I MC68HC908MR32 Control Board - NXP Semiconductors · 2016. 11. 23. · MEMCMR32CBUM/D Rev. 1.0 Motorola Embedded Motion ControlMC68HC908MR32 NON-DISCLOSURE AGREEMENT REQUIRED Control

MEMCMR32CBUM/DRev. 1.0

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Motorola Embedded Motion Control

MC68HC908MR32Control Board

User’s Manual

For More Information On This Product,

Go to: www.freescale.com

MC68HC908MR32 Control Board

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Important Notice to Users

While every effort has been made to ensure the accuracy of all information inthis document, Motorola assumes no liability to any party for any loss ordamage caused by errors or omissions or by statements of any kind in thisdocument, its updates, supplements, or special editions, whether such errors areomissions or statements resulting from negligence, accident, or any other cause.Motorola further assumes no liability arising out of the application or use of anyinformation, product, or system described herein: nor any liability for incidentalor consequential damages arising from the use of this document. Motoroladisclaims all warranties regarding the information contained herein, whetherexpressed, implied, or statutory, including implied warranties ofmerchantability or fitness for a particular purpose. Motorola makes norepresentation that the interconnection of products in the manner describedherein will not infringe on existing or future patent rights, nor do thedescriptions contained herein imply the granting or license to make, use or sellequipment constructed in accordance with this description.

Trademarks

This document includes these trademarks:

Motorola and the Motorola logo are registered trademarksof Motorola, Inc.

Motorola, Inc., is an Equal Opportunity / Affirmative Action Employer.

© Motorola, Inc., 2000; All Rights Reserved

User’s Manual MC68HC908MR32 Control Board — Rev. 1.0

2 MC68HC908MR32 Control Board MOTOROLA For More Information On This Product,


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User’s Manual — MC68HC908MR32 Control Board

List of Sections

Section 1. Introduction and Setup. . . . . . . . . . . . . . . . . .11

Section 2. Operational Description . . . . . . . . . . . . . . . . .21

Section 3. Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . .31

Section 4. Schematics and Parts List . . . . . . . . . . . . . . .43

Section 5. Design Considerations . . . . . . . . . . . . . . . . . .53

MC68HC908MR32 Control Board — Rev. 1.0 User’s Manual

MOTOROLA List of Sections 3 For More Information On This Product,


List of Sections

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Table of Contents

Section 1. Introduction and Setup

1.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Section 2. Operational Description

2.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.4 User Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4.1 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4.2 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4.3 Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252.4.4 Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262.4.5 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272.4.6 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Section 3. Pin Descriptions

3.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.3 Control Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 323.3.1 Tacho Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323.3.2 Hall Sensor/Encoder Input Connector J2. . . . . . . . . . . . . . . . . . . . 33


MOTOROLA Table of Contents 5 For More Information On This Product,


Table of Contents

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3.3.3 40-Pin Emulator Connector J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343.3.4 40-Pin Emulator Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363.3.5 40-Pin Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383.3.6 RS-232 DB-9 Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413.3.7 Power Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.4 Daughter Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . 423.4.1 Daughter Board Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423.4.2 Daughter Board Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Section 4. Schematics and Parts List

4.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.4 Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Section 5. Design Considerations

5.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.3 Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

5.4 Simultaneous Conduction Lockout. . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.5 Dead Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.6 Power-Up/Power-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.7 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.8 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.9 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.10 Optoisolated RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.11 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60


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List of Figures

Figure Title Page

1-1 Systems’ Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131-2 Control Board Photograph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161-3 Setup Parts Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161-4 Setup for High-Voltage Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171-5 Setup for Low-Voltage Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2-1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3-1 Connector Parts Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323-2 40-Pin Ribbon Cable Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . 38

4-1 Daughter Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444-2 Connectors J3 and J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454-3 Control Board Schematic (Sheet 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 464-4 Control Board Schematic (Sheet 2) . . . . . . . . . . . . . . . . . . . . . . . . . . 474-5 Control Board Schematic (Sheet 3) . . . . . . . . . . . . . . . . . . . . . . . . . . 48

5-1 Hall Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545-2 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575-3 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585-4 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585-5 Zero Cross Back EMF Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60


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List of Tables

Table Title Page

1-1 Jumper JP1–JP5 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181-2 Overcurrent and Overvoltage Adjustments . . . . . . . . . . . . . . . . . . . . 18

2-1 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232-2 Timer Channel Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262-3 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3-1 Hall Sensor Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333-2 Quadrature Encoder Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333-3 Connector J3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 343-4 Connector J4 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 363-5 Connector J5 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 393-6 Connector J6 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4-1 Control Board Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494-2 Daughter Board Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51


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Section 1. Introduction and Setup

1.1 Contents

1.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.2 Introduction

Motorola’s MC68HC908MR32 motor control board is an integral part of theembedded motion control series of development tools. It interfaces easily withpower stages, optoisolators, and emulators to complement softwaredevelopment tools for the MC68HC908MR32 (MR32).

The MR32 motor control board is supplied in kit number ECCTR908MR32. Itis shipped along with a small printed circuit daughter board (SKT908MR32),an MR32, a 12-volt/4-amp power supply, mounting hardware, a 40-pin ribboncable, and a CD ROM.

The MR32 motor control board is designed as an aid for hardware and softwaredevelopment of 3-phase ac induction, brushless dc (BLDC), and switchedreluctance (SR) motor drives.

There are two modes of operation.

• The MR32 control board can be connected to an M68EM08MR32emulator board, in an MMDS05/08 or MMEVS05/08 emulation system,through an M68CBL08A impedance-matched ribbon cable.

• Alternatively, the daughter board housing an HC908MR32 can beplugged into the control board in place of the emulator cable from theMMDS08.


MOTOROLA Introduction and Setup 11 For More Information On This Product,


Introduction and Setup

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A few of the more noteworthy features are:

• Six motor control PWM outputs with LED indicators

• Speed control potentiometer

• Optoisolated half-duplex RS-232 interface

• Start/Stop and Forward/Reverse switches

• Hall effect inputs for brushless dc motor control

• Back EMF inputs for brushless dc motor control

• Tachometer input

• 2-position DIP switch for user option control

• Emulator/Daughter board connectors

• Processor reset switch

• Two system fault inputs

• Nine analog inputs

• Three softwarecontrolled LEDs

• Regulated on-board regulated power supply

The MR32 motor control board fits into the systems’ configurations that areshown in Figure 1-1. A photograph of the control board with its daughter boardattached appears in Figure 1-2.


12 Introduction and Setup MOTOROLA For More Information On This Product,


Introduction and SetupAbout this Manual

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Figure 1-1. Systems’ Configurations

1.3 About this Manual

Key items can be found in the following locations in this manual:

• Setup instructions are found in 1.5 Setup Guide.

• Schematics are found in 4.3 Schematics.

• Pin assignments are shown in Figure 3-2. 40-Pin Ribbon CableConnector J5, and a pin-by-pin description is contained in 3.3 ControlBoard Signal Descriptions.

• For those interested in the reference design aspects of the board’scircuitry, a description is provided in Section 5. Design Considerations.

CONTROL BOARD

LOW-VOLTAGEPOWER BOARD

MOTOR

WORKSTATION

EMULATOR CONTROL BOARD

HIGH-VOLTAGEPOWER BOARD

MOTOR

WORKSTATION

b) HIGH VOLTAGEa) LOW VOLTAGE

OPTIONAL FEEDBACKOPTIONAL FEEDBACK

OPTOISOLATIONBOARD

EMULATOR





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1.4 Warnings

This development tool set operates in an environment that can includedangerous voltages and rotating machinery.

To facilitate safe operation, input power for high-voltage power stages shouldcome from a current-limited dc laboratory power supply, unless power factorcorrection is specifically being investigated.

When operating high-voltage power stages directly from an ac line, power stagegrounds and oscilloscope grounds are at different potentials, unless theoscilloscope is floating. Note that probe grounds and, therefore, the case of afloated oscilloscope, are subjected to dangerous voltages.

The user should be aware that:

• Before moving scope probes, making connections, etc., it is generallyadvisable to power down the high-voltage supply.

• When high voltage is applied to one of the high-voltage power stages,using only one hand for operating the test setup minimizes the possibilityof electrical shock.

• Operation in labs with grounded tables and/or chairs should be avoided.

• Wearing safety glasses, avoiding ties and jewelry, using shields, andoperation by personnel trained in high-voltage lab techniques are alsoadvisable.




Introduction and SetupSetup Guide

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1.5 Setup Guide

Setup and connections for the MR32 motor control board are verystraightforward. Input connections to an M68EM08MR32 emulator are madethrough an M68CBL08A impedance-matched ribbon cable. Outputconnections to an embedded motion control optoisolation board or low-voltagepower stage are made via a 40-pin ribbon cable that is supplied in theECCTR908MR32 kit. The MR32 motor control board is powered through the40-pin ribbon cable, regardless if it is connected to the optoisolation board or alow-voltage power stage. The included 12-volt/4-amp power supply providespower for either the optoisolation board or a low-voltage power stage.Figure 1-3 shows parts locations, and Figure 1-4 depicts a completedhigh-voltage setup.

A step-by-step procedure for setup with an optoisolator board and high-voltagepower stage follows.

1. Mount four standoffs to the optoisolation board at the locations indicatedin Figure 1-4. Standoffs, screws, and washers are included in the MR32motor control board kit.

2. Plug one end of the 40-pin ribbon cable into the optoisolation board’sinput connector J2, labeled “Control Board.” The 40-pin ribbon cable isalso supplied in the MR32 motor control board kit.

3. Mount the control board on top of the standoffs.

4. Plug the free end of the 40-pin ribbon cable into the control board’soutput connector, J5, located on the right hand side of the board.

5. Plug the square end of an M68CBL08A emulator cable into the emulatorcable connectors, J3 and J4, in the center of the board.

6. Plug the free end of the emulator cable into the emulator. If the emulatorhas not been set up, it will need to be connected to a PC and power sourceaccording to its setup instructions.

