He xa gon Applic atio n Ki t For XMC4000 Family MOT _ GP DL V - V2 General Purpose Motor Drive Card Boa rd Us er‘s Ma nu al Revision 1.0, 2012-09-21 Mic rocon t rolle r Edition 2012-09-21 Published by Infineon Technologies AG 81726 Munich, Germany © 2012 Infineon Technologies AG All Rights Reserved. Legal Disclaimer The information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties and liabilities of any kind, including without limitation, warranties of non-infringement of intellectual property rights of any third party. Information For further information on technology, delivery terms and conditions and prices, please contact the nearest Infineon Technologies Office (www.infineon.com). Warnings Due to technical requirements, components may contain dangerous substances. For information on the types in question, please contact the nearest Infineon Technologies Office. Infineon Technologies components may be used in life-support devices or systems only with the express written approval of Infineon Technologies, if a failure of such components can reasonably be expected to cause the failure of that life-support device or system or to affect the safety or effectiveness of that device or system. Life support devices or systems are intended to be implanted in the human body or to support and/or maintain and sustain and/or protect human life. If they fail, it is reasonable to assume that the health of the user or other persons may be endangered. MOT_GPDLV-V2 General Purpose Motor Drive Card Revision History Page or Item Subjects (major changes since previous revision) Revision 1.0, 2012-09-21 Initial release Trademarks of Infineon Technologies AG AURIX™, C166™, CanPAK™, CIPOS™, CIPURSE™, EconoPACK™, CoolMOS™, CoolSET™, CORECONTROL™, CROSSAVE™, DAVE™, EasyPIM™, EconoBRIDGE™, EconoDUAL™, EconoPIM™, EiceDRIVER™, eupec™, FCOS™, HITFET™, HybridPACK™, I²RF™, ISOFACE™, IsoPACK™, MIPAQ™, ModSTACK™, my-d™, NovalithIC™, OptiMOS™, ORIGA™, PRIMARION™, PrimePACK™, PrimeSTACK™, PRO-SIL™, PROFET™, RASIC™, ReverSave™, SatRIC™, SIEGET™, SINDRION™, SIPMOS™, SmartLEWIS™, SOLID FLASH™, TEMPFET™, thinQ!™, TRENCHSTOP™, TriCore™. Other Trademarks Advance Design System™ (ADS) of Agilent Technologies, AMBA™, ARM™, MULTI-ICE™, KEIL™, PRIMECELL™, REALVIEW™, THUMB™, µVision™ of ARM Limited, UK. AUTOSAR™ is licensed by AUTOSAR development partnership. Bluetooth™ of Bluetooth SIG Inc. CAT-iq™ of DECT Forum. COLOSSUS™, FirstGPS™ of Trimble Navigation Ltd. EMV™ of EMVCo, LLC (Visa Holdings Inc.). EPCOS™ of Epcos AG. FLEXGO™ of Microsoft Corporation. FlexRay™ is licensed by FlexRay Consortium. HYPERTERMINAL™ of Hilgraeve Incorporated. IEC™ of Commission Electrotechnique Internationale. IrDA™ of Infrared Data Association Corporation. ISO™ of INTERNATIONAL ORGANIZATION FOR STANDARDIZATION. MATLAB™ of MathWorks, Inc. MAXIM™ of Maxim Integrated Products, Inc. MICROTEC™, NUCLEUS™ of Mentor Graphics Corporation. Mifare™ of NXP. MIPI™ of MIPI Alliance, Inc. MIPS™ of MIPS Technologies, Inc., USA. muRata™ of MURATA MANUFACTURING CO., MICROWAVE OFFICE™ (MWO) of Applied Wave Research Inc., OmniVision™ of OmniVision Technologies, Inc. Openwave™ Openwave Systems Inc. RED HAT™ Red Hat, Inc. RFMD™ RF Micro Devices, Inc. SIRIUS™ of Sirius Satellite Radio Inc. SOLARIS™ of Sun Microsystems, Inc. SPANSION™ of Spansion LLC Ltd. Symbian™ of Symbian Software Limited. TAIYO YUDEN™ of Taiyo Yuden Co. TEAKLITE™ of CEVA, Inc. TEKTRONIX™ of Tektronix Inc. TOKO™ of TOKO KABUSHIKI KAISHA TA. UNIX™ of X/Open Company Limited. VERILOG™, PALLADIUM™ of Cadence Design Systems, Inc. VLYNQ™ of Texas Instruments Incorporated. VXWORKS™, WIND RIVER™ of WIND RIVER SYSTEMS, INC. ZETEX™ of Diodes Zetex Limited. Last Trademarks Update 2011-02-24 Template: IFX_Template_2011-02-24.dot MOT_GPDLV-V2 General Purpose Motor Drive Card Table of Contents Table of Contents Introduction ............................................................................................................................................................ 7 1 1.1 1.2 Overview ............................................................................................................................................. 7 Key Features ........................................................................................................................................ 7 Block Diagram ...................................................................................................................................... 8 2 2.1 2.2 2.3 2.4 2.4.1 2.4.2 2.5 2.6 Hardware Description ........................................................................................................................ 9 Power Supply ..................................................................................................................................... 10 Satellite Connector ............................................................................................................................. 11 Gate Driver and Power Stage ............................................................................................................ 