Data Sheet

Freescale Semiconductor
Data Sheet
MC3PHAC
Rev. 2, 7/2005
MC3PHAC Monolithic Intelligent
Motor Controller
Overview
The MC3PHAC is a high-performance monolithic intelligent motor controller designed specifically to meet
the requirements for low-cost, variable-speed, 3-phase ac motor control systems. The device is adaptable
and configurable, based on its environment. It contains all of the active functions required to implement
the control portion of an open loop, 3-phase ac motor drive.
One of the unique aspects of this device is that although it is adaptable and configurable based on its
environment, it does not require any software development. This makes the MC3PHAC a perfect fit for
customer applications requiring ac motor control but with limited or no software resources available.
The device features are:
• Volts-per-Hertz speed control
• Digital signal processing (DSP) filtering to enhance speed stability
• 32-bit calculations for high-precision operation
• Internet enabled
• No user software development required for operation
• 6-output pulse-width modulator (PWM)
• 3-phase waveform generation
• 4-channel analog-to-digital converter (ADC)
• User configurable for standalone or hosted operation
• Dynamic bus ripple cancellation
• Selectable PWM polarity and frequency
• Selectable 50/60 Hz base frequency
• Phase-lock loop (PLL) based system oscillator
• Serial communications interface (SCI)
• Low-power supply voltage detection circuit
Included in the MC3PHAC are protective features consisting of dc bus voltage monitoring and a system
fault input that will immediately disable the PWM module upon detection of a system fault.
© Freescale Semiconductor, Inc., 2005. All rights reserved.
Overview
Some target applications for the MC3PHAC include:
• Low horsepower HVAC motors
• Home appliances
• Commercial laundry and dishwashers
• Process control
• Pumps and fans
AC IN
3-PHASE
AC MOTOR
BUS VOLTAGE
FEEDBACK
RESISTIVE
BRAKE
CONTROL
TO GATE DRIVES
START/STOP
FORWARD/REVERSE
SPEED
PWM’s
ACCELERATION
MC3PHAC
PWM FREQUENCY
PASSIVE
INITIALIZATION
NETWORK
(OPTIONAL)
FAULT
SERIAL INTERFACE
Figure 1. MC3PHAC-Based Motor Control System
As shown in Table 1, the MC3PHAC is offered in these packages:
• Plastic 28-pin dual in-line package (DIP)
• Plastic 28-pin small outline integrated circuit (SOIC)
• Plastic 32-pin quad flat pack (QFP)
Table 1. Ordering Information
Device
Operating
Temperature Range
Package
MC3PHACVP
–40°C to +105°C
Plastic 28-pin DIP
MC3PHACVDW
–40°C to +105°C
Plastic 28-pin SOIC
MC3PHACVFA
–40°C to +105°C
Plastic 32-pin QFP
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
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Freescale Semiconductor
Overview
See Figure 2 and Figure 3 for the pin connections.
VREF
1
28
DC_BUS
RESET
2
27
ACCEL
VDDA
3
26
SPEED
VSSA
4
25
MUX_IN
OSC2
5
24
START
OSC1
6
23
FWD
PLLCAP
7
22
VSS
PWMPOL_BASEFREQ
8
21
VDD
PWM_U_TOP
9
20
VBOOST_MODE
PWM_U_BOT
10
19
DT_FAULTOUT
PWM_V_TOP
11
18
RBRAKE
PWM_V_BOT
12
17
RETRY_TxD
PWM_W_TOP
13
16
PWMFREQ_RxD
PWM_W_BOT
14
15
FAULTIN
RESET
VREF
VSS
VSS
VSS
DC_BUS
ACCEL
30
29
28
27
26
25
OSC2
VDDA
1
31
VSSA
32
Figure 2. Pin Connections for PDIP and SOIC
VSS
PWM_U_TOP
6
19
VDD
PWM_U_BOT
7
18
VBOOST_MODE
PWM_V_TOP
8
17
DT_FAULTOUT
RBRAKE
20
16
5
RETRY_TxD
PWMPOL_BASEFREQ
15
FWD
PWMFREQ_RxD
21
14
4
VSS
PLLCAP
13
START
FAULTIN
22
12
3
PWM_W_BOT
OSC1
11
MUX_IN
PWM_W_TOP
23
10
2
9
SPEED
PWM_V_BOT
24
Figure 3. Pin Connections for QFP
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
3
Electrical Characteristics
Electrical Characteristics
Maximum Ratings
Characteristic(1)
Symbol
Value
Unit
Supply voltage
VDD
–0.3 to +6.0
V
Input voltage
VIn
–0.3 to VDD +0.3
V
Input high voltage
VHi
VDD + 0.3
V
I
± 25
mA
Tstg
–55 to +150
°C
Maximum current out of VSS
IMVSS
100
mA
Maximum current into VDD
IMVDD
100
mA
Maximum current per pin excluding VDD and VSS
Storage temperature
1. Voltages referenced to VSS
This device contains circuitry to protect the inputs against damage due to high static voltages or electric
fields; however, it is advised that normal precautions be taken to avoid application of any voltage higher
than maximum-rated voltages to this high-impedance circuit. For proper operation, it is recommended that
VIn and VOut be constrained to the range VSS ≤ (VIn or VOut) ≤ VDD. Reliability of operation is enhanced if
unused inputs are connected to an appropriate logic voltage level (for example, either VSS or VDD).
Functional Operating Range
Characteristic
Operating temperature range
(see Table 1)
Operating voltage range
Symbol
Value
Unit
TA
–40°C to +105°C
°C
VDD
5.0 ± 10%
V
Symbol
Value
Unit
Fosc
4.00 ± 1%
MHz
Control Timing
Characteristic
Oscillator
frequency(1)
1. Follow the crystal/resonator manufacturer’s recommendations, as the crystal/resonator parameters determine the external
component values required for maximum stability and reliable starting. The load capacitance values used in the oscillator
circuit design should include all stray capacitances.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
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Freescale Semiconductor
Electrical Characteristics
DC Electrical Characteristics
Characteristic(1)
Symbol
Min
Max
Unit
VOH
VDD –0.8
—
V
VOHRB
VDD –1.0
—
V
Output low voltage (ILoad = 1.6 mA)
All I/O pins except FAULTOUT and RETRY/TxD
VOL
—
0.4
V
Output low voltage (ILoad = 15 mA)
FAULTOUT and RETRY/TxD
VOL1
—
1.0
V
Input high voltage
All ports
VHi
0.7 x VDD
VDD
V
Input low voltage
All ports
VIL
VSS
0.3 x VDD
V
VDD supply current
IDD
—
60
mA
I/O ports high-impedance leakage current
IIL
—
±5
µA
Input current
IIn
—
±1
µA
Capacitance
Ports (as input or output)
COut
CIn
—
—
12
8
pF
VDD low-voltage inhibit reset
VLVR1
3.80
4.3
V
VDD low-voltage reset/recovery hysteresis
VLVH1
50
150
mV
VDD power-on reset re-arm voltage
VPOR
3.85
4.45
V
VDD power-on reset rise time ramp rate
RPOR
0.035
—
V/ms
Serial communications interface baud rate
SCIBD
9504
9696
Bits/sec
VBoost
0
100
%
DTRange
0
31.875
µs
RTTime
0
4.55
Hours
Acceleration rate
ACRate
0.5
128
Hz/sec
Speed control
SPEED
1
128
Hz
PWMFREQ
5.291
21.164
kHz
TPump
99
101
ms
Output high voltage (ILoad = –2.0 mA)
All I/O pins except RBRAKE
Output high voltage RBRAKE (IRBRAKE = –15.0 mA)
Voltage
Boost(2)
Dead time range
Retry time
(3)
(4)
PWM Frequency
High side power transistor drive pump-up time
1. VDD = 5.0 Vdc ± 10%
2. Limited in standalone mode to 0 to 35%
3. Limited in standalone mode to 0.5 to 6.0 µs
4. Limited in standalone mode to 0 to ~53 seconds
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
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Pin Descriptions
Pin Descriptions
Table 2 is a pin-by-pin functional description of the MC3PHAC. The pin numbers in the table refer to the
28-pin packages (see Figure 2).
Table 2. MC3PHAC Pin Descriptions (Sheet 1 of 2)
Pin
Number
Pin Name
1
VREF
Pin Function
Reference voltage input for the on-chip ADC. For best signal-to-noise
performance, this pin should be tied to VDDA (analog).
2
RESET
A logic 0 on this pin forces the MC3PHAC to its initial startup state. All
PWM outputs are placed in a high-impedance mode. Reset is a
bidirectional pin, allowing a reset of the entire system. It is driven low
when an internal reset source is asserted (for example, loss of clock or
low VDD).
3
VDDA
Provides power for the analog portions of the MC3PHAC, which include
the internal clock generation circuit (PLL) and the ADC
4
VSSA
Returns power for the analog portions of the MC3PHAC, which include
the internal clock generation circuit (PLL) and the ADC
5
OSC2
Oscillator output used as part of a crystal or ceramic resonator clock
circuit.(1)
6
OSC1
Oscillator input used as part of a crystal or ceramic resonator clock
circuit. Can also accept a signal from an external canned oscillator.(1)
7
PLLCAP
A capacitor from this pin to ground affects the stability and reaction time
of the PLL clock circuit. Smaller values result in faster tracking of the
reference frequency. Larger values result in better stability. A value of
0.1 µF is typical.
8
PWMPOL_BASEFREQ
9
PWM_U_TOP
PWM output signal for the top transistor driving motor phase U
10
PWM_U_BOT
PWM output signal for the bottom transistor driving motor phase U
11
PWM_V_TOP
PWM output signal for the top transistor driving motor phase V
12
PWM_V_BOT
PWM output signal for the bottom transistor driving motor phase V
13
PWM_W_TOP
PWM output signal for the top transistor driving motor phase W
14
PWM_W_BOT
PWM output signal for the bottom transistor driving motor phase W
15
FAULTIN
16
Input which is sampled at specific moments during initialization to
determine the PWM polarity and the base frequency (50 or 60 Hz)
A logic high on this input will immediately disable the PWM outputs. A
retry timeout interval will be initiated once this pin returns to a logic low
state.