7. Locate START/STOP switch SW3 and set it to STOP.

8. Locate SPEED potentiometer, P1, and set it to the slowest speed byrotating P1 to its most counter clockwise position.

9. Locate forward (FWD) and reverse (REV) switch SW4 and set it to thedesired direction of motor rotation.




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Figure 1-2. Control Board

Figure 1-3. Setup Parts Locations

FWD/REV

STOP/START

SPEED

RS232

SWI2

RESET

JP7

JP1-JP5

R35 & V_ref

R34 & I_ref




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Figure 1-4. Setup for High-Voltage Systems

10. If an encoder, tachometer, back EMF signals, or the power factorcorrection (PFC) circuit are used, it is necessary to configure jumpersJP1–JP5. An “X” in Table 1-1 indicates that the respective jumpershould be shorted. The encoder and BEMF zero crossing signals areconnected to the same timer channel (TCH2A). Therefore, do not shortboth JP2 and JP3.

MOTOR

CONTROL BOARD

OPTOISOLATOR

40-PINRIBBON CABLE

POWER STAGE 40-PINRIBBON CABLE

STANDOFFS

STANDOFFS

+12 Vdc

HIGH-VOLTAGEMOTOR SUPPLY

J2J1

EMULATOR

EM08MR32





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11. Switch SW2 and jumper JP6 can also be used for configuration. They areset up according to the requirements of the specific software package thatis used.

12. Apply dc power to the optoisolation board.

13. Adjust R34 such that the voltage at test point I_ref matches the valueindicated in Table 1-2. The ground reference is GND_A.

14. Adjust R35 such that the voltage at test point V_ref matches the valueindicated in Table 1-2. The ground reference is GND_A.

15. Turn off power to the optoisolation board.

16. If a brushless dc motor is controlled with either Hall sensors or anencoder, plug the Hall sensor or encoder cable into Hall sensor / encoderconnector J2.

Table 1-1. Jumper JP1–JP5 Settings

FunctionJP1

TachoJP2

EncoderJP3

BEMF_z_cJP4

PFC_z_cJP5

PFC_PWM

Encoder X

Power factorcorrection

X X

Tachometer X

Back EMF X

X = Short this jumper.

Table 1-2. Overcurrent and Overvoltage Adjustments

Power StageOvercurrent

Comparator U5BOvervoltage

Comparator U5C

EVM motor board R34 2.8 Vdc R35 1.24 Vdc

Low-voltage BLDC power stage R34 3.3 Vdc R35 2.5 Vdc

Low-voltage SR power stage R34 3.3 Vdc R35 2.5 Vdc

High-voltage ac BLDC powerstage

R34 3.3 Vdc R35 3.07 Vdc

High-voltage SR power stage R34 3.3 Vdc R35 3.07 Vdc





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17. If a tachometer is used, plug it into tacho input connector J1.

18. If PC-Master software is used for real-time control of motor operation, itis necessary to set up RS-232 serial communication with a PC. To dothis, connect a 9-conductor straight-through cable from the controlboard’s DB-9 connector, J6, to the COM1 or COM2 serial port of the PC.PC serial ports are wired as DTE (data terminal equipment) and thecontrol board serial communications interface (SCI) port is wired asDCE (data communications equipment). Therefore, a 9-conductor cablewired straight through must be used. Do NOT use a null modem cable.

19. This completes control board setup.

If a low-voltage power stage is used, the setup procedure follows the same steps,with the low-voltage power stage substituted for the optoisolation board. Forlow-voltage systems, setup is depicted in Figure 1-5.

Figure 1-5. Setup for Low-Voltage Systems

MOTOR

CONTROL BOARD

LOW-VOLTAGE40-PINRIBBON CABLE

STANDOFFS

STANDOFFS

EMULATOR

EM08MR32

12-VOLT

MOTOR SUPPLY

POWER STAGE





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To switch from operation with the emulator to the daughter board, the followingsteps apply:

1. Rotate SPEED potentiometer, P1, counter clockwise to its slowest speedsetting.

2. Remove power from the entire system (power stage, optoisolator, andemulator).

3. Remove the emulator cable from the control board.

4. Plug the daughter board into the emulator cable socket on the controlboard. Proper alignment is achieved when the number 1 in a circle onboth boards in the vicinity of pins 1 and 2 are located in the same corner.

5. Program an MR32 microcontroller.

6. Insert the programmed microcontroller into its socket on the daughterboard. Proper alignment is achieved when pin 1 of U1 is in the samecorner of the socket as the 1 in a circle on the daughter board.

7. Restore power and resume operation.

It is also possible to use the MR32 motor control board by itself, withoutconnection to any of the other embedded motion control series boards. To do sorequires shorting jumper JP7 and plugging the 12-volt power supply into thepower jack, J3.




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Section 2. Operational Description

2.1 Contents

2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.4 User Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4.1 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4.2 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4.3 Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252.4.4 Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262.4.5 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272.4.6 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2.2 Introduction

Motorola’s embedded motion control series MR32 motor control board isdesigned to provide control signals for 3-phase ac induction, 3-phase brushlessdc (BLDC), and 3-phase switched reluctance (SR) motors. In combination withone of the embedded motion control series power stages, and an optoisolationboard, it provides a software development platform that allows algorithms to bewritten and tested without the need to design and build hardware. With softwaresupplied on the CD-ROM, the control board supports a wide variety ofalgorithms for ac induction, SR, and BLDC motors.

User control inputs are accepted from START/STOP, FWD/REV switches, anda SPEED potentiometer located on the control board. Alternately, motorcommands can be entered via a PC and transmitted over a serial cable to DB-9connector, J6. Output connections and power stage feedback signals aregrouped together on 40-pin ribbon cable connector, J5. Motor feedback signalscan be connected to Hall sensor/encoder connector J2. Power is suppliedthrough the 40-pin ribbon cable from the optoisolation board or low-voltagepower stage.


MOTOROLA Operational Description 21 For More Information On This Product,


Operational Description

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The control board is designed to run in two configurations. It can be connectedto an M68EM08MR32 emulator via an M68CBL08A impedance matchedribbon cable, or it can operate using the daughter board. The M68EM08MR32emulator board may be used in either an MMDS05/08 or MMEVS05/08emulation system. Figure 2-1 shows a block diagram of the board’s circuitry.

Figure 2-1. Block Diagram

A summary of the information needed to use the HC908MR32 motor controlboard is presented in the following sections. A discussion of the design appearsin Section 5. Design Considerations.

OPTOISOLATEDRS-232 I/F

TERMINAL

dc POWER12 Vdc

REGULATEDPOWER SUPPLY PWM LEDs (6)

FORWARD/REVERSESWITCH

START/STOPSWITCH

SPEEDPOT

EMULATOR/PROCESSORCONNECTOR

RESETSWITCH

(2) OPTIONSWITCHES

OVERCURRENT/OVERVOLTAGE

INPUTS

PWM (6)OUTPUTS

CURRENT/TEMPSENSE INPUTS

MISC. POWER ANDCONTROL I/O

OPTO/POWER DRIVER I/O CONNECTOR

BACK EMFINPUTS

CO

NFI

G.

JUM

PER

S

40-PIN RIBBONCONNECTOR

INPUTTACHOMETER

HALL EFFECTINPUTS (3)

I/F


22 Operational Description MOTOROLA For More Information On This Product,


Operational DescriptionElectrical Characteristics

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2.3 Electrical Characteristics

The electrical characteristics in Table 2-1 apply to operation at 25°C.

* When operated and powered separately from other Embedded Motion Control tool setproducts

Table 2-1. Electrical Characteristics

Characteristic Symbol Min Typ Max Units

dc power supply voltage Vdc 10.8* 12* 16.5* V

Quiescent current ICC — 80 — mA

Min logic 1 input voltage(MR32)

VIH 2.0 — — V

Max logic 0 input voltage(MR32)

VIL — — 0.8 V

Propagation delay(Hall sensor/encoder input)

tdly — — 500 ns

Analog input range VIn 0 — 5.0 V

RS-232 connection speed — — 9600 Baud

PWM sink current IPK — — 20 mA





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2.4 User Interfaces

There are five types of user interfaces on the HC908MR32 motor control board.They include an RS-232 serial interface, potentiometers, switches, jumpers,indicator lights, and test points. Descriptions of these interfaces follow.

2.4.1 Potentiometers

Three potentiometers (pot) provide for motor speed control, adjustment of theovercurrent fault threshold, and adjustment of the overvoltage fault threshold.They are:

• P1: SPEED — P1, labeled SPEED, is the speed control pot. Clockwiserotation increases motor speed. Speed control commands can also be sentover the RS-232 interface. At power-up and reset, speed control defaultsto P1.

• R34: Overcurrent Threshold — The overcurrent fault threshold is setby trim pot R34. Clockwise rotation increases the threshold. Defaultsettings for power stages in the embedded motion control tool set arefound in Table 1-2. Overcurrent and Overvoltage Adjustments.

• R35: Overvoltage Threshold — The overvoltage fault threshold is setby trim pot R35. Clockwise rotation increases the threshold. Defaultsettings for power stages in the embedded motion control tool set arefound in Table 1-2. Overcurrent and Overvoltage Adjustments.

2.4.2 Switches

Four switches provide for user inputs. They are:

• SW1: Reset — SW1, the reset switch, is a push button located near thetop of the board. It resets the 68HC908MR32.

• SW2: DIP Switch SW2 — DIP switch SW2 contains two switches thatare used for software configuration. They are set up according to thespecific requirements of the software package used.

• SW3: START/STOP — SW3, START/STOP, is a toggle switchlocated on the left-hand side of the board. It starts and stops the motor.Up (toward the top of the board) turns the motor on and down stops it.




Operational DescriptionUser Interfaces

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• SW4: FWD/REV — SW4, FWD/REV, is a toggle switch located nextto the START/STOP switch on the left side of the board. It controlsdirection of the motor. Up (toward the top of the board) runs the motorforward and down runs it in reverse.

