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User Manual MCU-AN-510112-E-10 32-BIT MICROCONTROLLER MB9AF112L SERIES PMSM PROTECTION TECHENOLOGY USER MAMUAL ARM and Cortex-M3 are the trademarks of ARM Limited in the EU and other countries. Protection Technology V1.0.0 Revision History Revision History Version Date Updated by 1.0.0 2012-1-17 Devin Zhang Approved by Modifications First Draft This manual contains 16 pages. Specifications are subject to change without notice. For further information please contact each office. All Rights Reserved. The contents of this document are subject to change without notice. Customers are advised to consult with sales representatives before ordering. The information, such as descriptions of function and application circuit examples, in this document are presented solely for the purpose of reference to show examples of operations and uses of FUJITSU SEMICONDUCTOR device; FUJITSU SEMICONDUCTOR does not warrant proper operation of the device with respect to use based on such information. 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The products described in this document are designed, developed and manufactured as contemplated for general use, including without limitation, ordinary industrial use, general office use, personal use, and household use, but are not designed, developed and manufactured as contemplated (1) for use accompanying fatal risks or dangers that, unless extremely high safety is secured, could have a serious effect to the public, and could lead directly to death, personal injury, severe physical damage or other loss (i.e., nuclear reaction control in nuclear facility, aircraft flight control, air traffic control, mass transport control, medical life support system, missile launch control in weapon system), or (2) for use requiring extremely high reliability (i.e., submersible repeater and artificial satellite). Please note that FUJITSU SEMICONDUCTOR will not be liable against you and/or any third party for any claims or damages arising in connection with above-mentioned uses of the products. Any semiconductor devices have an inherent chance of failure. You must protect against injury, damage or loss from such failures by incorporating safety design measures into your facility and equipment such as redundancy, fire protection, and prevention of over-current levels and other abnormal operating conditions. Exportation/release of any products described in this document may require necessary procedures in accordance with the regulations of the Foreign Exchange and Foreign Trade Control Law of Japan and/or US export control laws. The company names and brand names herein are the trademarks or registered trademarks of their respective owners. Copyright © 2011 Fujitsu Semiconductor Design (Chengdu) Co. Ltd. All rights reserved. MCU-AN-510112-E-10 – Page 2 Protection Technology V1.0.0 Contents Contents REVISION HISTORY ............................................................................................................ 2 CONTENTS .......................................................................................................................... 3 1 INTRODUCTION .............................................................................................................. 4 1.1 Purpose ................................................................................................................... 4 1.2 Document Overview ................................................................................................ 4 2 PRINCIPLE OF MOTOR PROTECTION TECHNOLOGY ................................................ 5 2.1 AD Offset Detection................................................................................................. 5 2.2 Open Phase Detection ............................................................................................ 6 2.3 Motor Locked Detection........................................................................................... 7 2.4 Over-Low DC Voltage Detection.............................................................................. 8 2.5 IPM Protection Detection ......................................................................................... 9 2.6 PFC hardware over current Protection Detection................................................... 10 2.7 PFC software over current Protection Detection .................................................... 11 2.8 PFC software over voltage Protection Detection.................................................... 11 3 FLOW CHART AND FAULT CODE DEFINITION OF PROTECTION FUNCTION ......... 