M o to r Co ntro l Applicatio n Kit For XMC1000 Family P M SM -L V-15 W PMSM Low Voltage 15W Motor Card Bo ard User's M anual Revision 1.0, 2013-06-19 M icro co ntro ller Edition 2013-06-19 Published by Infineon Technologies AG 81726 Munich, Germany © 2013 Infineon Technologies AG All Rights Reserved. Legal Disclaimer The information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties and liabilities of any kind, including without limitation, warranties of non-infringement of intellectual property rights of any third party. Information For further information on technology, delivery terms and conditions and prices, please contact the nearest Infineon Technologies Office (www.infineon.com). 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Life support devices or systems are intended to be implanted in the human body or to support and/or PMSM LV15W Card Revision History Page or Item Subjects (major changes since previous revision) Revision 1.0, 2013-06-19 Trademarks of Infineon Technologies AG AURIX™, C166™, CanPAK™, CIPOS™, CIPURSE™, EconoPACK™, CoolMOS™, CoolSET™, CORECONTROL™, CROSSAVE™, DAVE™, DI-POL™, EasyPIM™, EconoBRIDGE™, EconoDUAL™, EconoPIM™, EconoPACK™, EiceDRIVER™, eupec™, FCOS™, HITFET™, HybridPACK™, I²RF™, ISOFACE™, IsoPACK™, MIPAQ™, ModSTACK™, my-d™, NovalithIC™, OptiMOS™, ORIGA™, POWERCODE™, PRIMARION™, PrimePACK™, PrimeSTACK™, PRO-SIL™, PROFET™, RASIC™, ReverSave™, SatRIC™, SIEGET™, SINDRION™, SIPMOS™, SmartLEWIS™, SOLID FLASH™, TEMPFET™, thinQ!™, TRENCHSTOP™, TriCore™. Other Trademarks Advance Design System™ (ADS) of Agilent Technologies, AMBA™, ARM™, MULTI-ICE™, KEIL™, PRIMECELL™, REALVIEW™, THUMB™, µVision™ of ARM Limited, UK. AUTOSAR™ is licensed by AUTOSAR development partnership. 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Last Trademarks Update 2011-11-11 Template: IFX_Template_2011-11-11.dot PMSM LV15W Card Table of Contents 1 Overview ........................................................................................................................................7 1.1 Key Features ................................................................................................................................... 7 1.2 Boot Mode Index (BMI) Configuration ............................................................................................. 7 1.3 Block Diagram ................................................................................................................................. 8 2 Hardware Description ....................................................................................................................9 2.1 Power ............................................................................................................................................. 9 2.2 SAMTEC 2x30pins connector ......................................................................................................... 11 2.3 Gate Driver and Power Stage ........................................................................................................ 12 2.4 Voltage and Current Measurements ............................................................................................. 13 2.4.1 Phase Current Measurement ........................................................................................................ 13 2.4.2 Phase Voltage Measurement ........................................................................................................ 16 2.5 Encoder and Hall Interface ............................................................................................................ 16 2.6 PMSM Motor ................................................................................................................................ 18 2.6.1 Motor Operating Range ................................................................................................................ 18 2.6.2 Geometry...................................................................................................................................... 19 3 Production Data ........................................................................................................................... 20 3.1 Schematics .................................................................................................................................... 