MTRCKTSPS5643L Quick Start Guide

Quick Start Guide
3-Phase PMSM Motor Control
Development Kit
with Qorivva MPC5643L MCU
Quick Start Guide
3-Phase PMSM Motor Control
Development Kit with
Qorivva MPC5643L MCU
3-Phase
PMSM Motor
3-Phase
Low-Voltage
Power Stage
MPC5643L
Controller Board
2
3-Phase PMSM Motor Control
Development Kit with
Qorivva MPC5643L MCU Contents
Hardware
Resource
• Qorivva MPC5643L controller board
• Modular PMSM application
source code configured for this
development kit
• 3-phase PMSM/BLDC low-voltage
power stage based on the MC33937A
pre-driver integrated circuit
• 3-phase PMSM motor, 25 V per
phase, 3000 RPM, 0.54 nm,
TGN2-0054-30-36
• Automotive math and motor control
library set for MPC5643L installation
package
• FreeMASTER installation pack
• USB cable
• FreeMASTER project
• +24 VDC power supply
• 3-phase PMSM development kit quick
start guide
• 3-phase PMSM development kit fact
sheet
• Dual 3-phase PMSM development
kit with MPC5643L application note
AN4518
• Qorivva MPC5643L controller board
user guide
• 3-phase BLDC/PMSM low-voltage
power stage user guide
3
Quick Start Guide
3-Phase Low-Voltage Power Stage
Brake Resistor
Motor
Connector
MC33937A
Overcurrent
Threshold
Setup
UNI-3
Interface
Power Supply
Connector
MC33937A
Interface
Power Supply
Terminal
4
Qorivva MPC5643L Controller Board
Encoder Sensor
1 and 2
Resolver 2
Interface
M1 PWM
LED and Fault
Indicators
Resolver 1
Interface
M2 PWM
LED and Fault
Indicators
Buttons
M1 UNI-3
Interface
Switch
JTAG
Connector
M2 UNI-3
Interface
NEXUS
Connector
M1 MC33937A
Interface
Power Supply
Connector
M2 MC33937A
Interface
CAN
Connector
FlexRay™
Connectors
USB
Connector
LIN
Header
5
Quick Start Guide
Software Tools Installation
Install the FreeMASTER debugging
tool. For FreeMASTER application
download, please visit
freescale.com/freemaster.
1
Install the CP210x virtual COM
port driver. For the CP210x virtual
COM port driver installation
file, please visit freescale.com/
automcdevkits Downloads section.
2
6
Run “Device Manager” on your
system and check which COM
port was assigned to the CP210x
COM port driver.
3
Kit Installation
1
Connect the USB cable to the
MPC5643L controller board and
the host PC.
Connect the power supply to
the power stage. The controller
board power supply is taken from
the power stage. The PMSM motor is
designed for phase voltage = 25 V.
2
Download and unzip the
application software for the
MTRCKTSPS5643L available at
freescale.com/automcdevkits.
3
Note: Please make sure the development kit
is updated with the downloaded application
software before proceeding to step 4.
4
Start the FreeMASTER project
MPC5643L_PMSM_Single.pmp
located in MTRCKTSPS5643L\
SW\MPC5643L_PMSM_Single project
directory.
In FreeMASTER\Project\Options,
choose the RS232 COM port
number that was assigned
to the CP210x driver and set the
communication speed to 19200 Bd.
5
Enable communication by
pressing the “STOP” button in
the FreeMASTER, or by pressing
“CTRL+K.”
6
Successful communication is
signalized in the status bar. If the
communication is not established,
check the USB connection between the
PC and Qorivva MPC5643L controller
board, communication port and speed,
as described in step 5.
7
7
Quick Start
Quick
Start Guide
Guide for TWRPI-MMA845xQ
Application Control
Green LED D19 (GPIO13) related
to motor 1 (on the Qorivva
MPC5643L controller board) has
the following functionality:
1
• OFF if the application is in the READY,
INIT states
• Slow flashing if the application is in the
CALIB, ALIGN states (flashing with a
period of 2 Hz)
• ON if the application is in the RUN
state
• Fast flashing if the application is in the
FAULT state (flashing with a period of
8 Hz)
If no actual faults are present in the
system, all the LED-like indicators
on the FreeMASTER control page
will be dark red. If there is a fault present,
identify the source of the fault and remove
it. Successful removal is signalized by the
switching off of the respective LED-like
indicator on the FreeMASTER control
page.
2
8
Press the UP + DOWN buttons
(SW2+SW1 on the Qorivva
MPC5643L controller board)
simultaneously to clear the fault status
register once in the FAULT state.
The application can be restarted by
positioning the RUN/STOP switch (SW3
on Qorivva MPC5643L controller board)
to the RUN position (transition from STOP
to RUN in case the switch was in the
RUN state when the fault event occurred).
3
If all the LED-like indicators on
the FreeMASTER control page
are off, clear pending faults
by pressing the green circled button
“FAULT CLEAR” on the FreeMASTER
control page, or alternatively by pressing
the UP+DOWN buttons (SW2+SW1
on the Qorivva MPC5643L controller
board) simultaneously. The RUN/STOP
switch (SW3 on the Qorivva MPC5643L
controller board) must be in STOP
position.