PWMFREQ_RxD
In standalone mode, this pin is an output that drives low to indicate the
parameter mux input pin is reading an analog voltage to specify the
desired PWM frequency. In PC master software mode, this pin is an
input which receives UART serial data.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
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Freescale Semiconductor
Pin Descriptions
Table 2. MC3PHAC Pin Descriptions (Sheet 2 of 2)
Pin
Number
Pin Name
Pin Function
RETRY_TxD
In standalone mode, this pin is an output that drives low to indicate the
parameter mux input pin is reading an analog voltage to specify the time
to wait after a fault before re-enabling the PWM outputs. In PC master
software mode, this pin is an output that transmits UART serial data.
RBRAKE
Output which is driven to a logic high whenever the voltage on the dc bus
input pin exceeds a preset level, indicating a high bus voltage. This
signal is intended to connect a resistor across the dc bus capacitor to
prevent excess capacitor voltage.
DT_FAULTOUT
In standalone mode, this pin is an output which drives low to indicate the
parameter mux input pin is reading an analog voltage to specify the
dead-time between the on states of the top and bottom PWM signals for
a given motor phase. In PC master software mode, this pin is an output
which goes low whenever a fault condition occurs.
20
VBOOST_MODE
At startup, this input is sampled to determine whether to enter standalone
mode (logic high) or PC master software mode (logic low). In
standalone mode, this pin is also used as an output that drives low to
indicate the parameter mux input pin is reading an analog voltage to
specify the amount of voltage boost to apply to the motor.
21
VDD
+5-volt digital power supply to the MC3PHAC
22
VSS
Digital power supply ground return for the MC3PHAC
23
FWD
Input which is sampled to determine whether the motor should rotate in
the forward or reverse direction
24
START
17
18
19
25
26
27
28
Input which is sampled to determine whether the motor should be
running.
MUX_IN
In standalone mode, during initialization this pin is an output that is used
to determine PWM polarity and base frequency. Otherwise, it is an
analog input used to read several voltage levels that specify MC3PHAC
operating parameters.
SPEED
In standalone mode, during initialization this pin is an output that is used
to determine PWM polarity and base frequency. Otherwise, it is an
analog input used to read a voltage level corresponding to the desired
steady-state speed of the motor.
ACCEL
In standalone mode, during initialization this pin is an output that is used
to determine PWM polarity and base frequency. Otherwise, it is an
analog input used to read a voltage level corresponding to the desired
acceleration of the motor.
DC_BUS
In standalone mode, during initialization this pin is an output that is used
to determine PWM polarity and base frequency. Otherwise, it is an
analog input used to read a voltage level proportional to the dc bus
voltage.
1. Correct timing of the MC3PHAC is based on a 4.00 MHz crystal or ceramic resonator. Follow the crystal/resonator
manufacturer’s recommendations, as the crystal/resonator parameters determine the external component values required
for maximum stability and reliable starting. The load capacitance values used in the oscillator circuit design should include
all stray capacitances.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
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Introduction
Introduction
The MC3PHAC is a high-performance intelligent controller designed specifically to meet the requirements
for low-cost, variable-speed, 3-phase ac motor control systems. The device is adaptable and
configurable, based on its environment. Constructed with high-speed CMOS (complementary metaloxide semiconductor) technology, the MC3PHAC offers a high degree of performance and ruggedness
in the hostile environments often found in motor control systems.
The device consists of:
• 6-output pulse-width modulator (PWM)
• 4-channel analog-to-digital converter (ADC)
• Phase-lock loop (PLL) based system oscillator
• Low-power supply voltage detection circuit
• Serial communications interface (SCI)
The serial communications interface is used in a mode, called PC master software mode, whereby control
of the MC3PHAC is from a host or master personal computer executing PC master software or a
microcontroller emulating PC master software commands. In either case, control via the internet is
feasible.
Included in the MC3PHAC are protective features consisting of dc bus monitoring and a system fault input
that will immediately disable the PWM module upon detection of a system fault.
Included motor control features include:
• Open loop volts/Hertz speed control
• Forward or reverse rotation
• Start/stop motion
• System fault input
• Low-speed voltage boost
• Internal power-on reset (POR)
Features
3-Phase Waveform Generation — The MC3PHAC generates six PWM signals which have been
modulated with variable voltage and variable frequency information in order to control a 3-phase ac motor.
A third harmonic signal has been superimposed on top of the fundamental motor frequency to achieve full
bus voltage utilization. This results in a 15 percent increase in maximum output amplitude compared to
pure sine wave modulation.
The waveform is updated at a 5.3 kHz rate (except when the PWM frequency is 15.9 kHz), resulting in
near continuous waveform quality. At 15.9 kHz, the waveform is updated at 4.0 kHz.
DSP Filtering — A 24-bit IIR digital filter is used on the SPEED input signal in standalone mode, resulting
in enhanced speed stability in noisy environments. The sampling period of the filter is 3 ms (except when
the PWM frequency is 15.9 kHz) and it mimics the response of a single pole analog filter having a pole at
0.4 Hz. At a PWM frequency of 15.9 kHz, the sampling period is 4 ms and the pole is located at 0.3 Hz.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
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Freescale Semiconductor
Features
High Precision Calculations — Up to 32-bit variable resolution is employed for precision control and
smooth performance. For example, the motor speed can be controlled with a resolution of 4 mHz.
Smooth Voltage Transitions — When the commanded speed of the motor passes through ±1 Hz, the
voltage is gently applied or removed depending on the direction of the speed change. This eliminates any
pops or surges that may occur, especially under conditions of high-voltage boost at low frequencies.
High-Side Bootstrapping — Many motor drive topologies (especially high-voltage drives) use
optocouplers to supply the PWM signal to the high-side transistors. Often, the high-side transistor drive
circuitry contains a charge pump circuit to create a floating power supply for each high-side transistor that
is dependent on low-side PWMs to develop power. When the motor has been off for a period of time, the
charge on the high-side power supply capacitor is depleted and must be replenished before proper PWM
operation can resume.
To accommodate such topologies, the MC3PHAC will always provide 100 ms of 50 percent PWM drive
to only the low-side transistors each time the motor is turned on. Since the top transistors remain off
during this time, it has the effect of applying zero volts to the motor, and no motion occurs. After this
period, motor waveform modulation begins, with PWM drive also being applied to the high-side
transistors.
Fast Velocity Updating — During periods when the motor speed is changing, the rate at which the
velocity is updated is critical to smooth operation. If these updates occur too infrequently, a ratcheting
effect will be exhibited on the motor, which inhibits smooth torque performance. However, velocity
profiling is a very calculation intensive operation to perform, which runs contrary to the previous
requirement.
In the MC3PHAC, a velocity pipelining technique is employed which allows linear interpolation of the
velocity values, resulting in a new velocity value every 189 µs (252 µs for 15.9 kHz PWMs). The net result
is ultra smooth velocity transitions, where each velocity step is not perceivable by the motor.
Dynamic Bus Ripple Cancellation — The dc bus voltage is sensed by the MC3PHAC, and any
deviations from a predetermined norm (3.5 V on the dc bus input pin) result in corrections to the PWM
values to counteract the effect of the bus voltage changes on the motor current. The frequency of this
calculation is sufficiently high to permit compensation for line frequency ripple, as well as slower bus
voltage changes resulting from regeneration or brown out conditions. See Figure 4.
Selectable Base Frequency — Alternating current (ac) motors are designed to accept rated voltage at
either 50 or 60 Hz, depending on what region of the world they were designed to be used. The MC3PHAC
can accommodate both types of motors by allowing the voltage profile to reach maximum value at either
50 or 60 Hz. This parameter can be specified at initialization in standalone mode, or it can be changed at
any time in PC master software mode.
Selectable PWM Polarity — The polarity of the PWM outputs may be specified such that a logic high on
a PWM output can either be the asserted or negated state of the signal. In standalone mode, this
parameter is specified at initialization and applies to all six PWM outputs. In PC master software mode,
the polarity of the top PWM signals can be specified separately from the polarity of the bottom PWM
signals.
This specification can be done at any time, but once it is done, the polarities are locked and cannot be
changed until a reset occurs. Also, any commands from PC master software that would have the effect
of enabling PWMs are prevented by the MC3PHAC until the polarity has been specified.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
9
Features
MOTOR PHASE CURRENT WAVEFORMS
COMPENSATED
REMOVES 60 Hz HUM
AND DECREASES I2R LOSSES
AC MAINS
UNCOMPENSATED
PWM1
PWM3
PWM5
PWM2
PWM4
PWM6
MC3PHAC
CORRECTED PWMs
Figure 4. Dynamic Bus Ripple Cancellation
In standalone mode, the base frequency and PWM polarity are specified at the same time during
initialization by connecting either pin 25, 26, 27, or 28 exclusively to the PWMPOL_BASEFREQ input.
During initialization, pins 25, 26, 27, and 28 are cycled one at a time to determine which one has been
connected to the PWMPOL_BASEFREQ input.
Table 3 shows the selected PWM polarity and base frequency as a function of which pin connection is
made. Refer to the standalone mode schematic, Figure 8. Only one of these jumpers (JP1–JP4) can be
connected at any one time.
NOTE
It is not necessary to break this connection once the initialization phase has
been completed. The MC3PHAC will function properly while this
connection is in place.