13 Voltage and Current Measurements .................................................................................................. 15 Phase Current Measurement ............................................................................................................. 15 Phase Voltage Measurement ............................................................................................................. 15 Resolver Interface .............................................................................................................................. 16 Encoder and Hall Interface ................................................................................................................. 18 3 3.1 3.2 3.3 Production Data................................................................................................................................ 19 Schematics ......................................................................................................................................... 19 Components Placement and Geometry ............................................................................................. 23 List of Material .................................................................................................................................... 24 Board Users Manual 4 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card List of Figures List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Block Diagram of the General Purpose Motor Drive Card ................................................................... 8 General Purpose Motor Drive Card...................................................................................................... 9 Block Diagram of the Power Circuit ................................................................................................... 10 Connection to the CPU Board ............................................................................................................ 11 Pin Mapping on ACT Satellite Connector .......................................................................................... 11 Pin Mapping to XMC4500 on CPU Board CPU_45A-V2 ................................................................... 12 Block Diagramm of the Gate Driver and the Power Stage ................................................................ 14 Measurement of Voltages and Currents ............................................................................................ 15 Connection Scheme of the Resolver Connector ................................................................................ 16 Resolver Excitation Circuit ................................................................................................................. 16 Resolver Modulator Circuit ................................................................................................................. 17 Encoder Connector for differential encoder signals ........................................................................... 18 Encoder Line Receiver (differential signals) and hall interface .......................................................... 18 Satellite Connector, Power Supply..................................................................................................... 20 Gate Driver, Power Stage, Shunt Amplifier, Motor Connector ........................................................... 21 Resolver, Encoder, Hall Connector .................................................................................................... 22 Components Placement and Geometry ............................................................................................. 23 Board Users Manual 5 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card List of Tables List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Power LED ......................................................................................................................................... 10 Power rail connection to the ACT Satellite Connector ....................................................................... 10 Gate Driver signals connection to the ACT Satellite Connector ........................................................ 14 Voltage and Current signals at the ACT Satellite Connector ............................................................. 15 Resolver signals at the ACT Satellite Connector ............................................................................... 17 Encoder / hall signals at the ACT Satellite Connector ....................................................................... 18 List of Material for General Purpose Motor Drive Card (MOT_GPDLV-V2-002) ............................... 