Motorola M68HC08 Manuel d'utilisateur

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Page 1 - Microcontrollers

MOTOROLA.COM/SEMICONDUCTORSM68HC08MicrocontrollersDRM028/DRev. 0, 03/2003Sensorless BLDCMotor ControlUsing theMC68HC908MR32ManualDesigner Reference

Page 2

List of FiguresDesigner Reference Manual DRM028 — Rev 010 MOTOROLA4-5 3-Phase AC High Voltage Power Stage . . . . . . . . . . . . . . . . . .674-6 Bl

Page 3 - MC68HC908MR32

Software DesignDesigner Reference Manual DRM028 — Rev 0100 Software Design MOTOROLAExplained in 5.5.5 Back-EMF Acquisition State. The difference is t

Page 4

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 101 Figure 5-11. Running StateDONESCHEDULERMEASUREMENTSSE

Page 5 - List of Sections

Software DesignDesigner Reference Manual DRM028 — Rev 0102 Software Design MOTOROLA5.5.7 Stop StateWhen motor stop is required, the PWM signals are

Page 6

Software DesignImplementation NotesDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 103 The failure (Failure = 0) is tested. In manual

Page 7 - Table of Contents

Software DesignDesigner Reference Manual DRM028 — Rev 0104 Software Design MOTOROLA5.6.2 BLDC Commutation and Zero Crossing SelectionThe required BL

Page 8

Software DesignImplementation NotesDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 105 PVAL6L registers. Then the back-EMF zero cross

Page 9 - List of Figures

Software DesignDesigner Reference Manual DRM028 — Rev 0106 Software Design MOTOROLA5.6.4 TimersTimer 1 and timer 2 are implemented using MC68HC08MR3

Page 10 - Freescale Semiconductor, Inc

Software DesignImplementation NotesDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 107 • The value T2 (e.g., T2 = T_Cmt + Per_HlfCmt)

Page 11 - List of Tables

Software DesignDesigner Reference Manual DRM028 — Rev 0108 Software Design MOTOROLA Freescale Semiconductor, I

Page 12

DRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 109 Designer Reference Manual — Sensorless BLDC Motor ControlSection 6. User Guide6.1 Con

Page 13 - Section 1. Introduction

DRM028 — Rev 0 Designer Reference Manual MOTOROLA 11 Designer Reference Manual — Sensorless BLDC Motor ControlList of TablesTable Title Page2-1 Softwa

Page 14

User GuideDesigner Reference Manual DRM028 — Rev 0110 User Guide MOTOROLA6.2.2 Maximal Application SpeedThe maximal motor speed is limited by the mi

Page 15 - Section 2. System Description

User GuideApplication Suitability GuideDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 111 6.2.4.1 Effect of Mutual Phase CapacitanceThe

Page 16

User GuideDesigner Reference Manual DRM028 — Rev 0112 User Guide MOTOROLA6.3 WarningThis application operates in an environment that includes danger

Page 17

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 113 6.4 Application Hardware and

Page 18

User GuideDesigner Reference Manual DRM028 — Rev 0114 User Guide MOTOROLA6.4.1.1 High-Voltage Hardware Set ConfigurationThe system configuration for

Page 19

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 115 Figure 6-2. Low-Voltage Evalu

Page 20

User GuideDesigner Reference Manual DRM028 — Rev 0116 User Guide MOTOROLAFigure 6-3. Low-Voltage Hardware System ConfigurationNOTE: All the system pa

Page 21

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 117 Figure 6-4. Controller Board6

Page 22

User GuideDesigner Reference Manual DRM028 — Rev 0118 User Guide MOTOROLAFor application PC master software (remote) control, the following software

Page 23 - Section 3. BLDC Motor Control

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 119 • ...\bldc_zerocros08MR32\sou

Page 24

List of TablesDesigner Reference Manual DRM028 — Rev 012 MOTOROLA Freescale Semiconductor, I Free

Page 25

User GuideDesigner Reference Manual DRM028 — Rev 0120 User Guide MOTOROLA• ...\bldc_zerocros08MR32\sources\ram.c, general RAM definitions• ...\bldc_z

Page 26

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 121 6.4.3 Software Execution6.4.

