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3-Phase BLDC/PMSM LowVoltage Motor Control Drive
User Manual
Rev. 0
04/2009
freescale.com
3-Phase BLDC/PMSM Low-Voltage Motor
Control Drive
User Manual
by:Petr Frgal
Freescale Semiconductor
Czech System Center
To provide the most up-to-date information, the revision of our documents on the world-wide web will be
the most current. Your printed copy may be an earlier revision. To verify that you have the latest
information available, refer to www.freescale.com.
The following revision history table summarizes the changes contained in this document. For your
convenience, the page number designators have been linked to the appropriate location.
Revision History
Date
Revision
Level
10/2008
0
Description
Initial release
Page
Number(s)
N/A
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
3
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
4
Freescale Semiconductor
List of Figures
Figure 1-1
Figure 1-2
Figure 1-3
Figure 2-1
Figure 3-1
Figure 4-1
Figure 4-2
Figure 4-3
Figure 4-4
Figure 4-5
Figure 4-6
Figure 4-7
Figure 4-8
Figure 4-9
Figure 4-10
Figure 4-11
Figure 4-12
Figure 4-13
Figure A-1
Figure A-2
Figure A-3
Figure A-4
Figure A-5
Figure A-6
Figure A-7
Figure A-8
Figure A-9
Figure A-10
Figure C-1
Figure C-2
Figure C-3
Figure C-4
System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive. . . . . . . . . . . . . . . . . . . . . . . . . 13
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Setup . . . . . . . . . . . . . . . . . . . 15
Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
J7 and J8 Connector Physical View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Phase Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Bus Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Back EMF Sensing — Phase A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
PWM LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
DC-Bus Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
+5 V Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
+3.3 VA / +5 VA Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
+1.65 V Reference Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Encoder/Hall-Effect Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Control Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-44
Analog Sensing — Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-45
Analog Sensing — Back EMF Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-46
Micro Headers & Other Circuits — Encoder/Hall Sensor & CAN . . . . . . . . . . . . . . . . . . 1-47
Micro Headers & Other Circuits — Switches, User, and PWM LEDs. . . . . . . . . . . . . . . 1-48
Micro Headers & Other Circuits — Daughter Board Connectors & RESET . . . . . . . . . . 1-49
Micro Headers & Other Circuits — USB/SCI Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-50
MOSFET Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-51
Power Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-52
Power Supplies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-53
Board Top Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-60
Board Bottom Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-61
Board Silkscreen Top Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-62
Board Silkscreen Bottom Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-63
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
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3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
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Freescale Semiconductor
Table of Contents
Chapter 1
Introduction
1.1
1.2
1.3
1.4
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Outline . . . . . . . . . . . . . . . . . . . . . . .
About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setup Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
11
13
13
Chapter 2
Operational Description
2.1
2.2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Chapter 3
Pin Description
3.1
3.2
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Supply Input Connectors J2 and J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN Header J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder/Hall-Effect Interface J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Daughter Board Connectors J7 and J8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
USB Controller BDM Header J9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
USB Connector J10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
21
21
22
22
23
23
26
26
Chapter 4
Design Consideration
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.8.1
4.8.2
4.8.3
4.8.4
4.8.5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-Phase Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bus Voltage and Current Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overcurrent, Undervoltage, and Other Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test Points and LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Supplies and Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
+5 V Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
+3.3 V Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
+3.3 VA Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
+1.65 V Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
27
30
31
32
32
33
37
37
37
38
38
38
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
7
4.9
4.10
4.11
4.12
Encoder/Hall-Effect Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
USB/SCI Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
39
40
40
Appendix A.
3-Phase BLDC/PMSM Motor Control Drive Schematics
Appendix B. Bill of Materials
Appendix C.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive
Layouts
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
8
Freescale Semiconductor
List of Tables
Table 2-1
Table 3-1
Table 3-2
Table 3-3
Table 3-4
Table 3-5
Table 3-6
Table 3-7
Table B-1
Electrical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Connector J1 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN Header J4 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder/Hall-Effect Interface J6 — Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . .
Daughter Board Connector J7 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Daughter Board Connector J8 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . .
USB Controller BDM Header J9 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . .
USB Connector J10 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
22
22
23
23
24
26
26
55
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
9
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
10
Freescale Semiconductor
Chapter 1
Introduction
1.1 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Outline
Freescale’s 3-Phase BLDC (Brushless DC) / PMSM (Permanent Magnet Synchronous Motor) LowVoltage Motor Control Drive is a 12–24 V DC, 4 A, off-line power stage that, as a main board together
with a daughter board, creates a single unit for developing BLDC/PMSM motor control applications.
With one of the available daughter boards, accommodating a selected microcontroller, it provides a readymade, software-development platform for one-third horsepower off-line motors. Feedback signals are
provided that allow a variety of algorithms to control 3-phase PMSM and BLDC motors.
Figure 1-1 shows an illustration of the system architecture. Figure 1-2 is a picture of the main board.
The board features:
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Power supply voltage input 12–24 V DC, extended up to 50 V (see chapter 2.2 Electrical
Characteristics for details)
Output current 4 A
Power supply reverse polarity protection circuitry
3-phase bridge inverter (6 MOSFET’s)
3-phase MOSFET gate driver with overcurrent and undervoltage protection
3-phase and DC-bus-current-sensing shunts
DC-bus voltage sensing
3-phase back-EMF voltage-sensing circuitry
Low-voltage on-board power supplies
Encoder/hall sensor sensing circuitry
Motor power and signal connectors
2 connectors for daughter board connection
CAN physical layer
USB interface
User LED, power-on LED, 6 PWM LED diodes, and SCI activity LED diodes
Up, down, toggle switches
Reset push-button
1.2 About This Manual
Key items are in the following locations in this manual:
•
•
•
Setup instructions — 1.4 Setup Guide
Schematics — Appendix A. 3-Phase BLDC/PMSM Motor Control Drive Schematics
Pin assignments — Chapter 3 Pin Description
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
11
About This Manual
•
•
Pin-by-pin description — 3.2 Signal Descriptions
Description of reference design aspects of the board’s circuitry — Chapter 4 Design Consideration
BDM or JTAG/EOnCE
INTERFACE
WORKSTATION
CONTROLLER
DAUGHTER BOARD
BLDC/PMSM LOW-VOLTAGE
MOTOR CONTROL DRIVE
MOTOR
Figure 1-1 System Configuration
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
12
Freescale Semiconductor
Warnings
Figure 1-2 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive
1.3 Warnings
This development-tool set operates in an environment that includes rotating machinery.
Be aware:
•
•
Wear safety glasses, avoid ties and jewelry, use shields.
Power devices and the motor can reach temperatures hot enough to cause burns.
1.4 Setup Guide
Setup and connections for the 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive (main board) are
straightforward. A controller daughter board connects to the main board via two 20-pin daughter board
connectors. The system can be powered by a 12–24 V DC power supply. For safety reasons, and ease of
making measurements, use a regulated DC power supply. Limit the power supply to under 5 A. Figure 13 depicts a complete setup.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
‘
13
Setup Guide
The step-by-step setup procedure is as follows:
1. Plug a controller daughter board into the main board.
2. Connect the motor connector to the output connector J1, located along the back edge of the board.
Phase A, phase B, and phase C are labelled on the bottom of the board.
3. For BLDC motors, it is important to put the wire color coded for phase A into the connector terminal
labelled A, and so on for phase B and phase C.
4. Connect an encoder or hall sensor connector to the encoder/hall sensor interface J6.
5. Connect a current-limited DC power supply to connector J2 or J3, located on the left back edge of
the board. The input voltage range is 12–24 V DC. Current limit should be set for less than 5 A.
Only one power input is required.
6. Apply power to the main board. The green power-on LED D19 located on the front edge lights. The
main board powers the controller daughter board.
7. Plug a standard AB-type USB cable into your PC and into the 3-Phase BLDC/PMSM Low-Voltage
Motor Control Drive. Then install the USB driver onto your PC to enable using FreeMASTER.
Follow the instructions in the USB_driver_install.doc to properly install the USB driver.
WARNING
If an input voltage higher than 24 V is applied, the controller daughter
board can be damaged.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
14
Freescale Semiconductor
Setup Guide
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage
Motor Control Drive
Optional
Power
J9
BDM
Supply
Connector for
USB controller
Controller
Daughter board
J10
J3
USB
Power
Connector
Supply
12–24 V
J2
Daughter board
J7
J8
Connectors
Daughter board
Connectors
BDM/JTAG
Connector
J1
J4
CAN
Controller Daughter board is plugged into
the 3-Phase BLDC/PMSM Low-Voltage
Motor Control Drive
Connector
Phase_C
1
Phase_B
2
Phase_A
3
Motor
J6
1
Hall/Encoder
Connector
2
3
4
5
+5V
GND
HALL A / ENCODER PHASE A
HALL B / ENCODER PHASE B
HALL C / ENCODER INDEX
Figure 1-3 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Setup
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
‘
15
Setup Guide
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
16
Freescale Semiconductor
Chapter 2
Operational Description
2.1 Introduction
Freescale’s 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive is a 3-phase power stage that will
operate with DC input voltages in the range 12–24 V, 4 A. Together with the daughter boards, it provides
a software-development platform that allows algorithms to be written and tested without designing and
building any hardware. It supports a variety of algorithms for PMSM and brushless DC (BLDC) motors.
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive contains reverse-polarity protection
circuitry, MOSFET-gate-drive circuits, analog-signal conditioning, low-voltage power supplies and
bridge MOSFETs. The power devices do not need to be mounted on a heatsink.
