Fujitsu Microelectronics Europe User Guide FMEMCU-UG-910052-13 FRLITE FAMILY EVALUATION BOARD MOTORKIT-91F267-MC USER GUIDE MotorKit-91F267-MC User Guide Revision History Date 2006/09/20 2007/01/12 2007/01/19 2007/01/26 2007/09/10 Issue V0.9, CHa, first draft V1.0 First release V1.1 Recycling notice added V1.2 Recycling notice changed, typo corrected V1.3 general revision This document contains 33 pages. -2- © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide Warranty and Disclaimer To the maximum extent permitted by applicable law, Fujitsu Microelectronics Europe GmbH restricts its warranties and its liability for the MotorKit-91F267-MC Board and all its deliverables (eg. software include or header files, application examples, target boards, evaluation boards, engineering samples of IC’s etc.), its performance and any consequential damages, on the use of the Product in accordance with (i) the terms of the License Agreement and the Sale and Purchase Agreement under which agreements the Product has been delivered, (ii) the technical descriptions and (iii) all accompanying written materials. In addition, to the maximum extent permitted by applicable law, Fujitsu Microelectronics Europe GmbH disclaims all warranties and liabilities for the performance of the Product and any consequential damages in cases of unauthorised decompiling and/or reverse engineering and/or disassembling. Note, the MotorKit-91F267-MC Board and all its deliverables are intended and must only be used in an evaluation laboratory environment. 1. Fujitsu Microelectronics Europe GmbH warrants that the Product will perform substantially in accordance with the accompanying written materials for a period of 90 days form the date of receipt by the customer. Concerning the hardware components of the Product, Fujitsu Microelectronics Europe GmbH warrants that the Product will be free from defects in material and workmanship under use and service as specified in the accompanying written materials for a duration of 1 year from the date of receipt by the customer. 2. Should a Product turn out to be defect, Fujitsu Microelectronics Europe GmbH´s entire liability and the customer’s exclusive remedy shall be, at Fujitsu Microelectronics Europe GmbH´s sole discretion, either return of the purchase price and the license fee, or replacement of the Product or parts thereof, if the Product is returned to Fujitsu Microelectronics Europe GmbH in original packing and without further defects resulting from the customer’s use or the transport. However, this warranty is excluded if the defect has resulted from an accident not attributable to Fujitsu Microelectronics Europe GmbH, or abuse or misapplication attributable to the customer or any other third party not relating to Fujitsu Microelectronics Europe GmbH. 3. To the maximum extent permitted by applicable law Fujitsu Microelectronics Europe GmbH disclaims all other warranties, whether expressed or implied, in particular, but not limited to, warranties of merchantability and fitness for a particular purpose for which the Product is not designated. 4. To the maximum extent permitted by applicable law, Fujitsu Microelectronics Europe GmbH´s and its supplier’s liability are restricted to intention and gross negligence. NO LIABILITY FOR CONSEQUENTIAL DAMAGES To the maximum extent permitted by applicable law, in no event shall Fujitsu Microelectronics Europe GmbH and its suppliers be liable for any damages whatsoever (including but without limitation, consequential and/or indirect damages for personal injury, assets of substantial value, loss of profits, interruption of business operation, loss of information, or any other monetary or pecuniary loss) arising from the use of the Product. Should one of the above stipulations be or become invalid and/or unenforceable, the remaining stipulations shall stay in full effect © Fujitsu Microelectronics Europe GmbH -3- MotorKit-91F267-MC User Guide 0 Contents REVISION HISTORY.............................................................................................................. 2 WARRANTY AND DISCLAIMER ........................................................................................... 3 0 CONTENTS........................................................................................................................ 4 1 OVERVIEW ........................................................................................................................ 6 1.1 Abstract ..................................................................................................................... 6 1.2 Features .................................................................................................................... 6 1.3 General Description .................................................................................................. 7 2 INSTALLATION ................................................................................................................. 8 2.1 Jumper settings for MB91F267 ................................................................................. 9 3 JUMPERS AND SWITCHES ........................................................................................... 12 3.1 Operating Mode ...................................................................................................... 12 3.2 Power Supply (JP: 13, 14, 28, 29, 31, 32, 63) ........................................................ 12 3.3 Analog Power Supply Voltage (JP: 15, 16, 21, 22) ................................................. 14 3.4 UART0 (JP: 3, 5, 12)............................................................................................... 