3-Phase BLDC/PMSM Low- Voltage Motor Control...

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Rev. 001/2009

User Manual

3-Phase BLDC/PMSM Low-Voltage Motor Control Drive

3-Phase BLDC/PMSM Low-Voltage Motor Control DriveUser 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 http://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 RevisionLevel Description Page

Number(s)

10/2008 0 Initial release N/A

3-Phase BLDC/PMSM Low-Voltage Motor Control Drive, Rev. 0

Freescale Semiconductor 3

http://www.freescale.com


4 Freescale Semiconductor

List of Figures

Figure 1-1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 1-2 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive. . . . . . . . . . . . . . . . . . . . . . . . . 13Figure 1-3 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Setup . . . . . . . . . . . . . . . . . . . 15Figure 2-1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 3-1 J7 and J8 Connector Physical View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Figure 4-1 Phase Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Figure 4-2 Bus Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Figure 4-3 Back EMF Sensing — Phase A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Figure 4-4 Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Figure 4-5 LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Figure 4-6 PWM LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37Figure 4-7 DC-Bus Input Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Figure 4-8 +5 V Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Figure 4-9 +3.3 VA / +5 VA Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Figure 4-10 +1.65 V Reference Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Figure 4-11 Encoder/Hall-Effect Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Figure 4-12 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Figure 4-13 Control Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Figure A-1 Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44Figure A-2 Analog Sensing — Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Figure A-3 Analog Sensing — Back EMF Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Figure A-4 Micro Headers & Other Circuits — Encoder/Hall Sensor & CAN . . . . . . . . . . . . . . . . . . . 47Figure A-5 Micro Headers & Other Circuits — Switches, User, and PWM LEDs. . . . . . . . . . . . . . . . 48Figure A-6 Micro Headers & Other Circuits — Daughter Board Connectors & RESET . . . . . . . . . . . 49Figure A-7 Micro Headers & Other Circuits — USB/SCI Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Figure A-8 MOSFET Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Figure A-9 Power Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Figure A-10 Power Supplies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Figure C-1 Board Top Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Figure C-2 Board Bottom Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Figure C-3 Board Silkscreen Top Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Figure C-4 Board Silkscreen Bottom Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63





Table of Contents

Chapter 1 Introduction

1.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Outline . . . . . . . . . . . . . . . . . . . . . . . 111.3 About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.5 Setup Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 2 Operational Description

2.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Chapter 3 Pin Description

3.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.3.1 Motor Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3.2 Power Supply Input Connectors J2 and J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3.3 CAN Header J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3.4 Encoder/Hall-Effect Interface J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.5 Daughter Board Connectors J7 and J8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.6 USB Controller BDM Header J9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263.3.7 USB Connector J10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Chapter 4 Design Consideration

4.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274.3 3-Phase Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284.4 Bus Voltage and Current Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.5 Overcurrent, Undervoltage, and Other Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314.6 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.7 Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.8 Test Points and LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334.9 Power Supplies and Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374.9.1 Input Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37



4.9.2 +5 V Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384.9.3 +3.3 V Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384.9.4 +3.3 VA Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.9.5 +1.65 V Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.10 Encoder/Hall-Effect Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.11 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.12 USB/SCI Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414.13 Control Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

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



List of TablesTable 2-1 Electrical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Table 3-1 Motor Connector J1 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Table 3-2 CAN Header J4 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Table 3-3 Encoder/Hall-Effect Interface J6 — Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . 23Table 3-4 Daughter Board Connector J7 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Table 3-5 Daughter Board Connector J8 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Table 3-6 USB Controller BDM Header J9 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Table 3-7 USB Connector J10 — Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Table B-1 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55






Chapter 1 Introduction

1.1 Contents1.2 3-Phase BLDC (Brushless DC) / PMSM (Permanet Magnet Synchronous Motor) Low-Voltage Motor Control Drive Outline111.3 About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.4 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.5 Setup Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.2 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Outline

Freescale’s 3-Phase BLDC (Brushless DC) / PMSM (Permanent Magnet Synchronous Motor) Low-Voltage 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 ready-made, 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 2.3 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


About This Manual

• Up, down, toggle switches• Reset push-button

1.3 About This Manual

Key items are in the following locations in this manual:

• Setup instructions — 1.5 Setup Guide• Schematics — Appendix A. 3-Phase BLDC/PMSM Motor Control Drive Schematics• Pin assignments — Chapter 3 Pin Description• Pin-by-pin description — 3.3 Signal Descriptions• Description of reference design aspects of the board’s circuitry — Chapter 4 Design Consideration

Figure 1-1 System Configuration

BDM or JTAG/EOnCE

MOTOR

WORKSTATION

BLDC/PMSM LOW VOLTAGE

MOTOR CONTROL DRIVE

INTERFACE

CONTROLLER DAUGHTER BOARD

-



Warnings

Figure 1-2 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive

1.4 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.

1.5 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 1-3 depicts a complete setup.


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.

WARNINGIf an input voltage higher than 24 V is applied, the controller daughter board can be damaged.



Setup Guide

Figure 1-3 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Setup

ControllerDaughter board

J2

Phase_C

Phase_B

Phase_A

Motor

Freescale Semiconductor3-Phase BLDC/PMSM Low-Voltage

Hall/EncoderConnector

HALL C / ENCODER INDEX

HALL B / ENCODER PHASE B

HALL A / ENCODER PHASE AGND

+5V

12–24 V

Motor Control Drive

J8

J4

J9

J7

J10

1J6

2

3

4

5

1J1

2

3

CANConnector

Daughter boardConnectors

BDMConnector for

USBConnector

BDM/JTAGConnector

Daughter boardConnectors

Controller Daughter board is plugged intothe 3-Phase BLDC/PMSM Low-Voltage

Motor Control Drive

J3 USB controller

PowerSupply

PowerSupply

Optional



Setup Guide



Chapter 2 Operational Description

2.1 Contents2.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172.3 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.2 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.



http://www.freescale.com

Electrical Characteristics

Figure 2-1 Block Diagram

2.3 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.

WARNINGIf an input voltage higher than 24 V is applied, the controller daughter board can be damaged.

3-PH MOSFETBRIDGE

MOSFET DRIVERS

SIGNAL CONDITIONING

DC BUS, PHASE voltages and currents, BEMF

USB/SCIBRIDGE

POWERSUPPLIES

+5V, +3.3V, +3.3VA

SWITCHES&

LEDs

J2, J3

J7

,J8

J9

J6 J1 J4

MOTORENCODER/HALL-EFFECTINPUTS

BD

Mfo

r

DA

UG

HT

ER

BO

AR

D

CAN

Legend: Module Connector

J1

0

US

B

CANPH. LAYERU

SB

Co

ntr

oller




* 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.

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 +1.65 V

Bus Voltage Sense Voltage* VBus — 91 — mV/V

Bus Voltage Sense Offset Voffset 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






Chapter 3 Pin Description

3.1 Contents3.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.2 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 3.3.1 Motor Connector J1 for more details.

Each connector and header is labelled from the bottom side of the board.

3.3 Signal Descriptions

Pin descriptions are identified in this subsection.



Signal Descriptions

3.3.1 Motor Connector J1

Power outputs to the motor are located on connector J1. Phase outputs are labelled A, B, and C. Table 3-1 contains pin assignments. Section 1.5 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.