Page 27

User GuideDesigner Reference Manual DRM028 — Rev 0122 User Guide MOTOROLANOTE: Remember, the MMDS MCU clock must be set to 4 MHz. Change the crystal

Page 28

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 123 6.4.4.1 Manual Operating Mod

Page 29

User GuideDesigner Reference Manual DRM028 — Rev 0124 User Guide MOTOROLANOTE: After you start the PC master software, the algorithm block descriptio

Page 30

User GuideApplication Hardware and Software ConfigurationDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 125 NOTE: Application control fro

Page 31 - - Back-EMF can be sensed

User GuideDesigner Reference Manual DRM028 — Rev 0126 User Guide MOTOROLA6.5 Tuning for Customer MotorThis section describes how to modify the softw

Page 32

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 127 frequency or to the current regulator sampling peri

Page 33

User GuideDesigner Reference Manual DRM028 — Rev 0128 User Guide MOTOROLAFigure 6-7. Follow-up for Software Customizing to Customer MotorINCLUDE APPR

Page 34

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 129 Figure 6-8. Follow-up for Advanced Software Customi

Page 35

DRM028 — Rev 0 Designer Reference ManualMOTOROLA Introduction 13 Designer Reference Manual — Sensorless BLDC Motor ControlSection 1. Introduction1.1

Page 36

User GuideDesigner Reference Manual DRM028 — Rev 0130 User Guide MOTOROLAsetting, and PC master software “oscilloscope“ windows for watching dedicate

Page 37

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 131 ...\bldc_zerocros08MR32\pc_master\tuning_bldc.pmpAf

Page 38

User GuideDesigner Reference Manual DRM028 — Rev 0132 User Guide MOTOROLANOTE: The software parameters can be temporarily modified and evaluated usin

Page 39

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 133 /* MUST_CHANGE_nn: */Label for changes which must b

Page 40

User GuideDesigner Reference Manual DRM028 — Rev 0134 User Guide MOTOROLA6.5.3 Parameters File SelectionAs explained before (see Software Setup) one

Page 41

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 135 /* MUST_IF_HW_CHANGE_1: */#define DUTY_PWM_MAX 0.96

Page 42

User GuideDesigner Reference Manual DRM028 — Rev 0136 User Guide MOTOROLAMinimal measurable current determined by hardware current sensing [A]:/* MUS

Page 43

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 137 When the software parameters are set for the hardwa

Page 44

User GuideDesigner Reference Manual DRM028 — Rev 0138 User Guide MOTOROLAVOLT_MIN_FAULT_V determines the minimal voltage when the drive fault state s

Page 45

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 139 CURR_MAX_FAULT_A should be changed for a motor with

Page 46

IntroductionDesigner Reference Manual DRM028 — Rev 014 Introduction MOTOROLAOnce using the semiconductor components, it is opened to replace classica

Page 47

User GuideDesigner Reference Manual DRM028 — Rev 0140 User Guide MOTOROLA#define CURR_PIREG_I_GAINSCALELEFT 0Range: <0,8>/* MUST_CHANGE_5_EXPER

Page 48

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 141 on the Current Parameters Tuning\New Scope, or meas

Page 49

User GuideDesigner Reference Manual DRM028 — Rev 0142 User Guide MOTOROLA9. If CURR_PIREG_P_GAIN is set to 128, do further proportional gain increase

Page 50

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 143 22. Observe the current transient at Alignment star

Page 51

User GuideDesigner Reference Manual DRM028 — Rev 0144 User Guide MOTOROLA6.5.5.1 Commutation ParametersCommutation time period to discharge coil cur

Page 52

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

Page 53

User GuideDesigner Reference Manual DRM028 — Rev 0146 User Guide MOTOROLARunning state, or has a low start-up torque, DO decrease or increase the PER

Page 54

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 147 START_INCR_OOUTREG should not necessarily be change