15 3.5 UART1 (JP: 25, 26, 27)........................................................................................... 15 3.6 CAN0 (JP: 30, 33, 34, 35) ....................................................................................... 16 3.7 Reset generation (JP: 17, 19, 20, 23, 24) ............................................................... 17 3.8 Buttons SW1, SW2, SW3, SW4, SW5, SW6, SW7 (JP: 2, 6, 7, 8, 10, 11)............. 18 3.9 Internal gate drivers (JP: 38, 39, 44, 45, 49, 50)..................................................... 19 3.10 Current measurement (JP: 43, 46, 48, 51, 59, 41, 47, 52, 53)................................ 20 3.11 Voltage measurement (JP: 43, 46, 48, 51, 59) ....................................................... 21 3.12 User potentiometers (JP: 1, 4, 9) ............................................................................ 21 3.13 Hall sensor and encoder interface (JP: 54, 56, 57, 60, 61, 62)............................... 22 3.14 Over-current / Over-voltage DTTI (JP: 55, 58)........................................................ 22 4 PROGRAMMING THE INTERNAL FLASH..................................................................... 23 5 CONNECTORS................................................................................................................ 24 5.1 Power connector (X6) ............................................................................................. 24 5.2 DC bus power connector (J5) ................................................................................. 24 5.3 Pin headers (J1-J4)................................................................................................. 24 5.4 UART0, UART1 connectors (X1, X2)...................................................................... 25 5.5 CAN connector (X3) ................................................................................................ 25 5.6 User LEDs & LC-Display (optional)......................................................................... 25 5.7 PWM LEDs.............................................................................................................. 25 5.8 Hall sensor connector (J12) .................................................................................... 26 -4- © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 5.9 Encoder connector (J13)......................................................................................... 26 5.10 Connector for external inverter board (J6, J7) ........................................................ 27 5.11 Voltage, current and over-voltage / over-current control points (J8, J10, J11) ....... 28 6 SILK PLOT OF THE BOARD .......................................................................................... 29 7 PCB HISTORY................................................................................................................. 30 8 RELATED PRODUCTS ................................................................................................... 31 9 INFORMATION IN THE WWW ........................................................................................ 32 © Fujitsu Microelectronics Europe GmbH -5- MotorKit-91F267-MC User Guide 1 Overview 1.1 Abstract The MotorKit-91F267-MC is a multifunctional evaluation board for the Fujitsu 32-Bit FRlite Flash microcontroller MB91F267N. The board allows the designer immediately to start with the software development and evaluation of low voltage three-phase motor control applications before his own final target system is available. 1.2 Features ● Supports the MB91F267(N) MCU in FPT-64P-M23 package ● Flexible power supply voltage system: c DC bus input 10-24V 15A max. for motor current supply ■ c Default configuration max. 6A (limited by shunt resistor power dissipation) Logic supply from DC Bus or separate input 8-15V ● 10-20V gate driver supply (with optional 15V regulator) and 5V internal logic supply, Power-LED ● In-Circuit serial Flash programming ● All resources available for evaluation ● All MCU pins routed to edge connectors ● 4 MHz main crystal ● Two UART interfaces (isolated) ● One CAN interface (isolated) ● 8 User LEDs, optional: alphanumeric standard LC-Display connectable ● Reset-Button, Reset-LED ● NMI button, DTTI button and 4 general-purpose user buttons ● Integrated low-voltage power stage with gate drivers for three-phase motors ● Integrated current measurement for two phases and bus current ● Integrated voltage measurement for all three phase voltages and DC bus voltage ● Hardware over-current and over-voltage detection interfaced to DTTI input ● Connector for external inverter board ● Interface for Hall sensors and incremental encoder ● Three user potentiometers connected to AN8-AN10 The target board is delivered with an MB91F267N microcontroller. This microcontroller contains a 'burn-in'-boot loader for Flash programming. -6- © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide This board must only be used for test applications in an evaluation laboratory environment. 