Figure 2-1 shows a block diagram. The daughter board is connected via two 20-pin rib-cage connectors,
J7 and J8. Figure 3-1 shows pin assignments for the daughter board connectors. Power connections to the
motor are made on output connector J1. Phase A, phase B, and phase C are labelled A, B, and C. Power
requirements are met by a single external 12 V to 50 V DC power supply. Either input is supplied through
connector J2 or J3. All connectors are marked on the bottom side of the board.
Current-measuring circuitry is set up for 4 A full scale. Both bus and phase leg currents are measured. An
overcurrent trip point is set at 3.75 A.
There are controller daughter boards available with these controllers:
•
MC56F8013/23 — LQFP32
•
MC9S08AC16 — LQFP44
•
MCF51AC256 — LQFP80
•
MC9S08MP16 — LQFP48
•
MC56F8006 — LQFP32
More controller daughter boards are planned. Check the website www.freescale.com for more
information.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
17
ENCODER/HALL-EFFECT
MOTOR
CAN
J6
J1
J4
SWITCHES
&
LEDs
3-PH MOSFET
BRIDGE
USB/SCI
BRIDGE
J9
J10
INPUTS
J2, J3
CAN
PH. LAYER
MOSFET DRIVERS
J7, J8
DAUGHTER BOARD
BDM for
USB Controller
USB
Electrical Characteristics
Legend:
POWER
SUPPLIES
SIGNAL CONDITIONING
DC BUS, PHASE voltages and currents,
BEMF
+5V, +3.3V, +3.3VA
Module
Connector
Figure 2-1 Block Diagram
2.2 Electrical Characteristics
The electrical characteristics in Table 2-1 apply to operations at 25 °C with a 24 V DC power supply
voltage. Maximal value of the input voltage can be higher than 24 V. A 50 V maximal input voltage value
is allowed, but the DC-bus and BEMF sensing circuits need to be modified. The divider resistors in these
circuits need to be changed to change sensing range up to 50 V, if required. It prevents scaled quantities
exceeding the maximum-allowed input voltage value on the controller input pins.
WARNING
If an input voltage higher than 24 V is applied, the controller daughter
board can be damaged.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
18
Freescale Semiconductor
Electrical Characteristics
Table 2-1 Electrical Characteristics
Characteristic
Symbol
Min
Typ
Max
Units
DC input voltage
Vdc
12
—
24
V
Quiescent Current*
ICC
—
TBD
—
mA
Logic 1 Input Voltage
VIH
1.5
—
1.7
V
Logic 0 Input Voltage
VIL
0.9
—
1
V
Input Resistance
RIn
—
10
—
kΩ
Analog Output Range
VOut
0
—
3.3
V
Bus Current Sense Voltage
ISense
—
413
—
mV/A
Bus Current Sense Offset
Ioffset
Bus Voltage Sense Voltage*
VBus
Bus Voltage Sense Offset
Voffset
+1.65
—
91
V
—
mV/V
0
V
Bus Continuous Output Current **
IC
—
—
3.75
A
Total Power Dissipation (per MOSFET) ***
PD
—
—
TBD
W
Dead Time (set by SW MC33927) ****
toff
0
—
15
us
* Full sensing range 3.3 V corresponds to 36.3 V.
** Overcurrent threshold is set at this level.
*** The values were measured at 25 °C, for other temperatures the values may be different.
**** Default dead time is 15 μs. Dead time depends on the timebase of the MC33927.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
‘
19
Electrical Characteristics
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
20
Freescale Semiconductor
Chapter 3
Pin Description
3.1 Introduction
Inputs and outputs are located on nine connectors and headers available on the board:
•
Three-pin motor connector J1
•
Two power supply input connectors J2 and J3
•
CAN header J4
•
Encoder/hall-effect connector J6
•
Two 20-pin daughter board connectors J7 and J8
•
USB controller BDM (Background Debugger Monitor) tool header J9
•
USB connector J10
Pin descriptions for each connector and header are identified in the following information. Figure 3-1
shows the pin assignments for the daughter board connectors J7 and J8. Table 3-4 and Table 3-5 show the
signal descriptions.
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive contains several connectors and headers
that serve for the connection of a power supply, for motor phases connection, and other functions.
The input power supply, attached to the J2 or J3 input, must be in the range of 12–50 V DC.
The output for the motor is done by the three-way connector J1. See 3.2.1 Motor Connector J1 for more
details.
Each connector and header is labelled from the bottom side of the board.
3.2 Signal Descriptions
Pin descriptions are identified in this subsection.
3.2.1 Motor Connector J1
Power outputs to the motor are located on connector J1. Phase outputs are labelled A, B, and C. Table 31 contains pin assignments. Section 1.4 Setup Guide shows how to connect the motor. On a permanent
magnet synchronous motor, any of the 3-phase windings can be connected here. For brushless DC motors,
you must connect the wire color coded for phase A into the connector terminal labelled A, and so on for
phase B and phase C.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
21
Signal Descriptions
Table 3-1 Motor Connector J1 — Signal Descriptions
Pin #
Signal Name
Description
1
C
Supplies power to motor phase C.
2
B
Supplies power to motor phase B.
3
A
Supplies power to motor phase A.
3.2.2 Power Supply Input Connectors J2 and J3
The power supply input connectors, labelled J2 and J3, are located at the left back corner of the board.
They accept DC voltages from 12 V to 50 V / 5 A maximum. The J2 connector is a two-wire connector,
the J3 connector is a 2.1 mm power jack for plug-in type DC power supply connections. The power supply
polarity label for connector J2 is located on the bottom side. The board has reverse polarity protection.
Power applied to the board is indicated by a green color +5 V LED. This LED is the nearest one located
to the reset switch.
3.2.3 CAN Header J4
This shows the CAN (Controller Area Network) bus header pin description. The CAN interface is located
on the left edge of the board.
Table 3-2 CAN Header J4 — Signal Descriptions
Pin #
Signal Name
Description
1
No Connect
2
No Connect
3
CANL
Low-level CAN voltage input/output
4
CANH
High-level CAN voltage input/output
5
GND
6
No Connect
7
No Connect
8
No Connect
9
No Connect
10
No Connect
Power supply ground
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
22
Freescale Semiconductor
Signal Descriptions
3.2.4 Encoder/Hall-Effect Interface J6
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive contains an encoder/hall-effect interface
for position and speed sensing. The encoder/hall-effect interface is located on the right edge of the board.
The circuit is designed to accept +3.3 V to +5 V encoder or hall-effect sensor inputs. Input noise filtering
is supplied on the input path to the encoder/hall-effect interface. Table 3-4 shows the encoder/hall-effect
interface pin description.
Table 3-3 Encoder/Hall-Effect Interface J6 — Signal Descriptions
Pin #
Signal Name
Description
1
+5V
Supplies power from the board to either encoder or hall sensors.
2
GND
Encoder or hall sensors’ ground.
3
PHASE A
Encoder or hall sensors’ phase A input.
4
PHASE B
Encoder or hall sensors’ phase B input.
5
INDEX
Encoder, index, or hall sensors’ C input.
3.2.5 Daughter Board Connectors J7 and J8
Signal inputs and outputs for interconnection with different types of daughter boards are situated on two
20-pin connectors, located on the board’s front side. Figure 3-1 shows pin assignments. This figure shows
the physical layout of the connectors. The physical view assumes that the board is oriented in such way
that its title can be read from left to right. Table 3-4 and Table 3-5 contain lists of signal descriptions for
connectors J7 and J8.
Table 3-4 Daughter Board Connector J7 — Signal Descriptions
Pin #
Signal Name
Description
1
GND
Digital and power ground.
2
+3.3V
Digital +3.3 V power supply.
3
CANTX
CAN transmit-data input.
4
CANRX
CAN receive-data output.
5
PWM_AT
Gate-drive signal for the top half-bridge of phase A. A logic low turns on phase A’s
top switch.
6
PWM_AB
Gate-drive signal for the bottom half-bridge of phase A. A logic high turns phase A’s
bottom switch on.
7
PWM_BT
Gate-drive signal for the top half-bridge of phase B. A logic low turns on phase B’s
top switch.
8
PWM_BB
Gate-drive signal for the bottom half-bridge of phase B. A logic high turns phase B’s
bottom switch on.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
‘
23
Signal Descriptions
Table 3-4 Daughter Board Connector J7 — Signal Descriptions
Pin #
Signal Name
Description
9
PWM_CT
Gate-drive signal for the top half-bridge of phase C. A logic low turns on phase C’s
top switch.
10
PWM_CB
Gate-drive signal for the bottom half-bridge of phase C. A logic high turns phase C’s
bottom switch on.
11
OC
Overcurrent signal from 3-phase bridge driver.
12
INT
Interrupt signal from 3-phase bridge driver.
13
TxD
TxD signal between the JM60 and daughter board.
14
RxD
RxD signal between the JM60 and daughter board.
15
TOGGLE_
SWITCH_ON1
Toggle-switch input (switch in position ON1).
16
TOGGLE_
SWITCH_ON2
Toggle-switch input (switch in position ON2).
17
UP_SWITCH
18
DOWN_SWITCH
19
USER_LED
20
/RESET
Up switch input.
Down switch input.
User LED signal.
RESET signal only for controller on daughter board and 3-phase bridge driver. *
* JM60 reset signal is connected only on BDM connector J9.
Table 3-5 Daughter Board Connector J8 — Signal Descriptions
Pin #
Signal Name
Description
1
GNDA
Analog power supply ground.
2
+3.3VA
Analog +3.3 V power supply.
3
I_sense_A
Analog sense signal that measures the current in phase A. It is scaled at 50 V per A
of DC-bus current.
4
I_sense_B
Analog sense that measures the current in phase B. It is scaled at 0.563 V per A of
DC-bus current.
5
I_sense_C
Analog sense signal that measures the current in phase C. It is scaled at 0.563 V per
A of DC-bus current.
