Motorola Embedded Motion Control User's Manual More Informat

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Motorola Embedded Motion Control User's Manual More Informat

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Motorola Embedded Motion Control
User's Manual
More Information This Product, www.freescale.com
3-Phase Switched Reluctance Low-Voltage Power Stage
Important Notice Users While every effort been made ensure accuracy information this document, Motorola assumes liability party loss damage caused errors omissions statements kind this document, updates, supplements, special editions, whether such errors omissions statements resulting from negligence, accident, other cause. Motorola further assumes liability arising application information, product, system described herein: liability incidental consequential damages arising from this document. Motorola disclaims warranties regarding information contained herein, whether expressed, implied, statutory, including implied warranties merchantability fitness particular purpose. Motorola makes representation that interconnection products manner described herein will infringe existing future patent rights, descriptions contained herein imply granting license make, sell equipment constructed accordance with this description.
Trademarks This document includes these trademarks: Motorola Motorola logo registered trademarks Motorola, Inc. Motorola, Inc., Equal Opportunity Affirmative Action Employer.
Motorola, Inc., 2000; Rights Reserved
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA
More Information This Product, www.freescale.com
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
List Sections
Section Introduction Setup Section Operational Description
Section Descriptions Section Schematics Parts List Section Design Considerations
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA List Sections More Information This Product, www.freescale.com
User's Manual
List Sections
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage List Sections More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
Table Contents
Section Introduction Setup
Contents Introduction. About this Manual Warnings. Setup Guide.
Section Operational Description
Contents Description Electrical Characteristics Modification Volts
Section Descriptions
Contents Introduction.
Signal Descriptions 3.3.1 40-Pin Ribbon Connector 3.3.2 Power Connectors 3.3.3 Motor Connectors J24-J29 3.3.4 External Brake Connectors 3.3.5 Bias Power Connectors JP13
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Table Contents More Information This Product, www.freescale.com
User's Manual
Table Contents Section Schematics Parts List
Contents Mechanical Characteristics Schematics Parts Lists
Section Design Considerations
Contents Overview. Phase Outputs Voltage Current Feedback Cycle-by-Cycle Current Limiting. Temperature Sensing Phase Current Sensing Brake.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Table Contents More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
List Figures
Figure
Title
Page
Systems' Configurations. Model Setup Block Diagram 40-Pin Ribbon Connector J14. 3-Phase Low-Voltage Power Stage Overview Gate Drive. 3-Phase Output Current Temperature Feedback Voltage Sense Brake Gage Drive. Identification Block Power Supply Phase Output Feedback Cycle-by-Cycle Current Limiting. Temperature Sensing Phase Current Sensing Brake.
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA List Figures More Information This Product, www.freescale.com
User's Manual
List Figures
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage List Figures More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
List Tables
Table
Title
Page
Electrical Characteristics Resistor Value. JP801 Settings. Connector Signal Descriptions. Power Substrate Parts List Printed Circuit Board Parts List
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA List Tables More Information This Product, www.freescale.com
User's Manual
List Tables
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage List Tables More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
Section Introduction Setup
Contents
Introduction. About this Manual Warnings. Setup Guide.
Introduction
Motorola's 3-phase, switched reluctance low-voltage power stage power stage) integral part Motorola's embedded motion control series development tools. operates from nominal 12-volt motor supply, delivers amps motor current from that deliver peak currents amps. power stage supplied number ECLOVSR. combination with Embedded Motion Control series control boards, provides ready made software development platform fractional horsepower Switched Reluctance motors. Feedback signals provided that allow control with wide variety algorithms. illustration systems architecture shown Figure 1-1. model appears Figure 1-2.
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User's Manual
Introduction Setup
power stage's features are: dc-bus brake MOSFET brake current limiting resistors 3-phase bridge inverter (6-MOSFETs) Individual phase current sensing shunts with Kelvin connections Power stage temperature sensing diodes MOSFET gate drivers Current temperature signal conditioning Board identification processor (MC68HC705JJ7) Low-voltage on-board power supplies Cooling fans
EMULATOR
CONTROL BOARD
BOARD
WORKSTATION
WORKSTATION
POWER STAGE
POWER STAGE
MOTOR
MOTOR
MICROCONTROLLER
56800
Figure 1-1. Systems' Configurations
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Introduction Setup More Information This Product, www.freescale.com MOTOROLA
Introduction Setup About this Manual
Figure 1-2. Model
About this Manual
items found following locations this manual: Setup instructions found Setup Guide. Schematics found Section Schematics Parts List. assignments 40-pin connector shown Figure pin-by-pin description input output signals contained Signal Descriptions. those interested reference design aspects board's circuitry, description provided Section Design Considerations.
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User's Manual
Introduction Setup Warnings
Power Stage includes power components that reach temperatures enough cause burns. motor that operates also reach high temperatures. user should aware that: facilitate safe operation, input power should come from laboratory power supply that current limited more than Amps. Before moving scope probes, making connections, etc., generally advisable power down motor supply. Operation setups that have grounded tables and/or chairs should avoided. Wearing safety glasses, avoiding ties jewelry, using shields also advisable.
Setup Guide
Setup connections very straightforward. power stage connects embedded motion control series control board 40-pin ribbon cable. motor's power leads plug into output connectors, J29, position sensors plug into control board's Hall sensor/encoder input connector. Figure depicts completed setup. Mount four standoffs Power Stage locations indicated Figure 1-3. Standoffs, screws, washers included kit.