12 3.1 Flow Chart of Protection Function ......................................................................... 12 3.2 Definition of Fault Code ......................................................................................... 13 4 ADDITIONAL INFORMATION ....................................................................................... 15 5 APPENDIX ..................................................................................................................... 16 5.1 List of Figures and Tables ..................................................................................... 16 MCU-AN-510112-E-10 – Page 3 Protection Technology V1.0.0 Chapter 1 Introduction 1 Introduction 1.1 Purpose This user manual describes the operation of motor driver protection technology based on the FUJITSU FM3 32 bits in MB9AF112L Series. This user manual describes FUJITSU protection solution for permanent magnet DC motor driver, which includes motor-lock detection, open-phase detection, start-up detection, overcurrent detection, over voltage detection, low voltage, IPM protection and so on. 1.2 Document Overview The rest of document is organized as the following: Chapter 2 explains the principle of motor protection technology. Chapter 3 explains flow chart and fault code definition of protection function. Chapter 4 explains additional information. Chapter 5 explains appendix. MCU-AN-510112-E-10 – Page 4 Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2 Principle of Motor Protection Technology This chapter describes the item and implementation of motor protection method in details. 2.1 AD Offset Detection In FUJITSU motor sampling current solution, It has a steady middle level voltage (2.5V), which needs to detect before motor start-up each time. And in the program, the real-time sampling middle voltage has been described as “uphase_midvol”, “vphase_midvol” in dual resistance sampling system, or “Ibus_midvol” in single shunt sampling system. Set the range of tolerance AD offset value (+adoffset_tolerance). The current AD sampling value of the OP-Amplifier is detected at the power on stage. If the detected middle voltage is lower than “2.5-adoffset_tolerance”, or larger than “2.5+adoffset_tolerance”, the program would deal with it as an error, the error flag ‘pmsm_error_type’ for AD offset would be set to ‘1’and motor is stopped. Otherwise, the program would take the real-time sampling value as steady middle voltage to operation, and set “pmsm_error_type ==0” and start up motor. The figure of implementation of AD offset detection is as follows: uphase_midvol vphase_midvol pmsm_error_type Ibus_midvol adoffset_tolerance Figure 2-1 AD offset detection of current sample MCU-AN-510112-E-10 – Page 5 Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2.2 Open Phase Detection Based on the difference situation, open phase fault can be appeared before motor start-up or motor running. The first situation, when in start-up motor, at the orientation stage, it would sample the phase current (‘pmsm_isalpha’), at the same time, based on the Q-axis reference current (‘pmsm_isqref’) and the rotor angle (‘pmsm_theta’), the α-axis current (‘lose_isalpha’) can be calculated. If the sampling current value (‘pmsm_isalpha’) is nearly less than ¾ ‘lose_isalpha’, or ‘pmsm_isalpha’ is larger than 5/4 ‘lose_isalpha’ in continuous 50ms, the error flag ‘pmsm_error_type’ for open phase would be set to ‘1’ and motor is stopped, otherwise, startup motor as normal. The second, when in running motor, when the given Q-axis reference current is larger than 1A, If the average of current sample value is nearly less than 0.5A in continuous 200ms, motor is stopped right now, and the error flag ‘pmsm_error_type’ for open phase would be set to ‘1’. Otherwise, run motor as normal. (Attention: 1A and 0.5A are manual given, which should be changed in different driver system for getting the best effect.) orientation Open phase detection in open-loop stage Open phase detection in close-loop stage Figure 2-2 Sequence diagram of motor open phase detection pmsm_iu pmsm_iv Detect motor state, pmsm_error_type Detect three phase state pmsm_iw Figure 2-3 Motor open phase detection module frame MCU-AN-510112-E-10 – Page 6 Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2.3 Motor Locked Detection Start-up motor, if the motor runs in the open loop stage, and the given PI target speed is no more less than 800RPM. When the running time is over 1s, but the estimated speed (‘omegaMr_avr’) in program is also less than 500rpm, motor is stopped right now, and the error flag ‘pmsm_error_type’ for the locked rotor would be set to ‘1’. Otherwise, run motor as normal. The other situation, if the