Table 3. PWM Polarity and Base Frequency Specification in Standalone Mode
Pin Connected to
PWMPOL_BASEFREQ Pin
PWM Polarity
Base Frequency
MUX_IN (JP1)
Logic low = on
50 Hz
SPEED (JP2)
Logic high = on
50 Hz
ACCEL (JP3)
Logic low = on
60 Hz
DC_BUS (JP4)
Logic high = on
60 Hz
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
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Freescale Semiconductor
Features
Selectable PWM Frequency — The MC3PHAC accommodates four discrete PWM frequencies and can
be changed dynamically while the motor is running. This resistor can be a potentiometer or a fixed resistor
in the range shown in Table 4. In standalone mode, the PWM frequency is specified by applying a voltage
to the MUX_IN pin while the PWMFREQ_RxD pin is being driven low. Table 4 shows the required voltage
levels on the MUX_IN pin and the associated PWM frequency for each voltage range.
NOTE
The PWM frequencies are based on a 4.00 MHz frequency applied to the
oscillator input.
Table 4. MUX_IN Resistance Ranges and Corresponding PWM Frequencies
Voltage Input
PWM Frequency
0 to 1 V
5.291 kHz
1.5 to 2.25 V
10.582 kHz
2.75 to 3.5 V
15.873 kHz
4 to 5 V
21.164 kHz
Selectable PWM Dead Time — Besides being able to specify the PWM frequency, the blanking time
interval between the on states of the complementary PWM pairs can also be specified. Refer to the graph
in Figure 9 for the resistance value versus dead time. Figure 9 assumes a 6.8 kΩ ±5% pullup resistor. In
standalone mode, this is done by
supplying a voltage to the MUX_IN pin while the DT_FAULTOUT pin is being driven low. In this way, dead
time can be specified with a scaling factor of 2.075 µs per volt, with a minimum value of 0.5 µs. In PC
master software mode, this value can be selected to be anywhere between 0 and 32 µs.
In both standalone and PC master software modes, the dead time value can be written only once. Further
updates of this parameter are locked out until a reset condition occurs.
Speed Control — The synchronous motor frequency can be specified in real time to be any value from
1 Hz to 128 Hz by the voltage applied to the SPEED pin. The scaling factor is 25.6 Hz per volt. This
parameter can also be controlled directly from PC master software in real time.
The SPEED pin is processed by a 24-bit digital filter to enhance the speed stability in noisy environments.
This filter is only activated in standalone mode.
Acceleration Control — Motor acceleration can be specified in real time to be in the range from 0.5
Hz/second, ranging to 128 Hz/second, by the voltage applied to the ACCEL pin. The scaling factor is 25.6
Hz/second per volt. This parameter can also be controlled directly from PC master software in real time.
Voltage Profile Generation — The MC3PHAC controls the motor voltage in proportion to the specified
frequency, as indicated in Figure 5.
An ac motor is designed to draw a specified amount of magnetizing current when supplied with rated
voltage at the base frequency. As the frequency decreases, assuming no stator losses, the voltage must
decrease in exact proportion to maintain the required magnetizing current. In reality, as the frequency
decreases, the voltage drop in the series stator resistance increases in proportion to the voltage across
the magnetizing inductance. This has the effect of further reducing the voltage across the magnetizing
inductor, and consequently, the magnetizing current. A schematic representation of this effect is
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
11
Features
illustrated in Figure 6. To compensate for this voltage loss, the voltage profile is boosted over the normal
voltage curve in Figure 5, so that the magnetizing current remains constant over the speed range.
VOLTAGE
100%
VOLTAGE BOOST
E
MP
CO
A
NS
TIO
O
NF
RS
T
TA
L
OR
OS
SE
S
FREQUENCY
BASE FREQUENCY
Figure 5. Voltage Profiling, Including Voltage Boost
PARASITICS
X1
MAGNETIZING CURRENT
(TRY TO KEEP CONSTANT)
X2
R1
XM
R2
TORQUE CURRENT
R2 (1 –s)
s
Figure 6. AC Motor Single Phase Model Showing Parasitic Stator Impedances
The MC3PHAC allows the voltage boost to be specified as a percentage of full voltage at 0 Hz, as shown
in Figure 5. In standalone mode, voltage boost is specified during the initialization phase by supplying
a voltage to the MUX_IN pin while the VBOOST_MODE pin is being driven low. Refer to the graph in
Figure 11 for the resistance value versus voltage boost. Figure 11 assumes a 6.8 kΩ pullup resistor. In
this way, voltage boost can be specified from 0 to 40 percent, with a scaling factor of 8 percent per volt.
In PC master software mode, the voltage boost can be specified from 0 to 100 percent and can be
changed at anytime.
By using the voltage boost value, and the specified base frequency, the MC3PHAC has all the information
required to generate a voltage profile automatically based on the generated waveform frequency. An
additional feature exists in PC master software mode whereby this voltage value can be overridden and
controlled in real time. Specifying a voltage lower than the normal volts-per-hertz profile permits a softer
torque response in certain ergonomic situations. It also allows for load power factor control and higher
operating efficiencies with high inertia loads or other loads where instantaneous changes in torque
demand are not permitted. Details of this feature are discussed in the PC Master Software Operation with
the MC3PHAC.
PLL Clock Generation — The OSC1 pin signal is used as a reference clock for an internal PLL clocking
circuit, which is used to drive the internal clocks of the MC3PHAC. This provides excellent protection
against noise spikes that may occur on the OSC1 pin. In a clocking circuit that does not incorporate a PLL,
a noise spike on the clock input can create a clock edge, which violates the setup times of the clocking
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
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Freescale Semiconductor
Features
logic, and can cause the device to malfunction. The same noise spike applied to the input of a PLL clock
circuit is perceived by the PLL as a change in its reference frequency, and the PLL output frequency
begins to change in an attempt to lock on to the new frequency. However, before any appreciable change
can occur, the spike is gone, and the PLL settles back into the true reference frequency.
Fault Protection — The MC3PHAC supports an elaborate range of fault protection and prevention
features. If a fault does occur, the MC3PHAC immediately disables the PWMs and waits until the fault
condition is cleared before starting a timer to re-enable the PWMs. Refer to the graph in Figure 10 for the
resistance value versus retry time. Figure 10 assumes a 6.8 kΩ pullup resistor. In standalone mode, this
timeout interval is specified during the initialization phase by supplying a voltage to the MUX_IN pin while
the RETRY_TxD pin is being driven low. In this way, the retry time can be specified from 1 to 60 seconds,
with a scaling factor of 12 seconds per volt. In PC master software mode, the retry time can be specified
from 0.25 second to over 4.5 hours and can be changed at any time.
The fault protection and prevention features are:
• External Fault Monitoring — The FAULTIN pin accepts a digital signal that indicates a fault has
been detected via external monitoring circuitry. A high level on this input results in the PWMs being
immediately disabled. Typical fault conditions might be a dc bus over voltage, bus over current, or
over temperature. Once this input returns to a logic low level, the fault retry timer begins running,
and PWMs are re-enabled after the programmed timeout value is reached.
• Lost Clock Protection — If the signal on the OSC1 pin is lost altogether, the MC3PHAC will
immediately disable the PWM outputs to protect the motor and power electronics. This is a special
fault condition in that it will also cause the MC3PHAC to be reset. Lost clock detection is an
important safety consideration, as many safety regulatory agencies are now requiring a dead
crystal test be performed as part of the certification process.
• Low VDD Protection — Whenever VDD falls below VLVR1, an on-board power supply monitor will
reset the MC3PHAC. This allows the MC3PHAC to operate properly with 5 volt power supplies of
either 5 or 10 percent tolerance.
• Bus Voltage Integrity Monitoring — The DC_BUS pin is monitored at a 5.3 kHz frequency
(4.0 kHz when the PWM frequency is set to 15.9 kHz), and any voltage reading outside of an
acceptable window constitutes a fault condition. In standalone mode, the window thresholds are
fixed at 4.47 volts (128 percent of nominal), and 1.75 volts (50 percent of nominal), where nominal
is defined to be 3.5 volts. In PC master software mode, both top and bottom window thresholds can
be set independently to any value between 0 volts (0 percent of nominal), and greater than 5 volts
(143 percent of nominal), and can be changed at any time. Once the DC_BUS signal level returns
to a value within the acceptable window, the fault retry timer begins running, and PWMs are reenabled after the programmed timeout value is reached.
During power-up, it is possible that VDD could reach operating voltage before the dc bus capacitor
charges up to its nominal value. When the dc bus integrity is checked, an under voltage would be
detected and treated as a fault, with its associated timeout period. To prevent this, the MC3PHAC
monitors the dc bus voltage during power-up in standalone mode, and waits until it is higher than
the under voltage threshold before continuing. During this time, all MC3PHAC functions are
suspended. Once this threshold is reached, the MC3PHAC will continue normally, with any further
under voltage conditions treated as a fault.
If dc bus voltage monitoring is not desired, a voltage of 3.5 volts ± 5 percent should be supplied to
the DC_BUS pin through an impedance of between 4.7 kΩ and 15 kΩ.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
13
Features
•
Regeneration Control — Regeneration is a process by which stored mechanical energy in the
motor and load is transferred back into the drive electronics, usually as a result of an aggressive
deceleration operation. In special cases where this process occurs frequently (for example,
elevator motor control systems), it is economical to incorporate special features in the motor drive
to allow this energy to be supplied back to the ac mains. However, for most low cost ac drives, this
energy is stored in the dc bus capacitor by increasing its voltage. If this process is left unchecked,
the dc bus voltage can rise to dangerous levels, which can destroy the bus capacitor or the
transistors in the power inverter.
