MOTOROLA.COM/SEMICONDUCTORSM68HC08MicrocontrollersDRM028/DRev. 0, 03/2003Sensorless BLDCMotor ControlUsing theMC68HC908MR32ManualDesigner Reference
List of FiguresDesigner Reference Manual DRM028 — Rev 010 MOTOROLA4-5 3-Phase AC High Voltage Power Stage . . . . . . . . . . . . . . . . . .674-6 Bl
Software DesignDesigner Reference Manual DRM028 — Rev 0100 Software Design MOTOROLAExplained in 5.5.5 Back-EMF Acquisition State. The difference is t
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 101 Figure 5-11. Running StateDONESCHEDULERMEASUREMENTSSE
Software DesignDesigner Reference Manual DRM028 — Rev 0102 Software Design MOTOROLA5.5.7 Stop StateWhen motor stop is required, the PWM signals are
Software DesignImplementation NotesDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 103 The failure (Failure = 0) is tested. In manual
Software DesignDesigner Reference Manual DRM028 — Rev 0104 Software Design MOTOROLA5.6.2 BLDC Commutation and Zero Crossing SelectionThe required BL
Software DesignImplementation NotesDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 105 PVAL6L registers. Then the back-EMF zero cross
Software DesignDesigner Reference Manual DRM028 — Rev 0106 Software Design MOTOROLA5.6.4 TimersTimer 1 and timer 2 are implemented using MC68HC08MR3
Software DesignImplementation NotesDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 107 • The value T2 (e.g., T2 = T_Cmt + Per_HlfCmt)
Software DesignDesigner Reference Manual DRM028 — Rev 0108 Software Design MOTOROLA Freescale Semiconductor, I
DRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 109 Designer Reference Manual — Sensorless BLDC Motor ControlSection 6. User Guide6.1 Con
DRM028 — Rev 0 Designer Reference Manual MOTOROLA 11 Designer Reference Manual — Sensorless BLDC Motor ControlList of TablesTable Title Page2-1 Softwa
User GuideDesigner Reference Manual DRM028 — Rev 0110 User Guide MOTOROLA6.2.2 Maximal Application SpeedThe maximal motor speed is limited by the mi
User GuideApplication Suitability GuideDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 111 6.2.4.1 Effect of Mutual Phase CapacitanceThe
User GuideDesigner Reference Manual DRM028 — Rev 0112 User Guide MOTOROLA6.3 WarningThis application operates in an environment that includes danger
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 113 6.4 Application Hardware and
User GuideDesigner Reference Manual DRM028 — Rev 0114 User Guide MOTOROLA6.4.1.1 High-Voltage Hardware Set ConfigurationThe system configuration for
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 115 Figure 6-2. Low-Voltage Evalu
User GuideDesigner Reference Manual DRM028 — Rev 0116 User Guide MOTOROLAFigure 6-3. Low-Voltage Hardware System ConfigurationNOTE: All the system pa
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 117 Figure 6-4. Controller Board6
User GuideDesigner Reference Manual DRM028 — Rev 0118 User Guide MOTOROLAFor application PC master software (remote) control, the following software
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 119 • ...\bldc_zerocros08MR32\sou
List of TablesDesigner Reference Manual DRM028 — Rev 012 MOTOROLA Freescale Semiconductor, I Free
User GuideDesigner Reference Manual DRM028 — Rev 0120 User Guide MOTOROLA• ...\bldc_zerocros08MR32\sources\ram.c, general RAM definitions• ...\bldc_z
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 121 6.4.3 Software Execution6.4.