20 3.2 Components Placement and Geometry ......................................................................................... 23 3.3 Bill of Materials ............................................................................................................................. 24 Board User's Manual 4 Revision 1.0, 2013-06-19 PMSM LV15W Card List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Block Diagram of PMSM Low Voltage 15W Motor Card in connection with XMC1300 CPU Card ...... 8 PMSM Low Voltage 15W Motor Card .............................................................................................. 9 Hardware Connection of Power Supply ......................................................................................... 10 SAMTEC 2x30pins connector to the CPU card ................................................................................ 11 Pin Mapping to XMC1300 CPU card with 2x30 pins SAMTEC Connector on PMSM Low Voltage 15W Motor Card ................................................................................................................................... 11 Hardware connection of the Date Driver and Power Stage ............................................................ 13 Hardware Circuit Op-Amp of DC Link Current Sensing ................................................................... 14 Hardware Connection of Shunt Amplifier ...................................................................................... 15 Encoder Line Driver and Connector for differential encoder signals............................................... 17 Hall Sensor Connector Interface .................................................................................................... 17 EC 32 flat 32 mm, brushless 15 Watt Motor Specification.............................................................. 18 Motor Operating Range ................................................................................................................ 18 Motor Geometry ........................................................................................................................... 19 Schematic of SAMTEC Connector, Power Supply, Encoder Line Driver and Connector, Hall Sensor Connector ..................................................................................................................................... 21 Schematic of Gate Driver, Power Stage, Shunt Amplifier, Motor Connector................................... 22 PMSM Low Voltage 15W Motor Card layout and geometry ........................................................... 23 Board User's Manual 5 Revision 1.0, 2013-06-19 PMSM LV15W Card List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Power and ground signals connection to the SAMTEC 2x30pins connector.................................... 10 Gate Driver signals connection to the SAMTEC 2x30pins Connector .............................................. 13 Voltage and Current signals at the SAMTEC Connector .................................................................. 16 Encoder / hall signals at the SAMTEC connector ............................................................................ 17 PMSM Low Voltage 15W Motor Card BOM ................................................................................... 24 Board User's Manual 6 Revision 1.0, 2013-06-19 PMSM LV15W Card Introduction This document describes the features and hardware details of the PMSM Low Voltage 15W Motor Card (PMSM-LV-15W) designed to work with Infineon‟s XMC1300 CPU Card. This board is part of Infineon’s XMC1000 Motor Control Application Kits. 1 Overview The PMSM Low Voltage 15W Motor Card is an application expansion card of XMC1000 Motor Control. The combination of PMSM Low Voltage 15 W Motor card and XMC1300 boot kit is the best kit to evaluate the motor control capabilities of XMC1300. The main use case for this application card is to demonstrate the various motor control algorithms (e.g. Block commutation with Hall sensor, V/F control, Field Orientation Control) by using XMC1300 device including the toolchain. The focus is safe operation under evaluation conditions. The board is not cost optimized and cannot be seen as reference design. 