NOTE:
This step step optional when making connections with control boards such DSP56F805EVM. boards placed flat bench, next motor board. Plug 40-pin ribbon cable that supplied with into input connector J14, located right hand side board. other this cable connects control board's 40-pin output connector. Mount control board standoffs with screws washers from ECLOVSR kit. This step optional with control boards.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Introduction Setup More Information This Product, www.freescale.com MOTOROLA
Introduction Setup Setup Guide
Plug free cable connected input connector into control board's 40-pin output connector. Connect 12-Vdc power supply fast-on connectors J21. Connector located back-left corner board, connector front-left corner board. positive lead goes J20, labeled +12V. return connected J21, labeled Voltage range power supply Vdc. power supply's current limit should less than amps.
as-shipped configuration, jumper JP100 INT. bias supply connector power jack needed. power supply connected that required. Connect phase motor leads output connectors J25, labeled phase phase These fast-on connectors located along back edge board. There connections accommodate independent phase coil configuration that used switched reluctance motors. Connect phase motor leads output connectors J27, labeled phase phase These fast-on connectors located along back edge board. There connections accommodate independent phase coil configuration that used switched reluctance motors. Connect phase motor leads output connectors J29, labeled phase phase These fast-on connectors located along back edge board. There connections accommodate independent phase coil configuration that used switched reluctance motors. Apply power. green power-on lights when power present.
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User's Manual
Introduction Setup
STANDOFFS
MOTOR
56800 EVALUATION MODULE MOTOR SUPPLY POWER STAGE HC08 CONTROL BOARD 40-PIN RIBBON CABLE
STANDOFFS
Figure 1-3. Setup
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Introduction Setup More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
Section Operational Description
Contents
Description Electrical Characteristics Modification Volts
Description
Motorola's embedded motion control series low-voltage (LV) switched reluctance (SR) power stage operates from nominal 12-volt motor supply, delivers amps motor current from that deliver peak currents amps. combination with Motorola's embedded motion control series control boards, provides software development platform that allows algorithms written tested, without need design build power stage. supports wide variety algorithms controlling switched reluctance motors. Input connections made 40-pin ribbon cable connector J14. assignments input connector shown Figure 3-1. 40-Pin Ribbon Connector J14. Power connections motor made with fast-on connectors J24-J29. They located along back edge board, labeled Phase Phase Phase etc. Power requirements with 12-volt power supply that 16-volt tolerance. Fast-on connectors used power supply. labeled +12V located back left corner board. labeled located front left corner board. Current measuring circuitry amps full scale. Both phase currents measured. cycle-bycycle overcurrent trip point amps.
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Operational Description More Information This Product, www.freescale.com
User's Manual
Operational Description
power stage both printed circuit board power substrate. printed circuit board contains MOSFET gate drive circuits, analog signal conditioning, low-voltage power supplies, some large passive power components. This board also 68HC705JJ7 microcontroller used board configuration identification. power electronics that need dissipate heat mounted power substrate. This substrate includes power MOSFETs, brake resistors, current-sensing resistors, capacitors, temperature sensing diodes. Figure shows block diagram.
POWER INPUT
BIAS POWER
BRAKE
SIGNALS TO/FROM CONTROL BOARD
MOSFET POWER MODULE GATE DRIVERS PHASE CURRENT PHASE VOLTAGE CURRENT MONITOR BOARD BLOCK MOTOR
Figure 2-1. Block Diagram
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Operational Description More Information This Product, www.freescale.com MOTOROLA
Operational Description Electrical Characteristics
Electrical Characteristics
electrical characteristics Table apply operation 25°C with 12-Vdc supply voltage. Table 2-1. Electrical Characteristics
Characteristic Motor Supply Voltage Quiescent current Symbol VOut ISense VBus IRMS PBK(Pk) Pdiss Units mV/A mV/V
logic input voltage logic input voltage Analog output range current sense voltage voltage sense voltage Peak output current (300 Continuous output current Brake resistor dissipation (continuous) Brake resistor dissipation Total power dissipation
Modification Volts
power stage modified operation with 42-volt nominal motor supply. change input voltage range: Remove power wait until power-on off. Make resistor value change shown Table 2-2. With values shown volts, voltage-feedback signals scaled volt. Table 2-2. Resistor Value
Resistor R203 Volts Volts
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User's Manual
Operational Description
Configure identification coding jumper JP801 with settings that indicated Table 2-3. This procedure allows software interpret analog values correctly. Table 2-3. JP801 Settings
Position Volts Open Open Open Open Volts Open Open Open Short
jumper JP100 EXT. position. JP100 located left side board adjacent capacitors. EXT. setting allows bias circuitry powered from 12-volt source that separate from motor supply. Connect 12-Vdc power supply either connector J13, labeled EXT. power jack J13. Either one, both used. Polarity does matter, since these inputs connected full-wave bridge. Connectors JP13 located front left-hand corner board. 12-volt power supply should have current limit between amp. input voltage range volts volts. Once these modifications have been made, input voltage range motor supply Vdc.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Operational Description More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
Section Descriptions
Contents
Introduction.
Signal Descriptions 3.3.1 40-Pin Ribbon Connector 3.3.2 Power Connectors 3.3.3 Motor Connectors J24-J29 3.3.4 External Brake Connectors 3.3.5 Bias Power Connectors JP13
Introduction
There connectors board making input output connections. They listed follows. 40-pin input feedback connector Motor supply fast-on connector Motor supply fast-on connector Phase fast-on connector Phase fast-on connector Phase fast-on connector Phase fast-on connector Phase fast-on connector Phase fast-on connector Brake fast-on connector Brake fast-on connector Bias supply power jack JP13 Bias supply connector
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Descriptions More Information This Product, www.freescale.com
Descriptions
assignments input connector shown Figure 3-1. Signal descriptions each these connectors identified Table 3-1.
Signal Descriptions
Control feedback signals grouped together 40-pin ribbon connector J14. Motor outputs each have separate fast-on connectors that designated -J29. Power supplied through fast-on connectors J21. signals associated with each these connectors, optional connectors J13, JP13, J22, discussed follows.