User GuideDesigner Reference Manual DRM028 — Rev 0122 User Guide MOTOROLANOTE: Remember, the MMDS MCU clock must be set to 4 MHz. Change the crystal
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 123 6.4.4.1 Manual Operating Mod
User GuideDesigner Reference Manual DRM028 — Rev 0124 User Guide MOTOROLANOTE: After you start the PC master software, the algorithm block descriptio
User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 125 NOTE: Application control fro
User GuideDesigner Reference Manual DRM028 — Rev 0126 User Guide MOTOROLA6.5 Tuning for Customer MotorThis section describes how to modify the softw
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 127 frequency or to the current regulator sampling peri
User GuideDesigner Reference Manual DRM028 — Rev 0128 User Guide MOTOROLAFigure 6-7. Follow-up for Software Customizing to Customer MotorINCLUDE APPR
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 129 Figure 6-8. Follow-up for Advanced Software Customi
DRM028 — Rev 0 Designer Reference ManualMOTOROLA Introduction 13 Designer Reference Manual — Sensorless BLDC Motor ControlSection 1. Introduction1.1
User GuideDesigner Reference Manual DRM028 — Rev 0130 User Guide MOTOROLAsetting, and PC master software “oscilloscope“ windows for watching dedicate
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 131 ...\bldc_zerocros08MR32\pc_master\tuning_bldc.pmpAf
User GuideDesigner Reference Manual DRM028 — Rev 0132 User Guide MOTOROLANOTE: The software parameters can be temporarily modified and evaluated usin
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 133 /* MUST_CHANGE_nn: */Label for changes which must b
User GuideDesigner Reference Manual DRM028 — Rev 0134 User Guide MOTOROLA6.5.3 Parameters File SelectionAs explained before (see Software Setup) one
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 135 /* MUST_IF_HW_CHANGE_1: */#define DUTY_PWM_MAX 0.96
User GuideDesigner Reference Manual DRM028 — Rev 0136 User Guide MOTOROLAMinimal measurable current determined by hardware current sensing [A]:/* MUS
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 137 When the software parameters are set for the hardwa
User GuideDesigner Reference Manual DRM028 — Rev 0138 User Guide MOTOROLAVOLT_MIN_FAULT_V determines the minimal voltage when the drive fault state s
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 139 CURR_MAX_FAULT_A should be changed for a motor with
IntroductionDesigner Reference Manual DRM028 — Rev 014 Introduction MOTOROLAOnce using the semiconductor components, it is opened to replace classica
User GuideDesigner Reference Manual DRM028 — Rev 0140 User Guide MOTOROLA#define CURR_PIREG_I_GAINSCALELEFT 0Range: <0,8>/* MUST_CHANGE_5_EXPER
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 141 on the Current Parameters Tuning\New Scope, or meas
User GuideDesigner Reference Manual DRM028 — Rev 0142 User Guide MOTOROLA9. If CURR_PIREG_P_GAIN is set to 128, do further proportional gain increase
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 143 22. Observe the current transient at Alignment star
User GuideDesigner Reference Manual DRM028 — Rev 0144 User Guide MOTOROLA6.5.5.1 Commutation ParametersCommutation time period to discharge coil cur
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 145 In the real system, the ZC-Cmt angle is a little bi
User GuideDesigner Reference Manual DRM028 — Rev 0146 User Guide MOTOROLARunning state, or has a low start-up torque, DO decrease or increase the PER
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 147 START_INCR_OOUTREG should not necessarily be change
User GuideDesigner Reference Manual DRM028 — Rev 0148 User Guide MOTOROLA#define SPEED_PIREG_I_GAIN 08. in const_cust_x.h file9. Build and run the co
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 149 Figure 6-13. PC Master Software Start Parameters Tu
DRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 15 Designer Reference Manual — Sensorless BLDC Motor ControlSection 2. System Des
User GuideDesigner Reference Manual DRM028 — Rev 0150 User Guide MOTOROLAit is recommended to change START_INCR_OOUTREG by PC master software. (If it
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 151 COMMUT_REV period must be changed for any motor acc
User GuideDesigner Reference Manual DRM028 — Rev 0152 User Guide MOTOROLASPEED_MIN_RPM determines the minimal desired speed. It must be changed for a
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 153 Range: <0,255>where the current regulator int
User GuideDesigner Reference Manual DRM028 — Rev 0154 User Guide MOTOROLAFigure 6-14. PC Master Software Speed Parameters Tuning Window5. Build and r
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 155 9. Set PC master software control mode and start mo
User GuideDesigner Reference Manual DRM028 — Rev 0156 User Guide MOTOROLA22. Set minimal speed23. Set maximal speed and observe the speed transient24
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 157 Range: <1,255>The final PWM period is defined
User GuideDesigner Reference Manual DRM028 — Rev 0158 User Guide MOTOROLAFor current sampling period setting follow the label CAN_CHANGE_PERCURSAMP_n
User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 159 software may not be suitable for some applications.