3.3.2 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.

3.3.3 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 3-1 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.

Table 3-2 CAN Header J4 — Signal Descriptions


1 No Connect

2 No Connect

3 CANL Low-level CAN voltage input/output

4 CANH High-level CAN voltage input/output

5 GND Power supply ground

6 No Connect

7 No Connect



Signal Descriptions

3.3.4 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.

3.3.5 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.

8 No Connect

9 No Connect

10 No Connect

Table 3-3 Encoder/Hall-Effect Interface J6 — Signal Descriptions


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.

Table 3-4 Daughter Board Connector J7 — Signal Descriptions


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.

Table 3-2 CAN Header J4 — Signal Descriptions (Continued)

(Continued)Pin # Signal Name Description



Signal Descriptions

* JM60 reset signal is connected only on BDM connector J9.

5 PWM_ATGate-drive signal for the top half-bridge of phase A. A logic low turns on phase A’s

top switch.

6 PWM_ABGate-drive signal for the bottom half-bridge of phase A. A logic high turns phase A’s

bottom switch on.

7 PWM_BTGate-drive signal for the top half-bridge of phase B. A logic low turns on phase B’s

top switch.

8 PWM_BBGate-drive signal for the bottom half-bridge of phase B. A logic high turns phase B’s

bottom switch on.

9 PWM_CTGate-drive signal for the top half-bridge of phase C. A logic low turns on phase C’s

top switch.

10 PWM_CBGate-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.

15TOGGLE_

SWITCH_ON1Toggle-switch input (switch in position ON1).

16TOGGLE_

SWITCH_ON2Toggle-switch input (switch in position ON2).

17 UP_SWITCH Up switch input.

18 DOWN_SWITCH Down switch input.

19 USER_LED User LED signal.

20 /RESET RESET signal only for controller on daughter board and 3-phase bridge driver. *



1 GNDA Analog power supply ground.

2 +3.3VA Analog +3.3 V power supply.

3 I_sense_AAnalog sense signal that measures the current in phase A. It is scaled at 50 V per A

of DC-bus current.

4 I_sense_BAnalog sense that measures the current in phase B. It is scaled at 0.563 V per A of

DC-bus current.





Signal Descriptions

Figure 3-1 J7 and J8 Connector Physical View

5 I_sense_CAnalog 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_AAnalog sense signal that measures phase A back EMF. It is scaled at 8.09 mV per V

of DC-bus voltage.

7 BEMF_sense_BAnalog sense signal that measures phase B back EMF. It is scaled at 8.09 mV per V

of DC-bus voltage.

8 BEMF_sense_CAnalog sense signal that measures phase C back EMF. It is scaled at 8.09 mV per V

of DC-bus voltage.

9 V_sense_DCBAnalog sense signal that measures bus voltage. It is scaled at 8.09 V per V of DC-

bus voltage.

10 V_sense_DCB/2Analog sense signal that measures bus voltage. It is scaled at 8.09 V per V of DC-

bus voltage.

11 I_sense_DCBAnalog sense signal that measures bus current. It is scaled at 8.09 V per A of DC-

bus 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 Encoder index or hall sensor phase C input pin logic.

15 DRV_EN 3-phase bridge-gate driver enable signal.

16 /SS SPI pin chip select pin for 3-phase bridge driver.

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.

Table 3-5 Daughter Board Connector J8 — Signal Descriptions (Continued)


2 4 6 8

10 12 14 16 18 20

1 3 5 7 9 11 13 15 17 19

+3.3VCANRXPWM_ABPWM_BBPWM_CBINT+RxDTOGGLE_SWITCH_ON2DOWN_SWITCH/RESET

GNDCANTX

PWM_ATPWM_BTPWM_CT

OCTxD

TOGGLE_SWITCH_ON1UP_SWITCH

USER_LED

2 4 6 8

10 12 14 16 18 20

1 3 5 7 9 11 13 15 17 19

+3.3VAI_sense_DCBBEMF_sense_ABEMF_sense_CV_sense_DCB/2ENC_PhaseAENC_Index/SSSCLKGND

GNDAI_sense_AI_sense_C

BEMF_sense_BV_sense_DCBI_sense_DCBENC_PhaseB

DRV_ENMOSIMISO



Signal Descriptions

3.3.6 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.

3.3.7 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 3-6 USB Controller BDM Header J9 — Signal Descriptions


1 BKGD/MS Background debug pin

2 GND Digital ground

3 No Connect

4 /RESET_JM RESET signal

5 No Connect

6 +3.3V Digital +3.3 V power supply

Table 3-7 USB Connector J10 — Signal Descriptions


1 No Connect

2 UDSBDN Negative USB differential signal

3 UDSBDP Positive USB differential signal

4 GND Digital ground



Chapter 4 Design Consideration

4.1 Contents4.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274.3 3-Phase Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284.4 Bus Voltage and Current Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.5 Overcurrent, Undervoltage, and Other Safety Functions. . . . . . . . . . . . . . 314.6 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.7 Phase Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324.8 Test Points and LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334.9 Power Supplies and Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 374.10 Encoder/Hall-Effect Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.11 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.12 USB/SCI Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414.13 Control Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.2 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 control-algorithm development are provided. A set of schematics for the drive appears in the following section.

Circuit descriptions for the drive appear in 4.3 3-Phase Bridge through 4.13 Control Switches. One phase leg of the 3-phase bridge is examined in 4.3 3-Phase Bridge. Bus voltage and bus current feedback are discussed in 4.4 Bus Voltage and Current Feedback. Safety functions are highlighted in 4.5 Overcurrent, Undervoltage, and Other Safety Functions. Back-EMF signals appear in 4.6 Back EMF Signals. Phase current sensing is discussed in 4.7 Phase Current Sensing. The test points description and LED description are in 4.8 Test Points and LED Indication, all power supplies and voltage reference are described in 4.9 Power Supplies and Voltage Reference. Encoder circuitry is described in 4.10 Encoder/Hall-Effect Interface. The CAN physical layer interface is discussed in 4.11 CAN Interface. The USB interface appears in section 4.12 USB/SCI Bridge and finally, push-buttons and the toggle switch are described in 4.13 Control Switches.