6
BEMF_sense_A
Analog sense signal that measures phase A back EMF. It is scaled at 8.09 mV per V
of DC-bus voltage.
7
BEMF_sense_B
Analog sense signal that measures phase B back EMF. It is scaled at 8.09 mV per V
of DC-bus voltage.
8
BEMF_sense_C
Analog sense signal that measures phase C back EMF. It is scaled at 8.09 mV per V
of DC-bus voltage.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
24
Freescale Semiconductor
Signal Descriptions
Table 3-5 Daughter Board Connector J8 — Signal Descriptions (Continued)
Pin #
Signal Name
9
V_sense_DCB
Analog sense signal that measures bus voltage. It is scaled at 8.09 V per V of DCbus voltage.
10
V_sense_DCB/2
Analog sense signal that measures bus voltage. It is scaled at 8.09 V per V of DCbus voltage.
11
I_sense_DCB
Analog sense signal that measures bus current. It is scaled at 8.09 V per A of DCbus current.
12
ENC_PhaseA
Encoder or hall sensor phase A input pin logic.
13
ENC_PhaseB
Encoder or hall sensor phase B input pin logic.
14
ENC_Index
15
DRV_EN
16
/SS
17
MOSI
SPI pin master out slave in pin for 3-phase bridge driver.
18
SCLK
SPI pin clock source pin input for 3-phase bridge driver.
19
MISO
SPI pin master in slave out pin for 3-phase bridge driver.
20
GND
Digital and power ground.
GND
CANTX
PWM_AT
PWM_BT
PWM_CT
OC
TxD
TOGGLE_SWITCH_ON1
UP_SWITCH
USER_LED
Description
Encoder index or hall sensor phase C input pin logic.
3-phase bridge-gate driver enable signal.
SPI pin chip select pin for 3-phase bridge driver.
1
3
5
7
9
11
13
15
17
19
2
4
6
8
10
12
14
16
18
20
+3.3V
CANRX
PWM_AB
PWM_BB
PWM_CB
INT
+RxD
TOGGLE_SWITCH_ON2
DOWN_SWITCH
/RESET
GNDA
I_sense_A
I_sense_C
BEMF_sense_B
V_sense_DCB
I_sense_DCB
ENC_PhaseB
DRV_EN
MOSI
MISO
1
3
5
7
9
11
13
15
17
19
2
4
6
8
10
12
14
16
18
20
+3.3VA
I_sense_DCB
BEMF_sense_A
BEMF_sense_C
V_sense_DCB/2
ENC_PhaseA
ENC_Index
/SS
SCLK
GND
Figure 3-1 J7 and J8 Connector Physical View
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
‘
25
Signal Descriptions
3.2.6 USB Controller BDM Header J9
It serves for updating the software for JM60. Signals are described in Table 3-6. The BDM header J9 is
not populated.
Table 3-6 USB Controller BDM Header J9 — Signal Descriptions
Pin #
Signal Name
1
BKGD/MS
2
GND
3
No Connect
4
/RESET_JM
5
No Connect
6
+3.3V
Description
Background debug pin
Digital ground
RESET signal
Digital +3.3 V power supply
3.2.7 USB Connector J10
USB connector J10 serves for connecting the controller to the host PC via a virtual serial port. Signals are
described in Table 3-7.
Table 3-7 USB Connector J10 — Signal Descriptions
Pin #
Signal Name
Description
1
No Connect
2
UDSBDN
Negative USB differential signal
3
UDSBDP
Positive USB differential signal
4
GND
Digital ground
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
26
Freescale Semiconductor
Chapter 4
Design Consideration
4.1 Overview
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive is designed for software development. In
addition to the hardware needed to run a motor, a variety of feedback signals that facilitate controlalgorithm development are provided. A set of schematics for the drive appears in the following section.
Circuit descriptions for the drive appear in 4.2 3-Phase Bridge through 4.12 Control Switches. One phase
leg of the 3-phase bridge is examined in 4.2 3-Phase Bridge. Bus voltage and bus current feedback are
discussed in 4.3 Bus Voltage and Current Feedback. Safety functions are highlighted in 4.4 Overcurrent,
Undervoltage, and Other Safety Functions. Back-EMF signals appear in 4.5 Back EMF Signals. Phase
current sensing is discussed in 4.6 Phase Current Sensing. The test points description and LED description
are in 4.7 Test Points and LED Indication, all power supplies and voltage reference are described in 4.8
Power Supplies and Voltage Reference. Encoder circuitry is described in 4.9 Encoder/Hall-Effect
Interface. The CAN physical layer interface is discussed in 4.10 CAN Interface. The USB interface
appears in section 4.11 USB/SCI Bridge and finally, push-buttons and the toggle switch are described in
4.12 Control Switches.
4.2 3-Phase Bridge
The output stage is configured as a 3-phase bridge with MOSFET output transistors. It is simplified
considerably by an integrated gate driver that has an overcurrent, undervoltage, and other safety features.
Figure 4-1 shows a schematic of one phase. At the input, pull-down resistor R99 sets a logic low in the
absence of a signal for the low side transistor. Open input pull-down is important, because the power
transistors must stay off in the case of a broken connection or an absence of power on the daughter board.
Gate-driver inputs are 3 V compatible. A Freescale device, the MC33927, supplies the gate drive. The
MC33927 also provides undervoltage hold-off and overcurrent. Undervoltage hold-off threshold value is
8 V. The MC33927 has an implemented dead time insertion, which can be configured using SPI. The
default dead time value is typically 15 μs. Current limiting and undervoltage hold-off are discussed further
in 4.4 Overcurrent, Undervoltage, and Other Safety Functions. One important design decision in a motor
drive is the selection of gate-drive impedance for the output transistors. In Figure 4-1, resistor R69, R70,
diode D11, and the MC33927 nominal 100 mA current-sinking capability determine gate-drive impedance
for the lower half-bridge transistor. A similar network is used on the upper half-bridge. These networks
set the turn-on gate-drive impedance at approximately 100 Ω and the turn-off gate drive to approximately
100 mA. These values produce transition times of approximately 285 ns.
Transition times of this length represent a carefully weighed compromise between power dissipation and
noise generation. Generally, transition times longer than 250 ns tend to get power hungry at non-audible
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
27
3-Phase Bridge
PWM rates; transition times under 50 ns create di/dts so large that proper operation is difficult to achieve.
The BLDC Motor Control Drive is designed with switching times at the higher end of this range to
minimize noise.
Anti-parallel diode softness is also a primary design consideration. If the anti-parallel diodes in an off-line
motor drive are allowed to snap, the resulting di/dts can cause noise management problems, difficult to
solve. In general, the peak to zero di/dt should be approximately equal to the di/dt applied to turning off
the anti-parallel diodes. The FDS3672 MOSFETs used in this design are targeted at this kind of reverse
recovery.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
28
Freescale Semiconductor
PWM_AB
PWM_AT
R99
10K
PWM_AT
TP25
GND
PWM_AB
TP26
28
25
26
18
19
20
21
13
16
22
12
15
23
5
3
4
OC_TH
AMP_N
AMP_P
CS
SI
SCLK
SO
PA_LS
PB_LS
PC_LS
PA_HS
PB_HS
PC_HS
RST
EN1
EN2
U6
VSS
29
7
8
9
GND0
GND1
PGND for QPUMP
PGNDA
PGNDB
PGNDC
30
31
2
44
39
34
PUMP
VPUMP(12V)
VBAT(42V)
14
32
51
54
INT
MC33927
AMP_OUT
OC_OUT
NC6
NC5
NC4
NC3
NC2
NC1
PHASEC
PHASEB
PHASEA
PC_BOOT
PC_HS_G
PC_HS_S
PC_LS_G
PB_BOOT
PB_HS_G
PB_HS_S
PB_LS_G
PA_BOOT
PA_HS_G
PA_HS_S
PA_LS_G
VDD
VLS_CAP
VLS
VPWR
EP
55
24
27
53
52
50
49
33
6
11
10
1
38
37
36
35
43
42
41
40
48
47
46
45
17
D11
C20
1UF
D10
51R
51R
51R
R67
R69
I_sense_A2
I_sense_A1
51R
R70
MBR0520LT1G
R66
MBR0520LT1G
4
4
5
6
7
8
3
2
1
5
6
7
8
Freescale Semiconductor
R85
0.1R
FDS3672
Q6
FDS3672
Q3
GND_LSFET
3
2
1
DCB_pos
Phase_A
3-Phase Bridge
Figure 4-1 Phase Output
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
29
Bus Voltage and Current Feedback
4.3 Bus Voltage and Current Feedback
Figure 4-2 shows the circuitry that provides feedback signals proportional to bus voltage and bus current.
Bus voltage is scaled down by a voltage divider consisting of R23, R27, and R104. The values are chosen
in such way that a 36.3 V bus voltage corresponds to 3.3 V at output V_sense_DCB. The V_dcb is scaled
at 91 mV per V of the DC-bus voltage, and is connected to the daughter board connector J8 pin 9
V_sense_DCB. An additional output, V_sense_DCB/2, provides a reference used in zero-crossing
detection. The V_dcb/2 is scaled at 45.5 mV per V of the DC-bus voltage, and is connected to the daughter
board connector J8 pin 10 V_sense_DCB/2.
Bus current is sampled by resistor R88 in Figure A-9, and amplified in the MC33927’s operational
amplifier (Figure 4-2). This circuit provides a voltage output suitable for sampling on A/D (analog-todigital) inputs. The MC33927’s operational amplifier is used as a differential amplifier for bus-current
sensing. With R82 = R83, R102 = R103, and R81 = R84, the gain is given by:
A = R81 / (R82 + R102)
(EQ 4-1)
The output voltage is shifted up by +1.65 V_REF to accommodate positive and negative current swings.