The MC3PHAC incorporates two techniques to deal with regeneration before it becomes a
problem:
–
Resistive Braking — The DC_BUS pin is monitored at a 5.3 kHz frequency (4.0 kHz when the
PWM frequency is set to 15.9 kHz), and when the voltage reaches a certain threshold, the
RBRAKE pin is driven high. This signal can be used to control a resistive brake placed across
the dc bus capacitor, such that mechanical energy from the motor will be dissipated as heat in
the resistor versus being stored as voltage on the capacitor. In standalone mode, the DC_BUS
threshold required to assert the RBRAKE signal is fixed at 3.85 volts (110 percent of nominal)
where nominal is defined to be 3.5 volts. In PC master software mode, this threshold can be
set to any value between 0 volts (0 percent of nominal) and greater than 5 volts (143 percent
of nominal) and can be changed at any time.
–
Automatic Deceleration Control — When decelerating the motor, the MC3PHAC attempts to
use the specified acceleration value for deceleration as well. If the voltage on the DC_BUS pin
reaches a certain threshold, the MC3PHAC begins to moderate the deceleration as a function
of this voltage, as shown in Figure 7. The voltage range on the DC_BUS pin from when the
deceleration begins to decrease, to when it reaches 0, is 0.62 volts. In standalone mode, the
DC_BUS voltage where deceleration begins to decrease is fixed at 3.85 volts (110 percent of
nominal) where nominal is defined to be 3.5 volts. In PC master software mode, this threshold
can be set to any value between 0 volts (0 percent of nominal) and greater than 5 volts (143
percent of nominal) and can be changed at any time.
DECELERATION
ACCELERATION INPUT
BUS VOLTAGE
BEGIN MODERATING DECEL
(LEVEL IS PROGRAMMABLE
IN PC MASTER SOFTWARE MODE)
Figure 7. Deceleration as a Function of Bus Voltage
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
14
Freescale Semiconductor
Digital Power Supply Bypassing
Digital Power Supply Bypassing
VDD and VSS are the digital power supply and ground pins for the MC3PHAC.
Fast signal transitions connected internally on these pins place high, short-duration current demands on
the power supply. To prevent noise problems, take special care to provide power supply bypassing at the
VDD and VSS pins. Place the bypass capacitors as close as possible to the MC3PHAC. Use a highfrequency-response ceramic capacitor, such as a 0.1 µF, paralleled with a bulk capacitor in the range of
1 µF to 10 µF for bypassing the digital power supply.
Analog Power Supply Bypassing
VDDA and VSSA are the power supply pins for the analog portion of the clock generator and analog-todigital converter (ADC). On the schematics in this document, analog ground is labeled with an A and other
grounds are digital grounds. Analog power is labeled as +5 A. It is good practice to isolate the analog and
digital +5 volt power supplies by using a small inductor or a low value resistor less than 5 ohms in series
with the digital power supply, to create the +5 A supply. ADC VREF is the power supply pin used for setting
the ADC’s voltage reference.
Decoupling of these pins should be per the digital power supply bypassing, described previously. ADC
VREF (pin 1) and VDDA (pin 3) shall be connected together and connected to the same potential as VDD.
Grounding Considerations
Printed circuit board layout is an important design consideration. In particular, ground planes and how
grounds are tied together influence noise immunity. To maximize noise immunity, it is important to get a
good ground plane under the MC3PHAC. It is also important to separate analog and digital grounds. That
is why, shown on the schematics, there are two ground designations, analog ground is marked with an A
and other grounds are digital grounds. GND is the digital ground plane and power supply return. GNDA
is the analog circuit ground. They are both the same reference voltage, but are routed separately, and tie
together at only one point.
Power-Up/Power-Down
When power is applied or removed, it is important that the inverter’s top and bottom output transistors in
the same phase are not turned on simultaneously. Since logic states are not always defined during powerup, it is important to ensure that all power transistors remain off when the controller’s supply voltage is
below its normal operating level. The MC3PHAC’s PWM module outputs make this easy by switching to
a high impedance configuration whenever the 5-volt supply is below its specified minimum.
The user should use pullup or pulldown resistors on the output of the MC3PHAC’s PWM outputs to ensure
during power-up and power-down, that the inverter’s drive inputs are at a known, turned off, state.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
15
Operation
Operation
The MC3PHAC motor controller will operate in two modes. The first is standalone operation, whereby the
MC3PHAC can be used without any intervention from an external personal computer. In standalone
mode, the MC3PHAC is initialized by passive devices connected to the MC3PHAC and input to the
system at power-up/reset time. In standalone mode, some parameters continue to be input to the system
as it operates. Speed, PWM frequency, bus voltage, and acceleration parameters are input to the system
on a real-time basis.
The second mode of operation is called PC master software mode.That operational mode requires the
use of a personal computer and PC master software executing on the personal computer, communicating
with the MC3PHAC, or a microcontroller emulating PC master software commands. All command and
setup information is input to the MC3PHAC via the PC host.
Standalone Operation
If the VBOOST_MODE pin is high when the MC3PHAC is powered up, or after a reset, the MC3PHAC
enters standalone mode. In this mode of operation, the functionality of many of the MC3PHAC pins
change so that the device can control a motor without requiring setup information from an external master.
When operated in standalone mode, the MC3PHAC will drive certain pins corresponding to parameters
which must be specified, while simultaneously monitoring the response on other pins.
In many cases, the parameter to be specified is represented as an analog voltage presented to the
MUX_IN pin, while certain other pins are driven low. In so doing, the MC3PHAC can accommodate an
external analog mux which will switch various signals on the MUX_IN pin when the signal select line goes
low. All signals must be in a range between 0 V and VREF. As an economical alternative, an external
passive network can be connected to each of the parameter select output pins and the MUX_IN pin, as
shown in Figure 8.
The Thevenin equivalent impedance of this passive network as seen by the MUX_IN pin is very important
and should be in the range of 5 kΩ to 10 kΩ. If the resistance is too high, leakage current from the
input/output (I/O) pins will cause an offset voltage that will affect the accuracy of the reading. If the
resistance is too low, the parameter select pins will not be able to sink the required current for an accurate
reading. Using a pullup resistor value of 6.8 kΩ (as indicated in Figure 8), the resulting value for each
parameter as a function of the corresponding pulldown resistor value is shown in Figure 9, Figure 10,
Figure 11, and Table 4.
The START input pin is debounced internally and a switch can be directly accommodated on this pin. The
input is level sensitive, but a logic 1 level must exist on the pin before a logic 0 level will be processed as
a start signal. This will prevent an accidental motor startup in the event of the MC3PHAC being powered
up, where the switch was left in the start position.
The FWD input pin is debounced internally and can directly accommodate a switch connection. The input
is also level sensitive.
Figure 8 shows the jumper arrangement connected to the PWMPOL_BASEFREQ input pin. For proper
operation, one and only one jumper connection can be made at any given time. Table 3 shows the polarity
and base frequency selections as a function of the jumper connection.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
16
Freescale Semiconductor
Operation
+5 V
6.8 kΩ
NOTE 6
50 Hz + PWM POLARITY
JP3
60 Hz – PWM POLARITY
JP4
60 Hz + PWM POLARITY
FROM DIVIDED DC BUS
+5 A
10 kΩ
RESET
0.1 µF
1
2
3
4
A
22 pF
DC_BUS 28
VREF
RESET
ACCEL
VDDA
SPEED
VSSA
MUX_IN
5 OSC2
4.0 MHz
22 pF
10 MΩ
START
6
OSC1
0.1 µF
7
PLLCAP
NOTE 8
8
9
6 — PWMs TO
POWER STAGE
10
11
12
13
14
5 kΩ
4.7 kΩ
MC3PHAC
FWD
VSS
PWMPOL_BASEFREQ
VDD
PWM_U_TOP
VBOOST_MODE
PWM_U_BOT
DT_FAULTOUT
PWM_V_TOP
RBRAKE
PWM_V_BOT
RETRY/TxD
PWM_W_TOP
PWMFREQ/RxD
PWM_W_BOT
FAULTIN
A
27
5 kΩ
4.7 kΩ
26
+5 A
25
A
+5 V
24
23
22
21
20
19
10 kΩ
+5
NOTE 7
+5
RBOOST
16
15
10 kΩ
NOTE 1
RDEADTIME NOTE 2
18
17
FOR/REV
NOTE 7
+5 A
START/STOP
JP2
SPEED POT
50 Hz – PWM POLARITY
ACCELERATION POT
+5 V
JP1
TO RESISTIVE BRAKE DRIVER
RRETRY
RPWMFREQ
NOTE 3
NOTE 4
NOTE 5
FROM SYSTEM FAULT
DETECTION CIRCUIT
Notes:
1. See Figure 11.
2. See Figure 9.
3. See Figure 10.
4. See Table 4.
5. If no external fault circuit is provided, connect to VSS.
6. Connect only one jumper.
7. Use bypass capacitors placed close to the MC3PHAC.
8. Consult crystal/resonator manufacturer for component values.
Figure 8. Standalone MC3PHAC Configuration
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
17
Operation
DEAD TIME (µs)
6.0
5.5
5.0
4.5
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
0
0
1
2
3
4
5
6
7
8
9
10
RESISTANCE (kΩ)
Figure 9. Dead Time as a Function of the RDEADTIME Resistor
RETRY TIME (SECONDS)
60
55
50
45
40
35
30
25
20
15
10
5
0
0
5
10
15
20
25
30
35
40
45 50
RESISTANCE (kΩ)
Figure 10. Fault Retry Time as a Function of the RRETRY Resistor
VBOOST (%)
40
35
30
25
20
15
10
5
0
0
5
10
15
20
25
30
35
40
45 50
RESISTANCE (kΩ)
Figure 11. Voltage Boost as a Function of the RBOOST Resistor
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
18
Freescale Semiconductor
Operation
Standalone Application Example
Figure 12 shows an application example of the MC3PHAC, configured in standalone mode. Resistor
values and jumpers have been selected to provide the following performance:
1. Base frequency of 60 Hz and positive PWM polarity (from Table 3)
2. PWM frequency resistor 3.9 kΩ, which implies 10.582 kHz from Table 4). (5v/(3.9k + 6.8k))*3.9k =
1.82 volts
3. Dead-time resistor = 5.1 kΩ, which implies 4.5 µs (from Figure 9)
4. Fault retry time resistor = 8.2 kΩ, which implies 32.8 seconds (from Figure 10).
5. Voltage boost resistor = 12 kΩ, which implies 25.5 percent (from Figure 11).
6. The wiper of the acceleration potentiometer is set at 2.5 V = 64 Hz/second acceleration rate (from
the Acceleration Control description on page 11.) The potentiometer, in this case, could have been
a resistor divider. If a resistor divider is used in place of the acceleration potentiometer, keep the
total resistance of the two resistors less than 10 kΩ. Always use 4.7kΩ in series with the center of
the acceleration voltage divider resistors, connected to the ACCEL (pin 27) as shown in the
application example, Figure 12.
