LVBLDCMP16DBUM
freescale.com
Rev. 006/2009
Users Manual
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive
Table of Contents
Chapter 1 Board Overview
1.1 MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Outline. . . . . . 71.2 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71.3 Setup Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81.4 Board Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Chapter 2 Pin Description
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.2 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.2.1 Daughter Board Connectors J1 and J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.2.2 BDM Header J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.2.3 Configuration Header J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.2.4 ADC Configuration Header JP1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Appendix A. MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Schemat-
ics
Appendix B. Bill of Materials
Appendix C. MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Layouts
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 3
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
4 Freescale Semiconductor
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control DriveUsers 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.comThe following revision history table summarizes 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)
06/2009 0 Initial release N/A
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 5
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
6 Freescale Semiconductor
Chapter 1 Board Overview
1.1 MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Outline
Freescale’s MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive together with a 3-Phase BLDC/PMSM Motor Control Drive board create a single unit for developing BLDC/PMSM motor-control applications.
The daughter board is connected via two connectors to the 3-Phase BLDC/PMSM Motor Control Drive board. All necessary signals are available to allow a variety of algorithms to control the 3-Phase PMSM and BLDC motors.
Figure 1-1 is an illustration of the controller daughter board.
1.2 About this Manual
Key items are in the following locations in this manual:
• Setup instructions — 1.3 Setup Guide• Schematics — Appendix A. MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor
Control Drive Schematics• Pin assignments — Chapter 2 Pin Description• Pin-by-pin description — 2.2 Signal Descriptions
Figure 1-1 MC9S08MP16 Controller Daughter Board
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 7
Setup Guide
1.3 Setup Guide
Setup and connections for the MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive are straightforward. The controller daughter board plugs into the main board via two 20-pin daughter board connectors. The system can be powered by a 12 to 24 V DC power supply. For safety reasons, and ease of making measurements, use a regulated DC supply. Limit power supply to under five amps.
Place jumpers to route the required signals to the controller. For jumper settings, visit chapter 2.2.4 ADC Configuration Header JP1.
A step-by-step setup procedure for the main board is available in the 3-Phase BLDC/PMSM Motor Control Drive Users Manual LVMCDBLDCPMSMUG.
WARNINGCheck the power supply voltage before plugging in the Controller Daughter Board. If an input voltage higher than 24 V is applied, the controller daughter board can be damaged.
1.4 Board Description
The Controller Daughter Board is populated with an MC9S08MP16 8-bit HCS08 controller. All the necessary signals are available on two 20-pin Rib-cage connectors, J1 and J2. BDM header J3 is used for program upload onto the controller. Headers J4 and JP1 are configuration headers and are used for board configuration. For more details, look into 2.2.3 Configuration Header J4 and 2.2.4 ADC Configuration Header JP1.
Board schematic is available in Appendix A. MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Schematics.
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
8 Freescale Semiconductor
Chapter 2 Pin Description
2.1 Introduction
Inputs and outputs are located on seven connectors and headers available on the board:
• Two 20-pin daughter board connectors J1, J2
• BDM header J3
• Configuration header J4
• ADC configuration header JP1
Pin descriptions for each connector and header are identified in the following information.
Figure 2-1 shows the pin assignments for the daughter board connectors J1 and J2.
Table 2-1 and Table 2-2 show the signal descriptions. JP1 configuration header is used to share AD converter inputs for BEMF voltages and phase currents.
2.2 Signal Descriptions
Pin descriptions are identified in this subsection.
2.2.1 Daughter Board Connectors J1 and J2
Signal inputs and outputs for interconnection with the 3-Phase BLDC/PMSM LV Motor Control Drive are situated on two 20-pin connectors, located on the board’s bottom-side. Figure 2-1 shows the pin assignments. This figure shows the physical layout of the connectors, assuming that the board is oriented upside down (bottom is up). Table 2-1 and Table 2-2 contain the lists of signal descriptions for connectors J1 and J2.
Table 2-1 Daughter Board Connector J1 — Signal Descriptions
Pin # Signal Name Description
1 GND Digital and power ground
2 +3.3V Digital +3.3 V power supply
3 No Connect
4 No Connect
5 PWM_ATGate-drive signal for the top half-bridge of phase A. A logic low turns on phase A’s
top switch.
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 9
Signal Descriptions
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 the 3-phase bridge driver.