3.3.1 40-Pin Ribbon Connector 40-pin ribbon cable connector located right side board. assignments shown Figure 3-1. this figure, schematic representation appears left, physical layout connector appears right. physical view assumes that board oriented such that title read from left right. Signal descriptions listed Table 3-1.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Descriptions More Information This Product, www.freescale.com MOTOROLA
Descriptions Signal Descriptions
PWM_AT PWM_AB PWM_BT PWM_BB PWM_CT PWM_CB GND_PS +5V_D GNDA +12_A V_sense_DCB I_sense_A I_sense_C Brake_control Shielding Shielding Shielding Shielding Shielding +5V_D +3.3V_A GNDA -12V_A I_sense_DCB I_sense_B Temp_sense Shielding Serial_Con
Shielding
Serial_Con Brake_control Shielding Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB -12V_A +12V_A GNDA GNDA +3.3V_A +5V_A +5V_A PWM_CB Shielding PWM_CT Shielding PWM_BB Shielding PWM_BT Shielding PWM_AB Shielding PWM_AT
Shielding
PHYSICAL VIEW
SCHEMATIC VIEW
Figure 3-1. 40-Pin Ribbon Connector
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Descriptions More Information This Product, www.freescale.com
User's Manual
Descriptions
Table 3-1. Connector Signal Descriptions
Signal Name PWM_AT Shielding PWM_AB Shielding PWM_BT Shielding PWM_BB Shielding PWM_CT Shielding PWM_CB digital digital +3.3V analog GNDA GNDA +12V_A -12V_A V_sense_DCB I_sense_DCB Description PWM_AT gate drive signal half-bridge phase logic high turns phase switch connected shield wire ribbon cable ground board. PWM_AB gate drive signal bottom half-bridge phase logic high turns phase bottom switch connected shield wire ribbon cable ground board. PWM_BT gate drive signal half-bridge phase logic high turns phase switch connected shield wire ribbon cable ground board. PWM_BB gate drive signal bottom half-bridge phase logic high turns phase bottom switch connected shield wire ribbon cable ground board. PWM_CT gate drive signal half-bridge phase logic high turns phase switch connected shield wire ribbon cable ground board. PWM_CB gate drive signal bottom half-bridge phase logic high turns phase bottom switch Digital power ground Digital power ground, redundant connection Digital +5-volt power supply Digital +5-volt power supply, redundant connection Analog +3.3-volt power supply Analog power supply ground Analog power supply ground, redundant connection Analog +12-volt power supply Analog -12-volt power supply V_sense_DCB analog sense signal that measures voltage. scaled volt voltage. I_sense_DCB analog sense signal that measures current. scaled current.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Descriptions More Information This Product, www.freescale.com MOTOROLA
Descriptions Signal Descriptions
Table 3-1. Connector Signal Descriptions (Continued)
Signal Name I_sense_A I_sense_B I_sense_C Temp_sense Description I_sense_A analog sense signal that measures current phase scaled current. I_sense_B analog sense signal that measures current phase scaled current. I_sense_C analog sense signal that measures current phase scaled current. Temp_sense analog sense signal that measures power module temperature. connection Shielding Brake_control Serial_Con connected shield wire ribbon cable analog ground board. Brake_control gate drive signal brake MOSFET. Serial_Con identification signal that lets controller know which power stage present. connection connection connection connection connection connection Shielding connected shield wire ribbon cable analog ground board. connection connection connection
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Descriptions More Information This Product, www.freescale.com
User's Manual
Descriptions
3.3.2 Power Connectors Motor power supplied through fast-on connectors J21. labeled +12V, located back left-hand corner board. labeled located front left-hand corner board. These connectors will accept power supply voltage from volts volts power stage shipped. When power stage been reconfigured 42-volt nominal operation, this power supply input will accept inputs from volts volts. power supply should current limited less than amps.
3.3.3 Motor Connectors J24-J29 Power connections motor made with fast-on connectors J24-J29, located back edge board. These connections identified follows. J24: Phase Connector J24, labeled Phase supplies power either phase motor leads. This 30-amp fast-on connection. J25: Phase Connector J25, labeled Phase supplies power either phase motor leads. This 30-amp fast-on connection. J26: Phase Connector J26, labeled Phase supplies power either phase motor leads. This 30-amp fast-on connection. Phase Connector J27, labeled Phase supplies power either phase motor leads. This 30-amp fast-on connection. J28: Phase Connector J28, labeled Phase supplies power either phase motor leads. This 30-amp fast-on connection. Phase Connector J29, labeled Phase supplies power either phase motor leads. This 30-amp fast-on connection.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Descriptions More Information This Product, www.freescale.com MOTOROLA
Descriptions Signal Descriptions
3.3.4 External Brake Connectors optional external brake resistor connected external brake fast-on connectors J23, labeled BRAKE Ext. BRAKE Ext. These connectors located back left-hand corner board. external resistor allows power dissipation increased beyond watts that brake resistors R1-R4 provide. Note that operation brake percent duty cycle more than seconds volts will overdissipate R1-R4. voltages higher than volts, maximum duty cycle restricted less than percent. total power dissipation limit these four resistors combined watts continuous watts seconds.
3.3.5 Bias Power Connectors JP13 connectors, labeled JP13, provided optional 12-volt bias supply. This input only used when power stage been reconfigured operation with 42-volt nominal motor supply. JP13 located front left-hand corner board. Connector 2.1-mm power jack 12-volt plug-in type power supply connections. Connector JP13 screw terminal inputs labeled accepting wire inputs. Power supplied other, both. Polarity does matter, since these inputs connected full wave bridge. power supply should current-limited least less than amp.
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Descriptions More Information This Product, www.freescale.com
User's Manual
Descriptions
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Descriptions More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
Section Schematics Parts List
Contents
Mechanical Characteristics Schematics Parts Lists
Mechanical Characteristics
Mechanically, power stage consists FR-4 circuit board, 3.2-mm aluminum power substrate, fans, bracket, heat sink, inter-board connectors, standoffs. Construction depicted Figure 1-2. Model. aluminum circuit board, fans, heat sink provide thermal capability D2PAK MOSFETs drive fractional horsepower motors continuous currents amps. FR-4 board contains most circuit complexity. boards plug together vertical connectors effect, form discrete power module. Four holes board spaced allow mounting standoffs such that control board placed power stage. This configuration allows mounting control power functions compact mechanical assembly.