Page 55

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

Page 56

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 149 Figure 6-13. PC Master Software Start Parameters Tu

Page 57 - Section 4. Hardware Design

DRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 15 Designer Reference Manual — Sensorless BLDC Motor ControlSection 2. System Des

Page 58

User GuideDesigner Reference Manual DRM028 — Rev 0150 User Guide MOTOROLAit is recommended to change START_INCR_OOUTREG by PC master software. (If it

Page 59

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 151 COMMUT_REV period must be changed for any motor acc

Page 60

User GuideDesigner Reference Manual DRM028 — Rev 0152 User Guide MOTOROLASPEED_MIN_RPM determines the minimal desired speed. It must be changed for a

Page 61

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 153 Range: <0,255>where the current regulator int

Page 62

User GuideDesigner Reference Manual DRM028 — Rev 0154 User Guide MOTOROLAFigure 6-14. PC Master Software Speed Parameters Tuning Window5. Build and r

Page 63

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 155 9. Set PC master software control mode and start mo

Page 64

User GuideDesigner Reference Manual DRM028 — Rev 0156 User Guide MOTOROLA22. Set minimal speed23. Set maximal speed and observe the speed transient24

Page 65

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 157 Range: <1,255>The final PWM period is defined

Page 66

User GuideDesigner Reference Manual DRM028 — Rev 0158 User Guide MOTOROLAFor current sampling period setting follow the label CAN_CHANGE_PERCURSAMP_n

Page 67

User GuideTuning for Customer MotorDRM028 — Rev 0 Designer Reference ManualMOTOROLA User Guide 159 software may not be suitable for some applications.

Page 68

System DescriptionDesigner Reference Manual DRM028 — Rev 016 System Description MOTOROLAFigure 2-1System ConceptDuring the rotor alignment state, th

Page 69

User GuideDesigner Reference Manual DRM028 — Rev 0160 User Guide MOTOROLA Freescale Semiconductor, I

Page 70

DRM028 — Rev 0 Designer Reference ManualMOTOROLA References 161 Designer Reference Manual — Sensorless BLDC Motor ControlAppendix A. References1. Sens

Page 71

ReferencesDesigner Reference Manual DRM028 — Rev 0162 References MOTOROLAMotor using MC68HC(7)05MC4 (document order number AN1627), Motorola Fre

Page 72

DRM028 — Rev 0 Designer Reference ManualMOTOROLA Glossary 163 Designer Reference Manual — Sensorless BLDC Motor ControlAppendix B. GlossaryAC — Altern

Page 73

GlossaryDesigner Reference Manual DRM028 — Rev 0164 Glossary MOTOROLAECMTREVAL — Evaluation Motor Board Kit (supplied in kit with trapezoidal BLDC IB

Page 74

GlossaryDRM028 — Rev 0 Designer Reference ManualMOTOROLA Glossary 165 PCM — PC master software for communication between PC computer and systemphase-l

Page 75 - Section 5. Software Design

GlossaryDesigner Reference Manual DRM028 — Rev 0166 Glossary MOTOROLA Freescale Semiconductor, I F

Page 76

Freescale Semiconductor, I Freescale Semiconductor, Inc.For More Information On This Product, Go

Page 77

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

Page 78

System DescriptionSystem SpecificationDRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 17 The A/D converter is also used to sense

Page 79

System DescriptionDesigner Reference Manual DRM028 — Rev 018 System Description MOTOROLA2.3.1 Software SpecificationThe application software is pra

Page 80

System DescriptionSystem SpecificationDRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 19 2.3.2 Hardware and Drive Specifications

Page 81 - (OutReg_U8)

Freescale Semiconductor, I Freescale Semiconductor, Inc.For More Information On This Product, Go

Page 82

System DescriptionDesigner Reference Manual DRM028 — Rev 020 System Description MOTOROLAand motor set are listed in Table 2-2. The hardware operates

Page 83

System DescriptionSystem SpecificationDRM028 — Rev 0 Designer Reference Manual MOTOROLA System Description 21 2.3.2.2 Low-Voltage Evaluation Hardware