12 INT Interrupt signal from the 3-phase bridge driver.
13 TxD TxD signal between JM60 and the Controller Daughter Board.
14 RxD RxD signal between JM60 and the Controller Daughter Board.
15TOGGLE_
SWITCH_ON1Toggle-switch input (switch in position ON1) on the BLDC drive.
16TOGGLE_
SWITCH_ON2Toggle-switch input (switch in position ON2) on the BLDC drive.
17 UP_SWITCH UP switch input.
18 DOWN_SWITCH DOWN switch input.
19 USER_LED USER LED signal.
20 /RESET RESET signal.
Table 2-2 Daughter Board Connector J2 — Signal Descriptions
Pin # Signal Name Description
1 GNDA Analog-power supply ground.
2 +3.3VA Analog +3.3 V power supply.
3 I_sense_AAnalog-sense signal that measures current in phase A. It is scaled at 50 V per amp
of DC-bus current.
4 I_sense_BAnalog-sense that measures current in phase B. It is scaled at 0.563 V per amp of
DC-bus current.
5 I_sense_CAnalog-sense signal that measures current in phase C. It is scaled at 0.563 V per
amp of DC-bus current.
6 BEMF_sense_AAnalog-sense signal that measures phase A back-EMF. It is scaled at 8.09 mV per
volt of DC-bus voltage.
Table 2-1 Daughter Board Connector J1 — Signal Descriptions (Continued)
Pin # Signal Name Description
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
10 Freescale Semiconductor
Signal Descriptions
Figure 2-1 J2 and J1 Connector Physical View
7 BEMF_sense_BAnalog-sense signal that measures phase B back-EMF. It is scaled at 8.09 mV per
volt of DC-bus voltage.
8 BEMF_sense_CAnalog-sense signal that measures phase C back-EMF. It is scaled at 8.09 mV per
volt of DC-bus voltage.
9 V_sense_DCBAnalog-sense signal that measures bus voltage. It is scaled at 8.09 V per volt of DC-
bus voltage.
10 V_sense_DCB/2Analog-sense signal that measures half of bus voltage. It is scaled at 4.05 V per volt
of DC-bus voltage.
11 I_sense_DCBAnalog-sense signal that measures bus current. It is scaled at 0.563 V per amp 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 the 3-phase bridge driver.
17 MOSI SPI pin Master Out Slave In pin for the 3-phase bridge driver.
18 SCLK SPI pin Clock Source pin Input for the 3-phase bridge driver.
19 MISO SPI pin Master In Slave Out pin for the 3-phase bridge driver.
20 GND Digital and power ground.
Table 2-2 Daughter Board Connector J2 — Signal Descriptions (Continued)
Pin # Signal Name Description
1 3 5 7 9
11 13 15 17 19
2 4 6 8 10 12 14 16 18 20
GND
PWM_ATPWM_BTPWM_CTOCTxDTOGGLE_SWITCH_ON1UP_SWITCHUSER_LED
+3.3V
PWM_ABPWM_BBPWM_CB
INTRxD
TOGGLE_SWITCH_ON2DOWN_SWITCH
/RESET
1 3 5 7 9
11 13 15 17 19
2 4 6 8 10 12 14 16 18 20
GNDAI_sense_AI_sense_CBEMF_sense_BV_sense_DCBI_sense_DCBENC_PhaseBDRV_ENMOSIMISO
+3.3VAI_sense_B
BEMF_sense_ABEMF_sense_CV_sense_DCB/2
ENC_PhaseAENC_Index
/SSSCLKGND
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 11‘
Signal Descriptions
2.2.2 BDM Header J3
This serves for updating the software for the MC9S08MP16 controller. Signals are described in Table 2-3.
Table 2-3 BDM Header J3 — Signal Descriptions
2.2.3 Configuration Header J4
Configuration header J4 serves for connecting OC signal or INT signal to the controller FTM2FAULT pin. Table 2-4 shows the jumper setting for selected function.
Table 2-4 Configuration Header J4 — Signal Descriptions
2.2.4 ADC Configuration Header JP1
Table 2-5 shows the ADC Configuration Headers pin description. Headers select if the BEMF voltages or phase currents are routed to the controller ADC inputs ADP1, ADP4, and ADP5.
Table 2-5 ADC Configuration Header JP1 — Signal Descriptions
Pin # Signal Name Description
1 BKGD/MS Background debug pin
2 GND Digital ground
3 No Connect
4 /RESET RESET signal
5 No Connect
6 +3.3V Digital +3.3 V power supply
Pin shorted
Signal Name Description
1–2 OC Overcurrent signal connected to the FTM2FAULT
2–3 INT Interrupt signal connected to the FTM2FAULT
ADC input Pins shorted Signal Name Description
ADP1
1–2 I_sense_AAnalog-sense signal that measures current
in phase A.