7. Crystal/resonator capacitor values are typical values from the manufacturer. Refer to the
manufacturers data for actual values.
PC Master Software Operation
Introduction to PC Master Host Software
The MC3PHAC is compatible with Freescale’s PC master host software serial interface protocol.
Communication occurs over an on-chip UART, on the MC3PHAC at 9600 baud to an external master
device, which may be a microcontroller that also has an integrated UART or a personal computer via a
COM port. With PC master software, an external controller can monitor and control all aspects of the
MC3PHAC operation.
When the MC3PHAC is placed in PC master software mode, all control of the system is provided through
the integrated UART, resident on the MC3PHAC. Inputs such as START, FWD, SPEED, ACCEL,
MUX_IN, and PWMPOL_BASEFREQ have no controlling influence over operation of the system. Even
though the SPEED, START, and FWD inputs are disabled while the system is in PC master software
mode, through PC master software, it is possible to monitor the state of those inputs.
The most popular master implementation is a PC, where a graphical user interface (GUI) has been
layered on top of the PC master software command protocol, complete with a graphical data display, and
an ActiveX interface. Figure 13 shows the MC3PHAC configured in PC master software mode. It is
beyond the scope of this document to describe the PC master software protocol or its implementation on
a personal computer. For further information on these topics, refer to other Freescale documents relating
to the PC master software protocol and availability of PC master host software.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
19
Operation
+5 V
6.8 kΩ
50 Hz – PWM POLARITY
NC
50 Hz + PWM POLARITY
NC
60 Hz – PWM POLARITY
60 Hz + PWM POLARITY
FROM DIVIDED DC BUS
RESET
0.1 µF
1
2
3
4
A
10 MΩ
22 pF
DC_BUS 28
VREF
RESET
ACCEL
VDDA
SPEED
VSSA
MUX_IN
5 OSC2
4.0 MHz
22 pF
START
6
OSC1
0.1 µF
7
PLLCAP
NOTE 7
8
9
6 — PWMs TO
POWER STAGE
10
11
12
13
14
FWD
VSS
PWMPOL_BASEFREQ
PWM_U_TOP
VBOOST_MODE
DT_FAULTOUT
PWM_V_TOP
RBRAKE
RETRY/TxD
PWM_W_TOP
PWMFREQ/RxD
PWM_W_BOT
FAULTIN
A
27
+5 A
5 kΩ
4.7 kΩ
26
25
A
+5 V
24
23
22
VDD 21
PWM_U_BOT
PWM_V_BOT
5 kΩ
4.7 kΩ
MC3PHAC
RBOOST
20 12 kΩ
19
18
15
NOTE 1
RDEADTIME NOTE 2
5.1 kΩ
TO RESISTIVE BRAKE DRIVER
RRETRY
17 8.2 kΩ
16
10 kΩ
+5
NOTE 6
+5
10 kΩ
START/STOP
NOTE 6
+5 A
SPEED POT
+5 A
10 kΩ
FOR/REV
+5 V
ACCELERATION POT
NC
RPWMFREQ
3.9 kΩ
NOTE 3
NOTE 4
NOTE 5
FROM SYSTEM FAULT
DETECTION CIRCUIT
Notes:
1. See Figure 11.
2. See Figure 9.
3. See Figure 10.
4. See Table 4.
5. If no external fault circuit is provided, connect to VSS.
6. Use bypass capacitors placed close to the MC3PHAC.
7. Consult crystal/resonator manufacturer for component values.
Figure 12. MC3PHAC Application Example in Standalone Mode
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
20
Freescale Semiconductor
Operation
+5 V
10 kΩ
NOTE 2
+5 A
1
RESET
0.1 µF
2
22 pF
4.0 MHz
10 MΩ
A
0.1 µF
RESET
VDDA
SPEED 26
4 V
SSA
25
NOTE 3
+5 V
8
9
10
6 — PWMs TO
POWER STAGE
MUX_IN
5 OSC2
6
OSC1
7
10 kΩ
DC_BUS 28
VREF
ACCEL 27
3
22 pF
MC3PHAC
11
START
FWD
VDD 21
DT_FAULTOUT
PWM_V_TOP
RBRAKE
12 PWM_V_BOT
13
PWM_W_TOP
14
PWM_W_BOT
560 Ω
22
PWMPOL_BASEFREQ
PWM_U_BOT
+5 V
23
VSS
VBOOST_MODE
10 kΩ
24
PLLCAP
PWM_U_TOP
FROM DIVIDED DC BUS
FAULT LED
NOTE 2
+5
20
19
18
RETRY/TxD 17 DATA TO PC
DATA FROM PC
16
PWMFREQ/RxD
NOTE 1
15
FAULTIN
TO RESISTIVE BRAKE DRIVER
ISOLATED
CONNECTION
OR NON-ISOLATED TO HOST
RS232 INTERFACE
FROM SYSTEM FAULT
DETECTION CIRCUIT
Notes:
1. If no external fault circuit is provided, connect to VSS.
2. Use bypass capacitors placed close to the MC3PHAC.
3. Consult crystal/resonator manufacturer for component values.
Figure 13. MC3PHAC Configuration for Using a PC as a Master
PC Master Software Operation with the MC3PHAC
When power is first applied to the MC3PHAC, or if a logic low level is applied to the RESET pin, the
MC3PHAC enters PC master software mode if the VBOOST_MODE pin is low during the initialization
phase. The MC3PHAC recognizes a subset of the PC master software command set, which is listed in
Table 5.
Table 5. Recognized PC Host Software Commands
Command
Description
GETINFOBRIEF
MC3PHAC responds with brief summary of hardware setup and link configuration
information
READVAR8
MC3PHAC reads an 8-bit variable at a specified address and responds with its value
READVAR16
MC3PHAC reads a 16-bit variable at a specified address and responds with its value
READVAR32
MC3PHAC reads a 32-bit variable at a specified address and responds with its value
WRITEVAR8
MC3PHAC writes an 8-bit variable at a specified address
WRITEVAR16
MC3PHAC writes a 16-bit variable at a specified address
With the READVARx commands, the addresses are checked for validity, and the command is executed
only if the address is within proper limits. In general, a read command with an address value below $0060
or above $EE03 will not execute properly, but instead will return an invalid operation response. An
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
21
Operation
exception to this rule is that PC master software allows reading locations $0001, $0036 and $FE01, which
are PORTB data register, Dead Time register and SIM Reset Status registers respectively. The
addresses for the WRITEVARx commands are checked for validity, and the data field is also limited to a
valid range for each variable. See Table 6 for a list of valid data values and valid write addresses.
User interface variables and their associated PC master software addresses within the MC3PHAC are
listed in Table 6.
Table 6. User Interface Variables for Use with PC Master Software
Name
Address
Read/
Write
Size
(Bytes)
Description
Valid Data
Commanded direction
$1000
W
1
Determines whether the motor should
go forward, reverse, or stop
Forward — $10
Reverse — $11
Stop — $20
Command reset
$1000
W
1
Forces the MC3PHAC to perform an
immediate reset
1
Specifies the frequency of the
MC3PHAC PWM frequency
2
The modulus value supplied to the
PWM generator used by the
MC3PHAC — value is multiplied by
250 ns to obtain PWM period
1
Specifies the polarity of the MC3PHAC
PWM outputs. This is a write once
parameter after reset.
Example: $50 = Bottom and top PWM
outputs are positive polarity.
Commanded PWM
frequency(1)
Measured PWM
period
Commanded PWM
polarity(2), (3), (4)
$1000
$00A8
$1000
W
R
W
$30
5.3 kHz — $41
10.6 kHz — $42
15.9 kHz — $44
21.1 kHz — $48
$00BD–$05E8
B + T + $50
B + T – $54
B – T + $58
B – T – $5C
Dead time(2), (3), (4)
$0036
R/W
1
Specifies the dead time used by the
PWM generator.
Dead time = Value * 125 ns.
This is a write-once parameter.
Base frequency(3)
$1000
W
1
Specifies the motor frequency at which
full voltage is applied
60 Hz — $60
50 Hz — $61
Acceleration(3)
$0060
R/W
2
Acceleration in Hz/sec (7.9 format)(8)
$0000–$7FFF
Commanded motor
frequency(3)
$0062
R/W
2
Commanded frequency in Hz.
(8.8 format)(9)
$0000–$7FFF
Actual frequency
$0085
R
2
Actual frequency in Hz. (8.8 format)(9)
$0000–$7FFF
Status(7)
$00C8
R
1
Status byte
$00–$FF
Voltage boost
$006C
R/W
1
0 Hz voltage.
%Voltage boost = Value/$FF
$00–$FF
1
Voltage level (motor waveform
amplitude percent assuming no bus
ripple compensation)
Modulation index = value/$FF
$00–$FF
Modulation index
$0091
R
$00–$FF
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
22
Freescale Semiconductor
Operation
Table 6. User Interface Variables for Use with PC Master Software (Continued)
Address
Read/
Write
Size
(Bytes)
Maximum voltage
$0075
R/W
1
Maximum allowable modulation index
value
%Maximum voltage = value/$FF
VBus voltage(5), (10)
$0079
R
2
DC bus voltage reading
$0000–$FFFF
Name
Description
Valid Data
$00–$FF
$000–$3FF
Fault timeout
$006A
R/W
2
Specifies the delay time after a fault
condition before re-enabling the
motor.