3-Phase Bridge

4.3 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 4.5 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 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 Bridge

Figure 4-1 Phase Output

PW

M_A

B

PW

M_A

T

Phase_A

I_sense_A

1

I_sense_A

2

DC

B_pos

GN

D

GN

D_LS

FE

T

Q3

FD

S3672

Q3

FD

S3672

3

4

76

8

5

21

Q6

FD

S3672

Q6

FD

S3672

3

4

76

8

5

21

D10

MB

R0520LT

1G

D10

MB

R0520LT

1G

R85

0.1

RR

85

0.1

R

C20

1U

FC

20

1U

F

R70

51R

R70

51R

U6

MC

33927

U6

MC

33927

PH

AS

EA

1PGND for QPUMP

2

EN

13

EN

24

RS

T5

PUMP7

VPUMP(12V)8

VBAT(42V)9

PH

AS

EB

10

PH

AS

EC

11

PA

_H

S12

PA

_LS

13

VDD14

PB

_LS

16

INT

17

CS

18

SI

19

SC

LK

20

SO

21

PC

_LS

22

AM

P_O

UT

24

AM

P_N

25

AM

P_P

26

OC

_O

UT

27

OC

_T

H28

VSS29

GND030

GND131

VLS_CAP32

PGNDC34

PC

_LS

_G

35

PC

_H

S_S

36

PC

_H

S_G

37

PC

_B

OO

T38

PGNDB39

PB

_LS

_G

40

PB

_H

S_S

41

PB

_H

S_G

42

PB

_B

OO

T43

PGNDA44

PA

_LS

_G

45

PA

_H

S_S

46

PA

_H

S_G

47

PA

_B

OO

T48

VLS51

NC

16

VPWR54

PB

_H

S15

PC

_H

S23

NC

233

NC

349

NC

450

NC

552

NC

653

EP55

R66

51R

R66

51R

R99

10K

R99

10K

TP

25

PW

M_A

TT

P25

PW

M_A

T

R69

51R

R69

51R

R67

51R

R67

51R

TP

26

PW

M_A

BT

P26

PW

M_A

B

D11

MB

R0520LT

1G

D11

MB

R0520LT

1G



Bus Voltage and Current Feedback

4.4 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-to-digital) 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 4.5 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.



Overcurrent, Undervoltage, and Other Safety Functions

Figure 4-2 Bus Feedback

4.5 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.

AMP_OUT

AMP_PAMP_N

AMP_OUT

AMP_N

AMP_P

INT

OC

DRV_EN

/RESET

I_Sense_DCB2

I_Sense_DCB1

V_sense_DCB

DCB_pos

V_sense_DCB/2

I_sense_DCB

+3.3VA

DCB_pos

+1.65V_REF

DCB_pos

GND

VDD

VLS_CAP

VLS

GND_LSFET

GND

GND

GND

+3.3V

GND

GNDA

GNDA

+3.3VA

OpAmp is within 3PP-A

DC Bus Current Sensing

OC_TH @ 3.09V @ 3.75A

1.65V @ DC-Bus/2 = 18.15V

3.3V @ DC-Bus = 36.3V

1.65V +/- 1.65V @ +/- ImaxImax = 4A

TP13V_dcbTP13V_dcb

R82

1.6K

R82

1.6K

R84

7.5K

R84

7.5K

R2330KR2330K

R98

10K

R98

10K

U6

MC33927

U6

MC33927

PHASEA 1P

GN

D fo

r Q

PU

MP

2

EN13

EN24

RST5

PU

MP

7

VP

UM

P(1

2V

)8

VB

AT

(42

V)

9PHASEB 10PHASEC 11

PA_HS12

PA_LS13

VD

D1

4

PB_LS16

INT 17

CS18

SI19

SCLK20

SO21

PC_LS22

AMP_OUT 24

AMP_N25

AMP_P26

OC_OUT 27

OC_TH28

VS

S2

9

GN

D0

30

GN

D1

31

VL

S_

CA

P3

2P

GN

DC

34

PC_LS_G 35PC_HS_S 36PC_HS_G 37PC_BOOT 38

PG

ND

B3

9

PB_LS_G 40PB_HS_S 41PB_HS_G 42PB_BOOT 43

PG

ND

A4

4

PA_LS_G 45PA_HS_S 46PA_HS_G 47PA_BOOT 48

VL

S5

1

NC1 6

VP

WR

54

PB_HS15

PC_HS23

NC2 33NC3 49NC4 50NC5 52NC6 53

EP

55

TP15V_dcb_sTP15V_dcb_s

R78

15.0K

R78

15.0KC23

0.1UF

C23

0.1UF

+

-

U1A

MC33502DG

+

-

U1A

MC33502DG

3

21

84

R83

1.6K

R83

1.6K

R271.5KR271.5K

R81

7.5K

R81

7.5K

R65

0 OHM

R65

0 OHM

D16MBR0520LT1G

D16MBR0520LT1G

R1041.5KR1041.5K

C4547PFC4547PF

R77

1.0K

R77

1.0K

R102

220 OHM

R102

220 OHM

R6810K

R6810K

TP45V_dcb/2_sTP45V_dcb/2_s

R103

220 OHM

R103

220 OHM

TP1Idcb_sTP1Idcb_s



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.

4.6 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).

Figure 4-3 Back EMF Sensing — Phase A

4.7 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.

Phase_A

BEMF_sense_A

GNDA

3.3V @ Phase_A = 36.3VTP12BEMF_A_sTP12BEMF_A_s

R2030KR2030K

R223.0KR223.0K

TP11BEMF_ATP11BEMF_A



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 4.9.5 +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.

Figure 4-4 Phase Current Sensing

4.8 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.

I_sense_A

I_sense_A1

I_sense_A2

GNDA GNDA

+3.3VA

1.65V +/- 1.65V @ +/- Imax

Imax = 4A

R6

1.6K

R6

1.6K

R4

1.6K

R4

1.6K

R9368RR9368R

R9068RR9068R

TP38+1.65V_REF

TP38+1.65V_REF

TP4Ia_sTP4Ia_s

TP3Ia+TP3Ia+

TP2Ia-TP2Ia-

C440.1UFC440.1UF

R5

220 OHM

R5

220 OHM

R3

220 OHM

R3

220 OHM

R2

7.5K

R2

7.5K

C147PFC147PF

+

-

U1B

MC33502DG

+

-

U1B

MC33502DG

5

67

R7

7.5K

R7

7.5K




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:

• 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.

• 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.




• 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.

For more details, see Figure 4-5.

Figure 4-5 LED Indication

GND

+5V

LED Green

R91820 OHMR91820 OHM

D19

HSMG-C170

D19

HSMG-C170

21

+3.3V

GND

USER LED

USER LEDLED Green

R57

4.7K

R57

4.7K

Q2MMBT2369ALT1GQ2MMBT2369ALT1G

23

1

D7

HSMG-C170

D7

HSMG-C170

21


PTB0

PTB1

+3.3V

+3.3V

TP24TP24

TP23TP23

R64

270 OHM

R64

270 OHM

D8

HSMG-C170

D8

HSMG-C170

2 1

D9

HSMY-C170

D9

HSMY-C170

2 1

R63

270 OHM

R63

270 OHM



Power Supplies and Voltage Reference

For more details see Figure 4-6.

Figure 4-6 PWM LED Indication

4.9 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.

4.9.1 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.

PWM_CT

PWM_BT

PWM_AB

PWM_CB

PWM_BB

PWM_AT

+3.3V

+3.3V

+3.3V

+3.3V

GND

GND

GND

GND

PWM0

PWM1

PWM2

PWM3

PWM4

PWM5

LED Yellow

LED Yellow

LED Yellow

LED Yellow

LED Yellow

LED Yellow

U4B

74AC14

U4B

74AC14

3 4

U4C

74AC14

U4C

74AC14

5 6

R56

270 OHM

R56

270 OHM

D4

HSMY-C170

D4

HSMY-C170

21

R54

270 OHM

R54

270 OHM

D3

HSMY-C170

D3

HSMY-C170

2 1

R51

270 OHM

R51

270 OHM

D1

HSMY-C170

D1

HSMY-C170

2 1

D6

HSMY-C170

D6

HSMY-C170

21

R49

270 OHM

R49

270 OHM

U4F

74AC14

U4F

74AC14

13 12

R47

270 OHM

R47

270 OHM

D5

HSMY-C170

D5

HSMY-C170

2 1

U4E

74AC14

U4E

74AC14

11 10

R44

270 OHM

R44

270 OHM

D2

HSMY-C170

D2

HSMY-C170

21

U4A

74AC14

U4A

74AC14

1 2

14

7U4D

74AC14

U4D

74AC14

9 8



Power Supplies and Voltage Reference

Figure 4-7 DC-Bus Input Circuitry

4.9.2 +5 V Power Supply

The +5 V level is generated by means of the LM2594HVM switching step-down regulator (see Figure 4-8), 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.