2.4.3 Jumpers

There are seven jumpers, JP1–JP7. Jumpers JP1 through JP5 are locatedtogether near the center of the board above the emulator cable sockets. JumperJP6 is located with switch SW2, and JP7 is in the lower left-hand corner of theboard. They are:

• JP1: Tacho — Jumper JP1 is used to configure the board for atachometer input. It is shorted when a tachometer is used.

• JP2: Encoder — Jumper JP2 is used to configure the board for anencoder input. It is shorted when an encoder is used. It should not beshorted when jumper JP3 is shorted.

• JP3: BEMF_z_c — Jumper JP3 is used to configure the board for backEMF signals. It is shorted when back EMF signals are used. It should notbe shorted when jumper JP2 is shorted.

• JP4: PFC_z_c — Jumper JP4 is used to configure the board for powerfactor correction. It is shorted when set up for power factor correction(PFC).

• JP5: PFC_PWM — Jumper JP5 is also used to configure the board forPFC. It is shorted when set up for PFC.

• JP6: Software Configuration — Jumper JP6 can be used for softwareconfiguration. It is set up according to the specific requirements of thesoftware package used.

• JP7: Power Supply — Jumper JP7 is shorted when power jack J3 isused for the power supply input. This configuration is used only when theHC908MR32 motor control board is operated by itself, withoutconnection to any of the other embedded motion control series boards.

Looked at from a timer channel point of view, jumpers JP1–JP5 provide theoptions summarized in Table 2-2.





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NOTE: The encoder and BEMF zero crossing signals are connected to the same timerchannel (TCH2A). Therefore, both JP2 and JP3 should not be shorted.

2.4.4 Indicator Lights

Ten LEDs located on the control board provide status information to the user.Power-on LED, D2, is located in the top right-hand quadrant of the board. Theother nine indicator lights are lined up in a row to the left of 40-pin ribbonconnector J5. Descriptions are:

• D2: Power On — D2, labeled POWER, lights when power is applied tothe board.

• D3: Phase A Top — D3 lights when PWM signal phase A top is high.

• D4: Phase A Bottom — D4 lights when PWM signal phase A bottom ishigh.

• D5: Phase B Top — D5 lights when PWM signal phase B top is high.

• D6: Phase B Bottom — D6 lights when PWM signal phase B bottom ishigh.

• D7: Phase C Top — D7 lights when PWM signal phase C top is high.

• D8: Phase C Bottom — D8 lights when PWM signal phase C bottom ishigh.

• D9: Run (Green) — D9 lights when the motor is running.

• D10: Ready (Yellow) — D10 lights when the motor is ready to run, andblinks when a fault is imminent.

• D11: Fault (Red) — D11 lights when a fault has occurred.

Table 2-2. Timer Channel Configuration

Timer Channel Jumper Jumper Inserted Jumper Removed

TCH0A JP4 PFC zero crossing Test point PTE4

TCH0B JP5 PFC PWM Test point PTE1

TCH1A Test point PTE5

TCH1B Test point PTE2

TCH2A JP2 Encoder Test point PTE6

JP3 BEMF zero crossing Test point PTE6

TCH3A JP1 Tacho Test point PTE7





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2.4.5 Test Points

A variety of test points, listed in Table 2-3, are provided to facilitatemeasurements with an oscilloscope.

Table 2-3. Test Points

Label Location Signal Name Connected To

GND Upper right corner GND Digital ground

+5V_D Upper right corner +5V_D 5-volt digital supply

GNDA Upper right corner GNDA Analog ground

+3.3V_A Upper right corner +3.3V_A 3.3-volt analog supply

+5V_Aref Upper right corner +5V_A_ref 5-volt analog reference

+15V_A Upper right corner +12/15V_A +12-volt to +15-volt analog supply

–15V_A Upper right corner –12/15V_A –12-volt to –15-volt analog supply

I_ref Above RUN/STOP Switch Wiper of R34

V_ref Above FWD/REV Switch Wiper of R35

GND Below power-on LED GND Digital ground

PWM1 Left of PWM indicator lights PWM_AT Connector J5, pin 1

PWM2 Left of PWM indicator lights PWM_AB Connector J5, pin 3

PWM3 Left of PWM indicator lights PWM_BT Connector J5, pin 5

PWM4 Left of PWM indicator lights PWM_BB Connector J5, pin 7

PWM5 Left of PWM indicator lights PWM_CT Connector J5, pin 9

PWM6 Left of PWM indicator lights PWM_CB Connector J5, pin 11

/IRQ Above emulator connector IRQ1/Vpp

PTE7 Above emulator connector PTE7/TCH3A

PTE6 Above emulator connector PTE6/THC2A



PTE3 Above emulator connector PTE3/TCLKA

PTE2 Above emulator connector PTE2/TCH1B

PTE1 Above emulator connector PTE1/TCTCH0B

PTE0 Above emulator connector PTE0/TCLKB





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GND Above emulator connector GND Digital ground

+5V_D Above emulator connector +5V_D 5-volt digital supply

GNDA Below emulator connector GNDA Analog ground

PTA0 Below emulator connector PTA0



ADC0 Below emulator connector Speed Control Wiper of P1

ADC1 Below emulator connector V_sense_DCB Connector J5, pin 21

ADC2 Below emulator connector I_sense_DCB Connector J5, pin 22

ADC3 Below emulator connector I_sense_A Connector J5, pin 23

ADC4 Below emulator connector I_sense_B Connector J5, pin 24

ADC5 Below emulator connector I_sense_C Connector J5, pin 25

ADC6 Below emulator connector Temp_sense Connector J5, pin 26

ADC7 Below emulator connector BEMF_sense_A Connector J5, pin 38

ADC8 Below emulator connector BEMF_sense_B Connector J5, pin 39

ADC9 Below emulator connector BEMF_sense_C Connector J5, pin 40

PTC2 Below emulator connector PTC2

PTC3 Below emulator connector PTC3

FLT3 Left of status indicator lights PTD2/FLT3

FLT4 Left of status indicator lights PTD3/FLT4

OC Left of status indicator lights Overcurrent Output of U5B

OV Left of status indicator lights Overvoltage Output of U5C

D9 Left of ribbon connector J5 LED3 PTC6



Table 2-3. Test Points (Continued)

Label Location Signal Name Connected To





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2.4.6 RS-232 Interface

An RS-232 interface is available via DB-9 connector J6. It connects to serialport COM1 or COM2 on a Windows-based PC and enables motor commandsto be entered via PC Master software. At power up or reset, control defaults tospeed control pot P1, START/STOP switch SW3, and FWD/REV switch SW4.Control is transferred to the serial interface on the receipt of a command enteredvia PC-Master software.





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Section 3. Pin Descriptions

3.1 Contents

3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.3 Control Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 323.3.1 Tacho Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323.3.2 Hall Sensor/Encoder Input Connector J2. . . . . . . . . . . . . . . . . . . . 333.3.3 40-Pin Emulator Connector J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343.3.4 40-Pin Emulator Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363.3.5 40-Pin Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383.3.6 RS-232 DB-9 Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413.3.7 Power Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.4 Daughter Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . 423.4.1 Daughter Board Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423.4.2 Daughter Board Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.2 Introduction

There are seven connectors on the control board, J1–J7. Figure 3-1 illustrateslocations for these connectors. They are:

• J1 — Tachometer input connector

• J2 — 5-pin Hall sensor and encoder connector

• J3 — 40-pin emulator connector

• J4 — 40-pin emulator connector

• J5 — 40-pin ribbon cable connector

• J6 — RS-232 DB-9 connector

• J7 — Power jack

Two connectors on the daughter board are labeled J1 and J2. They mate withconnectors J3 and J4 on the control board.


MOTOROLA Pin Descriptions 31 For More Information On This Product,


Pin Descriptions

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3.3 Control Board Signal Descriptions

The following subsections describe signals on control board connectors J1–J7.

3.3.1 Tacho Input Connector J1

Tacho input connector, J1, is a 2-pin connector that accepts inputs from ananalog tachometer. This signal is conditioned with comparator U5A andthrough jumper JP1 provides an input to timer channel TCH3A. The schematicin Figure 4-4. Control Board Schematic (Sheet 2) shows J1 at the left-centerof the page. Pin 1 carries the tachometer input signal, and pin 2 is connected toanalog ground, GNDA.

Figure 3-1. Connector Parts Locations


32 Pin Descriptions MOTOROLA For More Information On This Product,


Pin DescriptionsControl Board Signal Descriptions

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3.3.2 Hall Sensor/Encoder Input Connector J2

The Hall sensor/encoder input connector, J2, is a 5-pin connector, whichaccepts input signals from Hall sensors or a quadrature encoder. Due to thelikelihood of noise on Hall sensor inputs, these signals are filtered, and passedthrough a Schmitt trigger before being routed to logic circuitry. The schematicin Figure 4-5. Control Board Schematic (Sheet 3) shows J2 at the left-handside of the page. The pinouts for a Hall sensor input are shown in Table 3-1.

Pin assignments for quadrature encoder input are shown in Table 3-2.

Table 3-1. Hall Sensor Input

PinNo.

Signal Name Description

1 +5V +5V supplies power from the control board to the Hall sensors.

2 Gnd Gnd is the Hall sensor ground.

3 Hall A Hall A is an open collector output from Hall sensor A.

4 Hall B Hall B is an open collector output from Hall sensor B.

5 Hall C Hall C is an open collector output from Hall sensor C.

Table 3-2. Quadrature Encoder Input

PinNo.


1 +5V Pin 1 supplies +5 volts from the control board to the encoder.

2 Gnd Pin 1 is the encoder’s ground.

3 Channel A Pin 3 is the channel A input.

4 Channel B Pin 4 is the channel B input.

5 Index Pin 5 is the Index input.




Pin Descriptions

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3.3.3 40-Pin Emulator Connector J3

Connectors J3 and J4 are 40-pin connectors which link signals between thecontrol board and an MR32 emulator cable or daughter board. Figure 4-2.Connectors J3 and J4 shows the pinouts and signal names. Signal descriptionsfor connector J3 are given in Table 3-3.