Fault timeout = value * 0.262 sec
Fault timer
$006D
R
2
Real-time display of the fault timer
Elapsed fault time = value * 0.262 sec
$0000–$FFFF
VBus decel value(10)
$00C9
R/W
2
VBus readings above this value result in
reduced deceleration.
$0000–$03FF
VBus RBRAKE
value(10)
$0064
R/W
2
VBus readings above this value result in
the RBRAKE pin being asserted.
$0000–$03FF
VBus brownout
value(10)
$0066
R/W
2
VBus readings below this value result in
an under voltage fault.
$0000–$03FF
VBus over voltage
value(10)
$0068
R/W
2
VBus readings above this value result in
an over voltage fault.
$0000–$03FF
Speed in ADC
value(5)
$0095
R
2
Left justified 10-bit ADC reading of the
SPEED input pin.
$0000–$FFC0
Setup(7)
$00AE
R
1
Bit field indicating which setup
parameters have been initialized
before motion is permitted
$E0–$FF
Switch in(7)
$0001
R
1
Bit field indicating the current state of
the start/stop and forward/reverse
switches
$00–$FF
Reset status(6), (7)
$FE01
R
1
Indicates cause of the last reset
$00–$FF
Version
$EE00
R
4
MC3PHAC version
ASCII field
1. The commanded PWM frequency cannot be written until the PWM outputs exit the high-impedance state. The default PWM
frequency is 15.873 kHz.
2. The PWM output pins remain in a high-impedance state until this parameter is specified.
3. This parameter must be specified before motor motion can be initiated by the MC3PHAC.
4. This is a write-once parameter. The first write to this address will execute normally. Further attempts at writing this
parameter will result in an illegal operation response from the MC3PHAC.
5. The value of this parameter is not valid until the PWM outputs exit the high-impedance state.
6. The data in this field is only valid for one read. Further reads will return a value of $00.
7. See register bit descriptions following this table.
8. Acceleration is an unsigned value with the upper seven bits range of $00 to $7F = acceleration value of 0 to
127 Hertz/second. The lower nine bits constitute the fractional portion of the acceleration parameter. Its range is $000 to
$1FF which equals 0 to ~1. Therefore, the range of acceleration is 0 to 127.99 Hertz/second.
9. Commanded motor frequency and actual frequency are signed values with the upper byte range of
$00 to $7F = frequency of 0 to 127 Hz. The lower byte is the fractional portion of the frequency. Its range is $00 to $FF
which equals 0 to ~1.
10. VBus is the voltage value applied to the DC_BUS analog input pin. The analog-to-digital converter is a 10-bit converter with
a 5 volt full scale input. The value is equal to the voltage applied to the DC_BUS input pin/VREF * $03FF.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
23
Operation
Each bit variable listed in Table 6 is defined in Figure 14, Figure 15, Figure 16, and Figure 17.
Address: $00C8
7
R
6
5
SPEED
CHANGING
4
3
FORWARD
MOTOR
RESISTIVE
MOTION
ENERGIZED
BRAKE
2
1
0
EXTERNAL
FAULT TRIP
OVER
VOLTAGE
TRIP
UNDER
VOLTAGE
TRIP
U
0
0
W
Reset
U
0
1
= Unimplemented or Reserved
0
0
U = Unaffected
Figure 14. Status Register
Table 7. Status Register Field Descriptions
Field
Description
6
SPEED
CHANGING
SPEED CHANGING Bit — This read-only bit indicates if the motor is at a steady speed or if it is
accelerating or declerating.
0 Motor is at a steady speed.
1 Motor is accelerating or decelerating.
5
FORWARD
MOTION
FORWARD MOTION Bit — This read-only bit indicates the direction of the motor. It also indicates
if the motor is stopped.
0 Motor is rotating in the reverse direction.
1 Motor is rotating in the forward direction. If this bit is a logic 1 and the actual frequency (location
$0085 and $0086) is 0, the motor is stopped.
4
MOTOR ENERGIZED Bit — This read-only bit indicates PWM output activity
MOTOR
0 The PWM outputs are inactive or the bottom PWM outputs are in the pre-charge cycle.
ENERGIZED 1 All PWM outputs are active.
3
RESISTIVE
BRAKE
RESISTIVE BREAK Bit — This read-only bit indicates the state of the RBRAKE output pin
0 The RBRAKE output pin is inactive and no braking is in progress.
1 The RBRAKE output pin is active. Braking is in progress.
2
EXTERNAL
FAULT TRIP
EXTERNAL FAULT TRIP Bit — This read-only bit indicates a FAULT has occurred resulting from
a logic 1 applied to the FAULTIN pin.
0 A logic 0 is applied to the FAULTIN pin and no FAULT timeout is in progress.
1 A logic 1 was applied to the FAULTIN pin and a FAULT timeout is still in progress.
1
OVER
VOLTAGE
TRIP
OVER-VOLTAGE TRIP Bit — This read-only bit indicates if the voltage at the DC_BUS pin
exceeds the preset value of VBus over voltage located at address $0068 and $0069.
0 The voltage applied to the DC_BUS pin is less than the preset value of VBus over voltage and
a FAULT timeout is not in progress.
1 The voltage applied to the DC_BUS pin has exceeded the preset value of VBus over voltage
and a FAULT timeout is still in progress.
0
UNDER
VOLTAGE
TRIP
UNDER-VOLTAGE Bit — This read-only bit indicates if the voltage at the DC_BUS pin is less
than the present value of VBus brownout located at address $0066 and $0067.
0 The voltage applied to the DC-BUS pin is greater than the preset value of VBus under voltage
and a FAULT timeout is not in progress.
1 The voltage applied to the DC_BUS pin is less than the present value of VBus under voltage
and a FAULT timeout is still in progress.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
24
Freescale Semiconductor
Operation
Address: $00AE
7
6
5
R
4
3
2
1
0
BASE
FREQUENCY
SET
SPEED
SET
ACCELERATION
SET
POLARITY
SET
DEAD TIME
SET
0
0
0
0
0
W
Reset
1
1
1
= Unimplemented or Reserved
Figure 15. Setup Register
Table 8. Setup Register Field Descriptions
Field
Description
4
BASE
FREQUENCY
SET
BASE FREQUENCY SET Bit — This read-only bit indicates if the base frequency parameter has
been set.
0 Base frequency parameter has not been set.
1 Base frequency parameter has been set.
3
SPEED
SET
SPEED SET Bit — This read-only bit indicates if the speed parameter has been set.
0 Speed parameter has not been set.
1 Speed parameter has been set.
2
ACCELERATION SET
ACCELERATION SET Bit — This read-only bit indicates if the acceleration rate parameter has
been set.
0 Acceleration rate parameter has not been set.
1 Acceleration rate parameter has been set.
1
POLARITY
SET
POLARITY SET Bit — This read-only bit indicates if the PWM polarity parameters has been set.
0 PWM polarity parameters has not been set.
1 PWM polarity parameters has been set.
0
DEAD TIME
SET
DEAD TIME SET Bit — This read-only bit indicates if the dead time parameter has been set.
0 Dead time parameter has not been set.
1 Dead time parameter has been set.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
25
Operation
Address: $0001
7
R
6
5
START/
STOP
FWD/
REVERSE
U
U
4
3
2
FAULT
OUT
RESISTOR
BRAKE
U
0
1
0
U
U
W
Reset
U
= Unimplemented or Reserved
U
U = Unaffected
Figure 16. Switch In Register
Table 9. Switch In Register Field Descriptions
Field
Description
6
START/
STOP
START/STOP Bit — This read-only bit indicates the state of the START input pin.
0 The START input pin is at a logic 0.
1 The START input pin is at a logic 1.
5
FWD/
REVERSE
FWD/REVERSE Bit — This read-only bit indicates the state of the FWD input pin.
0 The FWD input pin is at a logic 0
1 The FWD input pin is at a logic 1
3
FAULT
OUT
2
RESISTOR
BRAKE
FAULT OUT Bit — This read-only bit indicates the state of the DT_FAULTOUT output pin.
0 The DT_FAULTOUT output pin is indicating a fault condition.
1 The DT_FAULTOUT output pin is indicating no fault condition.
RESISTIVE BRAKE Bit — This read-only bit indicates the state of resistive brake pin (RBRAKE).
0 The RBRAKE output pin in inactive and no braking is in progress.
1 The RBRAKE output pin in active. Braking is in progress.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
26
Freescale Semiconductor
Operation
Address: $FE01
7
6
5
POWER
UP
RESET
PIN
1
0
R
4
3
2
PC MASTER
MC3PHAC
MC3PHAC
SOFTWARE
FUNCTIONAL FUNCTIONAL
RESET
FAULT
FAULT
COMMAND
1
0
LOW VDD
VOLTAGE
W
Reset
0
0
0
0
0
0
= Unimplemented or Reserved
Figure 17. Reset Status Register
Table 10. Reset Status Register Field Descriptions
Field
Description
7
POWER UP
POWER UP Bit — This read-only bit indicates the last system reset was caused by the power-up
reset detection circuit.
0 Power-up reset was not the source of the reset or a read of the reset status register after the
first read.
1 The last reset was caused by an initial power-up of the MC3PHAC.
6
RESET PIN
RESET PIN Bit — This read-only bit indicates the last system reset was caused from the RESET
input pin.
0 The RESET pin was not the source of the reset or a read of the reset status register after the
first read.