Page 84 - MAIN S/W LOOP:

System DescriptionDesigner Reference Manual DRM028 — Rev 022 System Description MOTOROLATable 2-4. Low Voltage Hardware Set SpecificationsHardware B

Page 85

DRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 23 Designer Reference Manual — Sensorless BLDC Motor ControlSection 3. BLDC Motor

Page 86

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 024 BLDC Motor Control MOTOROLAFigure 3-1. BLDC Motor Cross SectionThe motor can have more t

Page 87

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 25 back-EMF and commutation eve

Page 88

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 026 BLDC Motor Control MOTOROLAFigure 3-3. BLDC Motor Back EMF and Magnetic FluxThe filled a

Page 89

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 27 3.2.2 3-Phase BLDC Power St

Page 90

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 028 BLDC Motor Control MOTOROLAFigure 3-5. Power Stage — Motor TopologyThe second goal of th

Page 91

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 29 3.2.4.1 Stator Winding Equa

Page 92

DRM028 — Rev 0 Designer Reference ManualMOTOROLA 3 Sensorless BLDC Motor Control Using the MC68HC908MR32Designer Reference Manual — Rev 0by: Libor Pro

Page 93

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 030 BLDC Motor Control MOTOROLAAfter evaluation the expression of the branch voltage uVc is

Page 94

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 31 Figure 3-6. Phase Voltage Wa

Page 95

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 032 BLDC Motor Control MOTOROLAFigure 3-7. Mutual Inductance EffectDue to the construction o

Page 96

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 33 Figure 3-8. Detail of Mutual

Page 97

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 034 BLDC Motor Control MOTOROLAFigure 3-9. Mutual Capacitance ModelLet us focus on the situa

Page 98

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 35 Figure 3-10. Distributed Bac

Page 99

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 036 BLDC Motor Control MOTOROLAFigure 3-11. Balanced Capacity CouplingNOTE: The configuratio

Page 100

BLDC Motor ControlBrushless DC Motor Control TheoryDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 37 Figure 3-12. Back-EMF Sensin

Page 101

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 038 BLDC Motor Control MOTOROLAFigure 3-13. The Zero Crossing Detection3.3 Used Control Tec

Page 102

BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 39 position is known, and can be used to c

Page 103

Revision historyDesigner Reference Manual DRM028 — Rev 04 MOTOROLATo provide the most up-to-date information, the revision of our documents on the Wo

Page 104

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 040 BLDC Motor Control MOTOROLAThe current controller subroutine, with PI regulator, is call

Page 105

BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 41 • BLDC motor commutation service• Back-

Page 106

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 042 BLDC Motor Control MOTOROLAFigure 3-16. BLDC Commutation with Back-EMFZero Crossing Sens

Page 107

BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 43 Figure 3-17. BLDC Commutation Time with

Page 108

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 044 BLDC Motor Control MOTOROLAThe best commutation was get with Advance_angle: 60Deg*1/8 =

Page 109 - Section 6. User Guide

BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 45 Per_HlfCmt = Period from zero crossing

Page 110

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 046 BLDC Motor Control MOTOROLAduring several commutations, while producing the required tor

Page 111

BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 47 Figure 3-18. Vectors of Magnetic Fields

Page 112

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 048 BLDC Motor Control MOTOROLAFigure 3-19 demonstrates the back-EMF during the start up. Th

Page 113

BLDC Motor ControlUsed Control TechniqueDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 49 Figure 3-20. Calculation of the Commuta

Page 114

DRM028 — Rev 0 Designer Reference ManualMOTOROLA 5 Designer Reference Manual — Sensorless BLDC Motor ControlList of SectionsSection 1. Introduction .