Table 3-3. Connector J3 Signal Descriptions

PinNo.


1 I_sense_DCB(PTB2/ATD2)

An analog sense input signal that measures the power board’s dc bus current

2I_sense_A

(PTB3/ATD3)An analog sense input signal that measures the phase A current

3 GND Digital power supply ground

4I_sense_B

(PTB4/ATD4)An analog sense input signal that measures the phase B current

5I_sense_C

(PTB5/ATD5)An analog sense input signal that measures the phase C current

6Temp_sense(PTB6/TD6)

An analog sense input signal that measures power stage substrate temperature

7BEMF_sense_A

(PTB7/ATD7)An analog sense input signal that measures the back EMF of phase A


9BEMF_sense_B

(PTC0/ATD8)An analog sense input signal that measures the back EMF of phase B

10BEMF_sense_C

(PTC0/ATD8)An analog sense input signal that measures the back EMF of phase C

11 Not used

12 Not used

13 Not used

14 +5V_A_ref +5V_A_ref is the A/D converter’s reference voltage.

15 PTB0/ATD0 PTB0/ATD0 is derived from the wiper of the SPEED potentiometer, P1.

16V_sense_DCB(PTB1/ATD1)

An analog sense input signal that measures the power board’s dc bus voltage





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18 Brake (PTA7) Brake is the gate drive signal for the power board’s brake transistor.

19 PTA5 PTA5 is a digital signal from the START/STOP switch, SW3.

20 S_C (PTA6) S_C is the serial communications signal used for power stage identification.

21 Not used

22 PTA4 This is a digital signal from the FWD/REV switch, SW4.

23 (PTA1) Not used

24 (PTA2) Not used

25 (PTA0) Not used


27 xEM_Vdda xEM_Vdda is a filtered +5-volt power supply voltage that is derived from +5V_D.


29 Not used

30 GNDA Analog power supply ground

31 (Extra GND) Extra digital power supply ground

32 Not used

33 EM_RESET EM_RESET is the reset signal from the RESET push-button switch SW1.

34 IRQ1/Vpp IRQ1/Vpp is a connection from the MR32’s IRQ1/Vpp pin through 10 kΩ to +5 volts.

35 TxD (PTF5/TxD) TxD is an RS-232 serial communications signal transmitted from the MR32.

36 RxD (PTF4/RxD) RxD is an RS-232 serial communications signal received by the MR32.

37 MUX_A (PTF3)MUX_A is a multiplexed digital control signal for phase A used in the back EMFselection logic circuitry.

38 MUX_B (PTF2)MUX_B is a multiplexed digital control signal for phase B used in the back EMFselection logic circuitry.


40 MUX_C (PTF1)MUX_C is a multiplexed digital control signal for phase C used in the back EMFselection logic circuitry.

Table 3-3. Connector J3 Signal Descriptions (Continued)

PinNo.





Pin Descriptions

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3.3.4 40-Pin Emulator Connector J4

Signal descriptions for connector J4 are listed in Table 3-4.


PinNo.


1 PTC2 Not used


3 PTC3 Not used


5 LED1 (PTC4) LED1 is a digital signal that turns on the red (fault) LED when a fault is present.


7 LED2 (PTC5) LED2 is a digital that controls the yellow (ready/warning) LED.


9 LED3 (PTC6)LED3 is a digital signal that turns on the green (run) LED when the motor isrunning.

10Overvoltage

(PTD0/FAULT1)Overvoltage is a digital input signal that indicates an overvoltage fault. This pin is atlogic 1 when a fault is present.

11Overcurrent

(PTD1/FAULT2)Overcurrent is a digital signal that indicates an overcurrent fault. This pin is atlogic 1 when a fault is present.



14 +5V_D +5V_D is the digital supply voltage.

15 FLT3FLT3 is a digital signal that indicates a commutation error. A logic 1 indicates that acommutation fault occurred.

16 FLT4FLT4 is a digital signal that indicates an overtemperature fault. This pin is at logic 1when a fault is present.

17Zero_Cross_A

(PTD4/IS1)Zero_Cross_A is a digital signal used for sensing phase A back EMF zero crossingevents.

18Zero_Cross_B

(PTD5/IS2)Zero_Cross_B is a digital signal used for sensing phase B back EMF zero crossingevents.

19Zero_Cross_C

(PTD6/IS3)Zero_Cross_C is a digital signal used for sensing phase C back EMF zero crossingevents.





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21 PWM2 PWM2 is the gate drive signal for the bottom half-bridge of phase A.

22 PWM1 PWM1 is the gate drive signal for the top half-bridge of phase A.

23 PWM4 PWM4 is the gate drive signal for the bottom half-bridge of phase B.

24 PWM3 PWM3 is the gate drive signal for the top half-bridge of phase B.

25 PWM5 PWM5 is the gate drive signal for the top half-bridge of phase C.

26 PWMGNDPWMGND is the PWM timer’s ground. It is tied to digital power supply ground,GND.


28 PWM6 PWM6 is the gate drive signal for the bottom half-bridge of phase C.

29 PTE1/TCTCH0BWhen jumper JP5 is shorted, PTE1/TCTCH0B is the power factor correctioncircuit’s gate drive signal, PFC_PWM.

30 PTE0/TCLKB Not used

31 PTE3/TCLKA Not used

32 PTE2/TCH1B Not used

33 PTE4/TCH0AWhen jumper JP4 is shorted, PTE4/TCH0A is the power factor correction circuit’szero crossing signal, PFC_z_c.


35 PTE6/TCH2AWhen jumper JP2 is shorted, PTE6/TCH2A is the encoder signal from the output ofthe encoder/Hall sensor XOR logic circuit, U4B. When jumper JP3 is shorted,PTE6/TCH2A is the power factor correction circuit’s zero crossing signal, PFC_z_c.

36 PTE5/TCH1A Not used

37 +5V_D +5V_D is the 5-volt digital power supply.

38 PTE7/TCH3AWhen jumper JP1 is shorted, the PTE7/TCH3A is the tacho digital output signalfrom U5A.

39PFC_inhibit

(PTF0/SPSCK)PFC_inhibit is a digital output from the microcontroller used to enable or disable thepower factor correction circuit.

40 Not used

Table 3-4. Connector J4 Signal Descriptions (Continued)

PinNo.





Pin Descriptions

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3.3.5 40-Pin Connector J5

Signals to and from a power stage are grouped together on 40-pin ribbon cableconnector J5. Pin assignments are shown in Figure 3-2. In this figure, aschematic representation appears on the left, and a physical layout of theconnector appears on the right. The physical view assumes that the board isoriented such that its title is read from left to right. See Table 3-5.

Figure 3-2. 40-Pin Ribbon Cable Connector J5

40393837363534333231302928272625242322212019181716151413121110987654321

BEMF_sense_CBEMF_sense_BBEMF_sense_A

ShieldingZero_cross_CZero_cross_BZero_cross_A

PFC_z_cPFC_inhibitPFC_PWMSerial_Con

Brake_controlShielding

Temp_senseI_sense_CI_sense_BI_sense_A

I_sense_DCBV_sense_DCB

–12/15V_A+12/15V_A

GNDAGNDA

+3.3V_A+5V_D+5V_D

GND_PSGND

PWM_CBShieldingPWM_CTShieldingPWM_BBShieldingPWM_BTShieldingPWM_ABShieldingPWM_AT SCHEMATIC VIEW

J5

2468

10121416182022242628303234363840

13579111315171921232527293133353739

ShieldingShieldingShieldingShieldingShieldingGND+5V_D+3.3V_AGNDA–12/15V_AI_sense_DCBI_sense_BTemp_senseShieldingSerial_ConPFC_inhibitZero_cross_AZero_cross_CBEMF_sense_ABEMF_sense_C

PWM_ATPWM_ABPWM_BTPWM_BBPWM_CTPWM_CBGND_PS

+5V_DGNDA

+12/15V_AV_sense_DCB

I_sense_AI_sense_C

Brake_controlPFC_PWM

PFC_z_cZero_cross_B

ShieldingBEMF_sense_B

PHYSICAL VIEW





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Table 3-5. Connector J5 Signal Descriptions (Sheet 1 of 3)

PinNo.


1 PWM_ATPWM_AT is the gate drive signal for the top half-bridge of phase A. A logic highturns phase A’s top switch on.

2 ShieldingPin 2 is connected to an unused wire that helps prevent cross talk betweenadjacent signals.

3 PWM_ABPWM_AB is the gate drive signal for the bottom half-bridge of phase A. A logic highturns on phase A’s bottom switch.


5 PWM_BTPWM_BT is the gate drive signal for the top half-bridge of phase B. A logic highturns on phase B’s top switch.


7 PWM_BBPWM_BB is the gate drive signal for the bottom half-bridge of phase B. A logic highturns on phase B’s bottom switch.


9 PWM_CTPWM_CT is the gate drive signal for the top half-bridge of phase C. A logic highturns on phase C’s top switch.


11 PWM_CBPWM_CB is the gate drive signal for the bottom half-bridge of phase C. A logic highturns on phase C’s bottom switch.


13 GND Digital power supply ground, redundant connection

14 +5V digital Digital +5-volt power supply

15 +5V digital Digital +5-volt power supply, redundant connection

16 +3.3V analog Analog +3.3-volt power supply

17 GNDA Analog power supply ground

18 GNDA Analog power supply ground, redundant connection

19 +12/15V_AAnalog +12-volt to +15-volt power supply. +12 volts is supplied from low-voltagepower stages. +15 volts is supplied from the optoisolation board and high-voltagepower stages.




Pin Descriptions

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20 –12/15V_AAnalog –12-volt to –15-volt power supply. –12 volts are supplied from low-voltagepower stages. –15 volts are supplied from the optoisolation board and high-voltagepower stages.