Figure 4-8 +5 V Power Supply

4.9.3 +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.

DCB_pos

GND GND GND

12-50V/5A

R11MR11M + C33

100uF+ C33

100uF

+ C32100uF

+ C32100uF

J3

POWER_JACK

J3

POWER_JACK

123

C340.1UFC340.1UF

J2

CON_2_TB

J2

CON_2_TB

A 1

B 2

Q1

FQD11P06

Q1

FQD11P061

3 2

DCB_pos

GND

+5V

GNDGND GNDGND GND

+ C37100UF

+ C37100UF

L2

100UH

L2

100UH1 2

D18

MURS120T3

D18

MURS120T3

21

TP35V_dcbTP35V_dcb

C380.1UFC380.1UF

U7 LM2594HVM-5.0U7 LM2594HVM-5.0

NC

11

NC

22

NC

33

FB 4

ON

/OF

F5

GN

D6

VIN7

OUT 8

TP36+5VTP36+5V

+C3568.0UF

+C3568.0UF



Encoder/Hall-Effect Interface

Figure 4-9 +3.3 VA / +5 VA Power Supply

4.9.4 +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.

4.9.5 +1.65 V Reference

The +1.65 V reference is generated from the +3.3 VA level simply by the voltage divider (see Figure 4-10). This reference serves to shift the DC-bus and phase-current-sensing values. It can sink up to 30 mA.

Figure 4-10 +1.65 V Reference Source

4.10 Encoder/Hall-Effect 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.

+5V

+3.3VA+3.3V

GNDAGNDGNDGNDGND GND

D17

MBR0520LT1G

D17

MBR0520LT1G

C43100PFC43100PF

L3

1uH

L3

1uH

1 2

U8

MC33269D_3.3

U8

MC33269D_3.3

NC15

GND/ADJ1

VIN4VOUT1 2

NC28

VOUT2 3

VOUT3 6

VOUT4 7

C400.1UFC400.1UF

C420.1UFC420.1UF

R89

0 OHM

R89

0 OHM

TP36+5VTP36+5V

+ C3647UF

+ C3647UF

C380.1UFC380.1UF

C410.1UFC410.1UF

+ C3947UF

+ C3947UF

L1

1uH

L1

1uH

1 2

TP37+3.3VTP37+3.3V

GNDA

+3.3VA

+1.65V_REF

GNDA

R9368RR9368R C44

0.1UFC440.1UF

TP38+1.65V_REF

TP38+1.65V_REF

R9068RR9068R



CAN Interface

Filtered signals are then connected to the controller daughter board connector J8. Figure 4-11 contains the encoder interface.

Figure 4-11 Encoder/Hall-Effect Circuitry

4.11 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.

+5V

+5V

GND

GND

GND

+5V

GND

+5V

ENC_PhaseA

ENC_PhaseB

ENC_Index

R411.0 KR411.0 K

R361.0 KR361.0 K

R43

1.8K

R43

1.8K

R321.0 KR321.0 K

C6470PFC6470PF

C7470PFC7470PF

R37

24 OHM

R37

24 OHM

R42

24 OHM

R42

24 OHM

R38

1.8K

R38

1.8K

C8470PFC8470PF

R34

1.8K

R34

1.8K

J6

HDR_1X5_M

J6

HDR_1X5_M

12345

R33

24 OHM

R33

24 OHM



USB/SCI Bridge

Figure 4-12 CAN Interface

4.12 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.

4.13 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.