24 Board Users Manual 6 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Overview Introduction This document describes the features and hardware details of the General Purpose Motor Drive Card (MOT_GPDLV-V2) designed to work with Infineon’s CPU boards of the XMC4000 family. This board is a member of Infineon’s Hexagon Application Kits. 1 Overview The MOT_GPDLV-V2 board is an application expansion satellite card of the Hexagon Application Kits. The satellite card along with a CPU board (e.g. CPU_45A-V2 board) demonstrates the motor control capabilities of XMC4000 family. The main use case for this satellite card is proofing software algorithms and methods for motor control. The focus is safe operation under evaluation conditions. The board is neither cost nor size optimized and does not serve as a reference design. 1.1 Key Features The MOT_GPDLV-V2 satellite card is equipped with following features Seamless connection to the CPU board (e.g. CPU_45A-V2) via the ACT satellite connector 3 phase low voltage half-bridge inverter using Infineon’s N-channel OptiMOS™3 power transistors Gate Driver IC (6ED003L02-F2) with over-current detection circuit (ITRIP) Current measurement by using single or triple shunts (amplified) Position sensing via o Inductive resolver interface using delta-sigma modulator and pattern generator for resolver excitation o Quadrature encoder interface for both single ended and differential signals o Hall sensor interface Input voltage range: 24 V +/-20% Power supply o Switch mode power supply for 5V power generation o Low drop voltage regulators (15 V) for MOSFET gate driver and resolver excitation o Low drop voltage regulators (3.3V) for logic Maximum DC-link current: 7.5 A, nominal DC-link current 5 A Board Users Manual 7 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Overview 1.2 Block Diagram Figure 1 shows the block diagram of the MOT_GPDLV-V2 satellite card. There are following building blocks: Connectors to CPU Board, power supply, motor and position interfaces Analog signal measurement Position sensing EN FAULT# ADC POSIF EN# DSD Pattern DSD Gate Driver 3-Phase Power Half-Bridge Current & Voltage Sensing Encoder Line Driver Resolver Excitation Resolver Reader Motor Connector ACT Satellite Connector CCU8 24V Encoder Connector Power Supply Resolver Connector 5V Plug General Purpose Motor Drive Card (MOT_GPDLV-V2) BlockDiag.emf Figure 1 Block Diagram of the General Purpose Motor Drive Card Board Users Manual 8 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description 2 Hardware Description The following sections give a detailed description of the hardware and how it can be used. Resolver Coil Excitation Resolver Connector Encoder Connector Power LEDs Power 3.3 V LDO Hall Connector Power 5 V SMPS Power Plug 24 V Power 15 V LDO Resolver Signal Reader Encoder Line Receiver Shunt Amplifier DC-Link Shunt ACT Satellite Connector Emitter Shunts Power Stage and Motor Connector Gate Driver PCB_Block.emf Figure 2 General Purpose Motor Drive Card Board Users Manual 9 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description 2.1 Power Supply The General Purpose Motor Drive Card must be supplied by an external 24 Volt DC power supply connected to its power jack X240. The power to be delivered by the external power supply depends on the overall load mainly defined by the power consumption of the motor. The power supply unit (24V / 2A) delivered with the motor control kit is sufficient to drive the enclosed motor as well as other satellite cards connected to the CPU board. The power supply concept is shown in Figure 3. A diode protects the power supply units and the circuit if more than one power supply is connected to the system via other satellite cards or via the CPU board (USB). The General Purpose Motor Drive Card is able to supply all other boards with 5V (VDD5) via the ACT satellite connector. An on-board DC-DC converter (U240) steps down the 24 V input voltage from the power jack to 5 V (VDD5). The input voltage VDD24 must be 24 V +/-20%. The 5 Volt supply for analog circuits VDDA5 is derived from VDD5 filtered by a low pass. A LDO voltage regulator generates 3.3 V (VDD3.3) out of VDD5 and another voltage regulator generates 15 V (VDD15) power supply out of the 24 V input voltage. Three power LEDs indicate the presence of the generated supply voltages. Table 1 Power LED LED Power Rail Voltage Note V210 VDD5 5.0 V Must always be “ON” V211 VDD3.3 3.3 V Must always be “ON” V212 VDD15 15.0V Must always be “ON” 24V VDD24 3-Phase Power Stage 15V VDD15 Gate Driver IC, Resolver Excitation 5V VDD5 Resolver Excitation, Encoder/Hall Con. Plug VDD15 LED Lin. Voltage Regulator TLE4276 24V U240 DC/DC Converter IFX91041 VDD5 LED Reverse Protection Low Pass LP 5V VDDA5A VDD3.3 Shunt Amplifier, Resolver VDD3.3 LED Lin. Voltage Regulator IFX1763 3.3V VDD5A ACT Satellite Connector General Purpose Motor Drive Card (MOT_GPDLV-V2) Encoder Line Driver, Resolver PowerSupply.emf Figure 3 Block Diagram of the Power Circuit Table 2 shows the connection of the power rails to the ACT satellite connector. Table 2 Power rail connection to the ACT Satellite Connector Pin No. Power rail Description 43,44,45,46 VDD5 5V 1,2,79,80 GND Ground Board Users Manual 10 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description 2.2 Satellite Connector The satellite connector of the General Purpose Motor Drive Card is