1.3 General Description The MotorKit-91F267-MC supports the 32bit MB91F267(N) Flash microcontroller. The board is supplied with a socketed 4MHz crystal as the main oscillation clock. Using the internal PLL of the µC, internal clock rates up to 32MHz can be achieved. Two separate RS232 transceivers are available to connect two on-chip UARTs to 9-pin DSub connectors (X1, X2). The transceivers generate the adequate RS232 levels for the receive (RXD) and transmit (TXD) lines. The DTR line can be selected with jumpers (JP17, JP19) to generate a system reset. The RTS signal can be shortcut to CTS using the jumpers JP5 and JP26. The signals to and from the UART interfaces can be galvanically isolated by optocouplers and a separate supply by a DC-DC converter to avoid interference with a host PC. In-circuit-programming (asynchronous) can be done via UART0 (X1) using the burn-in bootloader of the microcontroller. One CAN transceiver is available to integrate the board in a Controller Area Network. The CAN interface can be opto-isolated or connected to the MCU directly independently of the UART interfaces. All pins of the microcontroller (except oscillator pins X1 and X0) are connected to the pin headers J1-J4 and are directly available to the user. Furthermore, the most important signals like voltage and current measurements are available on separate pin headers. The on-board voltage regulators allow the user to configure the board to fit a variety of situations. The board includes a 15V-regulator for the gate drivers, as well as a 5V-regulator for the MCU and logic supply. The 15V regulator can be bypassed (JP20) if the source input voltage is in the range of 10-20V. The 5V regulator can use a separate 8-15V input or use the gate drive supply as regulator input. Also, solder jumpers (JP29 and JP63) can be set to supply the DC bus from the logic power supply input (X6), e.g. when using a small motor (<3A). There are seven push button switches on the board, which can be connected to input pins of the microcontroller. SW1 (NMI) can be connected to the NMI pin. SW2-SW5 can be connected to various I/O pins of the MCU. Additionally, by setting JP7, all buttons can trigger the external interrupt 7, which is normally connected only to SW2 ('wired-OR'). This allows reading all buttons in a single ISR and saves external interrupt pins. SW6 is the system reset button, and SW7 triggers the fault input pin (DTTI) of the MCU, which can shut down the PWM output in case of over-current or over-voltage. Eight user-LEDs are connected via a 1K pull-up resistor network to Port P00-P07. If these LEDs are not required, the resistor network can be removed to disconnect the LEDs and free the port. The operating mode of the microcontroller (Program / Run) is selected by JP18. The board provides current and voltage measurement circuits for the motor phases and the DC bus which are connected to the ADC of the microcontroller. The signal conditioning circuit fits a variety of applications. Some applications might require a faster or slower filtering e.g. of the voltage measurement; this can be done by changing R/C values or adding capacitors in the current measurement circuit (e.g. C70, C72, C75, C77). © Fujitsu Microelectronics Europe GmbH -7- MotorKit-91F267-MC User Guide 2 Installation Carefully remove the board from the shipping carton. Check if there are any damages before power is applied to the evaluation board. For the logic power supply a DC input voltage of 9V – 15V is recommended. The positive voltage (+) must be connected to the shield, and ground (GND) must be connected to the center of the connector X6! By default, the DC bus is supplied through the screw terminal J5. Connect to an adequate power supply for the motor in use (24V max.). Be aware that this input is not protected against false polarity. Always connect ‘+’ to the terminal close to the upper board edge, and GND to the one close to X6. Further, it is strongly recommended to use a laboratory DC power supply with adjustable current limitation with this board. Otherwise, in case of software or hardware malfunctions or false configurations, high currents can flow and damage the power supply and/or the board and lead to overheating by excessive power dissipation. After power-on, the green power-on LEDs (LD2 and LD3) should be on, depending on the configuration of the corresponding jumpers. If the LEDs do not light, switch off the power supply and check the jumper settings according to the desired configuration. By default, the evaluation board is equipped with an MB91F267N Microcontroller. The in-circuit programming allows the user to program an own application into the Flash memory. Programming of the Flash memory is described in chapter 4. Depending on the power supply used for the DC bus input, it might be necessary to protect the power supply against reverse current. This can occur when shutting down the power supply with the board attached, or when an attached motor is externally accelerated or quickly decelerated and thereby works as a generator. This protection can be done by a diode of sufficient current capability. Since many power supplies are vulnerable to this issue, inserting a shottky diode is recommended. Depending on the application, the use of an external brake chopper circuit might be necessary. Typical applications are high-speed or varying load applications, such as centrifuges or elevators, in which the motor can be also moved by the load. Especially if the motor can be externally accelerated beyond the nominal speed, high voltages can occur which may damage the hardware. The board is shipped with power transistors in a D2PAK package. For additional flexibility, there are also soldering options for power MOSFETS in TO-220 packages, which can be mounted on external heat sinks. In this case, probably also the current measurement shunts should be replaced with a smaller value or bypassed to reduce heat. -8- © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 2.1 Jumper settings for MB91F267N Jumper Description / Function Type Default Coordinates JP1 P1 - AN8 Jumper 2 pin Closed B22 JP2 NMI Jumper 2 pin Closed D12 JP3 OC1 bypass Solder JP 2 pin Open C8 JP4 P2 - AN9 Jumper 2 pin Closed B23 JP5 UART0 RTS-CTS Jumper 2 pin Closed B4 JP6 