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