the interface to the CPU board e.g. CPU_45A-V2. Take care to connect the General Purpose Motor Drive Card always to the corresponding ACT satellite connector of the CPU board only as shown in Figure 4. ACT_Connection.emf Figure 4 Connection to the CPU Board The signal mapping details of the ACT satellite connector and the General Purpose Motor Drive Card are provided in Figure 5. The inner rows show the general function of the 80 pins of the ACT connector, which is common for all ACT satellites cards. The outer rows show the signals of the General Purpose Motor Drive Card. The General Purpose Motor Drive Card provides 5 functional groups of signals (marked by color code) at its pins of the satellite connector: The encoder signals (ENCA, ENCB, ENCI): pin 4, 6 and 8 Resolver signals (PWMN/P, MCLK, MCOS, MSIN): pin 9, 11, 13, 14, 15, 16 Control and TRAP signals (FAULT#, ENPOW, ENENC#): pin 25, 26, 30 Voltage and current measurement signals: (UU, UV, UW, UZ, AMP_IW…) located from pin 49 to 60 PWM signals for the 3-Phase power stage (HIN1#, LIN1#, HIN2 …): pin 64, 66, 68,70, 72, 74 Figure 5 Pin Mapping on ACT Satellite Connector Board Users Manual 11 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description Figure 6 is an extended view of the signal mapping between the General Purpose Motor Drive Card (MOT_GPDLV-V2) and the “XMC4500 CPU Board General Purpose” (CPU_45A-V2). It shows in details which pin of the XMC4500 is mapped to which signal on the motor drive card. Figure 6 Pin Mapping to XMC4500 on CPU Board CPU_45A-V2 Board Users Manual 12 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description 2.3 Gate Driver and Power Stage The power stage consists of three half-bridges using Infineon’s N-channel OptiMOS™ power transistors. They are selected for a safe operation area with huge headroom, hence no cooling is needed when using at nominal current of 5 Ampere. The gate driver (6ED003L02-F2) is Infineon’s full bridge driver in SOI-technology offering an excellent ruggedness on transient voltages. The external bootstrap circuitry has been dimensioned according to the formula (see Infineon application note AN-EICEDRIVER-6EDL04-1): ( ) ( ) With CBS: Bootstrap Capacity (1 uF) iQBS: highside driver quiescent current (max. 100 uA) Q G: Gate charge (max. 130 nC) ∆VBS: max. allowed voltage drop at the bootstrap capacitor (5 V) Factor 1.2: 20% margin for capacitor the minimum switching period tP is 40 ms: ( ) The gate driver offers several protection features like under-voltage lockout, signal interlocking of every phase to prevent cross-conduction and overcurrent detection. In an error situation a FAULT# signal is generated and must be handled by the microcontroller. The FAULT# signal changes to low state if an over-current condition has been detected by the ITRIP circuit. The ITRIP current level is measured as the amplified voltage drop over the DC-link shunt (see Figure 7). The minimum input voltage level to trigger an over-current event is specified at 380 mV. With an amplifier gain of 1 + (40.2/10) = 5.02 and a DC-Link shunt with 10 mΩ the ITRIP will be triggered at a DC-Link current higher than 7.57 A: I = U / R, I = (0.38 V / 5.02) / 10 mΩ, I = 7.57 A. The overcurrent condition must be present for longer than about 100 us (3 * RC time constant of the RC filter R322, C310) in order to trigger the ITRIP. This shall protect the PCB traces and the components in the high current path. The microcontroller must provide the PWM signals (LIN1/2/3#, HIN1/2/3#) for the high-side and low-side switches. The PWM signals must be generated low-active. The gate driver must be enabled via signal ENPOW. A phase current measurement is provided via shunt resistors a) single shunt (10 mΩ) in the DC-link path and/or b) triple shunt (10 mΩ) in the low-side path The resistance of the shunts limits the system behavior and may not fit to the low-ohmic power transistors. This is intended as the main purpose of this board is to proof SW algorithms and methods over a wide range. Board Users Manual 13 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description VDD3.3 VDD15 VDD15 Bootstrap VDD24 HIN1# Gate Driver HIN2# VCC HIN3# 6ED003L02-F2 LIN1# LIN1,2,3 HIN1,2,3 LIN2# LIN3# FAULT# VB1,2,3 U HO1,2,3 FAULT# ENPOW GND ITRIP VS1,2,3 EN LO1,2,3 RCIN V W COM IV IU IW VSS GND GND GND COM Ground Star GND Figure 7 IZ GND GND PowerStage.emf Block Diagram of the Gate Driver and the Power Stage Table 3 shows the connection of the Gate Driver signals to the ACT satellite connector. Table 3 Gate Driver signals connection to the ACT Satellite Connector Pin No. Signal Name Description 25 FAULT# this signal indicates over-current and under-voltage (low-active) 26 ENPOW High level enables the power stage (high-active) 64 HIN1# High-side logic input 1 (low-active) 66 LIN1# Low-side logic input 1 (low-active) 68 HIN2# High-side logic input 2 (low-active) 70 LIN2# Low-side logic input 2 (low-active) 72 HIN3# High-side logic input 3 (low-active) 74 LIN3# Low-side logic input 3 (low-active) Board Users Manual 14 