Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Created: Author: Last Modified: Modified by: ANALOG DEVICES 12/17/2014 12:17 PM Dara O’Sullivan 1/6/2015 12:06 PM Dara O’Sullivan Page 1 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 1 Contents 1 Contents ............................................................................................................................................ 2 2 Revision History ............................................................................................................................... 3 3 Overview ........................................................................................................................................... 4 3.1 4 Hardware Setup ................................................................................................................................. 4 4.1 5 System requirements .................................................................................................................. 4 Low Voltage Board ..................................................................................................................... 4 Software Setup .................................................................................................................................. 8 5.1 Programming with Serial Downloader ....................................................................................... 8 5.2 Programming with Segger J-Link ............................................................................................ 10 6 GUI Configuration .......................................................................................................................... 12 7 Running the Motor .......................................................................................................................... 14 8 Data Visualization ........................................................................................................................... 15 9 Support ............................................................................................................................................ 20 ANALOG DEVICES Page 2 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 2 Revision History Version Modified By Date Comments 0.1 Dara O’Sullivan 1/6/2015 Document finalized. ANALOG DEVICES Page 3 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 3 Overview This document will give a high level introduction to the EV-MCS-LVDRV motor control development platform and will provide a step-by-step approach that will get a motor up running. Instructions are provided on hardware setup, executable download, and graphical user interface (GUI) operation. 3.1 System requirements Before you start working on the motor control platform, please make sure you have the hardware and software listed below. Required Hardware ADSP-CM408F EZ-KIT rev 0.2 (This is ordered separately from the EV-MCS-LVDRV-Z) EV-MCS-LVDRV-Z power board, including BLY171D-24V-6000 motor with encoder, power supply and USB to serial cable - Optional Hardware Segger J-Link Lite debugger (This comes with the ADSP-CM408F Ezkit and can be used for executable download, and code development, but is not necessary for basic setup) - Required Software - ADSP-CM40x SW Enablement Package version 1.2.0 (available here : http://sdk.analog.com/dw/sdks.aspx?file=ADUSC03 ) ADIMonitor Graphical User Interface (available here: https://ez.analog.com/docs/DOC-11971 ) Motor Control demo program executable and linker map file (also available here https://ez.analog.com/docs/DOC-11971 ) - Optional Software IAR Embedded Workbench (for code development, version 6.6 or higher) - Segger J-Link Lite driver software - 4 Hardware Setup This section will describe how to setup the hardware. This only has to be performed once, when bringing up a new platform. 4.1 Low Voltage Board Connect the EZ-kit to the Power Board as shown in Figure 1. Make sure both Samtec connectors mate completely. Also, note the location of Encoder, Power and Motor connectors. ANALOG DEVICES Page 4 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 1 Low Voltage Power Board connected to CM408F EZ-kit. Ensure that the Encoder connector is wired as shown in Figure 2 and Table 1. ANALOG DEVICES Page 5 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 2 Wiring of Encoder Connector. Pin Color Signal 1 Red +5V (thick and thin wire) 2 Black GND (thick and thin wire) 3 Green HALL_U 4 Blue (thick) HALL_V 5 White HALL_W 6 Blue (thin) ENC_A+ 7 Orange ENC_A- 8 Yellow ENC_B+ ANALOG DEVICES Page 6 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 9 Grey ENC_B- 10 NC INDEX+ 11 NC INDEX- 12 NC Shield Table 1 Encoder Connector Ensure that the Motor and Power Connectors are wired as shown in Figure 3, Table 2 and Table 3. Figure 3 Wiring of Motor- and Power Connector. Pin Color Signal 1 Red Motor phase U 2 Yellow Motor phase V 3 Black Motor phase W 4 NC Shield Table 2 Motor Connector ANALOG DEVICES Page 7 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Pin Color Signal 1 Brown GND 2 NC Shield 3 Red +24V Table 3 Power Connector 5 Software Setup The software setup steps are as follows: 1. Download and install the ADSP-CM40x SW Enablement Package version 1.2.0 from the link shown previously in “SW Requirements”. This includes the serial boot-loader which is needed for download of the executable to the processor. 2. Download and install the GUI from the Engineer Zone link provided in “SW Requirements”. This requires the .NET framework to be on the PC and it will prompt the user to download this if it is not detected. 3. Download the motor control demo executable program from the Engineer Zone link provided in “SW Requirements” and program this to the processor board (ADSP-CM408 EZkit). The first two steps are fairly self-explanatory. The third step – programming of the executable to the processor – can be carried out in two alternate ways. These are detailed in this section. 