SW2 Jumper 2 pin Closed D12 JP7 Common INT7 for SW2-SW5 Jumper 2 pin Closed E9 JP8 SW3 Jumper 2 pin Closed D12 JP9 P3 – AN10 Jumper 2 pin Closed B25 JP10 SW4 Jumper 2 pin Closed C12 JP11 SW5 Jumper 2 pin Closed C12 JP12 OC2 bypass Solder JP 2 pin Open C7 JP13 Vcc = Vcc_com Solder JP 2 pin Open G7 JP14 GND = GND_com Solder JP 2 pin Open H7 JP15 AVcc Jumper 2 pin Closed B19 JP16 AVRH2 Jumper 2 pin Closed B19 JP17 Reset A/B Jumper 3 pin Open D6 JP18 Mode (RUN/PGM) Jumper 3 pin 1-2 D15 JP19 DTR Jumper 2 pin Open B9 JP20 OC3 bypass Solder JP 2 pin Open D7 JP21 AVRH1 Jumper 2 pin Closed B19 JP22 AVss Jumper 2 pin Closed B21 JP23 External Reset Jumper 2 pin Closed B12 JP24 Watchdog Jumper 2 pin Open B14 JP25 OC4 bypass Solder JP 2 pin Open F8 JP26 UART1 RTS-CTS Jumper 2 pin Closed E4 JP27 OC5 bypass Solder JP 2 pin Open F7 JP28 VCC15 Direct / Reg Jumper 3 pin 1-2 M9 JP29 Power connect Solder JP 2 pin Closed M4 JP30 OC6 bypass Solder JP 2 pin Open J8 JP31 Power Jumper 2 pin Closed L4 JP32 VCC5V Source 15V / Vbus Jumper 3 pin 2-3 L6 JP33 CAN GND Select Solder JP 3 pin 1-2 G5 JP34 CAN Vcc Select Solder JP 3 pin 1-2 H5 JP35 OC7 bypass Solder JP 2 pin Open J7 JP36 Phase A voltage sense int/ext Jumper 3 pin 1-2 J23 JP37 Phase B voltage sense int/ext Jumper 3 pin 1-2 J23 JP38 RTO0 PWM Solder JP 2 pin Closed J18 JP39 RTO1 PWM Solder JP 2 pin Closed J18 JP40 Phase C voltage sense int/ext Jumper 3 pin 1-2 J23 JP41 Phase A shunt bypass Solder JP 2 pin Closed M19 JP42 Bus voltage sense int/ext Jumper 3 pin 1-2 H23 JP43 Phase A current sense int/ext Jumper 3 pin 1-2 H18 JP44 RTO2 PWM Solder JP 2 pin Closed J15 © Fujitsu Microelectronics Europe GmbH -9- MotorKit-91F267-MC User Guide Jumper Description / Function Type Default Coordinates JP45 RTO3 PWM Solder JP 2 pin Closed J15 JP46 Phase B current sense int/ext Jumper 3 pin 1-2 G18 JP47 Phase B shunt bypass Solder JP 2 pin Closed M15 JP48 Phase C current sense ext Jumper 2 pin Open H23 JP49 RTO4 PWM Solder JP 2 pin Closed J18 JP50 RTO5 PWM Solder JP 2 pin Closed J18 JP51 DC Bus current sense int/ext Jumper 3 pin 1-2 G15 JP52 Phase C shunt bypass Solder JP 2 pin Closed M12 JP53 DC Bus shunt bypass Solder JP 2 pin Open M20 JP54 Hall A IC0 / INT0 Jumper 3 pin 1-2 M22 JP55 Over-current DTTI Jumper 2 pin Open H12 JP56 Hall B IC1 / INT1 Jumper 3 pin 1-2 M22 JP57 Hall C IC2 / INT2 Jumper 3 pin 1-2 M21 JP58 Over-voltage DTTI Jumper 2 pin Open G12 JP59 Phase current offset Solder JP 3 pin 2-3 G18 JP60 Encoder A - IC0 Jumper 2 pin Open M24 JP61 Encoder B - IC1 Jumper 2 pin Open M24 JP62 Encoder Z – INT3 Jumper 2 pin Open M23 JP63 Bus power connect Solder JP 2 pin Open M4 - 10 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide A B C D E F G H J K L M N 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 A B C D E © Fujitsu Microelectronics Europe GmbH F G - 11 - H J K L M N MotorKit-91F267-MC User Guide 3 Jumpers and Switches This chapter describes the jumpers and potentiometers to configure the various features of the evaluation board. The default settings are shaded in the following tables. 3.1 Operating Mode JP18 is used to select between serial Flash programming (UART0) and normal run mode. Jumper JP18 3.2 Setting Function 1-2 Run 2-3 Program Power Supply (JP: 13, 14, 28, 29, 31, 32, 63) The evaluation board supports a variety of different input voltages. The regulator input for MCU and logic supply can be provided either by a separate power input (X6), by the gate driver supply voltage or it can be connected directly to the DC bus. The supply voltage for the gate drive circuits must be in the range of 10-20V and can be derived either from the DC bus or X6. A 15V voltage regulator can be inserted in case the used input voltage is higher than 20V. The UART and CAN interfaces can be optically isolated. Therefore, a DC-DC converter and optocouplers are supplied on the board. They are placed in sockets, and can be bypassed when not present. JP13 Vcc_COM = VCC5 This jumper connects the transceiver supplies with the MCU supply when no DC-DC converter is used (no galvanic decoupling) JP14 GND_COM = GND This jumper connects the transceiver ground with the MCU ground when no DC-DC converter is used (no galvanic decoupling) JP28 VCC15V Source This jumper selects whether the gate driver supply voltage is fed from the 15V voltage regulator or directly from the DC bus voltage JP29 P_connect This jumper can be used to connect the DC bus and gate driver supply to the supply input X6. This can be useful when a small motor is used and the entire system is powered by X6, or when JP63 is open, it is also possible to supply the gate driver from X6 and only the DC bus by J5 (default). JP31 Power This jumper can be used to switch the logic supply on and off. - 12 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide JP32 VCC5V source This jumper selects the source for the 5V voltage regulator input. This can either be the gate driver voltage, or X6/JP29. JP63 Bus power connect This jumper connects the DC bus voltage input J5 with the logic and gate driver supply. To vary the DC bus voltage from 0-30V independently of the other supply voltages, open JP63 and supply 10-15V at X6. JP28 and JP32 should then be in 1-2 position. Jumper JP13 JP14 JP28 JP29 JP31 JP32 Setting Open Closed Open Closed Description DC-DC converter ‘+’ used for transceiver supply Same supply as MCU used for transceivers (Vcc5) DC-DC converter ‘-’ used for transceiver supply Same GND as MCU used for transceivers (GND) 1-2 Bypass 15V regulator (Source voltage 10-20V) 2-3 Insert 15V regulator (Source voltage >18V) Closed common inputs for 15V and 5V regulator Open separate inputs for 15V and 5V regulator