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description 2.4 Voltage and Current Measurements The phase current measurement is illustrated on the left side of Figure 8; the right side shows the voltage divider for the voltage measurement. IU IV VDDA5 OFFS IW IZ AGND AMP_IU VDD24 UZ AMP_IV U UU AMP_IW V UV W UW AGND AGND AGND VDDA5 OFFS IZ GND AMP_IZ AGND AGND AGND ShuntAmp.emf Figure 8 2.4.1 Measurement of Voltages and Currents Phase Current Measurement The current measurement can be done via a single shunt (signal IZ) in the DC-link path or via triple shunts (IU, IV, IW) in the emitter path. In both cases the measurement is dimensioned for the following requirements: Motor power range up to 120W which leads to a nominal DC-link current of about 5 Ampere and a maximum phase peak current of about 20 Ampere. The phase current range is 75 mA to 20 A. A shunt resistance of 10 mΩ leads to 0.75 mV voltage drop @ 75 mA and 200 mV voltage drop @ 20 A. This voltage is amplified by a non-inverting amplifier. The output of the operational amplifier (AMP_IU, AMP_IV, AMP_IW, AMP_IZ) is available at the ACT Satellite Connector and connected to ADC input channels of the XMC4000 microcontroller. The gain of the operational amplifier is set to 21 (G = 1 + (R1 / R2)), which leads to an output voltage of 15.75 mV @ 75 mA and 4.20 V @ 20A. The XMC4000 offers a DAC output which is used as DC offset generator for the OpAmps (signal OFFS). The DAC voltage must be adjusted to a voltage level of about 1.2 V in order to get 0 V at the output of the OpAmps when there is no current flow through the shunts. Alternatively the offset can be generated by a resistive voltage divider. 2.4.2 Phase Voltage Measurement The phase voltage is directly measured using resistive dividers at the phases (signals UZ, UU, UV, and UW). The divider is dimensioned to divide the measured voltage UZ, UU, UV, UW by factor 10.21. The formula to calculate the phase voltage UPHx from the measured voltage Ux is: UPHx = 10.21 * Ux Table 4 summarizes all voltage signals and current signals available at the ACT satellite connector. Table 4 Voltage and Current signals at the ACT Satellite Connector Pin No. Signal Name Description 50 OFFS Offset voltage input required for the shunt amplifier Board Users Manual 15 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description Table 4 Voltage and Current signals at the ACT Satellite Connector Pin No. Signal Name Description 53 AMP_IU Amplified shunt voltage output representing the current of phase U 57 AMP_IV Amplified shunt voltage output representing the current of phase V 49 AMP_IW Amplified shunt voltage output representing the current of phase W 59 AMP_IZ Amplified shunt voltage output representing the DC-link current 56 UU Divided voltage output of phase U (divided by 10.21) 52 UV Divided voltage output of phase V (divided by 10.21) 60 UW Divided voltage output of phase W (divided by 10.21) 55, 58, 61 UZ Divided DC-link output voltage (divided by 10.21) 2.5 Resolver Interface For rotor position detection a resolver can be used. The three coils of the resolver must be connected to the connector X400 as shown in Figure 9. PRIMB PRIMA SINB SINA COSB COSA 6 5 4 3 2 1 X400 ResolverCon.emf Figure 9 Connection Scheme of the Resolver Connector The XMC4000 devices use an on-chip pattern generator for the excitation of the primary coil and a decimation filter to read the SIN/COS feedback measured by a delta-sigma modulator. The primary coil excitation is done via the microcontroller signals PWMP/PWMN which is a digital data stream with a selectable clock rate in the MHz range. These signals are integrated, amplified and fed to the primary coil of the resolver as shown in Figure 10. VDD5 VDD15 PWMN PRIMB PWMP PRIMA GND GND ResolverExc.emf Figure 10 Resolver Excitation Circuit The feedback signals (SINA/B and COSA/B) of the secondary coils are fed to a delta-sigma modulator ADS1205 which has an internal clock and generates the SIN/COS serial data stream on the signals MSIN/MCOS. It also provides the modulator clock MCLK. The circuit is shown in Figure 11. Board Users Manual 16 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description COSA COSB SINB SINA MSIN MCOS MCLK Resolver.emf Figure 11 Resolver Modulator Circuit Table 5 summarizes all signals of the resolver which are connected to the ACT satellite connector. Table 5 Resolver signals at the ACT Satellite Connector Pin No. Signal Name Description 9 PWMN Excitation input signal (inverted) 11 PWMP Excitation input signal 14 MCOS COS signal output of the delta sigma modulator 16 MSIN SIN signal output of the delta sigma modulator 15, 13 MCLK Clock output of the delta sigma modulator Board Users Manual 17 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Hardware Description 2.6 Encoder and Hall Interface A quadrature encoder can be used for detecting the actual rotor position. There are single-ended and differential encoders, the board supports both types. For the differential types an encoder line receiver is required as the microcontroller needs single ended