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User's Manual
Schematics Parts List Schematics
schematics Power Stage appears Figure through Figure 4-7. overview appears Figure 4-1. Output transistor gate drive shown Figure 4-2. 3-phase output stage appears Figure 4-3. Current temperature feedback circuits shown Figure 4-4. Brake gate drive appears Figure 4-5. identification block shown Figure 4-6. on-board power supply shown Figure 4-7.
Unless otherwise specified, resistors watt, have tolerance, have values shown ohms. Interrupted lines coded with same letters electrically connected. Parts lists printed circuit board power substrate appear Table Table 4-2.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Schematics Parts List More Information This Product, www.freescale.com MOTOROLA
+5V_D
+12V_D
+12V_D SMPS Identification JP13 GNDA Power_neg_12V Power_pos_12V Power Jack +5V_D -FAN +FAN +5V_D +5V_D
Brake_control
DC_BUS_BRAKE +12V_A -12V_A GNDA
+12V_D
+12V_D
+3.3V_A
Brake_control
Power_pos
DCB_Cap_pos
Brake_Gate CON/F
DCB_Cap_Pos DCB_Cap_Neg
DCB_Cap_Pos DCB_Cap_Neg
Serial_con
FAN2
Brake_gate
DCB_Cap_neg
Power_neg
Power_pos_12V Power_neg_12V
100nF
V_sense_DCB
Identification
FAN1
V_sense_DCB
Gate_AT
Phase_AT
Gate_BT
Phase_BT
Phase_AB
Phase_BB
Gate_CT
Phase_CT
Source_Brake Brake_Gate Gate_AB Source_AB I_Sense_DCB1 I_Sense_DCB2 I_Sense_A2 I_Sense_A1
CON/F
CON/F
CON/F
Phase_CB
DCB_Cap_Neg
Brake_Res
I_sense_C2 I_sense_C1
Gate_BT Phase_BT
I_sense_DCB2 I_sense_DCB1
I_sense_A2 I_sense_A1
I_sense_B2 I_sense_B1
Gate_AB Source_AB
Gate_BB Source_BB
Gate_CB Source_CB
Gate_CT Phase_CT
Gate_AT Phase_AT
Gate_AB Source_AB
Gate_BB Source_BB
Gate_BT Source_BT
I_sense_A2 I_sense_A1
I_sense_B2 I_sense_B1
I_sense_DCB2 I_sense_DCB1
I_sense_C2 I_sense_C1
Shut_Down
+12V_D
+12V_D
Gate_CB Source_CB
Gate_CT Source_CT
Gate_AT Source_AT
GNDA Temp_sense_1 Temp_sense_2 Temp_sense1 Temp_sense2 GNDA
Shut_Down_Open Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB
+12V_D
+5V_D
+3.3V_A
Schematics Parts List More Information This Product, www.freescale.com
CON/I CON/B I_sense_B1 I_sense_B2 Source_BB Temp_sense1 Gate_BB Temp_sense2 CON/G CON/E I_sense_C1 I_sense_C2 Source_CB Gate_CB CON/F CON/F CON/F DCB_Cap_Pos PWM_CB PWM_CT PWM_BB PWM_BT PWM_AB PWM_AT HV_Drivers +12V_D +5V_D PWM_CB PWM_CT PWM_BB PWM_BT PWM_AB PWM_AT
+3.3V_A
GNDA
I_T_Processing
Schematics Parts List Schematics
Figure 4-1. 3-Phase Low-Voltage Power Stage Overview
MOTOROLA
+3.3V_A +12V_A -12V_A -FAN +FAN Sheilding GNDA Brake_control Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB -12V_A +12V_A +3.3V_A +5V_D GNDA Serial_Con Brake_control Sheilding Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB PWM_CB PWM_CT PWM_BB PWM_BT PWM_AB PWM_AT PWM_CB Sheilding PWM_CT Sheilding PWM_BB Sheilding PWM_BT Sheilding PWM_AB Sheilding PWM_AT
+FAN
-FAN
100nF
3-Phase Switched Reluctance Low-Voltage Power Stage
DCB_Cap_Pos
CON/F
SG260
User's Manual
Schematics Parts List
D402 U404A DM74ALS1034M +5V_D C414 10uF/16V U401 C413 100nF C415 470nF/50V +12V_D D401 MURS160T3 R409 D403 MMSZ5251BT1 Gate_AT MBRS130LT3 Source_AT C417 33uF/25V D404 MBRS130LT3 Gate_AB R407 R408 Shut_Down U404C DM74ALS1034M +5V_D C411 10uF/16V C410 100nF U402 C418 470nF/50V D408 MURS160T3 +12V_D R411 +5V_D C412 8.2pF D406 MBRS130LT3 Gate_BT D407 MMSZ5251BT1 R410 D405 MMSZ5251BT1 Source_AB +5V_D IR2112S C402 U404B DM74ALS1034M C416 470nF/50V R402 Source_BT D409 C420 33uF/25V MBRS130LT3 Gate_BB C425 8.2pF +5V_D D411 U404E DM74ALS1034M +5V_D C409 10uF/16V U403 C408 100nF C421 470nF/50V D413 MURS160T3 +12V_D R413 MBRS130LT3 Gate_CT D412 MMSZ5251BT1 R404 R412 D410 MMSZ5251BT1 Source_BB C404 U404D DM74ALS1034M IR2112S C419 470nF/50V Source_CT D414 C423 33uF/25V C406 U404F DM74ALS1034M C424 8.2pF R406 +5V_D IR2112S C422 470nF/50V MBRS130LT3 Gate_CB R414 D415 MMSZ5251BT1 Source_CB +5V_D C407 10nF
User's Manual
PWM_AT
PWM_AB
C401
R401
PWM_BT
PWM_BB
C403
R403
PWM_CT
Schematics Parts List More Information This Product, www.freescale.com
PWM_CB
C405
R405
+12V_D
+12V_D
+5V_D
3-Phase Switched Reluctance Low-Voltage Power Stage
MOTOROLA
Figure 4-2. Gate Drive
Gate_AT
Gate_BT
Phase_AT
Phase_AB
Phase_BB
Phase_CB
DCB_Cap_Pos
DCB_Cap_Neg
Phase_CT
Brake_Res
SM/CON/MCRD_SR_500_I SM/CON/MCRD_SR_500_F SM/CON/MCRD_SR_500_F SM/CON/MCRD_SR_500_G
Temp_sense2 Gate_BB Temp_sense1 Source_BB I_sense_B2 I_sense_B1
Gate_CB Source_CB I_sense_C2 I_sense_C1