Page 115

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 050 BLDC Motor Control MOTOROLACoef_Toff = 0.5 at Running state, Per_Dis = 150 with default

Page 116

BLDC Motor ControlApplication ControlDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 51 3.4.1.1 Communication with PC Master Soft

Page 117

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 052 BLDC Motor Control MOTOROLA3.4.1.3 PC Master Software, BLDC Control MCU Software API, C

Page 118

BLDC Motor ControlApplication ControlDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 53 Type: S8- signed 8 bit, U8- unsigned 8 bit

Page 119

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 054 BLDC Motor Control MOTOROLA unsigned int Switch_Start : 1; /* BIT0 Switch START/STOP

Page 120

BLDC Motor ControlApplication ControlDRM028 — Rev 0 Designer Reference ManualMOTOROLA BLDC Motor Control 55 The Sp_Input variable is used for speed co

Page 121

BLDC Motor ControlDesigner Reference Manual DRM028 — Rev 056 BLDC Motor Control MOTOROLA Freescale Semiconductor, I

Page 122

DRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 57 Designer Reference Manual — Sensorless BLDC Motor ControlSection 4. Hardware Desi

Page 123

Hardware DesignDesigner Reference Manual DRM028 — Rev 058 Hardware Design MOTOROLA• 3-Phase AC/BLDC High Voltage Power Stage• Optoisolation Board• 3

Page 124

Hardware DesignSystem Configuration and DocumentationDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 59 4.2.1 High-Voltage Hardware

Page 125

List of SectionsDesigner Reference Manual DRM028 — Rev 06 MOTOROLA Freescale Semiconductor, I Free

Page 126

Hardware DesignDesigner Reference Manual DRM028 — Rev 060 Hardware Design MOTOROLA– Described in: MC68HC908MR32 Control Board — User’s Manual (Motor

Page 127

Hardware DesignSystem Configuration and DocumentationDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 61 4.2.2 Low-Voltage Evaluatio

Page 128

Hardware DesignDesigner Reference Manual DRM028 — Rev 062 Hardware Design MOTOROLA– Described in: MC68HC908MR32 Control Board — User’s Manual (Motor

Page 129

Hardware DesignSystem Configuration and DocumentationDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 63 Figure 4-3. Low-Voltage Hard

Page 130

Hardware DesignDesigner Reference Manual DRM028 — Rev 064 Hardware Design MOTOROLA– Described in: Motorola Embedded Motion Control 3-Phase BLDC Low-

Page 131

Hardware DesignAll HW Sets ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 65 through the 40-pin ribbon cable from the opt

Page 132

Hardware DesignDesigner Reference Manual DRM028 — Rev 066 Hardware Design MOTOROLA4.4 High-Voltage Hardware Set Components4.4.1 3-Phase AC/BLDC Hi

Page 133

Hardware DesignHigh-Voltage Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 67 230-volt dc power supply or an

Page 134

Hardware DesignDesigner Reference Manual DRM028 — Rev 068 Hardware Design MOTOROLA4.4.2 Optoisolation BoardMotorola’s embedded motion control serie

Page 135 - <0,1>

Hardware DesignHigh-Voltage Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 69 250 ns for digital signals, an

Page 136 - > 42V

DRM028 — Rev 0 Designer Reference ManualMOTOROLA 7 Designer Reference Manual — Sensorless BLDC Motor ControlTable of ContentsSection 1. Introduction1.

Page 137

Hardware DesignDesigner Reference Manual DRM028 — Rev 070 Hardware Design MOTOROLA4.4.3 3-phase BLDC High Voltage Motor with Motor BrakeThe High Vo

Page 138

Hardware DesignLow-Voltage Evaluation Motor Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 71 4.5.1.1 Elect

Page 139 - CURR_OUREG_P_GAINSCALELEFT

Hardware DesignDesigner Reference Manual DRM028 — Rev 072 Hardware Design MOTOROLA4.6 Low-Voltage Hardware Set Components4.6.1 3-Ph AC/BLDC Low Vo

Page 140

Hardware DesignLow-Voltage Hardware Set ComponentsDRM028 — Rev 0 Designer Reference Manual MOTOROLA Hardware Design 73 The LV BLDC power stage has bot

Page 141

Hardware DesignDesigner Reference Manual DRM028 — Rev 074 Hardware Design MOTOROLA4.6.2 3-phase BLDC Low Voltage Motor with Motor BrakeThe Low Volt