signals. Encoder Connector (top view) 1 2 GND ENCAENCBENCI- VDD5 ENCA+ ENCB+ ENCI+ 9 10 X441 EncoderCon.emf Figure 12 Encoder Connector for differential encoder signals The differential signals from the encoder (ENCA+/-, ENCB+/-, ENCI+/-) must be connected to the 10-pin encoder connector X441 (Figure 13). The receiver must be enabled by the signal ENENC# (set to “0”). In case of using a single ended encoder or a hall sensor the signals must be applied to the connector X440 and the encoder line receiver must be disabled by setting the signal ENENC# to high level (default). The parallel operation of both a differential encoder and a hall sensor is possible by adapting the resistor values shown in Figure 13. The pull-up resistors value must be changed to 4.7 kΩ, the serial resistors must be set to 680 Ω. This will ensure appropriate signal levels for the encoder signals ENCx in all use cases and limits the current to about 5 mA. VDD3.3 VDD5 5 4 3 2 1 ENCB+ ENCBENCA+ ENCAENCI+ ENCI- X440 ENENC# ENCB ENCA ENCI Figure 13 GND Encoder.emf Encoder Line Receiver (differential signals) and hall interface Figure 6 shows the connection of the encoder/hall signals available at the ACT satellite connector. Table 6 Encoder / hall signals at the ACT Satellite Connector Pin No. Signal Name Description 30 ENCEN# enable signal for the encoder line receiver (active low) 4 ENCA Encoder channel A 6 ENCB Encoder channel B 8 ENCI Encoder channel I Board Users Manual 18 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data 3 Production Data 3.1 Schematics This chapter contains the schematics for the General Purpose Motor Drive Card (MOT_GPDLV-V2): Figure 14: Satellite Connector, Power Supply Figure 15: Gate Driver, Power Stage, Shunt Amplifier, Motor Connector Figure 16: Resolver, Encoder, Hall Connector Board Users Manual 19 Revision 1.0, 2012-09-21 A B C D VDD5 AMP_IU UZ AMP_IV AMP_IZ UZ AMP_IW FAULT# GND 100nF/0603 1 GND GND 3 6 7 5 8 SJ1 OUT GND BYP EXP SENSE/ADJ 2 VDD5 IFX1763SJV33 GND GND GND EN IN U250 +3V3 POWER SUPPLY GND C200 VDD5 C202 MCLK 1 2 4 9 2 1 GND GND GND 0R/0603 R254 HSEC8-140-01-S-RA R253 HIN1# LIN1# HIN2# LIN2# HIN3# LIN3# UU UZ UW OFFS UV P0.6_GPIO ENENC# ENPOW MCOS MSIN 3 GNDGND 3 2 1 GND GND + L241 BLM18PG600 4 +15V POWER SUPPLY AGND GND GND 100nF/0603 GND R243 22k/0603 GND 22nF/0603 C242 GND 5 SYNC COMP EN VS IFX91041EJV 1 3 7 8 U240 GND 6 2 1 5 GND 5 4 TAB TLE4276-2DV OUT VA INH# GND IN U230 GND no ass./0805 GND GND 6 Resistor closed with a cutable trace between pads R246 +5V ANALOG POWER SUPPLY +24V BUCHSE-LP-5A X240 VDD5 ENCA ENCB ENCI C248 PWMN PWMP no ass./0R/0603 100nF/0603 VDD5 C250 10uF/25V/0805 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 + VDD5 C251 VDD24 C230 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79 VDD3.3 4 47uF/E/50V/6.6 X200 C252 10uF/25V/0805 VDD24 C240 VDDA5 100nF/0603 C231 GND E-PAD 2 9 E C253 100nF/0603 47uF/E/50V/6.6 C241 10uF/25V/0805 C249 100nF/0603 FB BUO BDS 4 6 5 TP210 POWER LED 7 14k/0603 33uH/3.2A R245 L240 V241 B340A-13-F GND GND GND C244 470pF/0603 +5V POWER SUPPLY R230 R232 C243 R244 3 + C A 220nF/0603 1k8/0603 2 no ass./10nF/0603 VDD15 C232 VDD5 GND R210 + GND GND TP212 TP211 GND GND 7 5.26V 100uF/T/10V/C C246 1 41k2/0603 8k25/0603 20 22uF/25V/C VDD3.3 1k8/0603 V210 LED-GN/D/0603 R211 C245 680R/0603 V211 LED-GN/D/0603 GND C Sheet: 2/4 8 14.09.2012 13:40:12 MOT_GPDLV-V2-2 Satellite Connector, Power TP213 PS + - 3 GND 8 Hitex PowerScale Jumper closed with a cutable trace on bottom layer V2 / 08.05.2012 / Ma B340A-13-F A V242 GND 100nF/0603 C247 VDD15 R212 100nF/0603 Board Users Manual 6k8/0603 V212 LED-GN/D/0603 VDD5 1 JP242 2 Figure 14 ACT-BOARD CONNECTOR A B C D E MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data Satellite Connector, Power Supply Revision 1.0, 2012-09-21 TP201 A B C D E VDD15 VDD3.3 no ass./0603 10k/0603 10K/0603 R300 R305 GND 4 5 6 7 8 HIN3# LIN1# LIN2# LIN3# FAULT# ENPOW 1k1/0603 1k1/0603 R362 15k/0603 R361 R360 AGND AGND R363 no ass./22k/0603 IZ IW OFFS 1 1k1/0603 1k1/0603 R342 15k/0603 R341 R340 3 22k/0603 R344 1 U340A OPA4830IPW 22k/0603 R364 7 U340B OPA4830IPW 2 C360 no ass./0603 6 5 COM LO3 LO2 LO1 VS3 HO3 VB3 VS2 HO2 VB2 VS1 HO1 VB1 1k/0603 R365 1k/0603 R345 6ED003L02-F2 VSS RCIN EN ITRIP FAULT LIN3 LIN2 LIN1 HIN3 HIN2 HIN1 VCC U300 C340 no ass./0603 2 3 12 11 10 ITRIP_AMP 9 2 HIN2# 1 HIN1# 10uF/25V/0805 C300 R343 no ass./22k/0603 IZ IU OFFS SHUNT AMPLIFIER R301 22nF/0603 C304 V 33pF/0603 C341 AGND 33pF/0603 C361 AMP_IW AGND 13 14 3 IZ LO3 LO2 W 15 C303 1uF/0603 HO3 C302 1uF/0603 LO1 AMP_IU U HO2 C301 1uF/0603 HO1 16 18 19 20 22 23 24 26 27 28 GND + 1k1/0603 1k1/0603 R352 1k1/0603 1k1/0603 R372 15k/0603 R371 AGND 4 AGND R373 no ass./22k/0603 GND IZ OFFS R370 4 no ass./0603 R317 R353 no ass./22k/0603 IZ IV 4 no ass./0603 R311 15k/0603 R351 R350 13R/0603 R316 OFFS IU LO1 U GND R310 HO1 13R/0603 330uF/50V/10.0 C311 22k/0603 R354 14 22k/0603 R374 8 U340C OPA4830IPW C370 no ass./0603 9 10 1k/0603 R375 1k/0603 4 VDD24 AMP_IV no ass./0603 R319 4 no ass./0603 R313 5 AGND 33pF/0603 C371 AMP_IZ AGND 33pF/0603 C351 13R/0603 