Schematics Parts List More Information This Product, www.freescale.com
Gate_Brake Source_Brake I_sense_A2 I_sense_B2 0.001 I_sense_C2 0.001 0.001 I_Sense_DCB1 Phase_BT Gate_CT I_Sense_DCB2 SM/CON/MCRD_SR_500_F SM/CON/MCRD_SR_500_F SM/CON/MCRD_SR_500_F SM/CON/MCRD_SR_500_F Temp_sense1 BAV99LT1 BAV99LT1 Temp_sense2 SM/CON/MCRD_SR_500_E
SM/CON/MCRD_SR_500_F
SM/CON/MCRD_SR_500_F
SM/CON/MCRD_SR_500_B
Schematics Parts List Schematics
User's Manual
Figure 4-3. 3-Phase Output
Source_Brake Gate_Brake Gate_AB Source_AB I_Sense_DCB1 I_Sense_DCB2 I_sense_A2 I_sense_A1
MOTOROLA
0.33 Gate_AT Gate_CT Phase_CT Phase_CB MBRB4030 MTB75N06HD MBRB4030 MTB75N06HD 0.33 Phase_AT Phase_AB MBRB4030 MTB75N06HD Phase_BT Phase_BB 0.33 Gate_BT 0.33 MBRB4030 MTB75N06HD MBRB4030 MTB75N06HD MBRB4030 MTB75N06HD MBRB4030 Brake_Res MTB75N06HD Gate_AB Source_AB I_sense_A1 Gate_BB Source_BB I_sense_B1 Gate_CB Source_CB I_sense_C1 0.001
DCB_Cap_Pos
4700uF
4700uF
3-Phase Switched Reluctance Low-Voltage Power Stage
DCB_Cap_Neg
Temp_sense_1 I_sense_A (1.65V 1.65V Imax)
I_sense_A1
I_sense_A2
R304 10k-1% U302B MC33502D R305 75k-1%
1.65V
Schematics Parts List
R307 75k-1%
R308 1.2k GNDA I_sense_DCB I_sense_B (1.65V 1.65V Imax) GNDA C303 680pF +3.3V_A R310
R309 1.2k R312
R311 10k-1% R314 75k-1% +3.3V_A
I_sense_B1
R313 10k-1%
U301A MC33502D GNDA R315 75k-1% C304 100nF
1.65V
GNDA
I_sense_B2
R316 10k-1% R318 75k-1% I_sense_DCB1 I_sense_DCB2 R317 10k-1% I_sense_C (1.65V 1.65V Imax) U301B MC33502D R322 75k-1% 1.65V
R320 10k-1%
I_sense_C1
I_sense_C2
GNDA
GNDA
Schematics Parts List More Information This Product, www.freescale.com
Overcurrent Shut Down
R324 100k-1% R325 33k-1%
R321 10k-1%
R323
+3.3V_A
C307 100nF
C306 10uF/16V
LM285M U304
3-Phase Switched Reluctance Low-Voltage Power Stage
R319 75k-1%
GNDA
MOTOROLA
Figure 4-4. Current Temperature Feedback
+12V_D +3.3V_A +12V_D C302 10nF R302 2.21k-1% Temp_sense C301 100nF U303A LM393D GNDA Temp_sense_2 R303 75k-1%
+12V_D
+3.3V_A
+3.3V_A
User's Manual
Phase Current Sensing Temperature Sensing
R306 680k +12V_D U303B LM393D Shut_Down_Open
GNDA
GNDA
R301 10k-1%
Current Sensing
GNDA U302A MC33502D +3.3V_A C305 100nF
I_sense_DCB
I_sense_DCB (1.65V 1.65V Imax)
C201 100nF
R200 3.3k
3-Phase Switched Reluctance Low-Voltage Power Stage
+12V_D C200 10uF/16V U200 OutA R201 MC33152D C202 D200 MMSZ5251BT1 OutB R202 Brake_gate R203 DCB_Cap_pos 3.4k-1% 4.75k-1% R206 4.53k-1% V_sense_DCB R204 R205 R207 3.32k-1% DCB_Cap_neg
MOTOROLA
Brake_control
Schematics Parts List More Information This Product, www.freescale.com
+12V_D
+12V_D
Schematics Parts List Schematics
Figure 4-5. Voltage Sense Brake Gage Drive
User's Manual
Schematics Parts List
+5V_D +5V_D +5V_D C801 10uF/16V MC68HC705JJ7DW_MOD JP801 X801 4MHz Coding +5V_D Coding RESET OSC2 OSC1 PB4/TCMP PB3/TCAP PB2/AN2 PB1/AN1 U801 SM/JUMPER4x2 R801 +5V_D R802 R803 R804 R805 C802 10nF Coding +5V_D
User's Manual
DEFAULT SETTINGS: PTB0 PTB1 PTB2 PTB3 PTB4 PTB5 PTA6 PTA7
Identification
Schematics Parts List More Information This Product, www.freescale.com
+5V_D
3-Phase Switched Reluctance Low-Voltage Power Stage
Figure 4-6. Identification Block
MOTOROLA
Power_pos_12V C103 470uF/10V R101 1.2k D105 MBRM140T3 C102 330uF/50V
Power_pos_12V
Power_neg_12V
Power_neg_12V
C109 3.3uF/35V
MOTOROLA
JP100 +FAN +Vout
12V/125mA
Power_Pos +12V C105 100nF C104 33uF/25V U100 +12V_D
Power Jack INT. EXT. 9V-18V C101 47uF/50V -Vin -Vin
-12V/125mA
D101 MBRM140T3 D102 MBRM140T3
+Vin +Vin
-Vout
JP13 -FAN L102
D103 MBRM140T3
D104 MBRM140T3
TRACO/TEG1222
+12V_A C112 100nF C111 33uF/25V
DCB_Cap_Pos
DCB_Cap_Neg Power_Neg
C115 100nF GC100 Ground_Connection C116 100nF L103
C114 C113 33uF/25V 100nF -12V_A GNDA
SG260
U101 +12V 330uH R100 4.7k L100 LM2575D2T-ADJ
3-Phase Switched Reluctance Low-Voltage Power Stage
+5V_D R102 1.5k C106 100nF D107 Green D108 MBR0530T1 L101 U103 MC78PC33NTR Vout C110 3.3uF/35V +3.3V_A GNDA
Power_Pos
Power_Pos
Power_Neg
Power_Neg
+3.3V_A
+3.3V_A
+5V_D
+5V_D
+12V_D
+12V_D
Schematics Parts List More Information This Product, www.freescale.com
+12V_A
+12V_A
-12V_A
-12V_A
GNDA
GNDA
+FAN
+FAN
-FAN
-FAN
Schematics Parts List Schematics
Figure 4-7. Power Supply
User's Manual
Schematics Parts List Parts Lists
power stage's parts content described Table power substrate Table printed circuit board.
Table 4-1. Power Substrate Parts List