A ±400 mV voltage drop across the sense resistor corresponds to a measured current range of ±4 A. The
AMP_OUT signal is internally connected to the overcurrent comparator of the MC33927, and provides an
overcurrent triggering function. A discussion about overcurrent limiting follows in chapter 4.4
Overcurrent, Undervoltage, and Other Safety Functions. In addition, the AMP_OUT is connected to the
daughter board connector J8 pin 11 I_sense_DCB.
The shunt resistor is represented by a 0.1 Ω resistance Welwyn SMD precision resistor, the same as the
phase-current measurement resistors.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
30
Freescale Semiconductor
Overcurrent, Undervoltage, and Other Safety Functions
VLS_CAP
DCB_pos
R65
EN1
EN2
R98
10K
PA_HS
PB_HS
PC_HS
13
16
22
PA_LS
PB_LS
PC_LS
18
19
20
21
CS
SI
SCLK
SO
25
26
AMP_N
AMP_P
OC_TH
R78
1.0K
C23
0.1UF
GND
14
32
51
54
0 OHM
R68
INT
17
PA_BOOT
PA_HS_G
PA_HS_S
PA_LS_G
48
47
46
45
PB_BOOT
PB_HS_G
PB_HS_S
PB_LS_G
43
42
41
40
PC_BOOT
PC_HS_G
PC_HS_S
PC_LS_G
38
37
36
35
PHASEC
PHASEB
PHASEA
11
10
1
NC6
NC5
NC4
NC3
NC2
NC1
53
52
50
49
33
6
AMP_OUT
OC_OUT
24
27
10K
INT
V_dcb
TP13
DCB_pos
3.3V @
R27
1.5K
V_dcb/2_s
TP45
1.65V @
DC-Bus/2 = 18.15V
V_sense_DCB/2
R104
1.5K
AMP_OUT
OC
MC33927
GNDA
GND
+3.3VA
DC Bus Current Sensing
GNDA
D16
MBR0520LT1G
R82
AMP_P
I_Sense_DCB2
2
R83
AMP_N
I_Sense_DCB1
R84
MC33502DG
1
AMP_OUT
1.6K
C45
47PF
4
R102
Idcb_s
TP1
3
OpAmp is within 3PP-A
8
R81
7.5K
I_sense_DCB
+
GND
GND_LSFET
220 OHM
DC-Bus = 36.3V
V_sense_DCB
GND
+1.65V_REF
220 OHM
R103
R23
30K
V_dcb_s
TP15
-
OC_TH @ 3.09V @ 3.75A
15.0K
29
VSS
+3.3V
DCB_pos
EP
12
15
23
28
R77
RST
55
AMP_N
AMP_P
5
30
31
2
44
39
34
GND
/RESET
GND0
GND1
PGND for QPUMP
PGNDA
PGNDB
PGNDC
3
4
DRV_EN
PUMP
VPUMP(12V)
VBAT(42V)
U6
VDD
VLS_CAP
VLS
VPWR
7
8
9
VDD VLS
U1A
1.65V +/- 1.65V
Imax = 4A
@ +/- Imax
1.6K
7.5K
+3.3VA
Figure 4-2 Bus Feedback
4.4 Overcurrent, Undervoltage, and Other Safety Functions
The MC33927 provides overcurrent and undervoltage functions (Figure 4-2). Bus current feedback is
filtered to remove spikes, and this signal is fed into the MC33927 current comparator. Therefore, when
bus current exceeds 3.75 A, all six output transistors are switched off. Once a fault state has been detected,
all six gate drivers are off, until the fault state is cleared by the low-level on/RESET pin, or by switching
the board off. Then you can switch the power stage on.
The undervoltage function is implemented internally. The MC33927’s supply voltage is sensed internally.
If this voltage is lower than 8 V, the hold-off circuit is evaluated, and an interrupt is generated if set.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
31
Back EMF Signals
The MC33927 safety functions keep the driver operating properly and within safe limits. Current limiting
by itself, however, does not necessarily ensure that a board is operating within safe thermal limits. The
MC33927 has a thermal warning feature. If the temperature rises above 170 °C on one of the three
detectors, then an interrupt is generated if set.
The MC33927 driver has also other safety features such as desaturation detection, phase error, framing
error, write error after the lock, and exiting RESET. All these features can be configured through SPI to
trigger interrupts. Detailed information is available in the driver datasheet.
4.5 Back EMF Signals
Back EMF signals are included to support sensorless algorithms for BLDC motors, and dead time
distortion correction for sinusoidal motors. Referring to Figure 4-3, which shows circuitry for phase A, the
raw phase voltage is scaled down by a voltage divider consisting of R20 and R22. Output from this divider
produces back EMF sense voltage BEMF_sense_A. Resistor values are chosen such that a 36.3 V of phase
voltage corresponds to a 3.3 V A/D input. The BEMF_sense_A is led directly to the daughter board
connector J8 pin 6, without any offset correction (see Figure A-6).
The V_sense_DCB and V_sense_DCB/2 are provided by the R23, R27, and R104 resistor divider from
the bus voltage (see Figure 4-2).
BEMF_A
TP11
Phase_A
BEMF_A_s
TP12
R20
30K
3.3V @ Phase_A = 36.3V
BEMF_sense_A
R22
3.0K
GNDA
Figure 4-3 Back EMF Sensing — Phase A
4.6 Phase Current Sensing
Sampling resistors provide phase current information for all three phases. Because these resistors sample
the current in the lower phase legs, they do not directly measure the phase current. However, given phase
voltages for all three phases, phase current can be constructed mathematically from the lower phase leg
values. The measurement circuitry for one phase is shown in Figure 4-4. Referencing the sampling
resistors to the negative motor rail makes the measurement circuitry straightforward and inexpensive.
Current is sampled by resistor R85 and amplified by the differential amplifier U1B.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
32
Freescale Semiconductor
Test Points and LED Indication
This circuit provides a voltage output suitable for sampling on A/D inputs. The MC33502DG is used as a
differential amplifier. With R2 = R7,R3 = R5, and R4 = R6, the gain is given by:
A = R2 / (R3 + R4)
(EQ 4-2)
The input voltage is shifted up by +1.65 V_REF to accommodate both positive and negative current
swings. A ±400 mV voltage drop across the shunt resistor corresponds to a measured current range of ±4
A. As a source for +1.65 V_REF, we use the voltage divider described in chapter 4.8.5 +1.65 V Reference.
The gain of this operational amplifier is 4.12 with the +1.65 V offset, in other words the output ±1.65 V
corresponds to ±4 A. The output is connected to the daughter board connector J8.
R2
IaTP2
7.5K
R3
R4
I_sense_A1
6
5
I_sense_A2
220 OHM
1.6K
1.65V +/- 1.65V
Imax = 4A
MC33502DG
7
@ +/- Imax
I_sense_A
+
220 OHM
R5
Ia_s
TP4
1.6K
C1
47PF R6
-
Ia+
TP3
U1B
R7
7.5K
+3.3VA
R90
68R
+1.65V_REF
TP38
R93
68R
GNDA
C44
0.1UF
GNDA
Figure 4-4 Phase Current Sensing
4.7 Test Points and LED Indication
Some voltages and currents of the 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive can be
sensed, whilst some are connected to the daughter board connector pins. Those are: back-EMF voltage,
phase current, bus-power voltage, half of bus-power voltage, bus current, PWM signal for all six switches
of the 3-phase power bridge, and other control signals.
The four test points are located near the corners of the board and provide a GND signal (digital ground)
for easy oscilloscope attachment. As mentioned in previous chapters, the board contains more grounds —
analog and digital.
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive contains 45 round-shape test points to
allow the user to easily check the voltage of all important points:
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
33
Test Points and LED Indication
•
TP1 Idcb_s — Bus-current output test point, scaled at 0.413 V per A of bus current B, and shifted
by 1.65 V.
•
TP2 Ia– — Phase A current sense resistor test point for node I_sense_A1.
•
TP3 Ia+ — Phase A current sense resistor test point for node I_sense_A2.
•
TP4 Ia_s — Phase A current output test point for node I_sense_A, scaled at 0.413 V per A of phase
current A, and shifted by 1.65 V.
•
TP5 Ib– — Phase B current sense resistor test point for node I_sense_B1.
•
TP6 Ib+ — Phase B current sense resistor test point for node I_sense_B2.
•
TP7 Ib_s — Phase B current output test point of node I_sense_B, scaled at 0.413 V per A of phase
current B, and shifted by 1.65 V.
•
TP8 Ic– — Phase C current sense resistor test point for node I_sense_C1.
•
TP9 Ic+ — Phase C current sense resistor test point for node I_sense_C2.
•
TP10 Ic_s — Phase C current output test point of node I_sense_C, scaled at 0.413 V per A of phase
current C, and shifted by 1.65 V.
•
TP11 BEMF_A — Back EMF phase A test point.
•
TP12 BEMF_A_s — Back EMF phase A test point, scaled at 91 mV per V of phase voltage A.
•
TP13 V_dcb — Bus voltage test point.
•
TP14 BEMF_B — Back EMF phase B test point.
•
TP15 V_dcb_s — Bus voltage test point, scaled at 91 mV per V.
•
TP16 BEMF_B_s — Back EMF phase B test point, scaled at 91 mV per V of phase voltage B.
•
TP17 BEMF_C — Back EMF phase C test point.
•
TP18 BEMF_C_s — Back EMF phase C test point, scaled at 91 mV per V of phase voltage C.
•
TP19 CANTX — TX signal for CAN physical layer.
•
TP20 CANRX — RX signal for CAN physical layer.