motor runs in the close loop stage, and the given PI target speed is larger than 3000RPM. the estimated speed (‘omegaMr_avr’) in program is less than 1200rpm lasting out more than 500ms, or the given PI target speed is larger than 2400RPM. the estimated speed (‘omegaMr_avr’) in program is less than 600rpm lasting out more than 500ms, motor is stopped right now, and the error flag ‘pmsm_error_type’ for the locked rotor would be set to ‘1’. Otherwise, run motor as normal. Estimated speed Orientation Open loop Close loop Target speed Figure 2-4 Flow chart of motor locked detection omegaMr_avr Target_speed Motor locked detection module pmsm_error_type Figure 2-5 Motor locked detection module frame MCU-AN-510112-E-10 – Page 7 Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2.4 Over-Low DC Voltage Detection With the influence of electrical net and PFC modul, it would maybe induce the wavy DC voltage. Sample DC voltage, if the sampling DC voltage is larger or less than the given range of the steady DC voltage, it would be deal with as a over or low DC voltage fault. The details are as follows: Over DC voltage protection: if the real-time sample DC voltage(‘direct_voltage’) is larger than the given max DC voltage(‘max_dcvoltage’) lasting out 1ms, motor is stopped, and the error flag ‘pmsm_error_type’ for over DC voltage would be set to ‘1’ . Otherwise, run motor as normal. Low DC voltage protection: if the real-time sample DC voltage(‘direct_voltage’) is less than the given minimal DC voltage(‘min_dcvoltage’) lasting out 1ms, motor is stopped, and the error flag ‘pmsm_error_type’ for low DC voltage would be set to ‘1’ . Otherwise, run motor as normal. More than 1ms max_dcvoltage direct_voltage min_dcvoltage More than1ms Figure 2-6 Sequence diagram of motor over-low voltage detection direct_voltage max_dcvoltage pmsm_error_type min_dcvoltage Figure 2-7 Motor over-low voltage detection module frame MCU-AN-510112-E-10 – Page 8 Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2.5 IPM Protection Detection When running the motor, if the hardware IPM is over hot, over current or low power(+15v), the pin(FO) of the IPM would put out a low level signal. Then, motor is stopped right now, and set ‘pmsm_status ==3’. Attention: When the IPM is over hot, only the pin (FO) would put out a low level signal just lies on the IPM module has the temperature detection function. The manual given value of the max current for protection lies on the parameter of the current protection circuit, IPM current trigger value and the ability of the anti-jamming. The point of IPM over temperature The point of IPM temperature protection Value of the IPM temperature The point of IPM current protection Value of the IPM current +15V +13.6V The point of low voltage The point of IPM over current Figure 2-8 Sequence diagram of IPM hardware over current detection +15V IPM tempereture pmsm_status DC voltage Figure 2-9 IPM hardware over current detection module frame MCU-AN-510112-E-10 – Page 9 Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2.6 PFC hardware over current Protection Detection When running the PFC module, if the current of the PFC circuit is larger than the max permitted current, the PFC hardware circuit would put out a low pulse signal and trigger an interrupt to close the PFC operation. The error flag ‘PFC_stop_Flag’ for PFC module would be set to ‘1’. Otherwise, run PFC module as normal. AcCurrent PFC_stop_Flag Parameter of hardware Figure 2-10 PFC over current detection module frame The value of PFC over current The point of PFC current protection AcCurrent PFC_INT PFC_startup The time of PFC start-up Figure 2-11 Sequence diagram of PFC over current detection MCU-AN-510112-E-10 – Page 10 state Protection Technology V1.0.0 Chapter 2 Principle of Motor Protection Technology 2.7 PFC software over current Protection Detection When running the PFC module, if the current of the AC side is larger than the given max current in program, it should stop the PFC operation and set the error flag “PFC_stop_Flag ==6”. Otherwise, run the PFC module as normal. Attention: the sequence diagram of PFC software over current protection detection is similar as the motor over current detection. 2.8 PFC software over voltage Protection Detection When running the PFC module, if the DC voltage is larger than the given max voltage in program, it should stop the PFC operation and set the error flag “PFC_stop_Flag ==5”. Otherwise, run the PFC module as normal. Attention: the sequence diagram of PFC software over DC voltage protection detection is similar as the motor over voltage detection. MCU-AN-510112-E-10 – Page 11 Protection Technology V1.0.0 Chapter 3 Flow chart and fault code definition of protection function 3 Flow chart and fault code definition of protection function This chapter describes the flow chart and fault code definition of protection function. 