Reference Description 40A/30V Fast Diode Dual Diode Temp Sensing SM/CON/MCRD_SR_500_F SM/CON/MCRD_SR_500_G SM/CON/MCRD_SR_500_I SM/CON/MCRD_SR_500_B SM/CON/MCRD_SR_500_E 75A/60V MOSFET 0.33_, 0.001_, Sense Resistor Substrate Manufacturer Semi Semi Fischer Elektronik Fischer Elektronik Fischer Elektronik Fischer Elektronik Fischer Elektronik Semiconductor Caddock Electronics Heusler CUBEcz Part MBRB4030 BAV99LT1 MTB75N06HD MP725-0.33-5.0% BVS-M-R001-1.0 46615772
Table 4-2. Printed Circuit Board Parts List (Sheet
Reference Description Part Manufacturer
C105, C106, C112, C114, C115, C116, C201, C301, C304, C305, C307, C408, C410, C413 C101 C102 C103 C104, C111, C113, C417, C420, C423
100nF Ceramic
available
available
47µF/50V Electrolytic 220µF/50VAl Electrolytic 470µF/10V Electrolytic 33µF/25V Electrolytic
ECEV1HA470P ECA1HM221 ECEV1AA471P ECEV1EA330SP
Panasonic Panasonic Panasonic Panasonic
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Schematics Parts List More Information This Product, www.freescale.com MOTOROLA
Schematics Parts List Parts Lists
Table 4-2. Printed Circuit Board Parts List (Sheet
Reference C200, C306, C409, C411, C414, C801, C109, C110 C202, C401, C402, C403, C404, C405, C406 C302, C407, C802 C303 C412, C424, C425 C415, C416, C418, C419, C421, C422 D101, D102, D103, D104, D105 D107 D108 D200, D403, D405, D407, D410, D412, D415 D401, D408, D413 D402, D404, D406, D409, D411, D414 JP13 JP100 J20, J21, J22, J23, J24, J25, J26, J27, J28, L100 L101, L102, L103 R101 R308, R309 Description 10µF/16V Electrolytic 1nF, Ceramic, Size 0805 10nF, Ceramic, Size 0805 680pF,Ceramic, Size 0805 Part ECEV1CS100SR available available available Manufacturer Panasonic available available available available available Semi Kingbright Semi Semi Semi Semi WAGO Fischer Elektronik Fischer Elektronik Fischer Elektronik Fischer Elektronik Fischer Elektronik Fischer Elektronik Stack Fischer Elektronik Pulse Engineering
8.2pF, Ceramic, Size 0805 available 470nF/50V, Ceramic, Size 1206 1A/40V Schottky Green 0.5A/30V Schottky Zener 1A/600V Ultrafast 1A/30V Schottky Position Terminal Block Jumper available MBRM140T3 L-934GT MBR0530T1 MMSZ5251BT1 MURS160T3 MBRS130LT3 237-132 CAB4G
Position Female Header Position Female Header Position Female Header Position Female Header Position Female Header 2.1mm Power Jack Connector Faston Tab, 6.3mm (0.25in) 330uH Ferrite Bead Current Limiter 1.47k-1%, size 0805 1.2k-5%, size 0805 SG260 available available PJ-002A ASLG40G 140814-2 53146
Rhopoint available available
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Schematics Parts List More Information This Product, www.freescale.com
User's Manual
Schematics Parts List
Table 4-2. Printed Circuit Board Parts List (Sheet
R102 Reference Description 1.5k-5%, size 0805 Part available Manufacturer available
R200, R201, R312, R401, R402, R403, R404, R405, R406, R407, R801, R802, R803, R804, R805 R408, R202 R203 R204 R100, R205 R206 R207 R301, R304, R311, R313, R316, R317, R320, R321 R302 R303, R305, R307, R314, R315, R318, R319, R322, R324 R306 R310 R323 R325 R409, R410, R411, R412, R413, R414 U100 U101 U103 U200 U301, U302 U303 U304 U401, U402, U403 U404 U801 X801
10k-5%, size 0805
available
available
100-5%, size 0805 size 0805 3.4k-1%, size 0805 4.75k-1%, size 0805 4.53k-1%, size 0805 3.32k-1%, size 0805 3.01k-1%, Size 0805 2.21k-1%, Size 0805 100k-1%r, Size 0805 680k-5%, Size 0805 470_-5%, Size 0805 390_-5%, Size 0805 33k-1%, Size 0805 120_-5%, Size 0805 DC-DC Converter Voltage Regulator Voltage Rregulator Gate Driver DualComparator Voltage Reference Gate Driver Driver Programmed 4MHz Resonator
available available available available available available available available available available available available available available TEG1222 LM2575D2T-ADJ MC78PC33NTR MC33152D MC33502D LM393D LM285M IR2112S DM74ALS1034M
available available available available available available available available available available available available available available Traco Power Semi Semi Semi Semi Semi National Semi International Rectifier FairChild
MC68HC705JJ7CDW Motorola CSTCC4.00MG muRata
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Schematics Parts List More Information This Product, www.freescale.com MOTOROLA
User's Manual 3-Phase Switched Reluctance Low-Voltage Power Stage
Section Design Considerations
Contents
Overview. Phase Outputs Voltage Current Feedback Cycle-by-Cycle Current Limiting. Temperature Sensing Phase Current Sensing Brake.