Page 142

DRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 75 Designer Reference Manual — Sensorless BLDC Motor ControlSection 5. Software Desig

Page 143

Software DesignDesigner Reference Manual DRM028 — Rev 076 Software Design MOTOROLA5.3.1 Software Variables and Defined ConstantsImportant system var

Page 144 - -----------------------=

Software DesignData FlowDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 77 Type: S8- signed 8 bit, U8- unsigned 8 bit, S16- signed 16

Page 145

Software DesignDesigner Reference Manual DRM028 — Rev 078 Software Design MOTOROLAFigure 5-1. Main Data Flow — Part15.3.4 Process Fault Control Faul

Page 146

Software DesignData FlowDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 79 • Evaluates the zero crossing• Records its time in T_ZCros

Page 147

Table of ContentsDesigner Reference Manual DRM028 — Rev 08 MOTOROLASection 5. Software Design5.1 Contents . . . . . . . . . . . . . . . . . . . . . .

Page 148

Software DesignDesigner Reference Manual DRM028 — Rev 080 Software Design MOTOROLAFigure 5-2. Main Data Flow — Part 2: Alignment, Starting,Running Co

Page 149

Software DesignData FlowDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 81 5.3.6 Process Commutation Time Calculation, Corrective Ca

Page 150

Software DesignDesigner Reference Manual DRM028 — Rev 082 Software Design MOTOROLAThis information is compared with the reference set point and the e

Page 151

Software DesignMain Software FlowchartDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 83 3.2.5 Back-EMF Sensing Circuit.The zero cros

Page 152

Software DesignDesigner Reference Manual DRM028 — Rev 084 Software Design MOTOROLAFigure 5-4. Main Software FlowchartIn the Stand-By state function,

Page 153

Software DesignMain Software FlowchartDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 85 preset calculations are prepared in the Strt

Page 154

Software DesignDesigner Reference Manual DRM028 — Rev 086 Software Design MOTOROLAFigure 5-5. Main Software Flowchart — Main Software LoopSTAND-BY– C

Page 155

Software DesignMain Software FlowchartDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 87 When the start is successfully completed, th

Page 156

Software DesignDesigner Reference Manual DRM028 — Rev 088 Software Design MOTOROLA• Phase commutated flag PC_F is set• Actual time (from timer counte

Page 157

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 89 Figure 5-6. Software Flowchart — Interrupts5.5 State

Page 158

DRM028 — Rev 0 Designer Reference ManualMOTOROLA 9 Designer Reference Manual — Sensorless BLDC Motor ControlList of FiguresFigure Title Page2-1 System

Page 159

Software DesignDesigner Reference Manual DRM028 — Rev 090 Software Design MOTOROLAFigure 5-7. Application State TransitionsRESETSTAND-BY STATERUNNING

Page 160

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 91 5.5.1 Initialize MCUThis state is entered after the M

Page 161 - Appendix A. References

Software DesignDesigner Reference Manual DRM028 — Rev 092 Software Design MOTOROLACurrent measurement and current calibration when PWM is OFFBefore t

Page 162

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 93 Figure 5-8. Stand-by StateSpeed input and dc-bus volta

Page 163 - Appendix B. Glossary

Software DesignDesigner Reference Manual DRM028 — Rev 094 Software Design MOTOROLA5.5.4 Align StateIn the align state the rotor position is stabiliz

Page 164

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 95 the over-current detection. The CMD_F (current measure

Page 165

Software DesignDesigner Reference Manual DRM028 — Rev 096 Software Design MOTOROLASecond CommutationThe commutation time (T2) is calculated from the

Page 166

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 97 Figure 5-10. Back-EMF AcquisitionPWM (RELOAD) INTERRUP

Page 167

Software DesignDesigner Reference Manual DRM028 — Rev 098 Software Design MOTOROLAService of CommutationAs already explained, the motor phase commuta

Page 168

Software DesignState DiagramDRM028 — Rev 0 Designer Reference ManualMOTOROLA Software Design 99 The output compare function is used to synchronize ini

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