CANH

CANLCANH

CANL

GND

+5V

GND

CANTX

CANRX

HEADER/CAN bus termination

R39

1.0 K

R39

1.0 KU3

PCA82C250TD

U3

PCA82C250TD

TXD1

RS8

RXD4

VREF5

GND2

VCC 3

CANH 7

CANL 6

TP19CANTXTP19CANTX

R35

120 OHM

R35

120 OHM

TP20CANRXTP20CANRX

J4

HDR 2X5

J4

HDR 2X5

1 23 4

657 89 10

R40

0 OHM

R40

0 OHM

J5

HDR_1X2_M

J5

HDR_1X2_M

12



Control Switches

Figure 4-13 Control Switches

/RESET /RESET

+3.3V

+3.3V

+3.3V

GND

GND

GND

+3.3V

GND

GND

+3.3V

GND

TOGGLE_SWITCH_ON2

UP_SWITCH

DOWN_SWITCH

TOGGLE_SWITCH_ON1

RESET

R97

1.8K

R97

1.8K

SW2

KSC621J

SW2

KSC621J

1 3

42

C200.1UFC200.1UF

R964.7KR964.7K

R46

1.8K

R46

1.8K

SW1

KSC621J

SW1

KSC621J

1 3

42

R524.7KR524.7K

R484.7KR484.7K

R53

1.8K

R53

1.8K

SW3TL39P0050

SW3TL39P0050

1 2 3

R454.7KR454.7K

SW4

LIGHT TOUCH PUSH BUTTON

SW4


A

B B1

A1

R654.7KR654.7K

R50

1.8K

R50

1.8K



Appendix A. 3-Phase BLDC/PMSM Motor Control Drive Schematics



44F

reescale Sem

iconductor

+1.65V_REF

+3.3VA

GNDA

Analog sensing

I_sense_BI_sense_A

I_sense_C_B2_B1

_C2_C1

_A1_A2

+1

.65

V_

RE

F

+3

.3V

A

GNDA

BEMF_sense_C

A

CB

BEMF_sense_BBEMF_sense_A

V_sense_DCB

os

_DCB_outI_sense_DCB

V_sense_DCB/2

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure A-1 Board Overview

DCB_pos

DCB_pos

+1.65V_REF

GND

DCB_Pos

+3.3VA +3.3VGND

GNDA

+1.65V_REF

+5V+3.3V

+3.3VA

GNDA GND

GND GND

+3.3VA

+5V

GND_LSFET

GND_LSFET

+3.3V

GND

Motor

12-50V/5A

Power Circuit

Gate_ATPhase_A

Gate_AB

I_sense_A1I_sense_A2

Gate_BT

Phase_B

Gate_BB I_sense_B1I_sense_B2

Gate_CT

Phase_C

Gate_CB

I_sense_C1I_sense_C2

I_Sense_DCB1I_Sense_DCB2

DCB_pos

GND_LSFET

DCB_neg

MOSFET Drivers

GND

PWM_BTPWM_BB

PWM_CTPWM_CB

PWM_ABPWM_AT

Gate_ATGate_AB

Source_AT

Gate_BTGate_BB

Source_BT

Gate_CTGate_CB

Source_CT

+1

.65

V_

RE

F

I_sense_DCB2I_sense_DCB1

I_sense_DCB_out

DC

B_

Po

s

DRV_EN

INT

/SSMISOMOSISCLK

OC

+3

.3V

A

/RESET

GND_LSFET

+3

.3V

J2

CON_2_TB

J2

CON_2_TB

A 1

B 2

J1

HDR1x3

J1

HDR1x3

1 2 3

I_senseI_sense

I_senseI_sense

I_senseI_sense

Phase_

Phase_Phase_

DCB_p

I_sense

Power Supplies

+3.3V+5V

GNDAGND

DCB_pos+3.3VA

+1.65V_REF

R11MR11M

J3

POWER_JACK

J3

POWER_JACK

123

Q1

FQD11P06

Q1

FQD11P061

3 2

MicroHeaders&others_circuits

+3

.3V

A

+3

.3V

GN

DA

GN

D

PWM_ATPWM_AB

PWM_BTPWM_BB

PWM_CTPWM_CB

BEMF_sense_CBEMF_sense_BBEMF_sense_A

OC

INT

SC

LK

MO

SI

MIS

O/S

S

DR

V_

EN

V_sense_DCBI_sense_DCB

I_sense_CI_sense_BI_sense_A

/RE

SE

T

+5

V

V_sense_DCB/2

Freescale S

emiconductor

45

I_sense_DCB

+3.3VA

GNDA

+1.65V_REF

+3.3VA

GNDA

+1.65V_REF

+3.3VA

GNDA

+3.3VA

GNDA

GNDA

+3.3VA

1.65V +/- 1.65V @ +/- ImaxImax = 4A

C50.1UFC50.1UF

C40.1UFC40.1UF

+

-

U1A

MC33502DG

+

-

U1A

MC33502DG

3

21

84

TP1Idcb_sTP1Idcb_s

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure A-2 Analog Sensing — Phase Current Sensing

I_sense_B

I_sense_A

I_sense_C

I_sense_A1

I_sense_A2

I_sense_B1

I_sense_B2

I_sense_C1

I_sense_C2

I_sense_DCB_out

+1.65V_REF

GNDA

+3.3VA

1.65V ref

1.65V ref

1.65V +/- 1.65V @ +/- Imax

Imax = 4A

1.65V +/- 1.65V @ +/- Imax

Imax = 4A

1.65V +/- 1.65V @ +/- Imax

Imax = 4A

R7

7.5K

R7

7.5K

TP7Ib_sTP7Ib_s

TP6Ib+TP6Ib+

R4

1.6K

R4

1.6K

TP10Ic_sTP10Ic_s

R13

7.5K

R13

7.5K

R10

7.5K

R10

7.5K

R15

220 OHM

R15

220 OHM

R2

7.5K

R2

7.5K

R9

1.6K

R9

1.6KC247PFC247PF

R14

7.5K

R14

7.5K

R19

7.5K

R19

7.5K

R8

220 OHM

R8

220 OHM

R18

220 OHM

R18

220 OHM

R16

1.6K

R16

1.6K

R12

1.6K

R12

1.6K

R11

220 OHM

R11

220 OHM

R3

220 OHM

R3

220 OHM

TP8Ic-TP8Ic-

+

-

U1B

MC33502DG

+

-

U1B

MC33502DG

5

67

R17

1.6K

R17

1.6K

TP9Ic+TP9Ic+

+

-

U2A

MC33502DG

+

-

U2A

MC33502DG

3

21

84

C147PFC147PF

+

-

U2B

MC33502DG

+

-

U2B

MC33502DG

5

67

R6

1.6K

R6

1.6K

TP5Ib-TP5Ib-

R5

220 OHM

R5

220 OHM

TP2Ia-TP2Ia-

TP3Ia+TP3Ia+

C347PFC347PF

TP4Ia_sTP4Ia_s

46F

reescale Sem

iconductor

ense_DCB

ense_DCB/2

@ DC-Bus = 36.3V

V @ DC-Bus/2 = 18.15V

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure A-3 Analog Sensing — Back EMF Sensing

Phase_A

GNDA

BEMF_sense_A

V_s

DCB_pos

Phase_B

BEMF_sense_B

Phase_C

BEMF_sense_C

V_s

GNDA

GNDA

GNDAGNDA

GNDA

3.3V @ Phase_A = 36.3V

3.3V

3.3V @ Phase_B = 36.3V

3.3V @ Phase_C = 36.3V

1.65

R271.5KR271.5K

R2530KR2530K

TP14BEMF_BTP14BEMF_B

R223.0KR223.0K

R2330KR2330K

R313.0KR313.0K

TP13V_dcbTP13V_dcb

TP15V_dcb_sTP15V_dcb_s

TP16BEMF_B_sTP16BEMF_B_s

TP17BEMF_CTP17BEMF_C

TP12BEMF_A_sTP12BEMF_A_s

R2030KR2030K

R1041.5KR1041.5K

R2930KR2930K

R283.0KR283.0K

TP45V_dcb/2_sTP45V_dcb/2_s

TP11BEMF_ATP11BEMF_A

TP18BEMF_C_sTP18BEMF_C_s

Freescale S

emiconductor

47 or & CAN

CANH

CANLCANH

+5V

GND

+5V

GND

+5V

HEADER/CAN bus termination

R39

1.0 K

R39

1.0 K3

PCA82C250TD

3

PCA82C250TD

D

DEF

D

VCC 3

CANH 7

CANL 6

J4

HDR 2X5

J4

HDR 2X5

246810

R40

0 OHM

R40

0 OHM

J5

HDR_1X2_M

J5

HDR_1X2_M

12

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure A-4 Micro Headers & Other Circuits — Encoder/Hall Sens

CANL

+5V

+5V

GND

GND

+5V +5V

GNDGND

GND

GND

GND

+5V

GND

+5V

+5V

GND

ENC_PhaseA

ENC_PhaseB

ENC_Index

CANTX

CANRX

C100.1UFC100.1UF

R411.0 KR411.0 K

UU

TX1

RS8

RX4

VR5

GN2

TP19CANTXTP19CANTX

R361.0 KR361.0 K

R43

1.8K

R43

1.8K

C112.2UFC112.2UF

R321.0 KR321.0 K

R35

120 OHM

R35

120 OHM

C6470PFC6470PF

C7470PFC7470PF

TP20CANRXTP20CANRX

R37

24 OHM

R37

24 OHM

C90.1UFC90.1UF

R42

24 OHM

R42

24 OHM

R38

1.8K

R38

1.8K

13579

C8470PFC8470PF

R34

1.8K

R34

1.8K

J6

HDR_1X5_M

J6

HDR_1X5_M

12345

R33

24 OHM

R33

24 OHM

48F

reescale Sem

iconductor PWM LEDs

+3.3V

+3.3V

+3.3V

GND

GND

GND

PWM0

PWM1

PWM2

PWM3

PWM4

PWM5

LED Yellow

LED Yellow

LED Yellow

LED Yellow

LED Yellow

LED Yellow

U4B

74AC14

U4B

74AC14

4

U4C

74AC14

U4C

74AC14

6

R56

270 OHM

R56

270 OHM

D4

HSMY-C170

D4

HSMY-C170

21

R54

270 OHM

R54

270 OHM

D3

HSMY-C170

D3

HSMY-C170

2 1

R51

270 OHM

R51

270 OHM

D1

HSMY-C170

D1

HSMY-C170

2 1

D6

HSMY-C170

D6

HSMY-C170

21

R49

270 OHM

R49

270 OHM

U4F

74AC14

U4F

74AC14

12

R47

270 OHM

R47

270 OHM

D5

HSMY-C170

D5

HSMY-C170

2 1

U4E

74AC14

U4E

74AC14

10

R44

270 OHM

R44

270 OHM

D2

HSMY-C170

D2

HSMY-C170

21

U4A

74AC14

U4A

74AC14

2

U4D

74AC14

U4D

74AC14

8

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure A-5 Micro Headers & Other Circuits — Switches, User, and