•
TP21 TxD — TxD signal for SCI communication between JM60 and daughter board controller.
•
TP22 RxD — RxD signal for SCI communication between JM60 and daughter board controller.
•
TP23 — signal activity on TxD signal.
•
TP24 — signal activity on RxD signal.
•
TP25 PWM_AT — PWM control signal for top transistor gate of phase A, test point on connector
J7 pin.
•
TP26 PWM_AB — PWM control signal for bottom transistor gate of phase A, test point on
connector J7 pin.
•
TP27 PWM_BB — PWM control signal for bottom transistor gate of phase B, test point on
connector J7 pin.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
34
Freescale Semiconductor
Test Points and LED Indication
•
TP28 PWM_CT — PWM control signal for top transistor gate of phase C, test point on connector
J7 pin.
•
TP29 PWM_BT — PWM control signal for top transistor gate of phase B, test point on connector
J7 pin.
•
TP30 PWM_CB — PWM control signal for bottom transistor gate of phase C, test point on
connector J7 pin.
•
TP31 /SS — Chip-select signal for SPI communication.
•
TP32 MOSI — MOSI signal for SPI communication.
•
TP33 SCLK — Clock signal for SPI communication.
•
TP32 MISO — MISO signal for SPI communication.
•
TP35 V_dcb — Bus-voltage test point.
•
TP36 +5V — This point is the output of the U7 switching step-down inverter. It serves as the power
supply for the on-board encoder and CAN physical layer interface.
•
TP37 +3.3V — This point is the output of the U8 linear voltage regulator. It serves as the power
supply for the on-board logic inverter and JM60 controller, and as the source for generating +3.3
VA. It is connected to the daughter board connector J7.
•
TP38 +1.65V_REF — Reference-voltage test point.
•
TP39 GND — Ground test point.
•
TP40 GND — Ground test point.
•
TP41 GND — Ground test point.
•
TP42 GND — Ground test point.
•
TP43 GNDA — Analog ground test point.
•
TP44 GNDA — Analog ground test point.
•
TP45 V_dcb/2_s — Half of bus voltage test point, scaled at 45.5 mV per V.
This board also contains ten LEDs as indicators:
•
D1 — PWM_AT indication LED, activated on low level.
•
D2 — PWM_AB indication LED, activated on high level.
•
D3 — PWM_BT indication LED, activated on low level.
•
D4 — PWM_BB indication LED, activated on high level.
•
D5 — PWM_CT indication LED, activated on low level.
•
D6 — PWM_CB indication LED, activated on high level.
•
D7 — User LED diode for user-defined purposes, activated on high level.
•
D8 — Indicated communication activity on TxD pin.
•
D9 — Indicated communication activity on RxD pin.
•
D19 — Indicates that the +5 V level is properly generated.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
35
Test Points and LED Indication
For more details, see Figure 4-5.
+3.3V
+5V
R55
270 OHM
TP23
D8
2
D7
HSMG-C170
LED Green
D19
HSMG-C170
LED Green
R63
2
+3.3V
2
R91
820 OHM
PTB0
1
HSMG-C170
270 OHM
USER LED
3 1
TP24
GND
Q2
MMBT2369ALT1G
1
USER LED
4.7K
R64
2
+3.3V
PTB1
1
HSMY-C170
2
1
R57
D9
270 OHM
GND
Figure 4-5 LED Indication
For more details see Figure 4-6.
14
+3.3V
PWM_AT
1
U4A
74AC14
PWM0
R44
2
D1
2
GND
PWM_AB
3
GND
2
+3.3V
HSMY-C170
7
270 OHM
1
LED Yellow
U4B
74AC14
PWM1
R47
4
D2
1
270 OHM
HSMY-C170
LED Yellow
U4C
74AC14
PWM_BT
5
PWM2
R49
6
D3
2
270 OHM
1
GND
2
+3.3V
HSMY-C170
LED Yellow
U4D
74AC14
PWM_BB
9
PWM3
R51
8
D4
1
270 OHM
HSMY-C170
LED Yellow
U4E
74AC14
PWM_CT
11
PWM4
R54
10
D5
2
270 OHM
1
GND
2
+3.3V
HSMY-C170
LED Yellow
U4F
74AC14
PWM_CB
13
PWM5
R56
12
D6
1
270 OHM
HSMY-C170
LED Yellow
Figure 4-6 PWM LED Indication
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
36
Freescale Semiconductor
Power Supplies and Voltage Reference
4.8 Power Supplies and Voltage Reference
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive contains devices that require various
voltage levels of +5 V or +3.3 V.
4.8.1 Input Power Supply
The bus can be supplied from two input connectors, J2 and the J3 power jack. The power source should
be able to deliver at least 4 A. The DC-bus has reverse polarity protection. The MC33927 driver is supplied
directly from the DC-bus. The +5 V power supply is served from bus voltage.
Q1
CON_2_TB
2
A
1
3
J2
J3
DCB_pos
2
1
B
FQD11P06
R1
1M
+
+
1
2
3
C33
100uF
C32
100uF
C34
0.1UF
POWER_JACK
12-50V/5A
GND
GND
GND
Figure 4-7 DC-Bus Input Circuitry
4.8.2 +5 V Power Supply
The +5 V level is generated by means of the LM2594HVM switching step-down regulator (see Figure 48), which generates this level from bus voltage. This converter can supply up to 500 mA. This voltage level
serves the MC33269D linear regulator, encoder, and CAN physical layer interface. If the LM2594HVM
converter operates properly, the D19 green LED is lit.
V_dcb
TP35
U7
L2
8
1
1
NC1
NC2
NC3
ON/OFF
OUT
100UH
2
D18
MURS120T3
+
C37
100UF
C38
0.1UF
2
1
2
3
GND
+
6
C35
68.0UF
LM2594HVM-5.0
FB 4
VIN
5
7
DCB_pos
+5V
TP36
+5V
GND
GNDGND
GND
GND
GND
Figure 4-8 +5 V Power Supply
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
37
Encoder/Hall-Effect Interface
4.8.3 +3.3 V Power Supply
An important voltage level for this board is +3.3 V. This voltage level is obtained from the MC33269D
linear voltage regulator, and can supply up to 800 mA (Figure 4-9). The +3.3 V level is used to supply the
on-board logic inverter and JM60 controller. It is connected to the daughter board connector J7.
D17
+5V
TP36
U8
R89
1
4
5
8
+5V
0 OHM
+3.3V
TP37
MBR0520LT1G
GND/ADJVOUT1
VIN
VOUT2
NC1
VOUT3
NC2
VOUT4
+3.3V
2
3
6
7
1
2
1uH
MC33269D_3.3
+
C38
0.1UF
C39
47UF
C40
0.1UF
GND
GND
GND
GND
+
C41
0.1UF
L3
1
GND
+3.3VA
L1
C42
0.1UF
C43
100PF
C36
47UF
2
1uH
GNDA
Figure 4-9 +3.3 VA / +5 VA Power Supply
4.8.4 +3.3 VA Power Supply
The +3.3 VA power supply is drawn from the +3.3 V level by passive filtering through L1and L3 (see
Figure 4-9). Maximum current load should not exceed 200 mA. This voltage level serves the on-board
operational amplifiers and voltage reference. It is also connected to the daughter board connector J8.
4.8.5 +1.65 V Reference
The +1.65 V reference is generated from the +3.3 VA level simply by the voltage divider (see Figure 410). This reference serves to shift the DC-bus and phase-current-sensing values. It can sink up to 30 mA.
+3.3VA
R90
68R
+1.65V_REF
TP38
+1.65V_REF
R93
68R
GNDA
C44
0.1UF
GNDA
Figure 4-10 +1.65 V Reference Source
4.9 Encoder/Hall-Effect Interface
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
38
Freescale Semiconductor
CAN Interface
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive contains an encoder/hall-effect interface.
The circuit is designed to accept +3.3 V to +5.0 V encoder or hall-effect sensor inputs. Input noise filtering
is supplied on the input path for the encoder/hall-effect interface.
Filtered signals are then connected to the controller daughter board connector J8. Figure 4-11 contains the
encoder interface.
+5V
R32
1.0 K
R33
R34
24 OHM
1.8K
C6
470PF
ENC_PhaseA
+5V
GND
R36
1.0 K
R37
R38
24 OHM
1.8K
C7
470PF
ENC_PhaseB
+5V
J6
1
2
3
4
5
GND
+5V
HDR_1X5_M
GND
R41
1.0 K
R42
R43
24 OHM
1.8K
C8
470PF
ENC_Index
GND
Figure 4-11 Encoder/Hall-Effect Circuitry
4.10 CAN Interface
The board contains a CAN interface. The main part of the interface is CAN controller PCA82C250. The
PCA82C250 is the interface between the CAN communication controller and the physical bus. The device
provides differential transmit capability to the bus and differential receive capability to the CAN
controller. The CAN interface is compatible with ISO 11898, and allows a maximum data transfer rate of
1 Mbit/s. The CAN transceiver is short-circuit protected, transient-bus protected, thermal protected, RFI
and EMI immunized.
The CAN transceiver is connected via CANTX and CANRX signals to the daughter board connector J7.
