ceases to
57. seconds in 10ths of a second intervals While the Auto Status Update s operating the blue indicator LED blinks at the programmed interval To disable the Auto Status Update click on the Auto Update Enable button I s text will 58 0f 63 Al American QuiekSpin User Manual Wednesday November 20 2008 change to Auto Update Disabled and the LED will stop blinking The defaut time is 2 0 seconds Communication Parameters This section allows 9 diferent parameters Used in serial communications to be adjusted These parameters can be changed at random but the Update button must be clicked to actual load the new values into the communication subsystem The values are as follows Delay in mS between sending commands Flood control This value allows the user to slow down how fast a string of consecutive commands can be sent to the Quick Spin system Default is 20msS Timeout delay in mS for board to respond to a command This value controls how long the GUI should wait before it considers the lack of response from a Quick Spin system a problem If the Quick Spin system is programmed to do a lot of work or if the user is Using a USB to Serial converter this parameter may need adjusting Default time is 400ms Number of times to automatically retry a command When the GUI sends a command to the Quick Spin system and the command fails le The Quick Spin system does not retum the appropriat
58. u system aaa i Perego peerage bt Bit ana re ag U B zaraa m arve a Y Bs aras m ave g W Teceer cnn ae Sanaa 1 Laag pen o Loan he eta Noha ua T hiat gapt Noma uae T hial arma Noma uae Susp nen Ds emperane mange C Anian emperane es Waas t the bear s pot rom 100 Paga ecg PUB nts apace los 0 Logat mor Onna 21 Logic eg Og 10 Lagi arrg an a me og 6 GUI Interface 61 GUI Compatibility The PC based GUI is designed for the Microsoft Windows 2000 or Windows XP operating system It is written in C using Microsoft Visual Studio 6 Optionally an Eclipse pi in GUI may be provided at a future date Optionally a Renesas HEW plug in GUI may be provided at a future date 48 0f 63 Al American Quick Spin User Manual Wednesday November 20 2008 62 GUI Structure The GUI shall be written and maintained such that it provides a clean and conscience methodology for being expanded added to subtracted from or otherwise changed To assist in the separation of functions and make the GUI code more useable and portable 5 software and 1 hardware layers have been defined which loosely correspond to the standard 7 layer OSI Model When writing software code every effort shall be made to maintain separate between layers including the use of separate c cpp h and hpp files The layers are defined as follows GUI Controls OSI Layer 7
59. uired 2 characters sont as ahax bye Sets tha Acceleration Wve W100 TNGSGOnd IETS Weed Tor OTSA UP and postive speed changes The maximum seceeraton time s 255 seconds NOTE An excepto she Increase Speed command which uses fs own set fvalues Value Parameter Desorption T DFF A her valve Trom 0 io FF 1dana Water acclaraion tre TOO reams EEEE Commands at Decaer Tin i TOO Miacond Taran ASCI Siring sv aquved 2 characters sont as ohare down and Description Sets tha deceeraTon Une Wh TOU TSBcond meramera GSR Tor OT WN negative speed changes The maximum deceleraton tina ls 25 5 Seconds NOTE An exception she Decrease Speed command which uses i own set o vals 90 0f 63 American Quick Spin User Manual Wednesday November 29 2006 mater Desaripton A hex value Trom O T0 FF indoaing Wao deceleration nee TOO EEEN requir Set Boas Votage RO Mae OT SE 2 characters San a HOY ByE Sets tha Boost valage VAR he VF Aa eed HOT ater Descriptor A hex valaa Wor Ot FF indiaing aor bacat valage Th VAE aquired Total Tx Characters Patan ACK aL Commands Se DE mecan Bale Varao AC mason ASCI Siring SW 2 characore sant as a kex ByE Description Seis the DC jecten brake volage se HOO braking o AG HOSS ater Descriptor A hex vale Trom O to FF nailing the DC ireaion bake volage TR PETES
60. using the current Decel Time value found on the Motor Parameters tab Stop with DC Injection Brake AC Motor Only Controlled stop for AC motors only by which a small DC snubber voltage is injected into the motor See the settings on the Motor Parameters tab Main Bus Current Displays the approximate current of the main bus Main Bus Voltage Displays the approximate voltage of the main bus Temperature There aro two different temperature values Both values can be displayed in Fahrenheit or Celsius by clicking on the small F or C button o Ambient This displays the ambient temperature around the Quick Spin system The sensor is located near the lower left comer of the main board Drive Module This displays the drive module s temperature The sensor is located in the fins of the module s heatsink Current Faults and Previous Faults There are two identical Fault blocks one for current faults and one for old faults The fault LEDs are as follows 530163 Al American Quic Spin User Manual Wednesday November 29 2008 Over Voltage Indicates a bus over voltage condition le The main bus s voltage is toa high for the given motor or system design Under Voltage Indicates a bus under voltage condition la the motor is drawing too much voltage far the given input voltage or current Over Current indicates the motor is drawing too much current from the main bus Short Circuit Indi
61. ving ard ie the 120 Teg 4 characters as a 16 bit hex value containing the Proportional in seting ofthe Speed Gan PID 4 characters as 16 bit hex value containing the Integral gain Seting of he Speed Gain PID 28 0f 63 Al American Quick Spin User Manual Wednesday November 29 2008 T FEFF characters as a 16 bit hex value containing the Dieretal gain Seting othe Speed Gain PID 0000 FFFF e 4 characters as a 16 bit hex value containing the Proportional in seting ofthe Current Gain PID 0000 4 characters as a 16 bit hex value containing the Integral gain FFFF sating ofthe Curent Gain PID 0000 e 4 characters as a 16 bit hex value containing the Ditlerential gain FFFF sating ofthe Curent Gain PID 0 F a 1 character as a hex nibble containing the number ot poles tor he morar 0000 4 characters as a 16 bit hex value containing the ca a characias as a 16 bihen value containing the Upper Speed o0 4 characters as a 16 bit hex value containing the Lower Speed FEFE tin RPN 2 characters as a hex byte indicating the Acceleration Time in 00 FF Go s of miliseconde win a maximum value of 28 5 seconds 2 characters as a hex byte indicating the Deceleration Time in 00 FF ios of miliseconde win a maximum value of 25 5 seconde corr 2oharacters as a hex byte rapresenting the motor boost volage 00 pF 2 characters as a hex byte representing the DC injection br

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