21 V_sense_DCBV_sense_DCB is an analog sense signal that measures the power board’s dc busvoltage.

22 I_sense_DCBI_sense_DCB is an analog sense signal that measures the power board’s dc buscurrent.

23 I_sense_A I_sense_A is an analog sense signal that measures current in phase A.

24 I_sense_B I_sense_B is an analog sense signal that measures current in phase B.

25 I_sense_C I_sense_C is an analog sense signal that measures current in phase C.

26 Temp_senseTemp_sense is an analog sense signal that measures the power stage’s substratetemperature.



29 Brake_control Brake_control is the gate drive signal for the power board’s brake transistor.

30 Serial_ConSerial_Con is a bidirectional digital serial interface used to identify the power boardto the control board. This information is then used by the control board’s software toscale analog feedback signals.

31 PFC_PWM PFC_PWM is the power factor correction circuit’s gate drive signal.

32 PFC_inhibitPFC_inhibit is a digital output from the microcontroller, U1, that is used to enable ordisable the power factor correction circuit.

33 PFC_z_c PFC_z_c is the power factor correction circuit’s zero crossing signal.

34 Zero_cross_AZero_cross_A is a digital signal that is used for sensing phase A back-EMF zerocrossing events.

35 Zero_cross_BZero_cross_B is a digital signal that is used for sensing phase B back-EMF zerocrossing events.

36 Zero_cross_CZero_cross_C is a digital signal that is used for sensing phase C back-EMF zerocrossing events.


38 BEMF_sense_A BEMF_sense_A is an analog sense signal that measures phase A back EMF.


PinNo.






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3.3.6 RS-232 DB-9 Connector J6

The RS-232 DB-9 connector, J6, is a 9-pin female connector for serialcommunications with a PC. It has standard RS-232 pinouts. The schematic inFigure 4-4. Control Board Schematic (Sheet 2) shows J6 at the top-center ofthe page. Signal descriptions are listed in Table 3-6:

3.3.7 Power Connector J7

A power connector, J7, is a 2.1-mm power jack provided for connection to the12-volt power supply included in the HC908MR32 motor control board kit.This power input connector is used only when the control board is operatingindependently from other boards in the embedded motion control tool set.

39 BEMF_sense_B BEMF_sense_B is an analog sense signal that measures phase B back EMF.

40 BEMF_sense_C BEMF_sense_C is an analog sense signal that measures phase C back EMF.


PinNo.



PinNo.


1 Unused N/A

2 RXD Data received by the PC from the control board

3 TXD Data transmitted from the PC to the control board

4 DTR PC indicates that it is ready to receive data

5 GND Common ground reference

6 Unused N/A

7 RTS PC requests to send data to the control board

8 Unused N/A

9 Unused N/A




Pin Descriptions

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3.4 Daughter Board Signal Descriptions

Pin assignments for daughter board connectors J1 and J2 are identified asfollows.

3.4.1 Daughter Board Connector J1

Daughter board 40-pin connector J1 mates with control board connector J3. Pinassignments for both connectors are identical. See Table 3-3.

3.4.2 Daughter Board Connector J2

Daughter board 40-pin connector J2 mates with control board connector J4. Pinassignments for both connectors are identical. See Table 3-4.




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...


Section 4. Schematics and Parts List

4.1 Contents

4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.4 Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.2 Overview

A set of schematics for the control and daughter boards appear in Figure 4-1through Figure 4-5. Figure 4-1 shows how the 68HC098MR32’s pinoutsmatch signal names on the control board. Figure 4-2 depicts the two 40-pinconnector connections that are made with either the daughter board or emulatorcable. Figure 4-3 through Figure 4-5 show the control board’s circuitry.

Unless otherwise specified, resistor values are in ohms, resistors are specifiedas 1/8-watt ± 5%, and interrupted lines coded with the same letters areelectrically connected.

Parts lists for the control and daughter boards appear in Table 4-1 andTable 4-2.

4.3 Schematics

Schematics for the control and daughter boards appear on the following pages.


MOTOROLA Schematics and Parts List 43 For More Information On This Product,


GN

D

X1

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.

S_C

GN

D

xEM

_Vdd

a

PTA3

C3

.1U

F

PTB4

/ATD

4

Zero

_cro

ss_C

PW

M3

PTE4

/TC

H0A

PTB5

/ATD

5

PW

M6

EM_R

ESET

PTA1

_ref

PTA0

PTE0

/TC

LKB

PFC

_inh

ibit

MU

X_C

MU

X_A

PTE7

/TC

H3A

GN

D

I_se

nse_

DC

B

4MH

z

PTE2

/TC

H1B

PW

M5

C2

.1U

F

IRQ

1/Vp

p

Zero

_cro

ss_A

RxD

R1

10M

PW

M4

PTA4

PTE5

/TC

H1A

PTB6

/ATD

6

LED

3

PTA5

Zero

_cro

ss_B

+5V_

D

PTC

3

PW

M2

Brak

e

GN

DA

PTE1

/TC

TCH

0B

PTC

1/AT

D9

PTB0

/ATD

0PT

B3/A

TD3

GN

D

C4

.1U

F

PTC

2

PTA2

Ove

rcur

rent

PTB7

/ATD

7

LED

1

PWM

GN

D

PTC

0/AT

D8

FLT3

TxD

PTE3

/TC

LKA

FLT4

PW

M1

U1 M

C68

HC

908M

R24

FU

3 4 175

50

6

54

7 11

64 53

201998 12 13 14 3215 1649

2 181 10

51

21 22 2924

33

23 25 26 27 28 30 3134353637383940414243444546474852555657585960616263

PTB4

/ATD

4PT

B5/A

TD5

PTC

6

PTB6

/ATD

6

V_dd

a

PTB7

/ATD

7

V_ss

a

PTC

0/AT

D8

V_re

fl

PTB1

/ATD

1

OSC

2

PTD

2/FA

ULT

3PT

D1/

FAU

LT2

V_dd

adPT

C1/

ATD

9

V_re

fhPT

C2

PTC

3

PTE0

/TC

LKB

PTC

4PT

C5

RST

PTB3

/ATD

3

PTD

0/FA

ULT

1

PTB2

/ATD

2

V_ss

ad

CG

MXF

C

PTD

3/FA

ULT

4PT

D4/

IS1

PWM

GN

D

PTD

6/IS

3

PTE1

/TC

H0B

PTD

5/IS

2

PW

M1

PW

M2

PW

M3

PW

M4

PW

M5

PW

M6

PTE2

/TC

H1B

PTE3

/TC

LKA

PTE4

/TC

H0A

PTE5

/TC

H1A

PTE6

/TC

H2A

PTE7

/TC

H3A

V_dd

V_ss

PTF0

/SPS

CK

PTF1

/SS

PTF2

/MO

SIPT

F3/M

ISO

PTF4

/RxD

PTF5

/TxD

IRQ

1/V_

pp

OSC

1

PTA0

PTA1

PTA2

PTA3

PTA4

PTA5

PTA6

PTA7

PTB0

/ATD

0

MU

X_B PT

E6/T

CH

2A

Ove

rvol

tage

V_se

nse_

DC

B

LED

2

Figu

re 4

-1.

Dau

ghte

r Boa

rd

+5V_

A

C1

.1U

F



CH

2A

PSCK)

CH

1B

CLK

B

hibi

t

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.

(Extra GND)

+5V_

D

PW

M1

PTE3

/TC

LKA

MU

X_C

ATD1)

PTE4

/TC

H0A

LED

1

PTE1

/TC

TCH

0B

(PTA7)

TARGET A

GN

DA

PW

M3

PW

M6

Zero

_cro

ss_C

(PTF3)

LED

3

GN

D

PTE6

/TLE

D2

PTC

2

PTB0

/ATD

0

(PTD5/IS2)

PW

M4

J3

EMU

_TO

P

1 432 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 202122232425262728293031323334353637383940

1 432 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 202122232425262728293031323334353637383940

GN

D

MU

X_A

V_A

_ref

(PTF1)

(PTF5/TxD)

PTC

3

PTB6

/ATD

6

PW

M5

(J6-28 xEM_Vssa)

RxD

(PTB2/ATD2)

(PTA6)

EM_R

ESET

S_C

(PTC6)

GN

D

PTB4

/ATD

4

PTA0

Zero

_cro

ss_A

TARGET B

(PTC4)

Zero

_cro

ss_B

Bra

ke

(PTF0/S

(Extra GND)

xEM

_Vdd

a

Ove

rcur

rent

3/AT

D3

I_se

nse_

DC

BJ4

EMU

_BO

T

1 432 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 202122232425262728293031323334353637383940

1 432 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 202122232425262728293031323334353637383940

(Extra GND)

PTE2

/T

PTE0

/T

PTA1

PTE7

/TC

H3A

PTE5

/TC

H1A

Ove

rvol

tage

(PTD6/IS3)

PTA3

PTC

0/AT

D8

MU

X_B

(J7-26 PWMGND)

(PTF2)

PW

M2

FLT4

7/AT

D7

TxD

+5V_

D

IRQ

1/Vp

p

(PTD1/FAULT2)

GN

D

5/AT

D5

(PTF4/RxD)

PTA4

PFC

_in

e_D

CB

(PTC5)

PTA2

PTA5

(PTD0/FAULT1)

(PTD4/IS1)

FLT3

1/AT

D9

Fi

gure

4-2

. C

onne

ctor

s J3

& J

4

(PTB1/

+5

PTB

PTB

PTB

V_s

ens

PTC



D

GN

D

+ C2

22uF

/10V

D/DIP

2 4 3

4 0nF

V_A

P6 M/J

umpe

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Figu

re 4

-3. C

ontr

ol B

oard

Circ

uitr

y (S

heet

1 o

f 3)