1.1 Key Features The PMSM LV15W Card is equipped with the following features Connection to XMC1300 CPU Cards via 2x30 pins (0.8mm pitch) SAMTEC HSEC8 connector 3 phase low voltage full bridge inverter using Infineon N-channel Dual OptiMOS power transistors Gate Driver IC (6EDL04N02PR) with over-current detection circuit (ITRIP) Current measurement by using single or triple shunts (amplified) Positioning sensing via o Hall sensor Interface o Quadrature encoder interface for both single ended and differential signals Input voltage range: 12V-24V +/- 20% Power supply o Low drop voltage regulator (5V) for hall sensor power supply o Low drop voltage regulator (5V) for XMC1300 power supply o Low dropout linear voltage regulator (15V) for MOSFET gate driver power supply Maximum DC-link current: 3A & Maximum motor phase current: 3A 1.2 Boot Mode Index (BMI) Configuration A micronctroller would normally have a few boot mode selection pins that determine its Boot Mode after power on reset. However, the XMC1000 devices from Infineon, is a low pin count device, so the use of a few pins just for Boot-up mode selection is not desirable. The XMC1100, XMC1200 and XMC1300 bootkit are programmed to User mode with debug enabled (SWD0), so that the application program will start to run after power-up. The selection of the port pin to be used depends on BMI value. If the XMC1000 bootkits are programmed to SWD mode, the specified pin P0.14 and P0.15 are used to communicate. Referring the schematic connection of PMSM Low Voltage 15W Motor card, the hall sensor interface pin ENCIPOSIF.IN2 is connected to P0.15 at XMC1300 CPU card. Therefore, the XMC1300 CPU card has to be programmed the BMI to SPD mode to avoid using P0.15 as programming pin. After the XMC1300 CPU card BMI has changed, the DIP switch SWCLK on Jlink Debugger on XMC1300 CPU card has to be off. The user code will run after power up and supports debugging using single pin debug protocol. For more information about how to handle BMI for XMC1000 family, please refer to the XMC1000 Family Tooling Guide. Board User's Manual 7 Revision 1.0, 2013-06-19 PMSM LV15W Card 1.3 Block Diagram Figure 1 shows the block diagram of the PMSM Low Voltage 15W Motor Card in connection with XMC1300 CPU Card. 12V...24V +5V Plug PMSM LV15W Card Power Supply CCU8 Gate Driver 3-Phase Power Half-Bridge Max 3A FAULT# ADC Current & Voltage Sensing ENENC Encoder Line Driver POSIF ENENC# Hall Interface Figure 1 Encoder Connector Samtec 2x30pins HSEC8 Connector Hall Sensor Connector EN Motor Connector +15V Block Diagram of PMSM Low Voltage 15W Motor Card in connection with XMC1300 CPU Card Board User's Manual 8 Revision 1.0, 2013-06-19 PMSM LV15W Card 2 Hardware Description The following sections give a detailed description of the hardware and how it can be used. Figure 2 2.1 PMSM Low Voltage 15W Motor Card Power The PMSM Low Voltage 15W Motor Card must be supplied by an external DC power supply (12V to 24V) connected to its power jack X201. The power to be delivered by the external power supply depends on the overall load mainly defined by the power consumption of the motor. The power supply unit (24V/1A) delivered with the motor control kit is sufficient to drive the enclosed motor as well as the CPU card. The power supply schematic is shown in Figure 3. An on-board voltage regulator (IC203) steps down the 24 V input voltage from the power jack to 15 V (VDD15). The input voltage up is regulated to an output voltage 15 V with a precision of 2%. The output voltage can be configured to regulate between 2.5V and 20V. The 5 V supply for hall sensor VDD5 is derived from VDD15 regulated by LDO (IC201). Another LDO voltage regulator generates stable 5 V (VCC) out of VDD15 for microcontroller power supply and operational amplifier. Two power LEDs indicate the presence of the generated supply voltages. Table 1 LED V202 V201 Power LED Power Rail VDD15 VCC Board User's Manual Voltage 15 V 5V Note Must always be "ON" Must always be "ON" 9 Revision 1.0, 2013-06-19 PMSM LV15W Card Figure 3 Table 1 Hardware Connection of Power Supply Power and ground signals connection to the SAMTEC 2x30pins connector Pin No. Signal Name Description 13 VAGND Analog ground 14 15 16 GND VAREF VDD Digital ground Analog VDD +5V Digital VDDP +5V Board User's Manual 10 Revision 1.0, 2013-06-19 PMSM LV15W Card 2.2 SAMTEC 2x30pins connector