1 Last reset was caused by an external reset applied to the RESET input pin.
MC3PHAC FUNCTIONAL FAULT Bits — This read-only bit indicates if the last system reset was
5–4
MC3PHAC the result of an internal system error.
FUNCTIONAL 0 The FUNCTIONAL FAULT was not the source of the reset or a read of the reset status register
after the first read.
FAULT BITS
1 MC3PHAC internal system error
PC MASTER PC MASTER SOFTWARE RESET COMMAND Bit — This read-only bit indicates the last system
SOFTWARE reset was the result of a PC master software reset command.
0 The PC master software RESET COMMAND was not the source of the reset or a read of the
RESET
reset status register after the first read.
COMMAND
1 The MC3PHAC was reset by the PC master software command reset as the result of a write
of $30 to location $1000
1
LOW VDD
VOLTAGE
LOW VDD VOLTAGE Bit — This read-only bit indicates if the last reset was the result of low VDD
applied to the MC3PHAC.
0 The LOW VDD was not the source of the reset or a read of the reset status register after the
first read.
1 The last reset was caused by the low power supply detection circuit.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
27
Operation
Command State Machine
When using the PC master software mode of operation, the command state machine governs behavior
of the device depending upon its current state, system parameters, any new commands received via
the communications link, and the prevailing conditions of the system. The command state diagram is in
Figure 18. It illustrates the sequence of commands which are necessary to bring the device from the reset
condition to running the motor in a steady state and depicts the permissible state transitions. The device
will remain within a given state unless the conditions shown for a transition are met.
Some commands only cause a temporary state change to occur. While they are being executed, the state
machine will automatically return to the state which existed prior to the command being received. For
example, the motor speed may be changed from within any state by using the WRITEVAR16 command
to write to the "Speed In" variable. This will cause the "Set Speed" state to be momentarily entered, the
"Speed In" variable will be updated and then the original state will be re-entered. This allows the motor
speed, acceleration or base frequency to be modified whether the motor is already accelerating,
decelerating, or in a steady state.
Each state is described here in more detail.
• Reset — This state is entered when a device power-on reset (POR), pin reset, loss of crystal,
internally detected error, or reset command occurs from within any state. In this state, the device
is initialized and the PWM outputs are configured to high impedance. This state is then
automatically exited.
• PWMHighZ — This state is entered from the reset state. This state is also re-entered after one and
only one of the PWM dead-time or polarity parameters have been initialized. In this state the PWM
outputs are configured to a high-impedance state as the device waits for both the PWM dead time
and polarity to be initialized.
• SetDeadTime (write once) — This state is entered from the PWMHighZ state the first time that a
write to the PWM dead-time variable occurs. In this state, the PWM dead time is initialized and the
state is then automatically exited. This state cannot be re-entered, and hence the dead time cannot
be modified, unless the reset state is first re-entered.
• SetPolarity (write once) — This state is entered from the PWMHighZ state the first time that the
PWM polarity command is received. In this state, the PWM polarity is initialized and the state is
then automatically exited. This state cannot be re-entered, and hence the polarity cannot be
modified, unless the reset state is first re-entered.
• PWMOFF — This state is entered from the PWMHighZ state if both the PWM dead time and
polarity have been configured. In this state, the PWM is activated and all the PWM outputs are
driven off for the chosen polarity. The device then waits for the PWM base frequency, motor speed,
and acceleration to be initialized.
• PWM0RPM — This state is entered from the PWMOFF state when the PWM base frequency,
motor speed, and acceleration have been initialized. This state can also be entered from the
FwdDecel or RevDecel states if a CmdStop command has been received, and the actual motor
speed has decelerated to 0 r.p.m. In this state, the PWM pins are driven to the off state for the
chosen polarity. The only exit of this state is to the PWMPump state, which occurs when a CmdFwd
or CmdRev command is received.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
28
Freescale Semiconductor
Operation
CmdBaseFreqxx
from any state
CmdReset
Reset or
POR or
Loss of Crystal or
Internal Error
SetBaseFreq
Reset
Done
(return to
calling
state)
tim
ad: De
8
R
VA
ITE
R
e
W
don
e
SetDeadTime
Initialized
WRITEVAR16:Acceleration
from any state
(write once)
CmdPWMTxBx
SetAccel
SetPolarity
PWMHighZ
(write once)
done
Done
(return to
calling
state)
PWM dead-time set &
PWM polarity set
WRITEVAR16:Speed
In from any state
PC master
software
Other
PC Master
command
from
state
command
from
anyany
state
PWMOFF
SetSpeed
PWM base freq. set &
Acceleration set &
Speed In set
Done
(return to
calling
state)
&
ved ne
mo ut Do
e
R
eo
lt
Fauult Tim
Fa
Fault
Execute PC
Master Cmd
Done
(return to
calling
state)
PWM0RPM
CmdFwd |
CmdRev
PWMPump
Done & CmdFwd
Done & CmdRev
CmdRev &
Actual speed = 0
CmdFwd &
Actual speed = 0
CmdRev |
CmdStop
FwdDecel
FwdAccel
(S
Speed In >
Actual speed =
Cm pe
Actual Speed
Speed In
e
dR d I
ev n <
| C Ac
m tua
dS l
to spe
FwdSteady
p
ed
)|
0
C
Ac mdS
tua top
ls &
pe
ed
=
0
& d=
top ee
dS l sp
Cmctua
A
Fault
CmdFwd |
CmdStop
RevAccel
Speed In >
Actual Speed
RevDecel
d)
ee
p
s
al
tu top
c
A S
< md
In | C
ed d
pe dFw
S
( m
C
Actual speed =
Speed In
RevSteady
|
Figure 18. PC Host Software Command State Diagram
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
29
Operation
•
•
•
•
•
•
•
•
•
•
•
PWMPump — This state is entered from the PWM0RPM state when a CmdFwd or CmdRev
command is received. In this state the top PWM outputs are driven off while the bottom PWM
outputs are driven with a 50 percent duty cycle. This allows high side transistor gate drive circuits
which require charge pumping from the lower transistors to be charged up prior to applying full
PWMs to energize the motor. This state is automatically exited after the defined amount of time
tPump (see Electrical Characteristics).
FwdAccel — This state is entered from the PWMPump state after a CmdFwd command is
received and the timeout interval from the PWMPump state is completed. This state can also be
entered from the FwdSteady state if the Speed In variable is increased above the actual current
speed and the RevDecel state if the actual motor speed equals 0 r.p.m. when a CmdFwd command
has been received. In this state the motor is accelerated forward according to the chosen
parameters.
FwdSteady — This state is entered from the FwdAccel state after the actual motor speed has
reached the requested speed defined by the Speed In variable. In this state, the motor is held at a
constant forward speed.
FwdDecel — This state is entered from the FwdAccel or FwdSteady states whenever a CmdStop
or CmdRev command is received. This state can also be entered from the FwdSteady state if the
Speed In variable is decreased below the actual current speed. In this state, the motor is
decelerated forward according to the chosen parameters.
RevAccel — This state is entered from the PWMPump state. After a CmdRev command is
received and the timeout interval from the PWMPump state is completed. This state can also be
entered from the RevSteady state if the Speed In variable is increased above the actual current
speed and the FwdDecel state if the actual motor speed equals 0 r.p.m. when a CmdRev command
has been received. In this state, the motor is accelerated in reverse according to the chosen
parameters.
RevSteady — This state is entered from the RevAccel state after the actual motor speed has
reached the requested speed defined by the Speed In variable. In this state, the motor is held at a
constant reverse speed.
RevDecel — This state is entered from the RevAccel or RevSteady states whenever a CmdStop
or CmdFwd command is received. This state can also be entered from the RevSteady state if the
Speed In variable is decreased below the actual current speed. In this state, the motor is
decelerated in reverse according to the chosen parameters.
SetBaseFreq — This state is entered from any state whenever a CmdBaseFreqxx command is
received. In this state, the motor frequency at which full voltage is applied is configured and the
state is then automatically exited and the original state is re-entered.
SetAccel — This state is entered from any state whenever a write to the Acceleration variable
occurs. In this state, the motor acceleration is configured and the state is then automatically exited
and the original state is re-entered.
SetSpeed — This state is entered from any state whenever a write to the Speed In variable occurs.
In this state, the requested motor speed is configured and the state is then automatically exited and
the original state is re-entered.
Fault — This state is entered from any state whenever a fault condition occurs (see Fault
Protection on page 13). In this state, the PWM outputs are driven off (unless the fault state was
entered from the PWMHighZ state, in which case, the PWM outputs remain in the High Z state).
When the problem causing the fault condition is removed, a timer is started which will wait a
specified amount of time (which is user programmable) before exiting this state. Under normal
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
30
Freescale Semiconductor
Optoisolated RS232 Interface Application Example
operating conditions, this timeout will cause the Fault state to be automatically exited to the
PWM0RPM state, where motion will once again be initiated if a CmdFwd or CmdRev has been
received. The exceptions to this rule are the cases when the Fault state was entered from the
PWMHighZ or PWMOFF states, in which case, exiting from the Fault state will return back to these
states.
Optoisolated RS232 Interface Application Example
Some motor control systems have the control electronics operating at the same potential as the high
voltage bus. Connecting a PC to that system could present safety issues, due to the high voltage potential
between the motor control system and the PC. Figure 19 is an example of a simple circuit that can be
used with the MC3PHAC to isolate the serial port of the PC from the motor control system.
The circuit in Figure 19 is the schematic of a half-duplex optoisolated RS232 interface. This isolated
terminal interface provides a margin of safety between the motor control system and a personal computer.
The EIA RS232 specification states the signal levels can range from ±3 to ±25 volts. A Mark is defined by
the EIA RS232 specification as a signal that ranges from –3 to –25 volts. A Space is defined as a signal
that ranges from +3 to +25 volts. Therefore, to meet the RS232 specification, signals to and from a
terminal must transition through 0 volts as it changes from a Mark to a Space. Breaking the circuit down
into an input and output section simplifies the explanation of the circuit.