+5V_

R49

10k

Enco

der

C11

100n

F

D4

LED M

P11

PWM

4

PFC

_z_c

PTC

1/AT

D9

GN

D

JP4

JP2

MP2

0PT

E0

MP1

3PT

E7

PFC

_z_c

MP1

2/IR

Q

PWM

6

MP1

0PW

M5M

P47

ADC

8

P1 5k

3 1

2

+5V_

D

MP4

1AD

C2

MP4

6AD

C7

PTE0

/TC

LKB

PTE5

/TC

H1A

GN

DA

xEM

_Vdd

a

+

C13

10uF

/35V

MP2

2+5

V_D

+5V_

D

GN

DA

PTB0

/ATD

0

GN

D

MP1

7PT

E3M

P18

PTE2

+C

1822

uF/1

0V

MP4

0AD

C1

PWM

4

J5

12345678910111213141516171819202122232425262728293031323334353637383940

R4810k

PTB7

/ATD

7

MP3

9AD

C0

GN

DA

PFC

_inh

ibit

PWM

1

JP5

C22

100n

F

PTA1

C21

100n

F

GN

D

D3

LED

C23

22uF

/10V

Mot

or C

ontr

ol P

WM

s

V_se

nse_

DC

B

PTA5

MP3

5G

ND

A

GN

D

+5V_

D

D6

LED

MP2

3PW

M3

IRQ

1/Vp

p

R37

1.8k

PTB6

/ATD

6

MP4

3AD

C4

-15V

_A

+5V_

D

Speed Setup

PWM

3

JP3

R51 10k

D5

LED

S_C +3

.3V_

A

PTB4

/ATD

4

PTC

0/AT

D8

-12/

15V_

A

GN

D

+5V_

D

PFC

_PW

M

+5V_

R39

1.8k

SW2

Switc

h1 2

MP2

1G

ND

MP4

5AD

C6

D7

LED

PTB5

/ATD

5

MP9

PWM

6

MP1

4PE

6

MP1

9PT

E1

+12/

15V_

A

PTE2

/TC

H1B

MP8

GN

D

R2610k

R17

1.8k

+5V_

A_re

f

D8

LED

GN

D

PFC

_PW

M

MP2

7PW

M1

C10

100n

F

R31

1.8k

PTE4

/TC

H0A

PTA3

Zero

_cro

ss_B

PTE1

/TC

TCH

0B

+15V

_A

C 10

GN

D

PTB3

/ATD

3

R50 10k

PWM

2

R19

1.8k

MP4

2AD

C3

PTE6

/TC

H2A

PTE7

/TC

H3A

MP4

8AD

C9

R28

1.8k

+5V_

DR

27 10k

BEM

F_z_

c

Tach

o

D2

LED

PTE3

/TC

LKA

MP1

5PT

E5

SW1

Res

et

POR

T E

/ Tim

ers

PTA4

EM_R

ESET

MP4

4AD

C5

MP1

6PT

E4

+3.3

Zero

_cro

ss_C

PTA2

MP2

4PW

M2

R23

1.8k

Brak

e

PWM

5

SW3

Star

t/Sto

p

21

3

GN

D

Zero

_cro

ss_A

C20

100n

F

JP1

J S

SW4

Fwd/

Rev

21

3

GN

DA

FLT1

DS3

06-5

5Y5S

222M

501

3

2

Ana

log

to D

igita

l Con

vert

er

I_se

nse_

DC

B

PWM_CT

BEMF_sense_A

Sheilding

PWM_BT

+3.3V analog

PWM_AT G

ND

GNDA

I_sense_B

Sheilding

V_sense_DCB_5

Zero_cross_B

+12/15V_A

PFC_PWM

Temp_sense

+

BEMF_sense_C

Serial_Con

PFC_inhibit

+5V digital

Brake_control

I_sense_A

PWM_BB

PWM_AB

PFC_z_c

Zero_cross_C

Sheilding

-12/15V_A

Sheilding

I_sense_C

+5V digital

Zero_cross_A

GND

Sheilding

GNDA

+5V_

D

BEMF_sense_B

Sheilding

I_sense_DCB

Sheilding

C24

100n

F

PWM_CB

GND



Figu

re 4

-4. C

ontr

ol B

oard

Circ

uitr

y (S

heet

2 o

f 3)

)

PTA5

R40

1k PTC4)

7

RxD

TxD

MP3

8PT

A5

PTA0

PTC5)

PTA4

LED

3

D

PTC

2

LED

1

+5V_

D

PTC

3

LED

2

PTC6)

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.

+5V_

D

R34

10k

R25

1M

GN

DA

FLT3

J6

5 9 4 8 3 7 2 6 1

D11

LED

6 F

MP3

3LE

D2

MP3

1O

V

MP3

4LE

D1

MP3

6PT

A0

D15

1N41

48 S

MD

RTS

D13

MBR

0530

T1

R42

10k

+15V

_A

R47

1.8k

R21

1M

(PTF4/RxD

R41

15k

MP3

0O

C

MP2

6V_

DC

B_re

f

R24

10k

+5V_

A_re

f

U6

SFH

6106

14

23

GN

DA

C3

220n

F/10

0V

D9

LED

GN

DA

GN

DA

C27

100n

F

GN

D

GN

D

D22

MBR

0530

T1

D19

MBR

0530

T1

GND

(PTE7/TCH3A)

(

MP3

PTA4

R46

1.8k

C28

100n

F

+

C30

2.2u

F/35

V+5

V_D

GN

DA

GN

DA

+ -

U5A

LM33

9D

5 42

3 12

Ove

rvol

tage

C29

100n

F

Isolation Barrier

GN

D

t

D12

1N41

48 S

MD

V_se

nse_

DC

B

MP2

5I_

DC

B_re

f

R43

10k

R1

3.3k

C19

68pF

GN

DA

+C

2610

uF/3

5V

R36

15k

MP3

2LE

D3

GN

DA

MP5

0PT

C3

+5V_

A_re

f

Tach

o

GN

DA

GN

D

D16

1N41

48 S

MD

D20

MBR

0530

T1

D1

MM

SZ52

30BT

1

R32

15k

R52

1k

R5

3.3k

GN

D

FLT4

MP4

9PT

C2

(PTF5/TxD)

R44

1.8k

+C

3110

uF/3

5V

+5V_

D

R29

470

RXD

(R

92.

2k

R38

15k

D17

1N41

48 S

MD

R45

330

+12/

15V_

A

U8

MC

78L0

5AC

D8

1VI

N 2VO

UT

36

7

MP2

8FL

T4

R53

4.7k

R22

10k

+5V_

(PTD0/FAULT1)

D10

LED

1

2

3 V-V

U7

SFH

6106

14

23

TXD

R30

15k

+ -

U5B

LM33

9D

7 61

D21

MBR

0530

T1

JP7

GN

D_C

onne

ctio

n

MP2

9FL

T3

D18

MBR

0530

T1

D14

1N41

48 S

MD

+ -

U5C

LM33

9D

9 814

C25

100n

F

R20

10kU9

MC

78M

05C

DT

13

2

INO

UT

GN

D

+5V_

A_re

f

R35

10k

GN

D

+5V_

D

DTR

GN

DA

(+12V)

(

C17

68pF

R33

100k

+5V_

A_re

f

Ove

rcur

rent

C1

10n

+15V

_A

J1

Tach

o In

pu1 2

I_se

nse_

DC

B

J7Po

wer

Jac

k

+-V

GN

D



Figu

re 4

-5. C

ontr

ol B

oard

Circ

uitr

y (S

heet

3 o

f 3)

Enco

der

MF_

z_c

A)C15

10nF

F

ree

sca

le S

em

ico

nd

uc

tor,

I


c..

.

U3C

MC

74H

C03

AD

9 108

Zero

_cro

ss_C

GN

DU

1D

MC

74H

C03

AD

12 1311

(PTE6/TCH2A)

R3

1k

U3A

MC

74H

C03

AD

1 23

+5V_

D

+5V_

D

+

C1

2.2u

F/10

V

MU

X_C

+5V_

D

-12/

15V_

A

+5V_

D

r / put

R10

22

code

r

+5V_

D

+5V_

D

R16

5.6k

R12

22G

ND

C14

10nF

GN

D

R2

1k

R8

22

GN

D

VCC

R18

5.6k

C12

100n

F

+5V_

D

U1B

MC

74H

C03

AD

4 56

U3B

MC

74H

C03

AD

4 56

Zero

_cro

ss_A

(PTF2/MOSI)

+12/

15V_

A

Bac

k-EM

F Se

lect

ion

Logi

c

+5V_

D

MP5

+5V_

A_re

f

+5V_

DG

ND

C5

100n

F

BE

MP1

GN

D

R15

10k

+5V_

D

+3.3

V_A

U2C

MC

74H

C14

AD

56

MP6

+15V

_A

R13

10k

C8

470p

F

U4A

MC

74H

C86

D

1 23

(PTF3/MISO)

+5V_

D

(PTE6/TCH2

MU

X_A

Zero

_cro

ss_B

R6

22

GN

D

U2B

MC

74H

C14

AD

34

GN

DA

C6

470p

F

Filte

ring

& S

chm

itt T

rigge

r

+5V_

D

R14

10k

U1C

MC

74H

C03

AD

9 108

GN

D

U2A

MC

74H

C14

AD

12

MP3

GN

DA

R4

1k

MP4

+3.3

V_A

GN

D

+5V_

D

U3D

MC

74H

C03

AD

12 1311

C7

470p

F

MP2

+5V_

D

(PTF1/SS)

+5V_

A_re

f

MP7

-15V

_A

+5V_

D

C9

10nF

U4B

MC

74H

C86

D

4 56

Enco

der /

Hal

l Sen

sor

XOR

Log

ic

R7

22R

1122

GN

D

MU

X_B

Hal

l Sen

soEn

code

r In

J2

Hal

l Sen

sor /

En

1 2 3 4 5



Schematics and Parts ListParts Lists

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4.4 Parts Lists

The following two parts lists describe parts content for the control and daughterboards.