3–4 BEMF_sense_AAnalog-sense signal that measures phase A
back-EMF.
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
12 Freescale Semiconductor
Signal Descriptions
ADP4
5–6 I_sense_BAnalog-sense signal that measures current
in phase B.
7–8 BEMF_sense_BAnalog-sense signal that measures phase B
back-EMF.
ADP5
9–10 I_sense_CAnalog-sense signal that measures current
in phase C.
11–12 BEMF_sense_C Analog-sense signal that measures phase C back-EMF.
ADC input Pins shorted Signal Name Description
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 13‘
Signal Descriptions
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
14 Freescale Semiconductor
Appendix A. MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Schematics
I_sense_B
/BE
MF
_sense_B
I_sense_C
/BE
MF
_sense_C
V_sense_D
CB
V_sense_D
CB
/2
I_sense_A
/BE
MF
_sense_A
I_sense_A
BE
MF
_sense_A
I_sense_B
BE
MF
_sense_B
I_sense_C
BE
MF
_sense_C
I_sense_C
/BE
MF
_sense_C
I_sense_B
/BE
MF
_sense_B
I_sense_A
/BE
MF
_sense_A
I_sense_D
CB
I_sense_D
CB
I_sense_A
I_sense_C
BE
MF
_sense_B
V_sense_D
CB
V_sense_D
CB
/2
I_sense_B
BE
MF
_sense_A
BE
MF
_sense_C
GN
DA
GN
DA
GN
DA
GN
DA
GN
DA
GN
DA
GN
DA
+3.3
VA
GN
D
+3.3
V
GN
D
+3.3
V
GN
DA
GN
D
+3.3
VA
AD
P0
AD
P1
AD
P4
AD
P5
AD
P11
AD
P12
+3.3
VA
+3.3
V
GN
DA
GN
D
TxD
TO
GG
LE
_S
WIT
CH
_O
N1
US
ER
LE
DU
P_S
WIT
CH
PW
M_A
TP
WM
_B
TP
WM
_C
TO
C
TO
GG
LE
_S
WIT
CH
_O
N2
RxD
DO
WN
_S
WIT
CH
/RE
SE
T
PW
M_A
BP
WM
_B
BP
WM
_C
B
INT
EN
C_P
haseB
DR
V_E
NM
OS
I
MIS
O
EN
C_P
haseA
EN
C_In
dex
/SS
SC
LK
C4
2200P
FC
42200P
F
JP
1
HD
R_2X
6
JP
1
HD
R_2X
6
12
34 6
5 78
910
11
12
J1
87022-6
10LF
J1
87022-6
10LF
20
17
19
18
16
15
14
13
12
11
10
67
8953
21
4
C9
2200P
FC
92200P
F
C8
2200P
FC
82200P
F
C7
2200P
FC
72200P
F
R18
100
R18
100
R13
100
R13
100
C6
2200P
FC
62200P
F
R17
100
R17
100
C5
2200P
FC
52200P
F
R16
100
R16
100
R15
100
R15
100
R14
100
R14
100
J2
87022-6
10LF
J2
87022-6
10LF
20
17
19
18
16
15
14
13
12
11
10
67
8953
21
4
Fig
ure
A-1
Dau
gh
ter
Bo
ard
Co
nn
ecto
rs, F
ilter
s, a
nd
A
DC
Co
nfi
gu
rati
on
Hea
der
JP
1
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 15
16F
reescale Sem
iconductor
D/MS
GNDA
+3.3VA
GND
+3.3V
.3V
+3.3VA
AGND
USER LEDADP0ADP1
ADP4
ADP5
ADP11ADP12
+3.3VA
+3.3V
GNDA
GND
R10 10.0KR10 10.0K
R7 10.0KR7 10.0K
R3 10.0KR3 10.0K
R2 10.0KR2 10.0K
R9 10.0KR9 10.0K
R5 10.0KR5 10.0K
R1 10.0KR1 10.0K
R4 10.0KR4 10.0K
MC
9S08M
P16 C
on
troller D
aug
hter B
oard
for B
LD
C/P
MS
M M
oto
r Co
ntro
l Drive, R
ev. 0