System DescriptionDesigner Reference Manual DRM028 — Rev 016 System Description MOTOROLAFigure 2-1System ConceptDuring the rotor alignment state, th
User GuideDesigner Reference Manual DRM028 — Rev 0160 User Guide MOTOROLA Freescale Semiconductor, I
DRM028 — Rev 0 Designer Reference ManualMOTOROLA References 161 Designer Reference Manual — Sensorless BLDC Motor ControlAppendix A. References1. Sens
ReferencesDesigner Reference Manual DRM028 — Rev 0162 References MOTOROLAMotor using MC68HC(7)05MC4 (document order number AN1627), Motorola Fre
DRM028 — Rev 0 Designer Reference ManualMOTOROLA Glossary 163 Designer Reference Manual — Sensorless BLDC Motor ControlAppendix B. GlossaryAC — Altern
GlossaryDesigner Reference Manual DRM028 — Rev 0164 Glossary MOTOROLAECMTREVAL — Evaluation Motor Board Kit (supplied in kit with trapezoidal BLDC IB
GlossaryDRM028 — Rev 0 Designer Reference ManualMOTOROLA Glossary 165 PCM — PC master software for communication between PC computer and systemphase-l
GlossaryDesigner Reference Manual DRM028 — Rev 0166 Glossary MOTOROLA Freescale Semiconductor, I F
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HOW TO REACH US:USA/EUROPE/LOCATIONS NOT LISTED:Motorola Literature Distribution; P.O. Box 5405, Denver, Colorado 80217 1-303-675-2140 or 1-800-441-24
System DescriptionSystem SpecificationDRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 17 The A/D converter is also used to sense
System DescriptionDesigner Reference Manual DRM028 — Rev 018 System Description MOTOROLA2.3.1 Software SpecificationThe application software is pra
System DescriptionSystem SpecificationDRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 19 2.3.2 Hardware and Drive Specifications
Freescale Semiconductor, I Freescale Semiconductor, Inc.For More Information On This Product, Go
System DescriptionDesigner Reference Manual DRM028 — Rev 020 System Description MOTOROLAand motor set are listed in Table 2-2. The hardware operates
System DescriptionSystem SpecificationDRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 21 2.3.2.2 Low-Voltage Evaluation Hardware
System DescriptionDesigner Reference Manual DRM028 — Rev 022 System Description MOTOROLATable 2-4. Low Voltage Hardware Set SpecificationsHardware B
DRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 23 Designer Reference Manual — Sensorless BLDC Motor ControlSection 3. BLDC Motor
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 024 BLDC Motor Control MOTOROLAFigure 3-1. BLDC Motor Cross SectionThe motor can have more t
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 25 back-EMF and commutation eve
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 026 BLDC Motor Control MOTOROLAFigure 3-3. BLDC Motor Back EMF and Magnetic FluxThe filled a
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 27 3.2.2 3-Phase BLDC Power St
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 028 BLDC Motor Control MOTOROLAFigure 3-5. Power Stage — Motor TopologyThe second goal of th
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 29 3.2.4.1 Stator Winding Equa
DRM028 — Rev 0 Designer Reference ManualMOTOROLA 3 Sensorless BLDC Motor Control Using the MC68HC908MR32Designer Reference Manual — Rev 0by: Libor Pro
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 030 BLDC Motor Control MOTOROLAAfter evaluation the expression of the branch voltage uVc is
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 31 Figure 3-6. Phase Voltage Wa
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 032 BLDC Motor Control MOTOROLAFigure 3-7. Mutual Inductance EffectDue to the construction o
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 33 Figure 3-8. Detail of Mutual
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 034 BLDC Motor Control MOTOROLAFigure 3-9. Mutual Capacitance ModelLet us focus on the situa
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 35 Figure 3-10. Distributed Bac
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 036 BLDC Motor Control MOTOROLAFigure 3-11. Balanced Capacity CouplingNOTE: The configuratio
BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 37 Figure 3-12. Back-EMF Sensin
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 038 BLDC Motor Control MOTOROLAFigure 3-13. The Zero Crossing Detection3.3 Used Control Tec
BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 39 position is known, and can be used to c
Revision historyDesigner Reference Manual DRM028 — Rev 04 MOTOROLATo provide the most up-to-date information, the revision of our documents on the Wo
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 040 BLDC Motor Control MOTOROLAThe current controller subroutine, with PI regulator, is call
BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 41 • BLDC motor commutation service• Back-
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 042 BLDC Motor Control MOTOROLAFigure 3-16. BLDC Commutation with Back-EMFZero Crossing Sens
BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 43 Figure 3-17. BLDC Commutation Time with
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 044 BLDC Motor Control MOTOROLAThe best commutation was get with Advance_angle: 60Deg*1/8 =
BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 45 Per_HlfCmt = Period from zero crossing
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 046 BLDC Motor Control MOTOROLAduring several commutations, while producing the required tor
BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 47 Figure 3-18. Vectors of Magnetic Fields
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 048 BLDC Motor Control MOTOROLAFigure 3-19 demonstrates the back-EMF during the start up. Th
BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 49 Figure 3-20. Calculation of the Commuta
DRM028 — Rev 0 Designer Reference ManualMOTOROLA 5 Designer Reference Manual — Sensorless BLDC Motor ControlList of SectionsSection 1. Introduction .