Closed Logic supply input enabled Open Logic supply input disabled 1-2 5V regulator input connected to VCC15 2-3 5V reg. input connected to X6 and/or 15V reg. input Closed connect DC bus voltage to logic and gate driver supply JP63 Open J5 supplies only the DC bus By default, the board is configured for DC bus voltage 0-24V and separate logic supply input (X6) 10-20V (12V recomm.) WARNING: There is no protection diode between the DC bus input (J5) and the DC bus. Applying a voltage with reverse polarity can cause damage to the power stage. Always connect ‘+’ to the terminal close to the upper board edge, and GND to the one close to X6. Always use a laboratory DC power supply with adjustable current limitation with this board. Otherwise, in case of software or hardware malfunctions or false configurations, high currents can flow and damage the power supply and/or the board and lead to overheating by excessive power dissipation. © Fujitsu Microelectronics Europe GmbH - 13 - MotorKit-91F267-MC User Guide 3.3 Analog Power Supply Voltage (JP: 15, 16, 21, 22) The power supply as well as the positive reference voltages for the A/D-converter can be provided internally or externally. JP15, JP22 connect power supply voltages (AVcc and AVss) JP16, JP21 connect reference voltages (AVRH1, AVRH2 to AVcc) Jumper JP15 (AVcc) JP16 (AVRH2) Setting Description Closed AVcc is connected to Vcc Open Closed Open JP21 (AVRH1) JP22 (AVss) Closed Open Closed Open *1 AVcc is disconnected from Vcc AVRH2 is connected to AVcc AVRH defined by resistor network*1 AVRH1 is connected to AVcc AVRH defined by resistor network*1 AVss is connected to GND AVss is disconnected from GND By default the resistor networks are not mounted on the board By default, the A/D-converter supply and reference voltages are the same as the microcontroller supply voltage. Note: If JP15, JP16 and J11 are open, the user has to supply an adequate analogue voltage supply (AVcc and AVss) to the A/D-converter. If JP16 is open, the resistors R22 and R27 define AVRH2. If JP21 is open, the resistors R21 and R26 define AVRH1. By default the resistor networks are not mounted on the board. - 14 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 3.4 UART0 (JP: 3, 5, 12) One RS232-transceiver (U2, X1) can be connected to the microcontrollers UART interface 0. JP3, JP12 (Solder JP) bypass OC1, OC2 or disconnect UART interface when OC1,2 not installed JP5 Some Flash-programming-Tools need a connection between CTS and RTS Jumper JP3 (UART0 RxD) JP12 (UART0 TxD) JP31 (RTS-CTS) Setting Description Closed UART 0 RX is directly connected to the MCU Open UART 0 RX is connected to the MCU via OC1 Closed UART 0 TX is directly connected to the MCU Open UART 0 TX is connected to the MCU via OC2 Closed Open 3.5 RTS and CTS of X1 are connected RTS and CTS of X1 are not connected UART1 (JP: 25, 26, 27) One RS232-transceiver (U4, X2) can be connected to the microcontrollers UART interface 1. JP25, JP27 (Solder JP) bypass OC4, OC5 or disconnect UART interface when OC4,5 not installed JP26 Some Flash-programming-Tools need a connection between CTS and RTS Jumper JP25 (UART1 RxD) JP27 (UART1 TxD) JP26 (RTS-CTS) Setting Description Closed UART 1 RX is directly connected to the MCU Open UART 1 RX is connected to the MCU via OC4 Closed UART 1 TX is directly connected to the MCU Open UART 1 TX is connected to the MCU via OC5 Closed Open © Fujitsu Microelectronics Europe GmbH RTS and CTS of X2 are connected RTS and CTS of X2 are not connected - 15 - MotorKit-91F267-MC User Guide 3.6 CAN0 (JP: 30, 33, 34, 35) One CAN-transceiver (U5, X3) can be connected to the microcontrollers CAN interface. JP30, JP35 (Solder JP) bypass OC6, OC7 or disconnect CAN interface when OC6,7 not installed JP33 Select CAN ground (MCU or COM) JP34 Select CAN VCC (MCU or COM) Jumper JP30 JP35 JP33 JP34 Setting Description Closed CAN0 RX is directly connected to the MCU Open CAN0 RX is connected to the MCU via OC6 Closed CAN0 TX is directly connected to the MCU Open CAN0 TX is connected to the MCU via OC7 1-2 CAN ground = GND_COM 2-3 CAN ground = GND 1-2 CAN VCC = VCC_COM 2-3 CAN VCC = VCC5 - 16 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 3.7 Reset generation (JP: 17, 19, 20, 23, 24) Additionally to the internal Power-On reset, the microcontroller can be reset by an external reset circuit (Voltage monitor) and by the UARTs DTR lines. JP17 Selects whether UART0 or UART1 are used for reset generation JP19 This jumper enables the reset generation by the UARTs. JP20 This jumper can be used to bypass OC3. JP23 This jumper connects the reset circuit to the MCU. JP24 This jumper enables the watchdog function of the reset circuit. When it is set, the user program has to re-trigger it periodically by toggling a port pin (P37), or else the system is reset. Jumper JP17 (Reset A/B) JP19 (DTR) Setting 1-2 DTR of UART1 is selected 2-3 DTR of UART0 is selected Open UART reset generation is disabled Closed UART reset generation is enabled Open The DTR signal is connected to the reset circuit via OC3 Closed The DTR signal is connected directly to the reset circuit. Closed External Reset generation is active JP20 (OC3 bypass) JP23 (Ext. Reset) JP24 (Watchdog) Description Open No external Reset generation Closed The watchdog function of U3 is enabled Open The watchdog function of U3 is disabled Note: While a reset signal is asserted the red Reset LED (LD1) is lit. During normal operation, this LED should be off. If the reset LED stays on, check the power supply input voltage, and the above jumper settings. © Fujitsu Microelectronics Europe GmbH - 17 - MotorKit-91F267-MC User Guide 3.8 Buttons SW1, SW2, SW3, SW4, SW5, SW6, SW7 (JP: 2, 6, 7, 8, 10, 11) JP2 JP2 connects SW1 to the NMI (Non-Maskable Interrupt) of the MCU. JP6, JP8, JP10, JP11 Four user push buttons (SW2-SW5) can be connected to the microcontroller. JP7 By setting JP7, all user buttons (SW2-SW5) can also trigger external interrupt 7 (wired-OR). Jumper JP2 (SW1) Setting Description Closed SW1 is connected to the NMI input (Pin 14) of the MCU Open JP6 (SW2) JP8 (SW3) JP10 (SW4) Closed No connection of SW2 to the microcontroller Closed SW3 is connected to P27 (Pin41) of the MCU Open No connection of SW3 to the microcontroller Closed Closed Open JP7 (Common INT)) SW2 is connected to INT7 (Pin50) of the MCU. Open Open JP11 (SW5) No connection of SW1 to the microcontroller Closed Open SW4 is connected to P24/CKI (Pin38) of the MCU No connection of SW4 to the microcontroller SW5 is connected to P22/PWI0 (Pin36) of the MCU No connection of SW5 to the microcontroller All buttons also trigger external interrupt 7 Independent operation of SW2-SW5 SW6 serves as manual reset button. It is directly connected to the MCUs reset input pin (INITX, Pin51). SW7 is connected to the DTTI input of the MCU. When this function is activated in software, the DTTI input can shut down the PWM output of the MCU (e.g. fault or over-current protection). Refer to the MB91F265 Series hardware manual for details of the DTTI function - 18 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 3.9 Internal gate drivers (JP: 38, 39, 44, 45, 49, 50) JP38, JP39, JP44, JP45, JP49, JP50 These solder jumpers connect the MCUs PWM outputs to the on-board gate driver ICs (IC2, IC3, IC4). Jumper JP38 JP39 JP44 JP45 JP49 JP50 Setting Description Closed RTO0 is connected to the PWM1H gate driver input. Open RTO0 is not connected to the on-board gate drivers. Closed RTO1 is connected to the PWM1L gate driver input. Open RTO1 is not connected to the on-board gate drivers. Closed RTO2 is connected to the PWM2H gate driver input. Open RTO2 is not connected to the on-board gate drivers. Closed RTO3 is connected to the PWM2L gate driver input. Open RTO3 is not connected to the on-board gate drivers. Closed RTO4 is connected to the PWM3H gate driver input. Open RTO4 is not connected to the on-board gate drivers. Closed RTO5 is connected to the PWM3L gate driver input. Open RTO5 is not connected to the on-board gate drivers. © Fujitsu Microelectronics Europe GmbH - 19 - MotorKit-91F267-MC User Guide 3.10 Current measurement (JP: 43, 46, 48, 51, 59, 41, 47, 52, 53) JP43, JP48, JP48, JP51 These jumpers select if the internal or external current signals are connected to the MCU analog inputs AN0-AN3. JP59 This solder jumper selects an offset defined by R99 and R102 which is added to the internal phase current values (2.5V by default, R99 = R102 = 10k) JP41, JP47, JP52, JP53 These solder jumpers can be used to bypass the measurement shunts, when they are not mounted or to reduce the power dissipation when not used by the application. Jumper Setting Open Description Shunt for phase A current measurement used JP41 Closed Open Shunt for phase A current measurement bypassed Shunt for phase B current measurement used JP47 Closed Open Shunt for phase B current measurement bypassed Shunt for phase C current measurement used JP52 Closed Open Shunt for phase C current measurement bypassed Shunt for DC bus current measurement used JP53 Closed Shunt for DC bus current measurement bypassed 1-2 The current of the internal power stage phase A is measured 2-3 The phase A current sense signal of an external power stage is passed to the MCU 1-2 The current of the internal power stage phase B is measured 2-3 The phase B current sense signal of an external power stage is passed to the MCU JP43 JP46 JP48 Closed Open The phase C current sense signal of an external power stage is passed to the MCU No connection to AN2 1-2 The current of the internal power stage DC bus is measured 2-3 The DC bus current sense signal of an external power stage is passed to the MCU 1-2 No offset on phase current values 2-3 offset defined by R99 / R102 is added to internal phase current values JP51 JP59 In case an external power stage is used, the external power stage has to supply adequate voltage levels of the measured values as well as conditioned signals. - 20 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 3.11 Voltage measurement (JP: 43, 46, 48, 51, 59) JP36, JP37, JP40, JP42 These jumpers select of the internal or external voltage measurement signals are connected to the MCU analog inputs AN4-AN7. Jumper Setting 1-2 JP36 2-3 1-2 JP37 2-3 1-2 JP40 JP42 Description The Phase A voltage of the internal power stage is measured The Phase A voltage measurement signal of an external power stage is passed to AN4 The Phase B voltage of the internal power stage is measured The Phase B voltage measurement signal of an external power stage is passed to AN5 The Phase C voltage measurement signal of an external power stage is passed to AN6 2-3 The Phase C voltage measurement signal of an external power stage is passed to AN6 1-2 The voltage of the internal DC bus is measured 2-3 The DC bus voltage measurement signal of an external power stage is passed to AN7 In case an external power stage is used, the external power stage has to supply adequate voltage levels and signal conditioning. The board only supplies protection diodes for voltage peaks. In any case, a series resistor of min. 1k should be inserted on the external power stage. 