5.1 Programming with Serial Downloader The serial downloader (“wsd.exe”) is provided as part of the ADSP-CM408 SW Enablement Package and once this has been installed, assuming default installation directory structures, the downloader is found in C:\Analog Devices\ADSP-CM40x\CM403F_CM408F_EZ-KIT\tool\UARTFlashProgrammer. This method uses the MC_Demo.hex executable provided at the Engineer Zone link. Steps: 1. Connect the EZ-kit to the PC using the USB-UART cable: UART (RS-232) connector on the EZkit, USB on the PC 2. Select Boot Mode 3 (UART Boot) on the EZkit using the selector switch P3 (adjacent to the power connector) ANALOG DEVICES Page 8 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Reset Button Boot mode selector RS232 connector J-link Connector 3. Power up the EZkit 4. Open the Windows Serial Downloader (wsd.exe) and select the appropriate options: Target: ADSP-CM40x (flash) Serial Port: Select the COM port to which the USB-serial cable is connected (if in doubt, check under ‘Device Manager->Ports’ Baudrate: 115200 5. Click "Browse" under "File to download" and navigate to the provided executable “MC_demo.hex” 6. Select "Start" ANALOG DEVICES Page 9 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 7. Once the operation completes, select Boot Mode 1 (SPI Flash Boot) on the EZkit, using the selector switch P3 (adjacent to the power connector) 8. Reset the EZkit (SW2 adjacent to power connector) At this point the application should now be executing or loaded from flash, and the GUI can be connected to run the motor. 5.2 Programming with Segger J-Link This method uses the JLink software and the debugger provided with the EZkit to program the processor flash memory. 1. Download and install Segger JLink Software ( http://www.segger.com/jlink-software.html) 2. Click the blue download button under Windows. The version number may be different from the one shown below. ANALOG DEVICES Page 10 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 3. Enter your Segger JLink Lite serial number in the next box. This number is printed on the microcontroller on the debugger board. 4. Click the confirmation box on the next screen, download the software and install (default location is C:\Program Files(x86)\Segger) 5. Connect the JLink to the PC USB port and the other end to the 20 pin connector on the CM40x board. 6. The PC will start automatically start installing drivers for your Jlink . Let it complete and turn on power to the EZkit. 7. Turn on power to the CM408x board. 8. Go to the location where Segger was installed and click on JLink .exe. In this case it is in: C:\Program Files (x86)\SEGGER\JLink_V490 (The version number and folder name may be different to the one in this example.) 9. The following should be displayed in the Jlink window. It should identify that a Cortex-M4 is connected to the Jlink . 1. Enter the following at the prompt: exec device = ADSP-CM408BSWZ-BF The following will be displayed indicating that the chip has been identified correctly: 2. Copy the binary file you need to load into the CM40x in a known location. For this example, we will be placing the file MC_demo.bin in C:\temp ANALOG DEVICES Page 11 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 3. In the JLink window, type the following to load the binary code at address 0x1800 0000, which is the start of flash. loadbin c:\temp\MC_demo.bin, 0x18000000 A new window pops up, indicating progress: The JLink window will also show information about the flash procedure. 4. Reset the EZkit (SW2 adjacent to power connector) At this point the application should now be executing or loaded from flash, and the GUI can be connected to run the motor. 6 GUI Configuration Once the installation zip file is extracted, the GUI application is loaded by running the installer executable “ADIMonitorGUI.exe”. This GUI requires the .NET framework and this will be downloaded if it is not already on the PC. The first step is to set up the serial port (having connected the USB-serial converter to the EZkit RS232 port). This is accomplished by right-clicking the bottom right-hand corner of the GUI and selecting Connect. The program should automatically select the correct COM port, but if several options are available, right-click Configure and select the correct one. Once this is selected press, Save and then Connect. ANALOG DEVICES Page 12 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 4: Serial Port Setup The next step is to configure the motor control settings. These are listed in Table 4, along with an explanation of their relevance. The default settings are for open loop Volts/Hz control. Closed loop fieldoriented control (FOC) can also be selected by changing the setting for VF_CTRL. (The executable provided will run in either mode; however, sample C code is only provided and supported for open loop mode). Parameter VF_GAIN VF_BOOST VF_MAX_RATE I_MAX MAX_RPM VF_CTRL CCW rotation Speed reference Open Loop V/f control Volts per Hz representation Low speed boost voltage representation RPM change per 0.1 ms sample Not used Closed loop FOC Only used for open loop Only used for open loop Only used for open loop Not used Max rpm Set to 1 for open loop V/f Set to 0 for closed loop FOC Check for CCW rotation. Uncheck for CW rotation. When looking into shaft end of motor. Speed reference Table 4: Motor Control Settings Once the configuration settings have been entered, press Configure. Typical settings for open loop control are depicted in Figure 5. Please note that the VF_GAIN and VF_BOOST settings do not directly refer to volts/Hz or volts quantities. Care should be taken when setting the VF_GAIN quantity. If it is set too high, the motor will draw large currents and an overcurrent trip may occur. Also if the VF_MAX_RATE is set too high, the applied motor voltage and frequency will ramp too quickly – especially if a large step change in speed reference occurs – potentially causing an overcurrent trip. If an overcurrent or PWM trip occurs, set the GUI start/stop command to Stop and reset the EZkit using the reset switch. Reduce VF_GAIN or VF_MAX_RATE to limit the steady state and transient current amplitudes. ANALOG DEVICES Page 13 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 5: Motor Control Configuration – Typical open loop settings. . 