+3.3V

GND

PWM_CT

PWM_BT

PWM_AB

PWM_CB

PWM_BB

PWM_AT

+3.3V

+3.3V

+3.3V

+3.3V

+3.3V

+3.3V

GND

GND

GND

GND

+3.3V

GND

GND

GND

+3.3V

TOGGLE_SWITCH_ON2

UP_SWITCH

DOWN_SWITCH

USER LED

TOGGLE_SWITCH_ON1

USER LEDLED Green

3

C120.1UFC120.1UF

5

R97

1.8K

R97

1.8K

SW2

KSC621J

SW2

KSC621J

1 3

42

R57

4.7K

R57

4.7K

R964.7KR964.7K

R46

1.8K

R46

1.8K

SW1

KSC621J

SW1

KSC621J

1 3

42

R524.7KR524.7K

R484.7KR484.7K

13

R53

1.8K

R53

1.8K

SW3TL39P0050

SW3TL39P0050

1 2 3

R454.7KR454.7K

11

Q2MMBT2369ALT1GQ2MMBT2369ALT1G

23

1

1

14

7

9

R50

1.8K

R50

1.8K

D7

HSMG-C170

D7

HSMG-C170

21


Freescale S

emiconductor

49 ctors & RESET

/SS

SCLK

BEMF_sense_AI_sense_B

BEMF_sense_C

V_sense_DCB/2

VA

V

+3.3VA

GND

ENC_PhaseAENC_Index

07-110LF07-110LF

2468101214161820

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure A-6 Micro Headers & Other Circuits — Daughter Board Conne

/RESET

/RESET

GNDA

+3.3VA

+3.3V

GND

PWM_ATPWM_BTPWM_CT

PWM_ABPWM_BBPWM_CB

DRV_EN

MISO

MOSI

INTOC I_sense_DCBV_sense_DCB

I_sense_A

BEMF_sense_BI_sense_C

/RESET

GNDA

+3.3

+3.3

GND

GNDAGND

GND

+3.3V

+3.3V

GND

GND

RxDTxD

TOGGLE_SWITCH_ON1

CANTX CANRX

USER LEDDOWN_SWITCHUP_SWITCH

ENC_PhaseBTOGGLE_SWITCH_ON2

RESET

J8

874

J8

874

13579

1113151719

J7

87407-110LF

J7

87407-110LF

1 23 4

657 89 10

11 1213 1415 1617 1819 20

C130.1UFC130.1UF

SW4


SW4


A

B B1

A1

R584.7KR584.7K

50F

reescale Sem

iconductor

dge

/RESET_JMBKGD/MS

EX

TA

L

XT

AL

+3.3V

GND

+3.3V

GND

GN

D

+3.3V

GNDGND

RxDTxD

R601M

R601M

C1422PFC1422PF

C1522PFC1522PF

J9

HDR 2X3

J9

HDR 2X3

1 23 4

65

X1

8MHz

X1

8MHz

1 2

R59

0 OHM

R59

0 OHM

22D22D

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure A-7 Micro Headers & Other Circuits — USB/SCI Bri