D1
1N4148
D2
1N4148
J1
5
9
4
8
3
7
2
6
1
GND
DTR
TxD
RTS
RxD
CON/CANNON9
FEMALE
R1
1 kΩ
D3
1N4148
R3
4.7 kΩ
+5 V
U1
4N35
1
4
2
5
R2
1 kΩ
TO MC3PHAC PIN 16
+
C1
2.2 µF/50 V
4
1
R4
+5 V
330 Ω
5
~+12 V
U2
4N35
2
TO MC3PHAC PIN 17
ISOLATION BARRIER
RS232 ISOLATED
HALF-DUPLEX, MAXIMUM 9600 BAUD
Figure 19. Optoisolated RS232 Circuit
To send data from a PC to the MC3PHAC, it is necessary to satisfy the serial input of the MC3PHAC. In
the idle condition, the serial input of the MC3PHAC must be at a logic 1. To accomplish that, the transistor
in U1 must be turned off. The idle state of the transmit data line (TxD) from the PC serial port is a Mark
(–3 to –25 volts). Therefore, the diode in U1 is off and the transistor in U1 is off, yielding a logic 1 to the
MC3PHAC’s serial input. When the start bit is sent to the MC3PHAC from the PC’s serial port, the PC’s
TxD transitions from a Mark to a Space (+3 to +25 volts), thus forward biasing the diode in U1. Forward
biasing the diode in D1 turns on the transistor in U1, providing a logic 0 to the serial input of the
MC3PHAC. Simply stated, the input half of the circuit provides input isolation, signal inversion, and level
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
31
Optoisolated RS232 Interface Application Example
shifting from the PC to the MC3PHAC’s serial port. An RS-232 line receiver, such as an MC1489, serves
the same purpose without the optoisolation function.
To send data from the MC3PHAC to the PC’s serial port input, it is necessary to satisfy the PC’s receive
data (RxD) input requirements. In an idle condition, the RxD input to the PC must be at Mark
(–3 to –25 volts). The data terminal ready output (DTR) on the PC outputs a Mark when the port is
initialized. The request to send (RTS) output is set to a Space (+3 to +25 volts) when the PC’s serial port
is initialized. Because the interface is half-duplex, the PC’s TxD output is also at a Mark, as it is idle. The
idle state of the MC3PHAC’s serial port output is a logic 1. The logic 1 out of the MC3PHAC’s serial port
output port forces the diode in U2 to be turned off. With the diode in U2 turned off, the transistor in U2 is
also turned off. The junction of D2 and D3 are at a Mark (–3 to –25 volts). With the transistor in U2 turned
off, the input is pulled to a Mark through current limiting resistor R3, satisfying the PC’s serial input in an
idle condition. When a start bit is sent from the MC3PHAC’s serial port, it transitions to a logic 0. That logic
0 turns on the diode in U2, thus turning on the transistor in U2. The conducting transistor in U2 passes
the voltage output from the PC’s RTS output, that is now at a Space (+3 to +25 volts), to the PC’s receive
data (RxD) input. Capacitor C1 is a bypass capacitor used to stiffen the Mark signal. The output half of
the circuit provides output isolation, signal inversion, and level shifting from the MC3PHAC’s serial output
port to the PC’s serial port. An RS-232 line driver, such as a MC1488, serves the same purpose without
the optoisolation function.
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
32
Freescale Semiconductor
Mechanical Data
Mechanical Data
This subsection provides case outline drawings for:
• Plastic 28-pin DIP, Figure 20
• Plastic 28-pin SOIC, Figure 21
• Plastic 32-pin QFP, Figure 22
28
NOTES:
1. POSITIONAL TOLERANCE OF LEADS (D),
SHALL BE WITHIN 0.25mm (0.010) AT
MAXIMUM MATERIAL CONDITION, IN
RELATION TO SEATING PLANE AND
EACH OTHER.
2. DIMENSION L TO CENTER OF LEADS
WHEN FORMED PARALLEL.
3. DIMENSION B DOES NOT INCLUDE
MOLD FLASH.
15
B
1
14
A
L
C
N
H
G
F
M
K
D
MILLIMETERS
MIN
MAX
36.45 37.21
13.72 14.22
3.94
5.08
0.36
0.56
1.02
1.52
2.54 BSC
1.65
2.16
0.20
0.38
2.92
3.43
15.24 BSC
0°
15°
0.51
1.02
DIM
A
B
C
D
F
G
H
J
K
L
M
N
J
SEATING
PLANE
INCHES
MIN
MAX
1.435 1.465
0.540 0.560
0.155 0.200
0.014 0.022
0.040 0.060
0.100 BSC
0.065 0.085
0.008 0.015
0.115 0.135
0.600 BSC
0°
15°
0.020 0.040
Figure 20. Plastic 28-Pin DIP (Case 710)
-A28
NOTES:
1. DIMENSIONING AND TOLERANCING PER
ANSI Y14.5M, 1982.
2. CONTROLLING DIMENSION: MILLIMETER.
3. DIMENSION A AND B DO NOT INCLUDE MOLD
PROTRUSION.
4. MAXIMUM MOLD PROTRUSION 0.15
(0.006) PER SIDE.
5. DIMENSION D DOES NOT INCLUDE
DAMBAR PROTRUSION. ALLOWABLE
DAMBAR PROTRUSION SHALL BE 0.13
(0.005) TOTAL IN EXCESS OF D
DIMENSION AT MAXIMUM MATERIAL
CONDITION.
15
14X
-B1
P
0.010 (0.25)
M
B
M
14
28X D
0.010 (0.25)
M
T
A
S
B
M
S
R X 45°
C
-T26X
-T-
G
K
SEATING
PLANE
F
J
DIM
A
B
C
D
F
G
J
K
M
P
R
MILLIMETERS
MIN
MAX
17.80 18.05
7.60
7.40
2.65
2.35
0.49
0.35
0.90
0.41
1.27 BSC
0.32
0.23
0.29
0.13
8°
0°
10.05 10.55
0.75
0.25
INCHES
MIN
MAX
0.701 0.711
0.292 0.299
0.093 0.104
0.014 0.019
0.016 0.035
0.050 BSC
0.009 0.013
0.005 0.011
8°
0°
0.395 0.415
0.010 0.029
Figure 21. Plastic 28-Pin SOIC (Case 751F)
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
33
A
–T–, –U–, –Z–
Mechanical Data
4X
A1
32
0.20 (0.008) AB T–U Z
25
1
–U–
–T–
B
V
AE
P
B1
DETAIL Y
17
8
V1
AE
DETAIL Y
9
4X
–Z–
9
0.20 (0.008) AC T–U Z
S1
S
DETAIL AD
G
–AB–
0.10 (0.004) AC
AC T–U Z
–AC–
BASE
METAL
ÉÉ
ÉÉ
ÉÉ
ÉÉ
F
8X
M_
R
J
M
N
D
0.20 (0.008)
SEATING
PLANE
SECTION AE–AE
W
K
X
DETAIL AD
Q_
GAUGE PLANE
H
0.250 (0.010)
C E
NOTES:
1. DIMENSIONING AND TOLERANCING PER ANSI
Y14.5M, 1982.
2. CONTROLLING DIMENSION: MILLIMETER.
3. DATUM PLANE –AB– IS LOCATED AT BOTTOM
OF LEAD AND IS COINCIDENT WITH THE LEAD
WHERE THE LEAD EXITS THE PLASTIC BODY AT
THE BOTTOM OF THE PARTING LINE.
4. DATUMS –T–, –U–, AND –Z– TO BE DETERMINED
AT DATUM PLANE –AB–.
5. DIMENSIONS S AND V TO BE DETERMINED AT
SEATING PLANE –AC–.
6. DIMENSIONS A AND B DO NOT INCLUDE MOLD
PROTRUSION. ALLOWABLE PROTRUSION IS
0.250 (0.010) PER SIDE. DIMENSIONS A AND B
DO INCLUDE MOLD MISMATCH AND ARE
DETERMINED AT DATUM PLANE –AB–.
7. DIMENSION D DOES NOT INCLUDE DAMBAR
PROTRUSION. DAMBAR PROTRUSION SHALL
NOT CAUSE THE D DIMENSION TO EXCEED
0.520 (0.020).
8. MINIMUM SOLDER PLATE THICKNESS SHALL BE
0.0076 (0.0003).
9. EXACT SHAPE OF EACH CORNER MAY VARY
FROM DEPICTION.
DIM
A
A1
B
B1
C
D
E
F
G
H
J
K
M
N
P
Q
R
S
S1
V
V1
W
X
MILLIMETERS
MIN
MAX
7.000 BSC
3.500 BSC
7.000 BSC
3.500 BSC
1.400
1.600
0.300
0.450
1.350
1.450
0.300
0.400
0.800 BSC
0.050
0.150
0.090
0.200
0.500
0.700
12_ REF
0.090
0.160
0.400 BSC
1_
5_
0.150
0.250
9.000 BSC
4.500 BSC
9.000 BSC
4.500 BSC
0.200 REF
1.000 REF
INCHES
MIN
MAX
0.276 BSC
0.138 BSC
0.276 BSC
0.138 BSC
0.055
0.063
0.012
0.018
0.053
0.057
0.012
0.016
0.031 BSC
0.002
0.006
0.004
0.008
0.020
0.028
12_ REF
0.004
0.006
0.016 BSC
1_
5_
0.006
0.010
0.354 BSC
0.177 BSC
0.354 BSC
0.177 BSC
0.008 REF
0.039 REF
Figure 22. Plastic 32-Pin QFP (Case 873A)
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
34
Freescale Semiconductor
Mechanical Data
MC3PHAC Monolithic Intelligent Motor Controller, Rev. 2
Freescale Semiconductor
35
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