3.1 Flow Chart of Protection Function Start up Initial port and register AD offset detection DC over-low voltage detection IPM over current detection Y PFC_startup==1 N Open phase detection Motor locked detection PFC hardware over current detection PFC software over current detection PFC over DC voltage detection Figure 3-1 Flow Chart of Protection Function MCU-AN-510112-E-10 – Page 12 Protection Technology V1.0.0 Chapter 3 Flow chart and fault code definition of protection function 3.2 Definition of Fault Code In fujitsu motor driver system, the definitions of fault code can be described as Table 3-1, it also can be found in the relevant head files. pmsm_error_type = 0x00, //Motor initial or normal state pmsm_error_type = 0x01, //Motor over DC voltage state pmsm_error_type = 0x02, // Motor low DC voltage state pmsm_error_type = 0x04, //Motor software over current state pmsm_error_type = 0x08, //Motor failed start-up pmsm_error_type = 0x10, //Motor open phase state pmsm_error_type = 0x20, //No Motor pmsm_error_type = 0x40, //Motor AD offset fault state pmsm_error_type = 0x80 //Motor locked state PFC_stop_Flag = 0; //PFC initial or normal state PFC_stop_Flag = 1; //PFC hardware over current state PFC_stop_Flag = 5; //PFC software over voltage state PFC_stop_Flag = 6; //PFC software over current state MCU-AN-510112-E-10 – Page 13 Protection Technology V1.0.0 Chapter 3 Flow chart and fault code definition of protection function Table 3-1: Fault Code of Protection Function Fault Code Type of Fault Reason 0x0000 Motor initial or normal state Motor stop or normal run 0x0001 Motor over DC voltage state High AC input, DC sample circuit fault, PFC abnormity 0x0002 Motor low DC voltage state Low AC input, DC sample circuit fault 0x0004 Motor software over current state Motor run abnormity, current sample fault 0x0008 Motor failed start-up Improper parameter，hardware driver fault 0x0010 Motor open phase state Motor connected abnormity 0x0020 No Motor Motor connected abnormity 0x0040 Motor AD offset fault state AD current sample abnormity 0x0080 Motor locked state Motor fault, Improper parameter, hardware circuit fault 0 PFC initial or normal state PFC no work or normal work 1 PFC hardware over current state PFC run abnormity or sample fault or hardware fault 5 PFC software over voltage state PFC run abnormity or sample fault or hardware fault 6 PFC software over current state PFC run abnormity or sample fault or hardware fault MCU-AN-510112-E-10 – Page 14 Protection Technology V1.0.0 Chapter 4 Additional Information 4 Additional Information For more Information on FUJITSU semiconductor products, visit the following websites: English version address: http://www.fujitsu.com/cn/fsp/services/mcu/32bit/fm3/an.html Chinese version address: http://www.fujitsu.com/cn/fss/services/mcu/32bit/fm3/an.html MCU-AN-510112-E-10 – Page 15 Protection Technology V1.0.0 Chapter 5 Appendix 5 Appendix 5.1 List of Figures and Tables Table 3-1: Fault Code of Protection Function ....................................................................... 14 Figure 2-1 AD offset detection of current sample ................................................................... 5 Figure 2-2 Sequence diagram of motor open phase detection ............................................... 6 Figure 2-3 Motor open phase detection module frame ........................................................... 6 Figure 2-4 Flow chart of motor locked detection ..................................................................... 7 Figure 2-5 Motor locked detection module frame ................................................................... 7 Figure 2-6 Sequence diagram of motor over-low voltage detection ........................................ 8 Figure 2-7 Motor over-low voltage detection module frame .................................................... 8 Figure 2-8 Sequence diagram of IPM hardware over current detection .................................. 9 Figure 2-9 IPM hardware over current detection module frame .............................................. 9 Figure 2-10 PFC over current detection module frame ......................................................... 10 Figure 2-11 Sequence diagram of PFC over current detection ............................................. 10 Figure 3-1 Flow Chart of Protection Function ....................................................................... 12 MCU-AN-510112-E-10 – Page 16