Bus signals CANL and CANH are connected to the CAN bus header J4. Shorten the jumper terminal J5
to attach the bus’ end termination resistor. This resistor ensures that data will not be reflected at the bus’
end. The schematic diagram of the CAN is in Figure 4-12.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
39
USB/SCI Bridge
J4
1
3
5
7
9
CANL
GND
2
4
6
8
10
CANH
HDR 2X5
2
1
R35
120 OHM
HEADER/CAN bus termination
J5
HDR_1X2_M
R39
CANTX
TP19
R40
CANRX
TP20
+5V
1.0 K
U3
CANTX
1
8
TXD
RS
CANRX
4
5
RXD
VREF
2
GND
GND
0 OHM
VCC
3
CANH
CANL
7
6
CANH
CANL
PCA82C250TD
Figure 4-12 CAN Interface
4.11 USB/SCI Bridge
The 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive provides a USB interface by the use of
USB level converter circuitry, referred to in the USB/SCI bridge schematic diagram in Figure A-7. The
core of the USB interface is the MC9S08JM60 controller and it’s universal serial bus (USB) device
controller. The USB device controller module is based on the Universal Serial Bus Specification Rev 2.0,
and provides a single-chip solution for full-speed (12 Mbps) USB device applications. The USB level
converter transitions the SCI UART’s +3.3 V signal levels to USB compatible signal levels, and connects
to the host’s serial port via the standard USB connector J10. The pinout of the USB connector is listed in
Table 3-7. To enable proper working of the serial interface, code for the USB/SCI bridge should be loaded
in the JM60 controller. LED diodes D8 and D9 indicate communication activity.
4.12 Control Switches
Three on-board push-button switches and one toggle switch are provided for the user’s program control
(see Figure 4-13). Two push-buttons (up, down) are directly connected to the daughter board connector J7.
One push-button (RESET) is provided for setting the daughter board controller RESET input pin to logic
level low. The RESET signal is connected to the 3-phase driver and to the daughter board connector J7. A
toggle switch is connected to the daughter board connector J7 too. This toggle switch has 3 stable positions
— two on states in edge positions, and one off state in the middle position.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
40
Freescale Semiconductor
Control Switches
+3.3V
R45
4.7K
R46
SW1
1
3
2
4
UP_SWITCH
1.8K
KSC621J
+3.3V
GND
R48
4.7K
R50
SW2
1
3
2
4
DOWN_SWITCH
1.8K
KSC621J
+3.3V
GND
+3.3V
SW3
TL39P0050
R96
4.7K
R52
4.7K
R97
R53
1
TOGGLE_SWITCH_ON1
2
3
TOGGLE_SWITCH_ON2
1.8K
1.8K
GND
RESET
+3.3V
SW4
A
A1
GND
R65
4.7K
GND
B
B1
/RESET
/RESET
C20
0.1UF
LIGHT TOUCH PUSH BUTTON
GND
Figure 4-13 Control Switches
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
41
Control Switches
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
42
Freescale Semiconductor
Appendix A.
3-Phase BLDC/PMSM Motor Control Drive Schematics
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
43
44
J1
HDR1x3
+3.3V
+3.3V
DCB_Pos
GND
+3.3VA
+3.3VA
+3.3VA
+1.65V_REF
GND
Gate_AT
Gate_AB
Source_AT
Phase_A
Phase_B
Phase_C
Gate_AT
Gate_AB
PWM_AT
PWM_AB
PWM_CT
PWM_CB
Gate_BT
Gate_BB
Source_BT
Gate_BT
Gate_BB
Gate_CT
Gate_CB
Source_CT
Gate_CT
Gate_CB
Phase_A
Phase_B
Phase_C
I_sense_A1
I_sense_A2
I_sense_A1
I_sense_A2
I_sense_B1
I_sense_B2
I_sense_B1
I_sense_B2
I_sense_C1
I_sense_C2
I_sense_C1
I_sense_C2
DCB_pos
DCB_pos
/RESET
DRV_EN
I_Sense_DCB1
I_Sense_DCB2
GND_LSFET
GND
Power Circuit
GND_LSFET
INT
OC
GND_LSFET
INT
OC
/SS
MISO
MOSI
SCLK
/RESET
DRV_EN
MOSFET Drivers
BEMF_sense_C
BEMF_sense_B
BEMF_sense_A
I_sense_C
I_sense_B
I_sense_A
V_sense_DCB/2
V_sense_DCB
I_sense_DCB
GND
+3.3V
+5V
GNDA
+3.3VA
PWM_CT
PWM_CB
MicroHeaders&others_circuits
+3.3VA
+3.3V
+5V
GND
GNDA
Q1
CON_2_TB
B
2
A
1
3
J2
J3
DCB_pos
2
FQD11P06
DCB_pos
R1
1M
+5V
+3.3V
+3.3VA
+1.65V_REF
1
2
3
+5V
+3.3V
+3.3VA
+1.65V_REF
GND
GNDA
POWER_JACK
Power Supplies
12-50V/5A
GNDA
GND
GNDA
BEMF_sense_C
BEMF_sense_B
BEMF_sense_A
I_sense_C
I_sense_B
I_sense_A
V_sense_DCB/2
V_sense_DCB
I_sense_DCB
I_sense_DCB_out
Analog sensing
GND_LSFET
PWM_BT
PWM_BB
GNDA
DCB_pos
DCB_neg
I_sense_DCB1
/SS
I_sense_DCB2
MISO
MOSI
SCLK I_sense_DCB_out
1
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
PWM_BT
PWM_BB
PWM_AT
PWM_AB
+1.65V_REF
+1.65V_REF
+1.65V_REF
+3.3VA
Motor
1
2
3
DCB_Pos
GND
Figure A-1 Board Overview
GND
Freescale Semiconductor
R2
Idcb_s
TP1
GNDA
6
5
I_sense_A2
1.6K
2
MC33502DG
1
I_sense_A
I_sense_DCB_out
3
U1B
I_sense_DCB
U1A
1.65V +/- 1.65V
Imax = 4A
R7
7.5K
1.65V ref
+3.3VA
IbTP5
R10
7.5K
R8
R9
I_sense_B1
I_sense_B2
2
3
1.6K
R13
7.5K
1.65V ref
220 OHM
GNDA
4
1.6K
C2
47PF R12
8
220 OHM
R11
+
Ib+
TP6
-
Ib_s
TP7
MC33502DG
1
1.65V +/- 1.65V
Imax = 4A
@ +/- Imax
I_sense_B
U2A
GNDA
GNDA
+3.3VA
+3.3VA
+3.3VA
+1.65V_REF
+1.65V_REF
R14
IcTP8
R15
7.5K
R16
I_sense_C1
220 OHM
R18
Ic_s
TP10
1.6K
C3
47PF R17
6
5
I_sense_C2
220 OHM
1.6K
MC33502DG
7
1.65V +/- 1.65V
Imax = 4A
@ +/- Imax
I_sense_C
+
Ic+
TP9
-
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
220 OHM
MC33502DG
7
@ +/- Imax
8
1.6K
C1
47PF R6
1.65V +/- 1.65V
Imax = 4A
+
220 OHM
R5
-
Ia+
TP3
Ia_s
TP4
4
R4
I_sense_A1
+
R3
7.5K
-
IaTP2
U2B
+3.3VA
+3.3VA
R19
7.5K
C4
0.1UF
GNDA
+1.65V_REF
45
Figure A-2 Analog Sensing — Phase Current Sensing
C5
0.1UF
GNDA
@ +/- Imax
46
BEMF_A
TP11
Phase_A
BEMF_A_s
TP12
R20
30K
3.3V @ Phase_A = 36.3V
BEMF_sense_A
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
R22
3.0K
V_dcb
TP13
GNDA
DCB_pos
V_dcb_s
TP15
BEMF_B
TP14
R23
30K
3.3V @
Phase_B
DC-Bus = 36.3V
V_sense_DCB
BEMF_B_s
TP16
R25
30K
V_dcb/2_s
TP45
R27
1.5K
3.3V @ Phase_B = 36.3V
1.65V @
BEMF_sense_B
DC-Bus/2 = 18.15V
V_sense_DCB/2
R28
3.0K
R104
1.5K
GNDA
GNDA
BEMF_C
TP17
Phase_C
GNDA
BEMF_C_s
TP18
R29
30K
GNDA
3.3V @ Phase_C = 36.3V
BEMF_sense_C
R31
3.0K
GNDA
Figure A-3 Analog Sensing — Back EMF Sensing
Freescale Semiconductor
+5V
R32
1.0 K
R33
R34
24 OHM
1.8K
C6
470PF
J4
ENC_PhaseA
GND
+5V
GND
2
4
6
8
10
HDR 2X5
R35
R36
1.0 K
120 OHM
R37
HEADER/CAN bus termination