4
Application Control (continued)
Start the application by pressing
1 - “RUN” on the flip/flop (ON/OFF)
switch on the FreeMASTER control
page or by positioning the RUN/STOP
switch (SW3 on the Qorivva MPC5643L
controller board) to the RUN position
(transition from STOP to RUN in case the
switch was in the RUN state when a fault
event occurred).
5
Enter the required speed by
assigning this value to the “Nreq”
variable in the variables watch
window. The value is in revolutions per
minute. Alternatively, the rotor speed
can be increased/decreased by pressing
the UP/DOWN switches on the Qorivva
MPC5643L controller board.
6
Stop the application by pressing 0
- “STOP” on the flip/flop (ON/OFF)
switch on the FreeMASTER control
page, or by positioning the RUN/ STOP
switch (SW3 on the Qorivva MPC5643L
controller board) to the STOP position.
7
RESET the application anytime
by pressing the blue circled
button “H/W. RESET” on the
FreeMASTER control page.
8
9
Quick Start
Quick
Start Guide
Guide for TWRPI-MMA845xQ
Qorivva MPC5643L Controller Board
Jumper Options
Jumper Selector
Functions
Connections
JP100,
JP101
CAN
Termination
Terminate CAN bus node
closed
JP102
MC33905
Debug Mode
Enter SBC driver MC33905 to debug mode
closed
JP103
MC33905
Save Mode
Enter SBC driver MC33905 to safe mode
closed
JP206
Resolver
Enable
J202
J209
Resolver
SIN Input
J205
J212
Resolver
COS Input
J201
J208
Phase A
Digital Signal
J203
J210
Phase B
Digital Signal
10
Resolver reference input signal from SWG module
1–2
Resolver reference input signal from eTimer1-channel5
2–3
Positive input for SIN OPAM is DC offset voltage set up by
trimmer R208, R258
1–2
Positive input for SIN OPAM is REFSIN input of resolver
2–3
Positive input for COS OPAM is DC offset voltage set up by
trimmer R208, R258
1–2
Positive input for COS OPAM is REFCOS input of resolver
2–3
Resolver_X Phase A signals is connected to
eTimer0-channel[0] resp. eTimer1-channel[1]
closed
Resolver_X Phase A signals is not connected to
eTimer0-channel[0] resp. eTimer1-channel[1]
open
Resolver_X Phase B signals is connected to
eTimer0-channel[1] resp. eTimer1-channel[1]
closed
Resolver_X Phase B signals is not connected to
eTimer0-channel[1] resp. eTimer1-channel[1]
open
Qorivva MPC5643L Controller Board
Jumper Options (continued)
Jumper Selector
J301
J302
FAULT1
Selection
FAULT5
Selection
J17 J18
J19
BOOT
Selection
J500
Encoder 1
Phase A
J501
Encoder 1
Phase B
J502
Encoder 0
Index
J503
Encoder 1
Home
Functions
Connections
UNI-3 M1 Phase A overcurrent signal is connected to
FAULT1 input G[9]
1–2
UNI-3 M1 DC-bus overcurrent signal is connected to
FAULT1 input G[9]
2–3
UNI-3 M2 Phase A overcurrent signal is connected to
FAULT5 input I[1]
1–2
UNI-3 M2 DC-bus overcurrent signal is connected to
FAULT5 input I[1]
2–3
FAB–MPC5643L boot from internal flash
ABS0–see MPC5643L documentation
ABS1–see MPC5643L documentation
closed
Encoder1 JP500 pin three “PHASE A” is connected to
eTimer0-channel[0]
1–2
UNI-3 “M1_BEMFZCA” is connected to eTimer0-channel[0]
2–3
Encoder1 JP500 pin four “PHASE B” is connected to
eTimer0-channel[1]
1–2
UNI-3 “M1_BEMFZCB” input signal is connected to
eTimer0-channel[1]
2–3
Encoder1 JP500 pin five “INDEX” is connected to
eTimer0-channel[4]
1–2
UNI-3 “M1_BEMFZCC” input signal is connected to
eTimer0-channel[4]
2–3
Encoder1 JP500 pin six “HOME” is connected to
eTimer0-channel[5]
closed
11
Quick Start
Quick
Start Guide
Guide for TWRPI-MMA845xQ
Qorivva MPC5643L Controller Board
Jumper Options (continued)
Jumper Selector
J504
J505
Encoder 2
Phase A
Encoder 2
Phase B
Functions
Connections
Encoder2 JP501 pin three “PHASE A” is connected to
eTimer1-channel[1]
1–2
UNI-3 “M2_BEMFZCA” input signal is connected to
eTimer1-channel[1]
2–3
Encoder2 JP501 pin four “PHASE B” is connected to
eTimer1-channel[2]
1–2
UNI-3 “M2_BEMFZCB” input signal is connected to