R318 13R/0603 R312 R355 IZ IV LO2 V HO2 U340D OPA4830IPW C350 no ass./0603 13 12 RS310 8 Q310 BSC031N06NS3G POWER STAGE AND SHUNTS 5 6 7 1 2 3 5 6 7 1 2 3 R302 V300 DFLU1400 3R3/0603 R303 V301 DFLU1400 3R3/0603 R304 V302 DFLU1400 3R3/0603 RS311 RS313 8 Q313 BSC031N06NS3G 0R010/2010 5 6 7 1 2 3 5 6 7 1 2 3 8 Q311 BSC031N06NS3G 8 Q314 BSC031N06NS3G 0R010/2010 0R010/2010 GATE DRIVER AND ISOLATION 3k3/0603 R322 IW LO3 W HO3 6 GND 4 3 1 no ass./0603 R321 GND U340P 4 no ass./0603 R315 ITRIP 13R/0603 R320 13R/0603 R314 C310 5 VDDA5 AGND AGND AGND 6 LMV321DBV VDD24 47k/0603 R336 47k/0603 R334 47k/0603 R332 47k/0603 R330 ITRIP_AMP 5k1/0603 R331 3 U 7 2 V X300-2 X300-1 AGND GND 5k1/0603 UW UV UU UZ V2 / 08.05.2012 / Ma U310P 8 5k1/0603 A B C D E Sheet: 3/4 8 14.09.2012 13:40:12 MOT_GPDLV-V2-2 Driver, Power Stage, Shunt Amp R333 X300-3 MKDS1/3-3,81 1 W MOTOR CONNECTOR ITRIP(th) = 0.445V (typ.) R338 Ua = 1 + R339 * Ue R338 Gain = 1 + R339 40k2/0603 R338 4 U310A W V U 7 R337 4 V- 5 6 7 1 2 3 5 6 7 RS312 8 Q312 BSC031N06NS3G 8 Q315 BSC031N06NS3G 0R010/2010 3 V+ 10nF/0603 R339 C342 VDD5 2 4 11 10k/0603 100nF/0603 C343 R335 VCC 1 2 3 10uF/25V/0805 5k1/0603 5 2 21 VSS Board Users Manual C305 Figure 15 100nF/0603 1 MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data Gate Driver, Power Stage, Shunt Amplifier, Motor Connector Revision 1.0, 2012-09-21 A B C D AGND 6 5 2 3 VDDA5 1 GND ENCAENCBENCI- 2 4 6 8 10 ENCODER 1 3 5 7 9 X441 ENCI- ENCI+ R442 120R/0603 ENCB- ENCB+ R441 120R/0603 ENCA- ENCA+ R440 120R/0603 ENCA+ ENCB+ ENCI+ OPA2347EA 7 AGND U401B OPA2347EA 1 U401A COSA COSB SINA SINB PRIMA PRIMB ENCODER CONNECTOR AGND C406 100nF/0603 MPT0,5/6-2,54 1 2 3 4 5 6 C407 10uF/25V/0805 3 2 C442 15nF/0603 C441 15nF/0603 C440 15nF/0603 20R/0603 R407 20R/0603 20R/0603 R406 R403 20R/0603 R402 14 15 10 9 6 7 2 1 4 12 16 3 AM26LV32EIPW 4A 4B 3A 3B 2A 2B 1A 1B G G# VCC 4Y 3Y 2Y 1Y 13 11 5 3 8 REFIN_A REFIN_B REFOUT CH_B- CH_B+ CH_A- CH_A+ GND C444 10uF/25V/0805 U440 GND GND GND C443 100nF/0603 18 1 14 22 23 21 20 AGND C405 10uF/25V/0805 22p/0603 C401 22p/0603 C400 VDD3.3 U400 GND ADS1205 C402 100nF/0603 ENCODER LINE RECEIVER COSB COSA SINB SINA EXP CLKIN CLKSEL OUT_A OUT_B CLKOUT GND GND 4 AGND R408 R409 ENCI ENCB ENCA 0R/0603 0R/0603 MSIN MCOS MCLK VDD3.3 C404 10uF/25V/0805 AGND ENENC# AGND EXP 7 6 12 11 10 AGND C403 100nF/0603 4 6 GND GND GND GND 20k/0603 R427 20k/0603 3.686V R414 6 MPT0,5/5-2,54 5 4 3 2 1 X440 HALL SENSOR CONNECTOR PWMN PWMP GND GND R444 R445 R446 13 12 6 5 7 GND 14 U410D TL084CPW 7 U410B TL084CPW GND C414 100R/0603 100R/0603 100R/0603 20k/0603 R428 8 U410C TL084CPW C413 100pF/0603 9 10 1 20k/0603 R415 C411 100pF/0603 2 3 U410P VDD15 U410A TL084CPW RESOLVER PRIMARY COIL EXCITATION 5 5 V+ V- 2 R404 4 11 X400 8 4 RESOLVER SECONDARY SIGNAL READER R401 R405 E VDD5 R400 4k99/0603 4k99/0603 4k99/0603 4k99/0603 VDD3.3 VDDA5 8 3 4 15 16 DVDD AVDD AVDD AVDD AVDD DGND AGND AGND AGND AGND VDD3.3 R443 R410 R411 VDD5 R423 9 2 5 13 17 10k/0603 442R/0603 R424 C410 1uF/0603 C412 1uF/0603 VDD5 10k/0603 R412 100nF/0603 C415 7 18R/1206 R419 Q410 BC817K-40 10uF/25V/0805 C416 ENCA ENCB ENCI Q411 BC807-40 Q413 BC807-40 V2 / 08.05.2012 / Ma GND 18R/1206 PRIMB GND GND 18R/1206 R435 GND PRIMA Sheet: 4/4 8 14.09.2012 13:40:12 MOT_GPDLV-V2-2 Resolver, Encoder R431 no ass./1k2/0603 18R/1206 R432 Q412 BC817K-40 8 R422 10uF/25V/0805 C417 R418 no ass./1k2/0603 VDD3.3 R447 10k/0603 R413 10k/0603 R425 10k/0603 R426 10uF/25V/0805 VDD3.3 1k24/0603 442R/0603 1k24/0603 VDD15 VDD15 1 VDD5 R416 R417 R429 R430 VDD3.3 1k/0603 R448 18R/1206 R421 18R/1206 2k2/0603 1k/0603 R449 R420 18R/1206 R433 2k2/0603 2k2/0603 2k2/0603 1k/0603 22 R434 Board Users Manual 18R/1206 Figure 16 RESOLVER CONNECTOR A B C D E MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data Resolver, Encoder, Hall Connector Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data R254 TP213 TP212 R 212 6 5 4 3 2 1 R 434 C 253 11 R2 U 300 R 334 R 332 R 330 R 336 21.65 R2 32 C2 31 C4 43 C4 44 R4 47 RS 31 0 Q 313 R3 R3 17 16 R3 19 Q 310 Q 314 3 RS 31 1 C 311 R3 1 R3 0 11 2 1 Q 311 X 300 Q 315 C 303 R 320 Q 312 R 315 R 312 A D J _1 C2 32 R3 21 4.47 79 43.30 C3 01 R3 04 C 304 R 305 R 301 C 230 R3 18 R3 R30 02 3 U2 30 R2 30 A A D J _3 E RS 31 2 R 335 R 333 R 331 R 337 R4 25 V3 02 C2 43 SJ 1 45 37.50 11 10 Q4 Q4 17 4 R4 6 44 R D 1 C4 C 412 R 424 49 45 R4 48 R4 R4 46 R4 R4 08 R4 09 C 440 R4 R 440 41 C4 41 R4 U 440 U 400 06 R4 C4 04 H 04 R 405 R 442 C 403 R4 C3 02 J 40 U4 R 353 C 442 01 R 350 L241 C2 C3 R 351 49 R40 60 C4 0 R 352 07 R 355 U 340 R3 RS C3 54 31 05 3 U3 C3 10 70 C3 C3 10 00 R3 22 R3 39 V 301 R 427 C3 02 75.00 43 00 C2 19 R4 1 C3 61 1 0 2 TP 202 C 2 C 240 1 H R 403 J : R 401 22 R4 3 X 240 U 410 4 C2 41 PS Q 413 R 420 R4 18 16 R4 D : R 426 E : R 413 Q 412 V2 42 C2 47 R2 45 C2 A 46 B U 240 41 X4 L240 A : C 244 B : R 244 5 21 R4 40 X4 C3 42 R3 R4 V2 41 R3 62 R365 R3 43 R24 C3 00 R3 61 3 4 6 3 R3 0 R3 6 C2 64 R3 3 C3 R3 42 R3 73 44 R341 R3 70 R3 45 71 R3 R3 42 JP 7 24 R 41 R3 2 2 R3 75 R3 340 R2 74 4 3 46 C3 50 C3 + C4 C4 71 C417 C4 05 02 C3 13 R4 R43 51 R4 2 3 1R 11 R433 42 