R38
J5
HDR_1X2_M
ENC_PhaseB
+5V
J6
1.8K
C7
470PF
24 OHM
1
2
3
4
5
GND
R39
+5V
CANTX
TP19
HDR_1X5_M
R41
1.0 K
+5V
1
8
CANTX
R42
R43
CANRX
ENC_Index
1.8K
C8
470PF
24 OHM
R40
CANRX
TP20
1.0 K
U3
GND
CANH
2
1
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
1
3
5
7
9
CANL
GND
TXD
RS
4
5
RXD
VREF
2
GND
0 OHM
VCC
3
CANH
CANL
7
6
CANH
CANL
PCA82C250TD
GND
+5V
+5V
+5V
GND
C9
0.1UF
GND
C11
2.2UF
C10
0.1UF
GND
GND
47
Figure A-4 Micro Headers & Other Circuits — Encoder/Hall Sensor & CAN
GND
+5V
+5V
48
14
+3.3V
+3.3V
1
PWM_AT
4
GND
UP_SWITCH
KSC621J
3
PWM_AB
U4B
74AC14
1
GND
2
+3.3V
HSMY-C170
PWM1
R47
4
+3.3V
GND
D1
2
LED Yellow
1.8K
D2
1
270 OHM
HSMY-C170
LED Yellow
U4C
74AC14
R48
4.7K
1
3
2
5
PWM_BT
R50
SW2
+3.3V
+3.3V
SW3
TL39P0050
9
2
1.8K
R51
3
TOGGLE_SWITCH_ON2
11
PWM_CT
PWM4
R54
10
1.8K
D5
2
270 OHM
U4F
74AC14
R55
270 OHM
GND
13
PWM_CB
2
+3.3V
PWM5
R56
12
D6
1
270 OHM
USER LED
R57
Q2
MMBT2369ALT1G
1
USER LED
4.7K
+3.3V
3 1
GND
GND
HSMY-C170
LED Yellow
2
D7
HSMG-C170
LED Green
+3.3V
1
HSMY-C170
LED Yellow
+3.3V
GND
+3.3V
HSMY-C170
LED Yellow
U4E
74AC14
GND
+3.3V
2
D4
1
270 OHM
R53
1
GND
PWM3
8
R52
4.7K
R97
1
HSMY-C170
LED Yellow
U4D
74AC14
PWM_BB
TOGGLE_SWITCH_ON1
D3
2
1.8K
4
R96
4.7K
R49
270 OHM
KSC621J
GND
PWM2
6
DOWN_SWITCH
C12
0.1UF
2
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
3
2
2
7
R46
1
PWM0
R44
270 OHM
R45
4.7K
SW1
U4A
74AC14
GND
Figure A-5 Micro Headers & Other Circuits — Switches, User, and PWM LEDs
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
J7
CANTX
PWM_AT
GND
PWM_BT
PWM_CT
OC
TxD
TOGGLE_SWITCH_ON1
UP_SWITCH
USER LED
1
3
5
7
9
11
13
15
17
19
J8
2
4
6
8
10
12
14
16
18
20
+3.3V
CANRX
PWM_AB
PWM_BB
PWM_CB
INT
RxD
TOGGLE_SWITCH_ON2
DOWN_SWITCH
/RESET
I_sense_A
I_sense_C
GNDA BEMF_sense_B
V_sense_DCB
I_sense_DCB
ENC_PhaseB
DRV_EN
MOSI
MISO
87407-110LF
1
3
5
7
9
11
13
15
17
19
2
4
6
8
10
12
14
16
18
20
+3.3VA
I_sense_B
BEMF_sense_A
BEMF_sense_C
V_sense_DCB/2
ENC_PhaseA
ENC_Index
/SS
SCLK
87407-110LF
GND
RESET
+3.3V
SW4
A
A1
GND
+3.3V
R58
4.7K
GND
B
B1
/RESET
C13
0.1UF
LIGHT TOUCH PUSH BUTTON
GND
+3.3VA
/RESET
+3.3V
+3.3VA
GND
GND
GNDA
GNDA
49
Figure A-6 Micro Headers & Other Circuits — Daughter Board Connectors & RESET
50
3
2
4
1
S2
2
3
4
1
S1
-D
+D
G
V
31
16
40
41
42
43
1
44
PTC0/SCL
PTC1/SDA
PTC2
PTC3/TxD2
PTC4
PTC5/RxD2
29
30
33
PTD0/ADP8/ACMP+
PTD1/ADP9/ACMPPTD2/KBIP2/ACMPO
2
3
36
IRQ/TPMCLK
RESET
BKGD/MS
SHIELD
DD+
GND
SHIELD
R95 TxD RxD
10K TP21 TP22
R94
10K
PTE0/TxD1
PTE1/RxD1
PTE2/TPM1CH0
PTE3/TPM1CH1
PTE4/MISO1
PTE5/MOSI1
PTE6/SPSCK1
PTE7/SS1
8
9
10
11
12
13
14
15
PTF0/TPM1CH2
PTF1/TPM1CH3
PTF4/TPM2CH0
PTF5/TPM2CH1
4
5
6
7
J9
BKGD/MS
RxD
TxD
TP23
D8
+3.3V
2
MC9S08JM60CFGE
R63
20
18
19
R60
XTAL
EXTAL
1M
X1
+3.3V
DR61
33 OHM
R62
33 OHM
1
2
8MHz
D+
C14
22PF
GND
270 OHM
/RESET_JM
+3.3V
R59
0 OHM
PTB0
1
HSMG-C170
VUSB33
USBDN
USBDP
VSSAD/VREFL
VSS1
VSSOSC
/RESET_JM
BKGD/MS
32
17
39
GND
21
22
34
35
37
38
2
4
6
HDR 2X3
CON USB
PTG0/KBIP0
PTG1/KBIP1
PTG2/KBIP6
PTG3/KBIP7
PTG4/XTAL
PTG5/EXTAL
1
3
5
EXTAL
PTB0/MISO2/ADP0
PTB1/MOSI2/ADP1
PTB2/SPSCK2/ADP2
PTB3/SS2/ADP3
PTB4/KBIP4/ADP4
PTB5/KBIP5/ADP5
+3.3V
XTAL
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
J10
23
24
25
26
27
28
VDDAD/VREFH
VDD1
U5
PTB0
PTB1
+3.3V
GND
+3.3V
C15
22PF
GND
GND
TP24
D9
+3.3V
2
R64
HSMY-C170
+3.3V
+3.3V
+3.3V
+3.3V
PTB1
1
+3.3V
270 OHM
C16
10.0uF
C17
0.1UF
C18
4.7UF
C19
0.47UF
+3.3V
GND
GND
GND
GND
GND
GND
Figure A-7 Micro Headers & Other Circuits — USB/SCI Bridge
Freescale Semiconductor
VLS_CAP
DCB_pos
R65
VDD VLS
DCB_pos
D10
MBR0520LT1G
R66
R67
R99
10K
R100
10K
GND
AMP_N
AMP_P
R101
10K
R77
PA_LS
PB_LS
PC_LS
18
19
20
21
CS
SI
SCLK
SO
25
26
AMP_N
AMP_P
28
OC_TH
R78
+3.3V
1.0K
C23
0.1UF
OC_TH @ 3.09V @ 3.75A
15.0K
GND
14
32
51
54
17
PA_BOOT
PA_HS_G
PA_HS_S
PA_LS_G
48
47
46
45
PB_BOOT
PB_HS_G
PB_HS_S
PB_LS_G
43
42
41
40
PC_BOOT
PC_HS_G
PC_HS_S
PC_LS_G
38
37
36
35
PHASEC
PHASEB
PHASEA
11
10
1
NC6
NC5
NC4
NC3
NC2
NC1
53
52
50
49
33
6
AMP_OUT
OC_OUT
24
27
INT
MBR0520LT1G
R69
R70
Gate_AB
10R
D12
10R
MBR0520LT1G
R71
R72
Gate_BT
C21
1UF
10R
10R
Source_BT
D13
MBR0520LT1G
R73
R74
Gate_BB
10R
10R
D14
MBR0520LT1G
R75
R76
AMP_OUT
Gate_CT
OC
C22
1UF
MC33927
10R
10R
Source_CT
D15
MBR0520LT1G
R80
Gate_CB
GND
10R
GND
R102
DC Bus Current Sensing
D16
MBR0520LT1G
R82
AMP_P
I_Sense_DCB2
AMP_OUT
1.6K
C45
47PF
R83
OpAmp is within 3PP-A
1.6K
220 OHM
VLS_CAP
VLS
VLS
DCB_pos
+3.3V
+3.3V
+3.3VA
+3.3VA
+1.65V_REF
7.5K
VLS_CAP
DCB_pos
I_sense_DCB_out
R84
AMP_N
I_Sense_DCB1
10R
+3.3VA
GND_LSFET
DCB_pos
Source_AT
D11
R79
R81
7.5K
DCB_pos
10R
GND
+1.65V_REF
220 OHM
R103
10R
10K
EP
/SS
MOSI
SCLK
MISO
13
16
22
55
PWM_AB
PWM_BB
PWM_CB
PA_HS
PB_HS
PC_HS
C20
1UF
R68
INT
RST
GND0
GND1
PGND for QPUMP
PGNDA
PGNDB
PGNDC
5
12
15
23
VSS
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
GND
/RESET
0 OHM
VDD
VLS_CAP
VLS
VPWR
R98
10K
PWM_CB
TP30
PWM_AT
PWM_BT
PWM_CT
/SS
MOSI SCLK MISO
TP31 TP32 TP33 TP34
EN1
EN2
30
31
2
44
39
34
PWM_CT
TP28
3
4
DRV_EN
29
PWM_BB
TP27
PUMP
VPUMP(12V)
VBAT(42V)
U6
PWM_AB
TP26
PWM_BT
TP29
7
8
9
Gate_AT
PWM_AT
TP25
VDD
+1.65V_REF
GND
VDD
GND
C24
2.2uF
GND
C25
0.1UF
GND
C26
2.2UF
C27
0.1UF
GND_LSFET GND_LSFET
C28
2.2UF
C29
0.1UF
GND_LSFET GND_LSFET
C30
2.2UF
GND
C31
0.1UF
GND
51
Figure A-8 MOSFET Drivers
GND_LSFET
GND_LSFET
52
Freescale Semiconductor
Q4
4
Gate_BT
Phase_A
Phase_B
Phase_C
Q6
4
Gate_AB
5
6
7
8
Q7
4
Gate_BB
Q8
4
Gate_CB
FDS3672
FDS3672
3
2
1
FDS3672
I_sense_A1
3
2
1
C34
0.1UF
5
6
7
8
C33
100uF
5
6
7
8
+
FDS3672
3
2
1
FDS3672
3
2
1
C32
100uF
4
Gate_CT
FDS3672
+
Q5
3
2
1
4
Gate_AT
5
6
7
8
5
6
7
8
Q3
3
2
1
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
5
6
7
8
DCB_pos
I_sense_C1
I_sense_B1
R85
0.1R
I_sense_A2
R86
0.1R
I_sense_B2
R87
0.1R
I_sense_C2
DCB_neg
R88
0.1R
I_Sense_DCB1
GND_LSFET
I_Sense_DCB2
Figure A-9 Power Circuit
GND_LSFET
GND_LSFET
Freescale Semiconductor
D17
V_dcb
TP35
U8
R89
1
4
5
8
L2
8
1
1
NC1
NC2
NC3
ON/OFF
+
OUT