3.12 User potentiometers (JP: 1, 4, 9) JP1 This jumper connects P1 to analog input AN8 of the MCU. JP4 This jumper connects P2 to analog input AN9 of the MCU. JP9 This jumper connects P3 to analog input AN10 of the MCU. Jumper JP1 Setting Description Closed P1 is connected to AN8 Open JP4 Closed Open JP9 Closed Open P1 is not connected P2 is connected to AN9 P2 is not connected P3 is connected to AN10 P3 is not connected Note, that on hardware rev. 1.0, GND is on the right stop of the scale, and VCC at the left. © Fujitsu Microelectronics Europe GmbH - 21 - MotorKit-91F267-MC User Guide 3.13 Hall sensor and encoder interface (JP: 54, 56, 57, 60, 61, 62) JP54, JP56, JP57 These jumpers select whether the hall sensors are connected to the input capture pins IC0-IC2 or to the external interrupts INT0-INT2. JP60, JP61, JP62 These jumpers connect the encoder interface (J13) to IC0 (Ch. A), IC1 (Ch. B) and INT3 (Index). Jumper JP54 JP56 JP57 JP60 Setting 1-2 Hall A input is connected to IC0 2-3 Hall A input is connected to INT0 1-2 Hall B input is connected to IC1 2-3 Hall B input is connected to INT1 1-2 Hall C input is connected to IC2 2-3 Hall C input is connected to INT2 Open Closed JP61 Open Closed JP62 Description Open Closed Encoder Ch. A is not connected to the MCU Encoder Ch. A is connected to IC0 Encoder Ch. B is not connected to the MCU Encoder Ch. B is connected to IC1 Encoder index signal is not connected to the MCU Encoder index signal is connected to INT3 3.14 Over-current / Over-voltage DTTI (JP: 55, 58) JP55 The over-current detection circuit (U9A) is connected to the MCU DTTI input. JP58 The over-voltage detection circuit (U9B) is connected to the MCU DTTI input. Jumper JP55 JP58 Setting Description Closed Over-current DTTI is enabled Open Over-current DTTI is disabled Closed Over-voltage DTTI is enabled Open Over-voltage DTTI is disabled Both JP55 and JP58 can be set, since they are connected by diodes (wired-OR). The threshold voltage for DTTI can be adjusted with the potentiometers P6 (current) and P7 (voltage). Since it monitors the DC bus current, the over-current detection only works if the DC bus current measurement is not bypassed (JP53 must be open). - 22 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 4 Programming the internal Flash In order to program the Flash ROM asynchronously via UART0, the tool “Fujitsu Flash MCU Programmer for FR” can be used. This tool is available free on the Fujitsu Micros CD-ROM or Web Site (http://mcu.emea.fujitsu.com/mcu_tool/software.htm) The following procedure must be followed to perform Flash Programming: 1. Install the FJ FR Flash programmer. 2. Connect the Starterkit (UART 0) to the PC using a 1:1 cable. 3. Start the Flash programmer by double-clicking on the icon 4. Select appropriate MCU type, oscillator frequency, COM-Port, and the path to your HEX-File (.mhx) 5. Power-off the board 6. Set JP18 to 2-3 (PRG) and power up the Board 7. Press the “Full Operation” button to start programming, press the RESET button (SW6) and click on ‘OK’. CAUTION: DO NOT INTERRUPT OR CUT OFF POWER DURING ERASE!!! 8. When download and programming was completed successfully, a message appears. In case of errors, please check COM-Port configuration, cable connection and jumper settings. 9. After successful programming, Power off the board and set JP18 back to 1-2 (RUN) 10. Power on the board to start the application © Fujitsu Microelectronics Europe GmbH - 23 - MotorKit-91F267-MC User Guide 5 Connectors 5.1 Power connector (X6) The following figure shows the power connection jack X612. This connector is used to connect an external unregulated DC power supply voltage (8-15V DC) to the evaluation board. Shield is connected to positive voltage supply Connector X6: Center is connected to ground (GND) It is recommended to use 9-12V input voltage (depending e.g. on gate driver configuration) to keep the power dissipation to a minimum. 5.2 DC bus power connector (J5) The DC bus power can be supplied either by X6 (when JP29 and JP63 are set and the current is not higher than 3A) or by J5. J5 is a screw terminal for currents up to 15A. Be aware that there is no protection diode for this input on the board. The voltage input range depends on the jumper settings as described in chapter 3.2. It is recommended to use an external protection diode with sufficient current capability in case the used power supply is not protected against reverse current sourced from the load flowing into the power supply. Always connect ‘+’ to the terminal close to the upper board edge, and GND to the one close to X6. Further, it is strongly recommended to use a laboratory DC power supply with adjustable current limitation with this board. Otherwise, in case of software or hardware malfunctions or false configurations, high currents can flow and damage the power supply and/or the board and lead to overheating by excessive power dissipation. 5.3 Pin headers (J1-J4) All pins of the microcontroller are directly connected to J1 to J4 as follows: Connector MCU Pins J1 1 – 16 J2 17 – 32 J3 33 – 48 J4 49 – 64 The odd pin numbers are located on the one side and the even pin numbers are located on the other side of the connector. On the PCB, the corresponding pin numbers of the µC are written next to the connector pins. - 24 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 5.4 UART0, UART1 connectors (X1, X2) Two 9-pin D-Sub female connectors are used for the serial interface UART0 and UART1. GND DTR RxD TxD TXD is the transmit output, RXD is the receive input. The DTR or RTS signal can be used to generate a reset. 5 1 Please use a 1:1 cable for PC-connection. 9 6 CTS RTS DSR 5.5 CAN connector (X3) CANL One 9-pin D-Sub male connector is used for the CAN interface CAN0. 