7 Running the Motor In order to control the motor, navigate to the Control and Monitor tab. From here, the motor can be started by pressing the Start button, and the speed varied by moving the slider or entering a speed in the numeric box. This is illustrated in Figure 6. ANALOG DEVICES Page 14 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 6: Motor Run Screen 8 Data Visualization In order to import visualization data into the GUI, the linker map file (MC_demo.map) provided with the demo C code or executable must be loaded. This is selected from the Configure tab as illustrated in Figure 7 with the resultant variable list shown in Figure 8. The variables provided by default have a UID_ prefix in the map file and are listed in the Table below, along with their data types. It should be noted that the GUI cannot determine from the map file if a variable has signed or unsigned type, so if a variable is of signed type (e.g. duty_a) it is necessary to manually change the Type from UINT16 to SINT16 in the relevant column of Figure 8. Variable Name Idc_LV Idc_LV_adc Vd Vdc_LV Vdc_LV_adc Vq Vu_LV Vu_LV_adc ANALOG DEVICES Variable DC bus current in Amps DC bus current – ADC value D-axis motor voltage per unit DC bus voltage in Volts DC bus voltage – ADC value Q-axis motor voltage per unit U-phase motor voltage (filtered) in Volts U-phase motor voltage (filtered) – ADC value Data Type SINGLE UINT16 SINGLE SINGLE UINT16 SINGLE SINGLE UINT16 Page 15 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Vv_LV Vv_LV_adc Vw_LV Vw_LV_adc duty_a duty_b duty_c hall_state_monitor ia_adc ia_sar ia_sinc ib_adc ib_sar ib_sinc ib_sinc_raw ic_adc ic_sar ic_sinc ic_sinc_raw qep_cnt_monitor speed_fil speed_raw theta_enc theta_vf ANALOG DEVICES V-phase motor voltage (filtered) in Volts V-phase motor voltage (filtered) – ADC value W-phase motor voltage (filtered) in Volts W-phase motor voltage (filtered) – ADC value A phase duty cycle counter B phase duty cycle counter C phase duty cycle counter Hall signals code U phase current – SAR ADC value U phase current – SAR Amps value U phase current – SINC Amps value V phase current – SAR ADC value V phase current – SAR Amps value V phase current – SINC Amps value V phase current – SINC ADC value W phase current – SAR ADC value W phase current – SAR Amps value W phase current – SINC Amps value W phase current – SINC ADC value Quadrature encoder count Speed in rpm (filtered) Speed in rpm (unfiltered) Electrical angle from encoder Open loop electrical angle SINGLE UINT16 SINGLE UINT16 SINT16 SINT16 SINT16 UINT16 UINT16 SINGLE SINGLE UINT16 SINGLE SINGLE SINT16 UINT16 SINGLE SINGLE SINT16 UINT16 SINGLE SINGLE SINGLE SINGLE Page 16 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 7: Load Map file for Data Visualization Figure 8: Visualization Variables In order to select a variable for plotting, selection is by means of the check-box in the Plot column. The ANALOG DEVICES Page 17 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 variable can be plotted in Plot 1 or Plot 2 (see Figure 6). There are certain constraints on the number of bytes and buffers that can be streamed using the GUI. The program will limit the total buffer size to 1.7k bytes. The number of variables plotted can be increased by reducing the buffer size, which is maximum 200, although a total maximum selected variable size of 8 bytes is allowed (e.g. 2xSINGLE or 4xINT16, or 1xSINGLE+2xINT16 etc). The steps to prepare for plotting of variables are (refer to Figure 9): 1. Select all of the variables to be plotted and whether each one is to be on Plot 1 or Plot 2, bearing in mind the maximum buffer memory size (1.7k) and the maximum byte count per buffer (8). 2. Down Sampling factor – the buffer time slice length equals the PWM switching period x Down Sampling ratio, so for a down sampling ratio of 1, the sampling period will be 100s, and with a buffer length of 200, the plot time slices will be of 20ms length. To look at longer time slices, increase the down sampling factor. 3. Press Update Configuration 4. On the Control and Monitor tab, press Start Plotting. 5. If the variables are to be changed, press Stop Plotting and return to the Configure tab to change the configured variables. ANALOG DEVICES Page 18 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 9: Setup of Variables for Plotting The variables will start to plot in the Control and Monitor tab as illustrated in Figure 10. ANALOG DEVICES Page 19 Quick Start Guide for EV-MCS-LVDRV-Z Motor Drive Evaluation Platform Rev. 0.1 Figure 10: Variable plotting 9 Support For support issues on setup and operation of the EV-MCS-LVDRV-Z platform, please visit the Engineer Zone support site at https://ez.analog.com/community/motor-control-hardware-platforms2 . For other support issues: - - Visit the Technical Support web site at http://www.analog.com/support For processor and processor tools specific questions, visit https://ez.analog.com/community/dsp or email [email protected] E-mail processor questions to [email protected] [email protected] (China and Taiwan only) Phone questions to 1-800-ANALOGD Contact your Analog Devices, Inc. local sales office or authorized distributor Send questions by mail to: Analog Devices, Inc. 3 Technology Way P.O. Box 9106 Norwood, MA 02062-9106 USA ANALOG DEVICES Page 20