100UH
2
0 OHM
+3.3V
TP37
MBR0520LT1G
GND/ADJVOUT1
VIN
VOUT2
NC1
VOUT3
NC2
VOUT4
+
C37
100UF
+3.3V
2
3
6
7
+3.3VA
L1
1
2
1uH
MC33269D_3.3
D18
MURS120T3
1
2
3
VIN
GND
+
C38
0.1UF
C39
47UF
C40
0.1UF
+
C41
0.1UF
L3
1
C42
0.1UF
C43
100PF
C36
47UF
2
2
GND
GND
GNDGND
GND
GND
GND
GND
GND
1uH
GND
GNDA
Grounds Connection
GND GND GND GND
TP39 TP40 TP41 TP42
+3.3VA
+5V
+1.65V_REF
TP38
R91
820 OHM
GND
+1.65V_REF
+1.65V_REF
GNDA
+3.3V
+3.3V
2
R90
68R
GNDA GNDA
TP43 TP44
+1.65V_REF
R93
68R
C44
0.1UF
+3.3VA
D19
HSMG-C170
LED Green
+5V
+5V
GND
GND
GNDA
+3.3VA
1
C35
68.0UF
LM2594HVM-5.0
FB 4
5
DCB_pos
6
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
7
+5V
TP36
+5V
U7
GND
GNDA
GNDA
GNDA
53
Figure A-10 Power Supplies
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
54
Freescale Semiconductor
Appendix B. Bill of Materials
Table B-1 Parts List
DESIGNATORS
C1-3,C5
C4,C5,C9,C10,C12,C13
,C17,C23,C27,C29,C31,
C38,C40-C42,C44
C6-C8
C11,C26,C28,C30
C14,C15
C16
C18
C19
C20-C22
C24
C25,C34
C32,C33
C35
C36,C39
C37
C43
QUANTITY
4
DESCRIPTION
47 pF / 100 V size 0805
MANUFACTURER
ANY ACCEPTABLE
PART NUMBER
—
16
100 nF / 100 V size 0805
ANY ACCEPTABLE
—
3
4
2
1
1
1
3
1
2
2
1
2
1
1
470 pF / 100 V size 0805
2.2 μF / 25 V size 0805
22 pF / 100 V size 0805
10 μF / 16 V size 0805
4.7 μF / 16 V size 0805
470 nF / 25 V size 0805
1 μF / 25 V size 0805
2.2 μF / 50 V size 1210
100 nF / 100 V size 1206
100 μF / 80 V size H13
68 μF / 100 V size H13
47 μF / 6.3 V size C
100 μF / 16 V size E
100 pF / 100 V size 0805
—
—
—
—
—
—
—
—
—
—
—
—
—
—
D1-D6,D9
7
D7,D8,D19
8
D10-D17
8
D18
1
J1
J2
J3
1
1
1
J4
1
J5
1
J6
J7,J8
1
2
J9
1
J10
1
L1,L3
L2
2
1
Q1
1
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
ANY ACCEPTABLE
AVAGO
Yellow Display LED size 0805
TECHNOLOGIES
AVAGO
Green Display LED size 0805
TECHNOLOGIES
0.5 A / 20 V Schottky Rectifier
ON
size SOD-123
SEMICONDUCTOR
ON
1 A / 200 V Ultrafast Rectifier size B
SEMICONDUCTOR
HDR 1x3
MOLEX
CON_2_TB
LUMBERG INC
Power Jack
SWITCHCRAFT
TYCO
HDR 2x5
ELECTRONICS
TYCO
HDR 1X2
ELECTRONICS
HDR 1X5
MOLEX
87407-110
FCI
TYCO
HDR 2X3
ELECTRONICS
TYCO
CON USB
ELECTRONICS
1 μH size 2012
TDK
100 μH
Wurth Elektronik
FAIRCHILD
9.4 A / 60 V MOSFET size D-PAK
SEMICONDUCTOR
HSMY-C170
HSMG-C170
MBR0520LT1G
MURS120T3G
09-65-2038
KRM 02
RAPC712X
4-103322-2
4-103321-8
22-27-2051
87407-110LF
4-103322-2
292304-1
MLZ2012A1R0P
744778920
FQD11P06TF
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
55
Table B-1 Parts List
DESIGNATORS
QUANTITY
DESCRIPTION
Q2
1
200 mA / 40 V NPN size SOT-23
Q3-Q8
6
R1,R60
2
MANUFACTURER
ON
SEMICONDUCTOR
FAIRCHILD
SEMICONDUCTOR
PART NUMBER
MMBT2369ALT1G
R20,R23,R25,R29
4
R22,R28,R31
3
R27,R104
21
R32,R36,R39,R41
R33,R37,R42
R34,R38,R43,R46,R50,
R53,R97
R35
R40,R59,R65,R89
R44,R47,R49,R51,R54R56,R63,R64
R45,R48,R52,R57,
R58,R96
R61,R62
R66,R67,R69-R76,R79,
R80
R68,R94,R95,R98-R10
1
41
3
7.5 A / 100 V MOSFET size
SOIC-8
1 MΩ Resistor 1/8 W 1 %
size 0805
7.5 kΩ Resistor 1/8 W 1 %
size 0805
220 Ω Resistor 1/8 W 1 %
size 0805
1.6 kΩ Resistor 1/8 W 1 %
size 0805
30 kΩ Resistor 1/8 W 1 %
size 0805
3 kΩ Resistor 1/8 W 1 %
size 0805
1.5 kΩ Resistor 1/8 W 1 %
size 0805
1 kΩ Resistor 1/8 W size 0805
24 Ω Resistor 1/80 W size 0805
7
1.8 kΩ Resistor 1/8 W size 0805
ANY ACCEPTABLE
—
1
4
120 Ω Resistor 1/8 W size 0805
0 Ω Resistor 1/8 W size 0805
ANY ACCEPTABLE
ANY ACCEPTABLE
—
—
9
270 Ω Resistor 1/80 W size 0805
ANY ACCEPTABLE
—
6
4.7 kΩ Resistor 1/8 W size 0805
ANY ACCEPTABLE
—
2
33 Ω Resistor 1/8 W size 0805
ANY ACCEPTABLE
—
12
10 Ω Resistor 1/8 W size 0805
ANY ACCEPTABLE
—
7
10 kΩ Resistor 1/8 W size 0805
ANY ACCEPTABLE
—
R77
1
ANY ACCEPTABLE
—
R78
1
ANY ACCEPTABLE
—
R85-R88
4
WELWYN
COMPONENTS
LIMITED
LR2512-R10FW
R90,R93
2
ANY ACCEPTABLE
—
R91
SW1,SW2
1
2
SW3
1
SW4
TP1-TP45
1
45
U1,U2
2
R2,R7,R10,R13,R14,R1
9,R81,R84
R3,R5,R8,R11,R15,R18
,R102,R103
R4,R6,R9,R12,R16,R17
,R82,R83
8
8
8
1 kΩ Resistor 1/8 W 1 %
size 0805
15 kΩ Resistor 1/8 W 1 %
size 0805
100 mΩ Resistor 1 % size 2512
68 Ω Resistor 1/8 W 1 %
size 0805
820 Ω Resistor 1/8 W size 0805
20 mA / 32 V Touch Key
FDS3672
ANY ACCEPTABLE
—
ANY ACCEPTABLE
—
ANY ACCEPTABLE
—
ANY ACCEPTABLE
—
ANY ACCEPTABLE
—
ANY ACCEPTABLE
—
ANY ACCEPTABLE
—
ANY ACCEPTABLE
ANY ACCEPTABLE
—
—
ANY ACCEPTABLE
C&K COMPONENTS
APEM
20 mA / 20 V Toggle Switch/3-state
COMPONENTS
20 mA / 32 V Touch Key
C&K COMPONENTS
N/P
—
ON
Operational Amplifier / SOIC-8
SEMICONDUCTOR
—
KSC621J LFS
TL39P0050
KSC341J LFS
—
MC33502DR2G
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
56
Freescale Semiconductor
Table B-1 Parts List
DESIGNATORS
QUANTITY
DESCRIPTION
U3
1
CAN INTERFACE / SOIC-8
U4
1
Schmitt Inverter / SOIC-14
U5
1
8-bit HCS08 Controller / LQFP-44
U6
1
3-Phase Bridge Driver / 54
SOICW-EP
U7
1
Step-Down Regulator / SOIC-8
U8
1
Voltage Regulator / SOIC-8
X1
1
8 MHz Crystal / HC49
MANUFACTURER
PART NUMBER
PHILIPS
PCA82C250TD
SEMICONDUCTOR
ON
MC74AC14DG
SEMICONDUCTOR
FREESCALE
MC9S08JM60CFGE
SEMICONDUCTOR
FREESCALE
MCZ33927EK
SEMICONDUCTOR
NATIONAL
LM2594HVM-5.0/NO
SEMICONDUCTOR
PB
ON
MC33269D-3.3G
SEMICONDUCTOR
RAKON
LF A140E
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
57
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
58
Freescale Semiconductor
Appendix C.
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive
Layouts
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
59
60
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
Figure C-1 Board Top Layer
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Figure C-2 Board Bottom Layer
61
62
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Freescale Semiconductor
Figure C-3 Board Silkscreen Top Layer
Freescale Semiconductor
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
Figure C-4 Board Silkscreen Bottom Layer
63
3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0
64
Freescale Semiconductor
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