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 050 BLDC Motor Control MOTOROLACoef_Toff = 0.5 at Running state, Per_Dis = 150 with default
BLDC Motor ControlApplication ControlDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 51 3.4.1.1 Communication with PC Master Soft
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 052 BLDC Motor Control MOTOROLA3.4.1.3 PC Master Software, BLDC Control MCU Software API, C
BLDC Motor ControlApplication ControlDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 53 Type: S8- signed 8 bit, U8- unsigned 8 bit
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 054 BLDC Motor Control MOTOROLA unsigned int Switch_Start : 1; /* BIT0 Switch START/STOP
BLDC Motor ControlApplication ControlDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 55 The Sp_Input variable is used for speed co
BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 056 BLDC Motor Control MOTOROLA Freescale Semiconductor, I
DRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 57 Designer Reference Manual — Sensorless BLDC Motor ControlSection 4. Hardware Desi
Hardware DesignDesigner Reference Manual DRM028 — Rev 058 Hardware Design MOTOROLA• 3-Phase AC/BLDC High Voltage Power Stage• Optoisolation Board• 3
Hardware DesignSystem Configuration and DocumentationDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 59 4.2.1 High-Voltage Hardware
List of SectionsDesigner Reference Manual DRM028 — Rev 06 MOTOROLA Freescale Semiconductor, I Free
Hardware DesignDesigner Reference Manual DRM028 — Rev 060 Hardware Design MOTOROLA– Described in: MC68HC908MR32 Control Board — User’s Manual (Motor
Hardware DesignSystem Configuration and DocumentationDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 61 4.2.2 Low-Voltage Evaluatio
Hardware DesignDesigner Reference Manual DRM028 — Rev 062 Hardware Design MOTOROLA– Described in: MC68HC908MR32 Control Board — User’s Manual (Motor
Hardware DesignSystem Configuration and DocumentationDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 63 Figure 4-3. Low-Voltage Hard
Hardware DesignDesigner Reference Manual DRM028 — Rev 064 Hardware Design MOTOROLA– Described in: Motorola Embedded Motion Control 3-Phase BLDC Low-
Hardware DesignAll HW Sets ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 65 through the 40-pin ribbon cable from the opt
Hardware DesignDesigner Reference Manual DRM028 — Rev 066 Hardware Design MOTOROLA4.4 High-Voltage Hardware Set Components4.4.1 3-Phase AC/BLDC Hi
Hardware DesignHigh-Voltage Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 67 230-volt dc power supply or an
Hardware DesignDesigner Reference Manual DRM028 — Rev 068 Hardware Design MOTOROLA4.4.2 Optoisolation BoardMotorola’s embedded motion control serie
Hardware DesignHigh-Voltage Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 69 250 ns for digital signals, an
DRM028 — Rev 0 Designer Reference ManualMOTOROLA 7 Designer Reference Manual — Sensorless BLDC Motor ControlTable of ContentsSection 1. Introduction1.