The SAMTEC connector of the PMSM Low Voltage 15W Motor Card is the interface to the XMC1000 CPU card e.g. XMC1300 CPU card as shown in Figure 4. Figure 4 SAMTEC 2x30pins connector to the CPU card Figure 5 is a view of the signal mapping between the PMSM Low Voltage 15W Motor card SAMTEC 2x30 pins connector and the “XMC1300 CPU card”. It shows in details which pin of the XMC1300 is mapped to which signal on the motor drive card. The inner rows show the general function of the 30 pins of the SAMTEC connector, which is common for all CPU cards. The outer rows show the signals of the PMSM Low Voltage 15W Motor Card. The PMSM Low Voltage 15W Motor Card provides 5 functional groups of signals (marked by color code) at its pins of the SAMTEC connector: The encoder and hall sensor signals (ENCA, ENCB, ENCI): pin 43, 45 and 47 Control and TRAP signals (ENENC#, ENPOW, FAULT#, P0.4, P0.5): pin 37, 39, 41, 25 and 27 Voltage and current measurement signals: (UU, UV, UZ, AMP_IW...) located from pin 1 to 9 PWM signals for the 3 phase power stage (HIN1#, LIN1#, HIN2…): pin 17, 19, 29, 31, 33 and 35 Figure 5 Pin Mapping to XMC1300 CPU card with 2x30 pins SAMTEC Connector on PMSM Low Voltage 15W Motor Card Board User's Manual 11 Revision 1.0, 2013-06-19 PMSM LV15W Card 2.3 Gate Driver and Power Stage The power stage consists of three half-bridges using Infineon’s Dual N-channel OptiMOS™ power transistors. They are selected for a safe operation area with huge headroom, hence no cooling is needed when using at norminal current of 7.5 Ampere. The gate driver (6EDL04N02PR) is Infineon’s 2nd generation full bridge driver to control power devices like MOS-transistors or IGBTs in 3-phase systems. The gate driver offers several protection features like undervoltage lockout, signal interlocking of every phase to prevent cross-conduction and overcurrent detection. Therefore, the current signal of the DC-link reference is measured in order to recognize overcurrent or halfbridge short circuit events. A shunt resistor generates a voltage drop. A small RC-filter for attenuating voltage spikes is recommended. Such spikes may be generated by parasitic elements in the practical layout. In an error situation a FAULT# signal is generated and must be handled by the microcontroller. The FAULT# signal changes to low state if an over-current condition has been detected by the ITRIP circuit. The ITRIP current level is measured as the amplified voltage drop over the DC-link shunt (see Figure 6). The minimum input voltage level to trigger an over-current event is specified at 375mV. The external circuit at pin RCIN defines the overcurrent recovery of the drive system. This circuit consist of a single capacitor according to Figure 6. There is also the option for a path to the supply voltage Vcc via resistor . The fault-clear time is dependent on the re-charging of , because the system recovers, when the threshold of the integrated Schmitt-trigger. The datasheet specifies the typical fault clear time = 1.9 ms which the current source needs to charge an external capacitor of 1nF without pull up resistor. This parameter can be scaled linearly to any other capacitor value and results immediately in the according fault clear time. This means with 22nF capacitor will realize a fault clear time of 22 * 1.9 ms = 41.8 ms. The microcontroller must provide the PWM signals (LIN1/2/3, HIN1/2/3) for the high-side and low-side switches. The PWM signals must be generated high-active. The gate driver must be enabled via signal ENPOW. A phase current measurement is provided via shunt resistors a) Single shunt (50 mΩ) in the DC-link path and/or b) Triple shunt (50 mΩ) in the low-side path The resistance of the shunts limits the system behaviour and may not fit to the low-ohmic power transistors. This is intended as the main purpose of this board is to proof SW algorithms and methods over a wide range. Board User's Manual 12 Revision 1.0, 2013-06-19 PMSM LV15W Card Figure 6 Hardware connection of the Date Driver and Power Stage Table 2 shows the connection of the Gate Driver signals to the SAMTEC 2x30pins connector. Table 2 Gate Driver signals connection to the SAMTEC 2x30pins Connector Pin No. 19 25 27 29 31 33 35 Signal Name FAULT# ENPOW HIN1 LIN1 HIN2 LIN2 HIN3 Description This signal indicates over-current and under-voltage (low active) High level enables the power stage (high active) High-side logic input 1 (high-active) Low-side logic input 1 (high-active) High-side logic input 2 (high-active) Low-side logic input 2 (high-active) High-side logic input 3 (high-active) 37 LIN3 Low-side logic input 3 (high-active) 2.4 Voltage and Current Measurements The phase current measurement is illustrated on the top side of Figure 8; the right side shows the voltage divider for the voltage measurement. 