GND

SHIELD

SHIELD

D-D+

XTALEXTAL

D-

D+

BKGD/MS

PTB0

PTB0PTB1

PTB1

/RESET_JM

GND

GND

GND

+3.3V +3.3V

GND

+3.3V

GND GND

+3.3V

+3.3V +3.3V

+3.3V

+3.3V

+3.3V +3.3V

TP24TP24

C1610.0uFC1610.0uF

U5

MC9S08JM60CFGE

U5

MC9S08JM60CFGE

PTC41

IRQ/TPMCLK2

RESET3

PTF0/TPM1CH2 4

PTF1/TPM1CH3 5

PTF4/TPM2CH0 6

PTF5/TPM2CH1 7

PTE0/TxD1 8

PTE1/RxD1 9

PTE2/TPM1CH0 10

PTE3/TPM1CH1 11

PTE4/MISO1 12

PTE5/MOSI1 13

PTE6/SPSCK1 14

PTE7/SS1 15

VD

D1

16

VS

S1

17

USBDN 18

USBDP 19

VUSB33 20

PTG0/KBIP0 21

PTG1/KBIP1 22

PTB0/MISO2/ADP023

PTB1/MOSI2/ADP124

PTB2/SPSCK2/ADP225

PTB3/SS2/ADP326

PTB4/KBIP4/ADP427

PTB5/KBIP5/ADP528

PTD0/ADP8/ACMP+29

PTD1/ADP9/ACMP-30

VD

DA

D/V

RE

FH

31

VS

SA

D/V

RE

FL

32

PTD2/KBIP2/ACMPO33 PTG2/KBIP6 34

PTG3/KBIP7 35

BKGD/MS36

PTG4/XTAL 37

PTG5/EXTAL 38

VS

SO

SC

39

PTC0/SCL40

PTC1/SDA41

PTC242

PTC3/TxD243

PTC5/RxD244

TP23TP23

R64

270 OHM

R64

270 OHM C170.1UFC170.1UF

TP21TxDTP21TxDR95

10K

R95

10K

D8

HSMG-C170

D8

HSMG-C170

2 1

C190.47UFC190.47UF

D9

HSMY-C170

D9

HSMY-C170

2 1

R62 33 OHMR62 33 OHM

C184.7UFC184.7UF

R63

270 OHM

R63

270 OHM

R61 33 OHMR61 33 OHM

R94

10K

R94

10K

12 3

4

+D

-D

G

V

J10

CON USB

12 3

4

+D

-D

G

V

J10

CON USB

1

234

S1

S2

TPRxTPRx

Freescale S

emiconductor

51

DCB_pos

GND

+1.65V_REF

+3.3VA

Source_CT

Source_AT

Source_BT

Gate_AT

Gate_AB

Gate_BT

Gate_BB

Gate_CT

Gate_CB

_out

+3.3V

GND_LSFET

DCB_pos

GND

+1.65V_REF

+3.3VA

+3.3V

GND_LSFET

R73

10R

R73

10R

D12 MBR0520LT1GD12 MBR0520LT1G

R74

10R

R74

10R

R75

10R

R75

10R



R76

10R

R76

10R

R71

10R

R71

10R

R72

10R

R72

10R

C201UFC201UF

R69

10R

R69

10R

R66

10R

R66

10R


R70

10R

R70

10R

R79

10R

R79

10R

C211UFC211UF

R80

10R

R80

10R


C221UFC221UF


R67

10R

R67

10R

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure A-8 MOSFET Drivers

AMP_P

AMP_N

AMP_OUT

AMP_PAMP_N

AMP_OUT

INT

SCLKMISO

/SSMOSI

OC

PWM_BTPWM_CT

PWM_ABPWM_BBPWM_CB

PWM_AT

DRV_EN

/RESET

I_Sense_DCB2

I_Sense_DCB1

I_sense_DCB

+3.3VA

DCB_posDCB_pos

DCB_pos

+1.65V_REF

GND_LSFETGND GND GND_LSFET GND_LSFETGND_LSFET

DCB_pos

GNDGND

GND

VLS_CAP VLS VDDVLS_CAP VLS VDD

VDD

VLS_CAP

VLS

GND

GND_LSFET

GND

GND

GND

+3.3V

GND

OpAmp is within 3PP-A

DC Bus Current Sensing

OC_TH @ 3.09V @ 3.75A

C262.2UFC262.2UF

R82

1.6K

R82

1.6K

C310.1UFC310.1UF

C250.1UFC250.1UF

R84

7.5K

R84

7.5K

R98

10K

R98

10K

U6

MC33927

U6

MC33927

PHASEA 1

PG

ND

fo

r Q

PU

MP

2

EN13

EN24

RST5

PU

MP

7

VP

UM

P(1

2V

)8

VB

AT

(42

V)

9

PHASEB 10PHASEC 11

PA_HS12

PA_LS13

VD

D1

4

PB_LS16

INT 17

CS18

SI19

SCLK20

SO21

PC_LS22

AMP_OUT 24

AMP_N25

AMP_P26

OC_OUT 27

OC_TH28

VS

S2

9

GN

D0

30

GN

D1

31

VL

S_

CA

P3

2P

GN

DC

34

PC_LS_G 35PC_HS_S 36PC_HS_G 37PC_BOOT 38

PG

ND

B3

9

PB_LS_G 40PB_HS_S 41PB_HS_G 42PB_BOOT 43

PG

ND

A4

4

PA_LS_G 45PA_HS_S 46PA_HS_G 47PA_BOOT 48

VL

S5

1

NC1 6

VP

WR

54

PB_HS15

PC_HS23

NC2 33NC3 49NC4 50NC5 52NC6 53

EP

55

R78

15.0K

R78

15.0KC23

0.1UF

C23

0.1UF

R99

10K

R99

10K

TP32MOSITP32MOSI

TP25PWM_ATTP25PWM_AT

R83

1.6K

R83

1.6K

R100

10K

R100

10K

TP29PWM_BTTP29PWM_BT

R81

7.5K

R81

7.5K

R65

0 OHM

R65

0 OHM

D16

MBR0520LT1G

D16

MBR0520LT1G

TP28PWM_CTTP28PWM_CT

C270.1UFC270.1UF

C302.2UFC302.2UF

C4547PFC4547PF

TP26PWM_ABTP26PWM_AB

TP33SCLKTP33SCLK

R77

1.0K

R77

1.0K

TP27PWM_BBTP27PWM_BB

R101

10K

R101

10K

R102

220 OHM

R102

220 OHM

TP30PWM_CBTP30PWM_CB

C282.2UFC282.2UF

R6810K

R6810K

R103

220 OHM

R103

220 OHM

TP34MISOTP34MISO

C290.1UFC290.1UF

TP31/SSTP31/SS

C242.2uFC242.2uF

52F

reescale Sem

iconductor

D_LSFET

GND_LSFET

R870.1RR870.1R

Q8

FDS3672

Q8

FDS3672

3

4

76 85

2 1

Q5

FDS3672

Q5

FDS3672

3

4

76 85

2 1

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure A-9 Power Circuit

Gate_AT

Phase_A

Gate_AB

I_sense_A1

I_sense_A2

DCB_pos

DCB_neg

Gate_BT

Phase_B

Gate_BB

I_sense_B1

I_sense_B2

Gate_CT

Phase_C

Gate_CB

I_sense_C1

I_sense_C2

I_Sense_DCB2I_Sense_DCB1GN

GND_LSFET

+ C33100uF

+ C33100uF

+ C32100uF

+ C32100uF

Q3

FDS3672

Q3

FDS3672

3

4

76 85

2 1

R860.1RR860.1R

R880.1RR880.1R

R850.1RR850.1R

C340.1UFC340.1UF Q7

FDS3672

Q7

FDS3672

3

4

76 85

2 1

Q4

FDS3672

Q4

FDS3672

3

4

76 85

2 1

Q6

FDS3672

Q6

FDS3672

3

4

76 85

2 1

Freescale S

emiconductor

53

GNDA

+5V

+3.3VA

+1.65V_REF

GND

+3.3V

+3.3VA.3V

DA

GNDA

+5V

+3.3VA

+1.65V_REF

GND

GNDAD

+3.3V

C410.1UFC410.1UF

L1

1uH

L1

1uH

1 2

43DA43DA

TP44GNDATP44GNDA

C43100PFC43100PF

+ C3647UF

+ C3647UFC42

0.1UFC420.1UF

L3

1uH

L3

1uH

1 2

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure A-10 Power Supplies

DCB_pos

GND

+5V

GNDGND GND

+3

GNDGN

GNGNDGND

GNDA

+3.3VA

+1.65V_REF

GND

+5V

GND

GNDA

GNDGND

Grounds Connection

LED Green

D19

HSMG-C170

D19

HSMG-C170

21

R9368RR9368R

TP37+3.3VTP37+3.3V

TP39GNDTP39GND

C440.1UFC440.1UF

+ C37100UF

+ C37100UF

TP40GNDTP40GND

TP41GNDTP41GND

D17

MBR0520LT1G

D17

MBR0520LT1G

TPGNTPGN


L2

100UH

L2

100UH1 2

U8

MC33269D_3.3

U8

MC33269D_3.3

NC15

GND/ADJ1

VIN4VOUT1 2

NC28

VOUT2 3

VOUT3 6

VOUT4 7

D18

MURS120T3

D18

MURS120T3

21

TP35V_dcbTP35V_dcb

TP42GNDTP42GND

C380.1UFC380.1UF

TP38+1.65V_REF

TP38+1.65V_REF

U7 LM2594HVM-5.0U7 LM2594HVM-5.0

NC

11

NC

22

NC

33

FB 4

ON

/OF

F5

GN

D6

VIN7

OUT 8

C400.1UFC400.1UF

+ C3947UF

+ C3947UF

TP36+5VTP36+5V

R89

0 OHM

R89

0 OHM

+C3568.0UF

+C3568.0UF

R9068RR9068R



D

C4,C,C17,

C3

C1

Appendix B. Bill of Materials

Table B-1 Parts List

ESIGNATORS QUANTITY DESCRIPTION MANUFACTURER PART NUMBERC1-3,C5 4 47 pF / 100 V size 0805 ANY ACCEPTABLE —

5,C9,C10,C12,C13C23,C27,C29,C31,8,C40-C42,C44

16 100 nF / 100 V size 0805 ANY ACCEPTABLE —

C6-C8 3 470 pF / 100 V size 0805 ANY ACCEPTABLE —1,C26,C28,C30 4 2.2 µF / 25 V size 0805 ANY ACCEPTABLE —