Overview
From systems point view, power stage fits into architecture that designed software development. addition hardware that needed motor, variety feedback signals that facilitate control algorithm development provided. Circuit descriptions power stage appear these subsections.
Phase Outputs
output stage configured dual output phase, 3-phase, bridge with MOSFET output transistors. simplified considerably integrated gate drivers that have cycle cycle current limit feature. schematic that shows phase illustrated Figure 5-1.
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Design Considerations More Information This Product, www.freescale.com
User's Manual
Design Considerations
DCB_Cap_Pos D402 +5V_D C414 10uF/16V U401 +12V_D C413 100nF C415 470nF/50V D401 MURS160T3 R409 D403 MMSZ5251BT1 Phase_AT Phase_AB MTB75N06HD MBRS130LT3 MTB75N06HD MBRB4030 U404A DM74ALS1034M D404 MBRS130LT3 IR2112S C417 33uF/25V U404B DM74ALS1034M C416 470nF/50V R410 D405 MMSZ5251BT1 C402 MBRB4030 R402 +5V_D I_sense_A1 0.001 I_sense_A2 R408 +5V_D C412 8.2pF DCB_Cap_Neg R407
User's Manual
PWM_AT
PWM_AB
C401
R401
Design Considerations More Information This Product, www.freescale.com
Shut_Down
Figure 5-1. Phase Output
3-Phase Switched Reluctance Low-Voltage Power Stage
MOTOROLA
Design Considerations Voltage Current Feedback
input, pull down resistors, R401 R402, logic absence signal. Open input pull down important, since desirable keep power transistors case either broken connection absence power control board. drive signal buffered U404A U404B. This part minimum logic input voltage volts maximum logic input voltage of.8 volts, which allows inputs from either 3.3-volt 5-volt logic. Gate drive supplied International Rectifier IR2112. Under-voltage lockout cycle-by-cycle current limiting also provided IR2112. Under-voltage lockout nominally volts. Current limiting discussed further Cycle-by-Cycle Current Limiting.
Voltage Current Feedback
Feedback signals proportional voltage current provided circuitry shown Figure 5-2. voltage scaled down voltage divider consisting R203-R207. values chosen such that 16-volt maximum voltage corresponds volts output V_sense_DCB. current sampled resistor Figure 4-3. 3-Phase Output amplified circuit Figure 5-2. This circuit provides voltage output suitable sampling with inputs. MC33502 used differential amplifier. With R316 R317 R315 R319, gain given R315/R316 output voltage shifted 1.65 accommodate both positive negative current swings. voltage drop across sense resistor corresponds measured current range amps. addition providing input, this signal also used cycle-by-cycle current limiting. discussion cycle-by-cycle current limiting follows Cycle-by-Cycle Current Limiting.
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Design Considerations More Information This Product, www.freescale.com
User's Manual
Design Considerations
Voltage Sensing
R203 DCB_Cap_pos 3.4k-1% 4.75k-1% R206 4.53k-1% V_sense_DCB R204 R205
R207 3.32k-1%
DCB_Cap_neg
R315 75k-1%
Current Sensing
R316 10k-1% I_sense_DCB1 I_sense_DCB2 R317 10k-1% R319 75k-1% GNDA U302A MC33502D +3.3V_A
I_sense_DCB
R323 +3.3V_A
1.65V GNDA R324 100k-1% R325 33k-1%
C307 100nF C306 10uF/16V
U304 LM285M
GNDA GNDA
GNDA
GNDA
Figure 5-2. Feedback
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Design Considerations More Information This Product, www.freescale.com MOTOROLA
I_sense_DCB (1.65V 1.65V Imax)
C305 100nF
Design Considerations Cycle-by-Cycle Current Limiting
Cycle-by-Cycle Current Limiting
Cycle-by-cycle current limiting provided circuitry illustrated Figure 5-3. current feedback signal I_sense_DCB filtered with R308 C303 remove spikes, then compared 3.15-volt reference U303B. open-collector output U303B pulled R407. Additional filtering provided C412, C424, C425. resulting signal into IR2112 gate driver's shutdown input three phases. Therefore, when current exceeds amps, output transistors switched off.
IR2112's shutdown input buffered latches both bottom gate drives. Once shutdown signal received, latches hold gate drive each output transistor, until that transistor's gate drive signal switched low, then turned again. Hence, current limiting occurs cycle-by-cycle basis.