2.4.1 Phase Current Measurement The current measurement can be done via a single shunt (signal IZ) in the DC-link path or via triple shunts (IU, IV, IW) at the low side. In both cases the measurement is dimensioned for the following requirements: Motor power range up to 15W which leads to a nominal DC-link current of about 0.625 A. The phase current range is -3 A to +3 A. The output of the operational amplifier (AMP_IU, AMP_IV, AMP_IW, and AMP_IZ) is available at the PMSM Low Voltage 15 W Motor card connector and connected to ADC input channels of the XMC1000 microcontroller. The DC offset voltage level is about 2.5V at the ouput of the Op -Amps when there is no current flow through the shunts. Board User's Manual 13 Revision 1.0, 2013-06-19 PMSM LV15W Card In order to get Op-Amp DC offset, AC gain, and DC link maximum current, the calculation can be done as below: Figure 7 Hardware Circuit Op-Amp of DC Link Current Sensing To get the Op-Amp DC offset: ( ) ( Op-Amp DC Offset ) AC Gain By substituting all the resistor value into the formula, the Op-Amp DC offset with 2.5V is generated. The AC gain of the operation amplifier is set to 16.4, which leads to DC link phase current range of 0V @ -3 A and 5V @ +3 A. The DC-Link shunt resistor is 50 mΩ. Assuming the of the operation amplifier is 5 V, Board User's Manual 14 Revision 1.0, 2013-06-19 PMSM LV15W Card ( Figure 8 ) Hardware Connection of Shunt Amplifier The IAVG is the average current measurement of DC-link after low pass RC filter. To get 159Hz cutoff frequency: Board User's Manual 15 Revision 1.0, 2013-06-19 PMSM LV15W Card 2.4.2 Phase Voltage Measurement The phase voltage is directly measured using resistive dividers at the phases (signals UZ, UU, UV, and UW). The divider is dimensioned to divide the measured voltage UZ, UU, UV, UW by factor 10.21. The formula to calculate the phase voltage from the measured voltage is: Table 3 summarizes all the voltage and current signals available at SAMTEC connector. Table 3 Voltage and Current signals at the SAMTEC Connector Pin No. Signal Name Description 2 4 AMP_IU AMP_IV Amplified shunt voltage output representing the current of phase U Amplified shunt voltage output representing the current of phase V 6 9 10 1 3 5 AMP_IW IAVG SH1-1 UU UV UW Amplified shunt voltage output representing the current of phase W Amplified shunt voltage output representing the DC-link current after filter Shunt voltage output representing the DC-link current Divided voltage output of phase U (divided by 10.21) Divided voltage output of phase V (divided by 10.21) Divided voltage output of phase W (divided by 10.21) 7 UZ Divided DC-link voltage (divided by 10.21) 2.5 Encoder and Hall Interface A quadrature encoder can be used for detecting the actual rotor position. There are single-ended and differential encoders, the board supports both types. For the differential types an encoder line receiver is required as the microcontroller needs single ended signals. Board User's Manual 16 Revision 1.0, 2013-06-19 PMSM LV15W Card Figure 9 Encoder Line Driver and Connector for differential encoder signals The differential signals from the encoder (ENCA +/-, ENCB +/-, ENCI +/-) must be connected to the 10-pin encoder connector X204 (Figure 9). The Encoder Line Driver must be enabled by the signal ENENC (set to 1). In case of using a single ended encoder or a hall sensor the signals must be applied to the connector X203 and the encoder line receiver must be disabled by setting the signal ENENC to low level (default). The signal ENENC controls the transistor to enable/disable the supply to the hall interface as shown in Figure 10. Figure 10 Hall Sensor Connector Interface Table 4 summarizes all the encoder/hall sensors signals available at the SAMTEC connector Table 4 Encoder / hall signals at the SAMTEC