Hardware DesignDesigner Reference Manual DRM028 — Rev 070 Hardware Design MOTOROLA4.4.3 3-phase BLDC High Voltage Motor with Motor BrakeThe High Vo
Hardware DesignLow-Voltage Evaluation Motor Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 71 4.5.1.1 Elect
Hardware DesignDesigner Reference Manual DRM028 — Rev 072 Hardware Design MOTOROLA4.6 Low-Voltage Hardware Set Components4.6.1 3-Ph AC/BLDC Low Vo
Hardware DesignLow-Voltage Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 73 The LV BLDC power stage has bot
Hardware DesignDesigner Reference Manual DRM028 — Rev 074 Hardware Design MOTOROLA4.6.2 3-phase BLDC Low Voltage Motor with Motor BrakeThe Low Volt
DRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 75 Designer Reference Manual — Sensorless BLDC Motor ControlSection 5. Software Desig
Software DesignDesigner Reference Manual DRM028 — Rev 076 Software Design MOTOROLA5.3.1 Software Variables and Defined ConstantsImportant system var
Software DesignData FlowDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 77 Type: S8- signed 8 bit, U8- unsigned 8 bit, S16- signed 16
Software DesignDesigner Reference Manual DRM028 — Rev 078 Software Design MOTOROLAFigure 5-1. Main Data Flow — Part15.3.4 Process Fault Control Faul
Software DesignData FlowDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 79 • Evaluates the zero crossing• Records its time in T_ZCros
Table of ContentsDesigner Reference Manual DRM028 — Rev 08 MOTOROLASection 5. Software Design5.1 Contents . . . . . . . . . . . . . . . . . . . . . .
Software DesignDesigner Reference Manual DRM028 — Rev 080 Software Design MOTOROLAFigure 5-2. Main Data Flow — Part 2: Alignment, Starting,Running Co
Software DesignData FlowDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 81 5.3.6 Process Commutation Time Calculation, Corrective Ca
Software DesignDesigner Reference Manual DRM028 — Rev 082 Software Design MOTOROLAThis information is compared with the reference set point and the e
Software DesignMain Software FlowchartDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 83 3.2.5 Back-EMF Sensing Circuit.The zero cros
Software DesignDesigner Reference Manual DRM028 — Rev 084 Software Design MOTOROLAFigure 5-4. Main Software FlowchartIn the Stand-By state function,
Software DesignMain Software FlowchartDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 85 preset calculations are prepared in the Strt
Software DesignDesigner Reference Manual DRM028 — Rev 086 Software Design MOTOROLAFigure 5-5. Main Software Flowchart — Main Software LoopSTAND-BY– C
Software DesignMain Software FlowchartDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 87 When the start is successfully completed, th
Software DesignDesigner Reference Manual DRM028 — Rev 088 Software Design MOTOROLA• Phase commutated flag PC_F is set• Actual time (from timer counte
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 89 Figure 5-6. Software Flowchart — Interrupts5.5 State
DRM028 — Rev 0 Designer Reference ManualMOTOROLA 9 Designer Reference Manual — Sensorless BLDC Motor ControlList of FiguresFigure Title Page2-1 System
Software DesignDesigner Reference Manual DRM028 — Rev 090 Software Design MOTOROLAFigure 5-7. Application State TransitionsRESETSTAND-BY STATERUNNING
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 91 5.5.1 Initialize MCUThis state is entered after the M
Software DesignDesigner Reference Manual DRM028 — Rev 092 Software Design MOTOROLACurrent measurement and current calibration when PWM is OFFBefore t
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 93 Figure 5-8. Stand-by StateSpeed input and dc-bus volta
Software DesignDesigner Reference Manual DRM028 — Rev 094 Software Design MOTOROLA5.5.4 Align StateIn the align state the rotor position is stabiliz
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 95 the over-current detection. The CMD_F (current measure
Software DesignDesigner Reference Manual DRM028 — Rev 096 Software Design MOTOROLASecond CommutationThe commutation time (T2) is calculated from the
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 97 Figure 5-10. Back-EMF AcquisitionPWM (RELOAD) INTERRUP
Software DesignDesigner Reference Manual DRM028 — Rev 098 Software Design MOTOROLAService of CommutationAs already explained, the motor phase commuta
Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 99 The output compare function is used to synchronize ini
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