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Design Considerations More Information This Product, www.freescale.com
User's Manual
Design Considerations
U401 IR2112S
Bottom
Bottom
C412 8.2pF +5V_D
U402 IR2112S R306 680k +12V_D R407 R308 1.2k I_sense_DCB C303 680pF GNDA R310 +3.3V_A R312 Bottom R309 1.2k U303B LM393D U403 IR2112S R408 C425 8.2pF +5V_D +5V_D
Bottom
Bottom
Bottom
C424 8.2pF GNDA +5V_D
Figure 5-3. Cycle-by-Cycle Current Limiting
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Design Considerations More Information This Product, www.freescale.com MOTOROLA
Design Considerations Temperature Sensing
Temperature Sensing
Cycle-by-cycle current limiting keeps average current within safe limits. Current limiting itself, however, does necessarily ensure that power stage operating within safe thermal limits. thermal protection, circuit Figure used. consists four diodes connected series, bias resistor, noise suppression capacitor. four diodes have combined temperature coefficient -8.8 mV/°C. resulting signal, Temp_sense, back input where software used safe operating limits.
unit-to-unit variations diode forward voltage, highly desirable calibrate this signal. value Temp_sense read known temperature then stored non-volatile memory. measured value, rather than nominal value, then used reference point further readings.
+3.3V_A
R302
BAV99LT1
BAV99LT1
Temp_sense CONNECTOR C302
GNDA
Figure 5-4. Temperature Sensing
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Design Considerations More Information This Product, www.freescale.com
User's Manual
Design Considerations Phase Current Sensing
Sampling resistors provide phase current information three phases. These resistors sample current lower phase legs which switched reluctance output directly measures phase current. circuitry phase shown Figure 5-5. Referencing sampling resistors negative motor rail makes measurement circuitry straightforward inexpensive. Current sampled resistor amplified differential amplifier U302B. This circuit provides voltage output suitable sampling with inputs. MC33502 again used differential amplifier. gain given R303/R301 output voltage shifted 1.65 accommodate both positive negative current swings. ±50-mV voltage drop across shunt resistor corresponds measured current range amps.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Design Considerations More Information This Product, www.freescale.com MOTOROLA
Design Considerations Phase Current Sensing
DCB_Cap_Pos
MTB75N06HD
MBRB4030
Gate_AT Phase_AT
MBRB4030 MTB75N06HD
Phase_AB
Gate_AB Source_AB
R301 10k-1%
R303 75k-1%
R304 10k-1% I_Sense_DCB2 R305 75k-1%
R323 +3.3V_A
1.65V
C307 100nF C306 10uF/16V
U304 LM285M
R324 100k-1% R325 33k-1%
GNDA
GNDA
GNDA
GNDA
Figure 5-5. Phase Current Sensing
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Design Considerations More Information This Product, www.freescale.com
0.001
I_sense_A (1.65V 1.65V Imax)
U302B MC33502D
User's Manual
Design Considerations Brake
brake circuit included dissipate re-generative motor energy during periods active deceleration rapid reversal. Under these conditions, motor back adds voltage. Without means dissipate excess energy, overvoltage condition could easily occur. circuit shown Figure connects R1-R4 across dissipate energy. turned software when voltage sensing circuit Figure indicates that voltage could exceed safe levels. On-board power resistors R1-R4 will safely dissipate watts continuously watts seconds. Additional power dissipation capability added externally brake connectors J23.
NOTE:
Operation brake 100% duty cycle more than seconds volts will over dissipate R1-R4. voltages higher than volts, maximum duty cycle restricted less than 100%.
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Design Considerations More Information This Product, www.freescale.com MOTOROLA
Design Considerations Brake
DCB_Cap_Pos
0.33
Brake1 EXT. Brake EXT.
0.33
MBRB4030
0.33
0.33
+12V_D C200 10uF/16V C201 100nF
R201 Brake_control
U200
OutA
MTB75N06HD R202
MC33152D
OutB
R200 3.3k
C202
D200 MMSZ5251BT1
DCB_Cap_Neg
Figure 5-6. Brake
3-Phase Switched Reluctance Low-Voltage Power Stage MOTOROLA Design Considerations More Information This Product, www.freescale.com
User's Manual
Design Considerations
User's Manual
3-Phase Switched Reluctance Low-Voltage Power Stage Design Considerations More Information This Product, www.freescale.com MOTOROLA
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Motorola reserves right make changes without further notice products herein. Motorola makes warranty, representation guarantee regarding suitability products particular purpose, does Motorola assume liability arising application product circuit, specifically disclaims liability, including without limitation consequential incidental damages. "Typical" parameters which provided Motorola data sheets and/or specifications vary different applications actual performance vary over time. operating parameters, including "Typicals" must validated each customer application customer's technical experts. Motorola does convey license under patent rights rights others. Motorola products designed, intended, authorized components systems intended surgical implant into body, other applications intended support sustain life, other application which failure Motorola product could create situation where personal injury death occur. Should Buyer purchase Motorola products such unintended unauthorized application, Buyer shall indemnify hold Motorola officers, employees, subsidiaries, affiliates, distributors harmless against claims, costs, damages, expenses, reasonable attorney fees arising directly indirectly, claim personal injury death associated with such unintended unauthorized use, even such claim alleges that Motorola negligent regarding design manufacture part. Motorola registered trademarks Motorola, Inc. Motorola, Inc. Equal Opportunity/Affirmative Action Employer.
reach USA/EUROPE/Locations Listed: Motorola Literature Distribution; P.O. 5405, Denver, Colorado 80217. 1-303-675-2140 1-800-441-2447 JAPAN: Motorola Japan Ltd.; SPS, Technical Information Center, 3-20-1, Minami-Azabu, Minato-ku, Tokyo 106-8573 Japan. 81-3-3440-3569 ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd.; Silicon Harbour Centre, King Street, Industrial Estate, N.T., Hong Kong. 852-26668334 Technical Information Center: 1-800-521-6274 HOME PAGE:
Motorola, Inc., 2000
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