connector Pin No. Signal Name Description 37 43 45 49 ENENC POSIF.IN0 POSIF.IN1 POSIF.IN2 Enable signal for encoder line receiver (active high) Encoder Channel A / Hall Channel A Encoder Channel B / Hall Channel B Encoder Channel I / Hall Channel C Board User's Manual 17 Revision 1.0, 2013-06-19 PMSM LV15W Card 2.6 PMSM Motor In this section, the technical data of the motor can be found. Please refer directly to Maxon Motor internet page http://www.maxonmotor.com/ for the latest information about this ECflat motor with part number 267121. Figure 11 EC 32 flat 32 mm, brushless 15 Watt Motor Specification 2.6.1 Motor Operating Range Figure 12 Motor Operating Range Board User's Manual 18 Revision 1.0, 2013-06-19 PMSM LV15W Card 2.6.2 Figure 13 Geometry Motor Geometry Board User's Manual 19 Revision 1.0, 2013-06-19 PMSM LV15W Card 3 Production Data 3.1 Schematics This chapter contains the schematics for the PMSM Low Voltage 15W Motor Card: Figure 14: SAMTEC Connector, Power Supply, Encoder Line Driver and Connector, Hall Sensor Connector Figure 15: Gate Driver, Power Stage, Shunt Amplifier, Motor Connector Board User's Manual 20 Revision 1.0, 2013-06-19 PMSM LV15W Card Figure 14 Schematic of SAMTEC Connector, Power Supply, Encoder Line Driver and Connector, Hall Sensor Connector Board User's Manual 21 Revision 1.0, 2013-06-19 PMSM LV15W Card Figure 15 Schematic of Gate Driver, Power Stage, Shunt Amplifier, Motor Connector Board User's Manual 22 Revision 1.0, 2013-06-19 PMSM LV15W Card 3.2 Figure 16 Components Placement and Geometry PMSM Low Voltage 15W Motor Card layout and geometry Board User's Manual 23 Revision 1.0, 2013-06-19 PMSM LV15W Card 3.3 Bill of Materials The list of material is valid for a certain assembly version for the PMSM Low Voltage 15W Motor Card. This version is stated in the header of the Table 5. Table 5 PMSM Low Voltage 15W Motor Card BOM No. Qty Value Device Reference Designator 1 1 HSEC8-130-01-L-RA X202 2 1 MKDS1/2-3,81 3 1 MPT0, 5/5-2, 54 HSEC8 socket, SAMTEC 3.81mm pitch, 2 way, Phoenix PC terminal block 4 5 1 1 52207-11 BUCHSE-LP-5A/SPC4007 Molex Connector Connector Jack X205 X201 6 7 8 9 1 5 1 1 PAK100/2500-10 no ass./0603/10V 4.7uF/10V/0805 47uF/50V/6.6 Connector Capacitor Capacitor Electrolytic capacitor X204 C111, C112, C113, C114, C119 C207 C203 10 11 12 13 14 15 4 1 1 3 5 3 33pF/10V/0603 10nF/10V/0603 22nF/25V/0603 220nF/25V/0603 100nF/0603 10uF/25V/0805 Capacitor Capacitor Capacitor Capacitor Capacitor Capacitor C108, C109, C110, C118 C115 C106 C102, C103, C105 C202, C204, C116, C206, C208 C117, C209, C101 16 17 2 3 150pF/0603 15nF/25V/0603 Capacitor Capacitor C104, C107 C210, C211, C212 18 19 2 4 22uF/25V 0R/0603 Capacitor Resistor C201, C205 R126, R146, R218, R220 20 21 22 23 24 25 4 4 6 3 4 1 no ass./0603 0R050/1206 68R/0603 120R/0603 1KR/0603 1K8R/0603 Resistor Resistor Resistor Resistor Resistor Resistor R148, R219, R102, R125 RS101, RS102, RS103, RS104 R103, R104, R105, R113, R114, R115 R207, R209, R210 R133, R134, R135, R150 R214 26 27 28 29 30 31 32 1 6 4 1 1 3 8 2KR/0603 3K3R/0603 5K1R/0603 6K8R/0603 8K25R/0603 10KR/0603 22K/0603 Resistor Resistor Resistor Resistor Resistor Resistor Resistor 33 34 1 11 41K2R/0603 47KR/0603 Resistor Resistor 2 100KR/0603 Resistor R208 R211, R212, R213, R215, R216, R217 R119, R120, R121, R122 R205 R206 R101, R124, R201 R127, R128, R129, R140, R142, R144, R145, R153 R202 R106, R107, R108, R109, R110, R111, R112, R116, R117, R118, R203 R123, R149 35 Board User's Manual 24 X101 X203 Revision 1.0, 2013-06-19 PMSM LV15W Card No. Qty Value Device Reference Designator 36 37 38 39 3 2 1 1 BSZ0907ND BCR198W 6EDL04N02PR AD8618ARUZ MOSFET Transistor Gate Driver Operational Amplifier Q101, Q102, Q103 T201, T202 IC101 U101 40 41 42 43 44 45 46 47 48 1 1 1 1 3 1 3 3 4 Quadrature Line Driver Voltage Regulator Voltage Regulator Voltage Regulator LED Maxon Motor Screw Spacer Support U201 IC201 IC202 IC203 V201, V202, V203 PMSM101 49 1 AM26LS32ACPW IFX20001MBV59 IFX25001TFV50 IFX25401TEV LED-GRN/0603 ECF32-267121 Farnell 1419294 Farnell 1466915 Transparent (D7.9mm, H2.2mm) 230VAC, 24VDC, 1A 50 7 No assembly Test Pad Board User's Manual Power Supply 25 P0.4, P0.5, TP305, TP306, TP301, TP302, TP309, TP303 Revision 1.0, 2013-06-19 w w w. i nf i n eo n. c om Published by Infineon Technologies AG