Table 4-1. Control Board Parts List

Designators Qty Description Manufacturer Part Number

C1 1 2.2 µF/10 Vdc tantalum Panasonic ECS-T1AY225R

C2, C18, C23 3 22 µF/10 Vdc tantalum Panasonic ECS-T1AC226R

C3 1 220 nF/63 Vdc polyester Philips/BC 2222 370 12224

C4, C5, C10, C11, C12,C20, C21, C22, C24, C25,C27, C28, C29

13 100 nF/50 Vdc ceramic Panasonic ECJ-2VF1H104Z

C6, C7, C8 3 470 pF/50 Vdc ceramic Panasonic ECU-V1H471JCX

C9, C14, C15, C16 4 10 nF/50 Vdc ceramic Panasonic ECJ-2VF1H103Z

C13, C26, C31 3 10 µF/35 Vdc tantalum Panasonic ECS-T1VD106R

C17, C19 2 68 pF/50 Vdc ceramic Panasonic ECU-V1H680JCG

C30 1 2.2 µF/35 Vdc tantalum Panasonic ECS-H1VC225R

D1 1 Zener diode, 4.7 VONSemiconductor

MMSZ5230BT1

D3–D8, D10 7 LED, yellow, 2 mA, 3 mm Kingbright L-934LYD

D11 1 LED, red, 2 mA, 3 mm Kingbright L-934LID

D2, D9 2 LED, green, 2 mA, 3 mm Kingbright L-934LGD

D12, D14–D17 5 1N4148 Vishay LL4148

D13, D18–D22 6 Schottky diodeONSemiconductor

MBR0530T1

FLT1 1 Filter muRata DS306-55Y5S222M50

JP1–JP5 1 Jumper 2x5 x.1ocBergElectronics

67997-210H

JP7 1 Jumper 2x1 x.1ocBergElectronics

67997-202H

J1 1Connector, tacho input,2-pin

AMP MTA-100-640456-2




Schematics and Parts List

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J2 1Connector, Hall input,5-pin

AMP MTA-100-640456-5

J3, J4 2 2x20-pin connector (male)BergElectronics

89465-120

J5 1 UNI 2x20x.1" shrouded 3M 2540-6002UB

J6 1 DB-9 connector Keltron DNR-09SCJB-SG

J7 1 Power connector Switchcraft RAPC722

P1 1 Potentiometer 5 kClarostatSensors andControls, Inc.

392-JA-502

R1, R5 23.3 kΩ resistor 1/10W 5%0805

Anyacceptable

R2, R3, R4, R40, R52 51 kΩ resistor 1/10W 5%0805

Anyacceptable

R6, R7, R8, R10, R11, R12 622 Ω resistor 1/10W 5%0805

Anyacceptable

R9 12.2 kΩ resistor 1/10W 5%0805

Anyacceptable

R13, R14, R15, R20, R22,R24, R26, R27, R42, R43,R48–R51

1410 kΩ resistor 1/10W 5%0805

Anyacceptable

R16, R18 25.6 kΩ resistor 1/10W 5%0805

Anyacceptable

Table 4-1. Control Board Parts List (Continued)



50 Schematics and Parts List MOTOROLA For More Information On This Product,


Schematics and Parts ListParts Lists

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Table 4-2. Daughter Board Parts List


R17, R19, R23, R28, R31,R37, R39, R44, R46, R47

101.8 kΩ resistor 1/10W 5%0805

Anyacceptable

R21, R25 11 MΩ resistor 1/10W 5%0805

Anyacceptable

R29 1560 Ω (was 470 Ω) resistor1/10W 5% 0805

Anyacceptable

R30, R32, R36, R38, R41 515 kΩ resistor 1/10W 5%0805

Anyacceptable

R33 1330 kΩ (was 100 kΩ)resistor 1/10W 5% 0805

Anyacceptable

R45 1330 Ω resistor 1/10W 5%0805

Anyacceptable

R53 14.7 kΩ resistor 1/10W 5%0805

Anyacceptable

R34, R35 2 10 kΩ SMT trimmer Bourns 3364W-1-103E

SW1 1 Push-button switch NKK Switches CB15FP

SW2 1 2-position DIP switch CTS 206-2

SW3, SW4 2 SPDT toggle switch NKK Switches M2012SS1G03

U1, U3 2Quad NAND-opencollector

ON Semi MC74HC03AD

U2 1 Quad Schmitt trigger ON Semi MC74HC14AD

U4 1 Quad exclusive OR ON Semi MC74HC86AD

U5 1 Quad comparator ON Semi LM339D

U6, U7 2 Opto coupler Siemens SFH6106

U8 1 Voltage regulator ON Semi MC78L05ACD

U9 1 Voltage regulator ON Semi MC78M05CDT

Install on JP1, JP2, JP4,JP5, JP7

5 ShuntSpecialtyElectronics

2JM-G

No designator 1 Knob for P1Thomas &Bates

PKG-40B-1/8

No designator 5 Stick-on rubber feet Fastex 5033-01-00-5001




Schematics and Parts List

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C1, C2, C3, C4 4 0.1UF cap 25 Vdc 0805 Digi-Key PCC1828CT-ND

J1, J2 22x20-pin connector(female)

Berg 87012-620

R1 110 MΩ resistor 1/10W0805

Digi-Key P10MGCT-ND

U1 1Microprocessor68HC908MR32

Motorola 68HC908MR32CFU

X1 1 Ceramic resonator 4 MHz muRata CSTCC4.00MG

XU1 1 Socket for U1 Enplas FPQ-64-0.8-02

Table 4-2. Daughter Board Parts List (Continued)



52 Schematics and Parts List MOTOROLA For More Information On This Product,


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Section 5. Design Considerations

5.1 Contents

5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.3 Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

5.4 Simultaneous Conduction Lockout. . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.5 Dead Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.6 Power-Up/Power-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.7 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.8 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.9 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.10 Optoisolated RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.11 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.2 Overview

Motor drive systems have a number of important design considerations relatedto noise management and protection of the power transistors. They includenoise management of Hall sensor inputs, simultaneous conduction lockout,dead time, power-up/power-down, and grounding.

These design considerations are discussed in 5.3 Sensor Inputs through 5.7Grounding. A description of some of the control board’s circuits is included in5.8 Fault Circuits through 5.11 Back EMF Signals.


MOTOROLA Design Considerations 53 For More Information On This Product,


Design Considerations

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5.3 Sensor Inputs

For brushless motors that use Hall sensor inputs for commutation, noiseimmunity of the sensor inputs is a key design consideration. Noise on theseinputs can be particularly troublesome, since commutating to the wrong stateprecludes smooth operation of the motor. To facilitate noise robust sensorinputs, Schmitt triggers have been placed between the Hall sensor inputconnector and the processor. Schmitt triggers improve noise immunity byadding hysteresis to the signal paths. In addition, the sensor inputs are filteredwith 100-ns single-pole filters, as shown in Figure 5-1. Using relatively lowvalue pullup resistors, on the order of 1 kΩ, provides an additional measure ofnoise immunity.

How the code is written also has an important influence on noise robustness.Since the sequence of commutation is known, based upon the state of theforward/reverse input, it is relatively easy to detect an out-of-sequence Hallsensor input. Generally, when this occurs it is desirable to turn off all the powertransistors until a valid Hall code is received.

Figure 5-1. Hall Sensor Inputs

HALL A

HALL B

HALL C

R1310 kΩ

R1410 kΩ

R1510 kΩ

+5V_D

+5V_D

+5V_D

11

6

8

MC74HC03AD

MC74HC03AD

MC74HC03AD

U1D

U1B

U1C

12

13

4

5

9

10MC74HC14AD

MC74HC14AD

MC74HC14AD

6

4

21

3

5

U2C

U2B

U2AR1022 Ω

R1122 Ω

R1222 Ω

R822 Ω

R722 Ω

R622 Ω

+5V_D

+5V_D

+5V_D+5V_D

R21 kΩ

R31 kΩ

R41 kΩ

C6470 pF

C7470 pF

C8470 pF

HALL SENSOR/ENCODER

12345

GND

GND

GND

GND

J2


54 Design Considerations MOTOROLA For More Information On This Product,


Design ConsiderationsSimultaneous Conduction Lockout

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5.4 Simultaneous Conduction Lockout

Especially on a machine that will be used for software development, it isdesirable to prevent simultaneous conduction of upper and lower powertransistors in the same phase. This feature is built into the 68HC908MMR32’sPWM module. Once the PWM module has been initialized correctly,simultaneous conduction of a top and bottom output transistor in the same phaseis locked out. Software errors that occur after initialization is completed will,therefore, not destroy power stage output transistors by turning on the top andbottom of one-half bridge simultaneously. This feature also preventssimultaneous conduction in the event of a noise-induced software runaway.

5.5 Dead Time

In Induction motor drives, providing dead time between turn-off of one outputtransistor and turn-on of the other output transistor in the same phase is animportant design consideration. Dead time is also a feature that is built into the68HC908MR32’s PWM module. It is programmable to accommodate a varietyof gate drives and output transistors. In this tool set, 2 µs of dead time has beenselected for operation with the high-voltage power stages.

5.6 Power-Up/Power-Down

When power is applied or removed, it is important that top and bottom outputtransistors in the same phase are not turned on simultaneously. Since logic statesare not always defined during power-up, it is important to ensure that all powertransistors remain off when the controller’s supply voltage is below its normaloperating level. The 68HC908MR32’s PWM module outputs make this easy byswitching to a high-impedance configuration whenever the 5-volt supply isbelow its specified minimum.

The embedded motion control tool set’s power boards have pull-down resistorsat all of the gate drive inputs. This feature, coupled with the 68HC908MR32PWM module’s outputs, ensures that all power transistors remain off duringpower-up and power-down.





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5.7 Grounding

Board layout is an important design consideration. In particular, ground planesand how grounds are tied together influence noise immunity. In order tomaximize noise immunity, it is important to get a good ground plane under the68HC908MR32. Because it is also important to separate analog and digitalgrounds, there are two ground designations, GND and GNDA. GND is thedigital ground plane and power supply return and GNDA is the analog circuitground. They are both the same reference voltage, but are routed separately, andtie together at only one point.