Figure A-2 Controller and Headers
BKGD/MS/RESET
BKG
OC/INT
OC/INT
GNDA
+3.3VA+3.3V
GND
+3.3V
GND
GND
+3
GNDGND
GN
D
+3.3V
INTENC_Index
PWM_ABPWM_BTPWM_BBPWM_CTPWM_CB
/RESET
PWM_AT
DRV_EN
ENC_PhaseB
/SS
TOGGLE_SWITCH_ON1TOGGLE_SWITCH_ON2
TxDRxD
ENC_PhaseA
MISOMOSI
SCLK
DOWN_SWITCH
UP_SWITCH
OC INT
R6 10.0KR6 10.0K
C30.1UFC30.1UF
C20.1UFC20.1UF
C10.1UFC10.1UF
R11 10.0KR11 10.0K
J4
CONN_HDR_3X1
J4
CONN_HDR_3X1
1 2 3
U1
MC9S08MP16
U1
MC9S08MP16
PTC4/KBI2P4/FTM2CH41
PTC5/KBI2P5/FTM2CH52
PTC6/KBI2P6/FTM2FAULT3
PTC7/KBI2P7/TCLK4
PTD0/KBI3P0/SDA5
PTD1/KBI3P1/SCL6
PTD2/KBI3P2/PDB1OUT7
PTD3/KBI3P3/FTM1FAULT8
VSS1 9
VDD1 10
PTA0/SDA/TxD11
PTA1/SCL/RxD12
PTA2/SDA/FTM1CH013
PTA3/SCL/FTM1CH1A14
PTD4/KBI3P4/PDB2OUT15
PTD5/KBI3P5/CMP1OUT16
PTD6/KBI3P6/CMP2OUT17
PTD7/KBI3P7/CMP3OUT18
PTF1/RESET19
PTF220
PTA4/TCLK/SDA/SS21
PTA5/SCL/MISO22
PTA6/MOSI23
PTA7/SPSCK24
PTE0/ADP8 25PTE1/ADP9 26
PTE2/ADP10 27PTB0/KBI1P0/ADP0/CIN1 28
PTB1/KBI1P1/ADP1/C2IN2 29PTB2/KBI1P2/ADP2/C1IN2/PGA_P 30PTB3/KBI1P3/ADP3/C3IN2/PGA_N 31
VDDA/VREFH 32
VSSA/VREFL 33
PTE3/ADP11/C1IN3 34PTE4/ADP12/C1IN4 35
PTB4/KBI1P4/ADP4/C2IN3 36
PTB5/KBI1P5/CMP2OUT/ADP5/C2IN4 37PTB6/KBI1P6/CMP3OUT/ADP6/C3IN3 38
PTB7/KBI1P7/ADP7/C3IN4 39
PTE5/XTAL 40
PTE6/EXTAL 41
VSS2 42
VDD2 43
PTF0/BKGD/MS 44
PTC0/KBI2P0/FTM2CH045
PTC1/KBI2P1/FTM2CH146
PTC2/KBI2P2/FTM2CH247
PTC3/KBI2P3/FTM2CH348
J3
HDR 2X3
J3
HDR 2X3
1 23 4
65
Appendix B. Bill of Materials
Table B-1 Parts List
DESIGNATORS QUANTITY DESCRIPTION MANUFACTURER PART NUMBER
C1-C3 2 100 nF/6.3 V size 0805 ANY ACCEPTABLE —
C4-C9 5 100 pF/6.3 V size 0805 ANY ACCEPTABLE —
J1, J2 2 87022-610 FCI 87022-610LF
J3 1 HDR 2x3TYCO
ELECTRONICS1-87215-2
J4 3 HDR 1x3TYCO
ELECTRONICS87220-3
JP1 1 HDR 2x6TYCO
ELECTRONICS87215-3
R1-R7, R9-R11 10 10 kΩ Resistor 1/8 W size 0805 ANY ACCEPTABLE —
R13-R18 6100 Ω Resistor 1/8 W 1 %
size 0805ANY ACCEPTABLE —
U1 1 8-bit HCS08 controller/LQFP-48FREESCALE
SEMICONDUCTORMC9S08MP16CLF
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 17
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
18 Freescale Semiconductor
Appendix C. MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive Layouts
Figure C-1 Board Top Layer
Figure C-2 Board Bottom Layer
Figure C-3 Board Silkscreen Top Layer
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
Freescale Semiconductor 19
MC9S08MP16 Controller Daughter Board for BLDC/PMSM Motor Control Drive, Rev. 0
20 Freescale Semiconductor
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LVBLDCMP16DBUMRev. 006/2009