1 5 6 9 CANH 5.6 User LEDs & LC-Display (optional) Eight LEDs are reserved for user-application. In order to disconnect the LEDs from the related microcontroller port, the resistor network RN1 can be removed. Instead of the user-LEDs, an alphanumeric LC-Display (optional) can be connected. The following control signals are supplied: 14 13 12 11 10 9 8 7 6 5 4 3 2 1 LCD D7 D6 D5 D4 - - - - E R/W RS V0 VCC GND LED LED 8 LED 7 LED 6 LED 5 LED 4 LED 3 LED 2 LED 1 MCU 25 24 23 22 21 20 19 18 Port P07 P06 P05 P04 P03 P02 P01 P00 5.7 PWM LEDs The board provides six LEDs, indicating the state of each PWM output (LED9-LED14). LED Signal LED Signal LED Signal LED9 RTO0/PWM1H LED11 RTO2/PWM2H LED13 RTO4/PWM3H LED10 RTO1/PWM1L LED12 RTO3/PWM2L LED14 RTO5/PWM3L © Fujitsu Microelectronics Europe GmbH - 25 - MotorKit-91F267-MC User Guide 5.8 Hall sensor connector (J12) The Hall position sensors present on many BLDC motors can be connected to J12. The pins are connected as follows: J12 pin Signal MCU input 1 VCC5 2 GND 3 Hall A IC0 (default) or INT0 4 Hall B IC1 (default) or INT1 5 Hall C IC2 (default) or INT2 Pins 3-5 are connected to pull-up resistors (10k) which are needed by some hall sensor outputs. 5.9 Encoder connector (J13) J13 can be connected to an encoder. The pin-out is compatible to the popular Agilent HEDL-series encoders. The pins are connected as follows: J13 pin Signal 2 VCC5 3 GND 6 A 8 MCU input B 1 2 3 4 IC0 5 6 IC1 7 8 9 10 10 I INT3 other n/c - In case an encoder without integrated line driver is used, additional pull-up resistors (typically 2k7) can be mounted on the board (R103-R105). - 26 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 5.10 Connector for external inverter board (J6, J7) J6 holds the PWM signals and supply voltages for an external inverter board. J7 can be used to connect the voltage and current measurement signals to the MCU. J6 pin Signal J6 pin Signal 1 VCC5 6 RTO3 PWM2L 1 2 3 4 5 6 7 8 9 10 2 VCC15 7 RTO4 PWM3H 3 RTO0 PWM1H 8 RTO5 PWM3L 4 RTO1 PWM1L 9 5 RTO2 PWM2H 10 GND GND When using an external inverter board, the internal gate drivers should be disconnected (JP38, JP39, JP44, JP45, JP49, JP50) J7 pin Signal J7 pin 1 Voltage Phase A 6 2 Voltage Phase B 7 Signal GND Current Phase A 3 Voltage Phase C 8 Current Phase B 4 Voltage DC bus 9 Current Phase C 5 FAULT 10 Current DC Bus 1 2 3 4 5 6 7 8 9 10 The input signals to J7 have to be conditioned externally. Even though the voltage measurement inputs are protected by diodes against voltage peaks, care should be taken to avoid spikes. At least, a series resistor (e.g. 1k) should be present in all MCU ADC connections. The current sense inputs are connected directly to the MCU analog inputs AN0-AN4 if the corresponding jumpers (JP43, JP46, JP48, JP51) are set. Refer to chapter 3 for details. © Fujitsu Microelectronics Europe GmbH - 27 - MotorKit-91F267-MC User Guide 5.11 Voltage, current and over-voltage / over-current control points (J8, J10, J11) J8 holds the signals of the voltage measurements: J8 pin Signal MCU input 1 Voltage sense phase A AN4 2 Voltage sense phase B AN5 3 Voltage sense phase C AN6 4 Voltage sense DC bus AN7 5 GND J10 holds the signals of the current measurements: J10 pin Signal MCU input 1 Current sense phase A AN0 2 Current sense phase B AN1 3 Current sense phase C AN2 4 Current sense DC bus AN3 5 GND J11 holds the signals of the over-voltage and overcurrent comparator (active low): J11 pin Signal MCU input 1 Over-current (Active low) DTTI 2 Over-voltage (Active low) DTTI - 28 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 6 Silk Plot of the Board © Fujitsu Microelectronics Europe GmbH - 29 - MotorKit-91F267-MC User Guide 7 PCB History Part Problem Fixed P1-P3 Potentiometer connection: Zero at right scale end Software C5 Connected to GND instead of AVSS Patch OC1, OC2 Wrong connection to MCU Patch D10-D12, D14Wrong orientation of diodes on silkplot D18, D21-D23 Mounting changed U8 V1.1 OpAmp changed, filter caps changed / removed - 30 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide 8 Related Products < Phase3-Kit Low cost evaluation board for MB91F267 < MB2198-01 Emulator debugger main unit < MB2198-128 Probe adapter < MB2198-130 Emulation adapter board < MB91V265 Emulation MCU < NQPACK064SB Socket for package FPT-64P-M23 (Tokyo Eletech Corp. www.tetc.co.jp/e_tet.htm) < HQPACK064SB140 Header for NQPACK064SB © Fujitsu Microelectronics Europe GmbH - 31 - MotorKit-91F267-MC User Guide 9 Information in the WWW Information about FUJITSU MICROELECTRONICS Products can be found on the following Internet pages: Microcontrollers (8-, 16- and 32bit), Graphics Controllers Datasheets and Hardware Manuals, Support Tools (Hard- and Software) http://mcu.emea.fujitsu.com/ Linear Products: Power Management, A/D and D/A Converters http://www.fme.fujitsu.com/products/linear/start.html Media Products: SAW filters, acoustic resonators and VCOs http://www.fme.fujitsu.com/products/saw/index.html For more information about FUJITUS MICROELECTRONICS http://www.fme.fujitsu.com/products/start.html - 32 - © Fujitsu Microelectronics Europe GmbH MotorKit-91F267-MC User Guide Recycling Gültig für EU-Länder: Gemäß der Europäischen WEEE-Richtlinie und deren Umsetzung in landesspezifische Gesetze nehmen wir dieses Gerät wieder zurück. Zur Entsorgung schicken Sie das Gerät bitte an die folgende Adresse: Fujitsu Microelectronics Europe GmbH Warehouse/Disposal Monzastraße 4a 63225 Langen Valid for European Union Countries: According to the European WEEE-Directive and its implementation into national laws we take this device back. For disposal please send the device to the following address: Fujitsu Microelectronics Europe GmbH Warehouse/Disposal Monzastraße 4a 63225 Langen © Fujitsu Microelectronics Europe GmbH - 33 -