In a design that uses the MR32’s PWM outputs to directly drive opto couplers,it is also a good idea to section the digital ground plane around the PWMmodule’s outputs. That way the relatively high return current associated withthe PWM outputs does not flow all over the board.

5.8 Fault Circuits

Two fault signals are generated from analog bus current and bus voltagefeedback signals, I_sense_DCB and V_sense_DCB. These analog signals arefed into comparators that have adjustable reference voltages, as shown inFigure 5-2.

The comparator outputs provide digital signals to the MR32’s FAULT 1 andFAULT 2 inputs, respectively. Should one or both occur, these faults will forcethe PWM module into a known inactive state, protecting the power stageoutputs. One MΩ resistors R21 and R25 add 20 mV of hysteresis to aid withnoise immunity.




Design ConsiderationsFault Circuits

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Figure 5-2. Fault Circuits

+

–Overcurrent(FAULT2)LM339D

R2010 kΩ

MP25I_DCB_ref

GNDA

+5V_D

17

6

R3410 kΩ

R4115 kΩ

R3815 kΩ

R211 MΩ

GNDA

+5V_A_ref

U5B

I_sense_DCB

C1968 pF

+

–Overvoltage(FAULT1)LM339D

R2210 kΩ

MP26V_DCB_ref

GNDA

+5V_D

149

8

R3510 kΩ

R3615 kΩ

R3015 kΩ

R251 MΩ

GNDA

+5V_A_ref

U5C

V_sense_DCB

C1768 pF





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5.9 Tachometer Input

One method for measuring motor speed is to use the analog ac output signalfrom a tachometer connected to the motor’s shaft. The conditioned signal thencan be carried into a timer interrupt on the MR32. The period between interruptsis used to calculate motor shaft speed. The circuit in Figure 5-2 is used to“square” the ac signal from the tachometer output into a digital signalacceptable to the timer. The input of this circuit has a threshold ofapproximately 180 mV. Its input hysteresis is set at approximately 20 mV to aidwith noise immunity.

Figure 5-3. Tachometer Input

5.10 Optoisolated RS-232 Interface

RS-232 serial communication is provided by the circuit in Figure 5-4. It isoptically isolated for safety and is suitable for communication rates up to9600 baud.

Figure 5-4. RS-232 Interface

+

–Tacho

LM339D

3.3 kΩ

R24

3.3 kΩ 2.2 kΩ

R32

100 kΩ

(PTE7/TCH3A)

+5V_D+5V_A_ref

+12/15V_A

R29

GND

GNDAGNDA

GNDA C3MMSZ5230BT1TACHO INPUT

12

5

4

3

2

2

GNDA

1

R33

10 kΩ

470 ΩD1

15 kΩ

220 nF/100 V

R1 R5 R9J1

59

48

37

26

1

J6GND

DTR

TxDRTSRxD

(+12 V)

D151N4148 SMD R53

4.7 kΩC302.2 µF/35V

+

D121N4148 SMD

D141N4148 SMD

R521 kΩ

U6SFH6106

R45

SFH6106

330 Ω+5V_D

TxD

RxD

1

2

4

3

1

2

4

3

U7

GND

+5V_D

R401 kΩ

(PTF5/TxD)

ISOLATION BARRIER

(PTF4/RxD)




Design ConsiderationsOptoisolated RS-232 Interface

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The EIA RS-232 specification states that signal levels can range from ±3 voltsto ±25 volts. A mark is defined as a signal that ranges from –3 volts to –25 volts.A space is defined as a signal that ranges from +3 volts to +25 volts. Therefore,to meet the RS-232 specification, signals to and from a terminal must transitionthrough 0 volts as they change from a mark to a space. Breaking the isolatedRS-232 circuit into input and output sections makes explanation of the circuitsimpler.

Input interface is through opto coupler U6. To send data from a PC through U6,it is necessary to satisfy the SCI input on the MR32. In the idle condition, theSCI input must be at a logic 1. To accomplish that, the transistor in U6 must beoff. The idle state of the transmit data line (TXD) on the PC serial port is a mark(–3 V to –25 V). Therefore, the diode in U6 is off and the transistor in U6 is off,yielding a logic 1 to the SCI input. When the start bit is sent to the SCI from thePC’s serial port, the PC’s TXD transitions from a mark to a space (+3 V to+25 V), forward biasing the diode in U6. Forward biasing the diode in D3 turnson the transistor in U6, providing a logic 0 to the input of the SCI. Simply stated,the input half of the circuit provides input isolation, signal inversion, and levelshifting from the PC to the MR32’s SCI port. An RS-232 line receiver, such asan MC1489, serves the same purpose without the optoisolation function.

To send data from the MR32 control board to a PC serial port input, it isnecessary to satisfy the PC’s receive data (RXD) input requirements. In an idlecondition, the RXD input to the PC must be at mark (–3 V to –25 V). The dataterminal ready output (DTR) on the PC outputs a mark when the port isinitialized. The request to send RTS output is set to a space (+3 V to +25 V)when the PC’s serial port is initialized. Because the interface is half-duplex, thePC’s TXD output is also at a mark, as it is idle. The idle state of the transmitdata line (TXD) on the MR32’s SCI is a logic 1. The logic 1 out of the SCI’soutput port forces the diode in U7 to be turned off. With the diode in U7 turnedoff, the transistor in U7 is also turned off. The junction of D12 and D15 are at amark (–3 V to –25 V). With the transistor in U7 turned off, the input is pulledto a mark through current limiting resistor R53, satisfying the PC’s serial inputin an idle condition. When a start bit is sent from the MR32’s SCI port to theoutput of the MR32’s SCI, output transitions to a logic 0. That logic 0 turns onthe diode in U5, thus turning on the transistor in U7. The conducting transistorin U5 passes the voltage output from the PC’s RTS output, that is now at a space(+3 V to +25 V), to the PC’s receive data (RXD) input. Capacitor C30 is abypass capacitor used to “stiffen” the mark signal. The output half of the circuit





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provides output isolation, signal inversion, and level shifting from the MR32’sSCI output port to the PC’s serial port. Again an RS-232 line driver, such as anMC1488, serves the same purpose without the optoisolation function.

5.11 Back EMF Signals

Back EMF signals are provided for sensorless control of brushless dc motorsand dead time distortion correction in ac induction motors. Analog signalsBEMF_sense_A, BEMF_sense_B, and BEMF_sense_C are passed directlyfrom connector J5 pins 38, 39, and 40 to A/D inputs ADC7, ADC8, and ADC9.Digital signals Zero_cross_A, Zero_cross_B, and Zero_cross_C are routed tothe circuit illustrated in Figure 5-5.

Figure 5-5. Zero Cross Back EMF Circuit

R165.6 kΩ

R185.6 kΩ

Zero_cross_A

Zero_cross_B

Zero_cross_C

MUX_A

MUX_B

MUX_C

+5V_D+5V_D

MC74HC03AD

MC74HC03AD

MC74HC03AD

MC74HC03AD

BEMF_z_c

1

2

4

5

12

1311

6

3

U3A

U3B

U3D

(PTE6/TCH2A)

U3C9

108




Design ConsiderationsBack EMF Signals

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The back-EMF selection logic in Figure 5-5 is designed to provide an interruptto channel 2 of the MR32’s timer A input upon each motor phase’szero-crossing. The three open collector NAND gates U3A, U3B, andU3D arewire ORed such that any one of these outputs switching to logic 0 will providean interrupt to the MR32’s timer A input. MUXA, MUXB, and MUXC inputsto the NAND gates enable zero cross signals from each phase to interrupt theprocessor. During system operation, the software is aware of the window whena zero-crossing interrupt should occur for any given phase. MUXA, MUXB,and MUXC inputs to the NAND gates are enabled for each phase during itscomputed zero cross window. This technique increases noise robustness byeliminating noise glitches from triggering false interrupts outside of thecomputed zero cross-windows.





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MEMCMR32CBUM/D

© Motorola, Inc., 2000

Motorola reserves the right to make changes without further notice to any products herein. Motorola makes no warranty, representation or guarantee regarding the suitability of itsproducts for any particular purpose, nor does Motorola assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability,including without limitation consequential or incidental damages. "Typical" parameters which may be provided in Motorola data sheets and/or specifications can and do vary in differentapplications and actual performance may vary over time. All operating parameters, including "Typicals" must be validated for each customer application by customer's technical experts.Motorola does not convey any license under its patent rights nor the rights of others. Motorola products are not designed, intended, or authorized for use as components in systemsintended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the Motorola product could create asituation where personal injury or death may occur. Should Buyer purchase or use Motorola products for any such unintended or unauthorized application, Buyer shall indemnify and holdMotorola and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of,directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that Motorola was negligent regarding thedesign or manufacture of the part. Motorola and are registered trademarks of Motorola, Inc. Motorola, Inc. is an Equal Opportunity/Affirmative Action Employer.

How to reach us:USA/EUROPE/Locations Not Listed: Motorola Literature Distribution, P.O. Box 5405, Denver, Colorado 80217. 1-303-675-2140

or 1-800-441-2447. Customer Focus Center, 1-800-521-6274JAPAN: Motorola Japan Ltd.; SPS, Technical Information Center, 3-20-1, Minami-Azabu, Minato-ku, Tokyo 106-8573 Japan.

81-3-3440-8573ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd.; Silicon Harbour Centre, 2 Dai King Street, Tai Po Industrial Estate,

Tai Po, N.T., Hong Kong. 852-26668334HOME PAGE: http://motorola.com/semiconductors/

For More Information On This Product, Go to: www.freescale.com

Documents

I MC68HC908MR32 Control Board - NXP Semiconductors · 2016. 11. 23. · MEMCMR32CBUM/D Rev. 1.0 Motorola Embedded Motion ControlMC68HC908MR32 NON-DISCLOSURE AGREEMENT REQUIRED Control