eTimer1-channel[2]
2–3
Encoder2 JP501 pin five “INDEX” is connected to
eTimer1-channel[3]
1–2
UNI-3 “M2_BEMFZCC” input signal is connected to
eTimer1-channel[3]
2–3
J506
Encoder 2
Index
J507
Encoder 2
Home
Encoder2 JP501 pin six “HOME” is connected to
eTimer1-channel[4]
closed
M1 DC BUS
Voltage
M1 DC BUS Voltage signal from UNI-3 is connected to
GPIO B[8], ADC0 channel1
R336 populated
M1 DC BUS
Current
M1 DC BUS Current signal from UNI-3 is connected to
GPIO B[14], ADC1 channel1
R338 populated
M2 DC BUS
Voltage
M2 DC BUS Voltage signal from UNI-3 is connected to
GPIO C[0], ADC0 channel3
R337 populated
M2 DC BUS
Current
M2 DC BUS Current signal from UNI-3 is connected to
GPIO C[2], ADC1 channel3
R339 populated
12
Qorivva MPC5643L Controller Board
Jumper Options (continued)
Jumper Selector
Analog Input
11
Analog Input
12
ADC0 Analog
Input 2
Analog Input
13
Analog Input
14
ADC1 Analog
Input 2
Functions
Connections
UNI-3 M1 Phase A current is connected to GPIO B[9],
ADC 0/1 input 11
R343 populated
UNI-3 M1 Phase A Back-EMF Voltage is connected to
GPIO B[9], ADC 0/1 input 11
R348 populated
UNI-3 M1 Phase B current is connected to GPIO B[10],
ADC 0/1 input 12
R352 populated
UNI-3 M1 Phase B Back-EMF Voltage is connected to
GPIO B[10]m ADC 0/1 input 12
R354 populated
UNI-3 M1 Phase C current is connected to GPIO C[1],
ADC 0 input 2
R358 populated
UNI-3 M1 Phase C Back-EMF Voltage is connected to
GPIO C[1]m ADC 0 input 2
R360 populated
UNI-3 M2 Phase A current is connected to GPIO B[11],
ADC 0/1 input 13
R344 populated
UNI-3 M2 Phase A Back-EMF Voltage is connected to
GPIO B[11], ADC 0/1 input 13
R349 populated
UNI-3 M2 Phase B current is connected to GPIO B[12],
ADC 0/1 input 14
R353 populated
UNI-3 M2 Phase B Back-EMF Voltage is connected to
GPIO B[12]m ADC 0/1 input 14
R355 populated
UNI-3 M2 Phase C current is connected to GPIO B[15],
ADC 1 input 2
R359 populated
UNI-3 M2 Phase C Back-EMF Voltage is connected to
GPIO B[15]m ADC 1 input 2
R361 populated
13
Quick Start
Quick
Start Guide
Guide for TWRPI-MMA845xQ
Qorivva MPC5643L Controller Board
Jumper Options (continued)
Jumper Selector
14
Functions
Connections
M1 TEMP
UNI-3 Temperature signal is connected to ADC0 input four.
R370 populated
M2 TEMP
UNI-3 Temperature signal is connected to ADC1 input four
R371 populated
M1 Brake
UNI-3 M1 Brake output signal is connected to GPIO G[6]
(PWM0-A3)
R362 populated
M2 Brake
UNI-3 M2 Brake output signal is connected to GPIO H[14]
(PWM1-A3)
R363 populated
M1 PFC
UNI-3 M1 PFC output signal is connected to GPIO G[7]
(PWM0-B3)
R364 populated
M2 PFC
UNI-3 M2 PFC output signal is connected to GPIO H[15]
(PWM1-B3)
R365 populated
M1 PFC_EN
UNI-3 M1 PFC Enable signal is connected to GPIO C[10]
R366 populated
M2 PFC_EN
UNI-3 M2 PFC Enable signal is connected to GPIO E[13]
R367 populated
Qorivva MPC5643L Board Jumper Position
J505
Enc2
Phase A
J505
Enc2
Phase B
J505
Enc2
Index
J506
Enc2
Home
J201,
J209
Phase A
J203,
J210
Phase B
J202
Resolver 2
SIN Input
J206
Resolver
Enable
J205
Resolver 2
COS Input
J503 Enc1
Home
J500 Enc1
Phase A
J202
Resolver 1
SIN Input
J501 Enc1
Phase B
J502 Enc1
Index
J205
Resolver 1
COS Input
ABS0
ABS1
FAB
Fault1
Selection
J102
MC33905
Debug Mode
Fault5
Selection
J100, J101 CAN
Termination
J103 MC33905
Save Mode
15
Quick
Start
Guide
Quick
Quick
Start
Start
Guide
Guide
Support
Visit freescale.com/support for a list of phone
numbers within your region.
Warranty
Visit freescale.com/warranty for complete
warranty information.
For more information, visit
freescale.com/automcdevkits
Freescale, the Freescale logo and Qorivva are trademarks of Freescale
semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. All other product or service
names are the property of their respective owners.
© 2012, 2013 Freescale Semiconductor, Inc.
Doc Number: MTRCKTSPS5643LQSG REV 1
Agile Number: 926-78748 Rev B