C14,C15 2 22 pF / 100 V size 0805 ANY ACCEPTABLE —C16 1 10 µF / 16 V size 0805 ANY ACCEPTABLE —C18 1 4.7 µF / 16 V size 0805 ANY ACCEPTABLE —C19 1 470 nF / 25 V size 0805 ANY ACCEPTABLE —

C20-C22 3 1 µF / 25 V size 0805 ANY ACCEPTABLE —C24 1 2.2 µF / 50 V size 1210 ANY ACCEPTABLE —

C25,C34 2 100 nF / 100 V size 1206 ANY ACCEPTABLE —C32,C33 2 100 µF / 80 V size H13 ANY ACCEPTABLE —

C35 1 68 µF / 100 V size H13 ANY ACCEPTABLE —C36,C39 2 47 µF / 6.3 V size C ANY ACCEPTABLE —

C37 1 100 µF / 16 V size E ANY ACCEPTABLE —C43 1 100 pF / 100 V size 0805 ANY ACCEPTABLE —

D1-D6,D9 7 Yellow Display LED size 0805AVAGO

TECHNOLOGIESHSMY-C170

D7,D8,D19 8 Green Display LED size 0805AVAGO

TECHNOLOGIESHSMG-C170

D10-D17 80.5 A / 20 V Schottky Rectifier

size SOD-123ON

SEMICONDUCTORMBR0520LT1G

D18 11 A / 200 V Ultrafast Rectifier size

BON

SEMICONDUCTORMURS120T3G

J1 1 HDR 1x3 MOLEX 09-65-2038J2 1 CON_2_TB LUMBERG INC KRM 02J3 1 Power Jack SWITCHCRAFT RAPC712X

J4 1 HDR 2x5TYCO

ELECTRONICS4-103322-2

J5 1 HDR 1X2TYCO


J6 1 HDR 1X5 MOLEX 22-27-2051J7,J8 2 87407-110 FCI 87407-110LF

J9 1 HDR 2X3TYCO


J10 1 CON USBTYCO

ELECTRONICS292304-1

L1,L3 2 1 µH size 2012 TDK MLZ2012A1R0PL2 1 100 µH Wurth Elektronik 744778920

Q1 1 9.4 A / 60 V MOSFET size D-PAKFAIRCHILD

SEMICONDUCTORFQD11P06TF



R2,R

R3,R

R4,R

R2

R3

R34,R

R4R44,R

R4

R66,R

R68,

D

Q2 1 200 mA / 40 V NPN size SOT-23ON

SEMICONDUCTORMMBT2369ALT1G

Q3-Q8 67.5 A / 100 V MOSFET size

SOIC-8FAIRCHILD

SEMICONDUCTORFDS3672

R1,R60 21 MΩ Resistor 1/8 W 1 %

size 0805ANY ACCEPTABLE –

7,R10,R13,R14,R19,R81,R84

87.5 kΩ Resistor 1/8 W 1 %


5,R8,R11,R15,R18,R102,R103

8220 Ω Resistor 1/8 W 1 %


6,R9,R12,R16,R17,R82,R83

81.6 kΩ Resistor 1/8 W 1 %


0,R23,R25,R29 430 kΩ Resistor 1/8 W 1 %


R22,R28,R31 33 kΩ Resistor 1/8 W 1 %


R27,R104 211.5 kΩ Resistor 1/8 W 1 %


2,R36,R39,R41 41 1 kΩ Resistor 1/8 W size 0805 ANY ACCEPTABLE –R33,R37,R42 3 24 Ω Resistor 1/80 W size 0805 ANY ACCEPTABLE –

38,R43,R46,R50,R53,R97

7 1.8 kΩ Resistor 1/8 W size 0805 ANY ACCEPTABLE –

R35 1 120 Ω Resistor 1/8 W size 0805 ANY ACCEPTABLE –0,R59,R65,R89 4 0 Ω Resistor 1/8 W size 0805 ANY ACCEPTABLE –47,R49,R51,R54-

R56,R63,R649 270 Ω Resistor 1/80 W size 0805 ANY ACCEPTABLE –

5,R48,R52,R57, R58,R96

6 4.7 kΩ Resistor 1/8 W size 0805 ANY ACCEPTABLE –

R61,R62 2 33 Ω Resistor 1/8 W size 0805 ANY ACCEPTABLE –67,R69-R76,R79,

R8012 10 Ω Resistor 1/8 W size 0805 ANY ACCEPTABLE –

R94,R95,R98-R101

7 10 kΩ Resistor 1/8 W size 0805 ANY ACCEPTABLE –

R77 11 kΩ Resistor 1/8 W 1 %


R78 115 kΩ Resistor 1/8 W 1 %


R85-R88 4 100 mΩ Resistor 1 % size 2512WELWYN

COMPONENTS LIMITED

LR2512-R10FW

R90,R93 268 Ω Resistor 1/8 W 1 %


R91 1 820 Ω Resistor 1/8 W size 0805 ANY ACCEPTABLE –SW1,SW2 2 20 mA / 32 V Touch Key C&K COMPONENTS KSC621J LFS

SW3 1 20 mA / 20 V Toggle Switch/3-stateAPEM

COMPONENTSTL39P0050

SW4 1 20 mA / 32 V Touch Key C&K COMPONENTS KSC341J LFSTP1-TP45 45 N/P – –

U1,U2 2 Operational Amplifier / SOIC-8ON

SEMICONDUCTORMC33502DR2G


ESIGNATORS QUANTITY DESCRIPTION MANUFACTURER PART NUMBER



D

U3 1 CAN INTERFACE / SOIC-8PHILIPS

SEMICONDUCTORPCA82C250TD

U4 1 Schmitt Inverter / SOIC-14ON

SEMICONDUCTORMC74AC14DG

U5 1 8-bit HCS08 Controller / LQFP-44FREESCALE

SEMICONDUCTORMC9S08JM60CFGE

U6 13-Phase Bridge Driver / 54

SOICW-EPFREESCALE

SEMICONDUCTORMCZ33927EK

U7 1 Step-Down Regulator / SOIC-8NATIONAL

SEMICONDUCTORLM2594HVM-5.0/NO

PB

U8 1 Voltage Regulator / SOIC-8ON

SEMICONDUCTORMC33269D-3.3G

X1 1 8 MHz Crystal/HC49 RAKON LF A140E


ESIGNATORS QUANTITY DESCRIPTION MANUFACTURER PART NUMBER





Appendix C. 3-Phase BLDC/PMSM Low-Voltage Motor Control Drive Layouts



60F

reescale Sem

iconductor

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure C-1 Board Top Layer

Freescale S

emiconductor

61

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure C-2 Board Bottom Layer

62F

reescale Sem

iconductor

3-Ph

ase BL

DC

/PM

SM

Lo

w-Vo

ltage M

oto

r Co

ntro

l Drive, R

ev. 0

Figure C-3 Board Silkscreen Top Layer

Freescale S

emiconductor

63

3-Ph

ase BL

DC

/PM

SM

Low

-Voltag

e Mo

tor C

on

trol D

rive, Rev. 0

Figure C-4 Board Silkscreen Bottom Layer



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