8 C4 R41 10 2 C4 C2 00 R3 R 48 C4 R432 R429 38 R 410 01 C4 414 R4 15 15 R 40 V300 7 C4 C4 C4 11 R430 R435 14 06 C 252 10 R2 R 253 C 251 C2 45 12 V2 10 V2 11 V2 X 400 U250 A D J _2 TP210 TP211 Components Placement and Geometry C250 3.2 R 313 R3 14 43.30 21.65 86.60 Dimensions in mm +/-0.1 Figure 17 Components Placement and Geometry Board Users Manual 23 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data 3.3 List of Material The list of material is valid for a certain assembly version for the General Purpose Motor Drive Card. This version is stated in the header of the Table 7. The assembly version number can be identified by the board identification code printed on the PCB. The last digit field “002” of the board identification codes “MOT_GPDLVV2-002“ is representing the assembly version. If there is no assembly version number printed on the PCB (white empty field) than the PCB has the assembly version number 1. The only difference between both assembly version 1 and 2 is the value of the resistor R322. In version 1 it is 100 kΩ, whereas in assembly version 2 R322 is 3.3 kΩ. Table 7 Sl. No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 List of Material for General Purpose Motor Drive Card (MOT_GPDLV-V2-002) Qty Value 3 4 7 0R/0603 0R010/2010 1k/0603 8 2 2 5 4 3 1 4 4 1 1 1 1k1/0603 1k8/0603 1k24/0603 1uF/0603 2k2/0603 3R3/0603 3k3/0603 4k99/0603 5k1/0603 6ED003L02-F2 6k8/0603 8k25/0603 8 1 10k/0603 10nF/0603 12 6 1 4 3 10uF/25V/0805 13R/0603 14k/0603 15k/0603 15nF/0603 8 4 4 5 2 2 1 4 1 18R/1206 20R/0603 20k/0603 22k/0603 22nF/0603 22p/0603 22uF/25V/C 33pF/0603 33uH/3.2A Board Users Manual Reference Designator Device Resistor Shunt Resistor R254, R408, R409 RS310, RS311, RS312, RS313 R345, R355, R365, R375, R447, R448, R449 R341, R342, R351, R352, R361, R362, R371, Resistor R372 Resistor R210, R244 Resistor R413, R426 Capacitor C301, C302, C303, C410, C412 Resistor R416, R417, R429, R430 Resistor R302, R303, R304 Resistor R322 Resistor R400, R401, R404, R405 Resistor R331, R333, R335, R337 Gate Driver 6ED003L02-F2 U300 Resistor R212 Resistor R232 R300, R305, R339, R410, R411, R423, R424, Resistor R443 Capacitor C310 C249, C250, C252, C300, C343, C404, C405, Capacitor C407, C415, C416, C417, C444 Resistor R310, R312, R314, R316, R318, R320 Resistor R245 Resistor R340, R350, R360, R370 Capacitor C440, C441, C442 R419, R420, R421, R422, R432, R433, R434, Resistor R435 Resistor R402, R403, R406, R407 Resistor R414, R415, R427, R428 Resistor R243, R344, R354, R364, R374 Capacitor C242, C304 Capacitor C400, C401 Capacitor unipolar C232 Capacitor C341, C351, C361, C371 Inductor IHLP-3232DZ-11 L240 24 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data Table 7 Sl. No. 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 List of Material for General Purpose Motor Drive Card (MOT_GPDLV-V2-002) Qty Value 1 1 4 2 3 40k2/0603 41k2/0603 47k/0603 47uF/E/50V/6.6 100R/0603 15 2 1 3 1 1 2 1 1 1 1 2 2 2 1 100nF/0603 100pF/0603 100uF/T/10V/C 120R/0603 220nF/0603 330uF/50V/10.0 442R/0603 470pF/0603 680R/0603 ADS1205 AM26LV32EIPW B340A-13-F BC807-40 BC817K-40 BLM18PG600 6 1 3 1 3 1 1 1 3 1 1 1 1 1 1 1 1 1 2 Reference Designator Device Resistor Resistor Resistor Capacitor unipolar Resistor Capacitor Capacitor Capacitor unipolar Resistor Capacitor Capacitor unipolar Resistor Capacitor Resistor Delta-Sigma Modulator Differential Line Receiver Schottky Diode Transistor Transistor Inductor Infineon OptiMOS3 PowerBSC031N06NS3G Transistor BUCHSE-LP-5A Power Plug DFLU1400 Diode ENCODER Connector FIDUCIAL FIDUCIAL HSEC8-140-01-S-RA SAMTEC 80-pin connetor IFX1763SJV33 Voltage Regulator IFX91041EJV Voltage Regulator LED-GN/D/0603 LED green LMV321DBV OpAmp MKDS1/3-3,81 PHOENIX Connector MPT0,5/5-2,54 PHOENIX Connector MPT0,5/6-2,54 PHOENIX Connector OPA2347EA OpAmp OPA4830IPW OpAmp TL084CPW OpAmp TLE4276-2DV Voltage Regulator no ass./0R/0603 Resistor no ass./1k2/0603 Resistor Board Users Manual 25 R338 R230 R330, R332, R334, R336 C230, C240 R444, R445, R446 C200, C202, C231, C241, C246, C247, C248, C253, C305, C342, C402, C403, C406, C414, C443 C411, C413 C245 R440, R441, R442 C243 C311 R412, R425 C244 R211 U400 U440 V241, V242 Q411, Q413 Q410, Q412 L241 Q310, Q311, Q312, Q313, Q314, Q315 X240 V300, V301, V302 X441 ADJ_1, ADJ_2, ADJ_3 X200 U250 U240 V210, V211, V212 U310 X300 X440 X400 U401 U340 U410 U230 R253 R418, R431 Revision 1.0, 2012-09-21 MOT_GPDLV-V2 General Purpose Motor Drive Card Production Data Table 7 Sl. No. 71 72 73 74 75 76 77 78 List of Material for General Purpose Motor Drive Card (MOT_GPDLV-V2-002) Qty Value 1 4 4 7 1 1 1 5 no ass./10nF/0603 no ass./22k/0603 no ass./0603 no ass./0603 no ass./0805 3-pin header 0402 no assembly Board Users Manual Device Reference Designator Capacitor Resistor Capacitor Resistor Resistor PowerScale Connector Solder Jumper SMD Pads C251 R343, R353, R363, R373 C340, C350, C360, C370 R301, R311, R313, R315, R317, R319, R321 R246 JP242 SJ1 TP201, TP210, TP211, TP212, TP213 26 Revision 1.0, 2012-09-21 w w w . i n f i n e o n . c o m Published by Infineon Technologies AG