Starter STMicroelectronics ST7FMC Motor Control Device User's Man
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AK-ST7FMC
Starter STMicroelectronics ST7FMC Motor Control Device
User's Manual
Copyright 2004 SofTec Microsystems DC00718
want your feedback! SofTec Microsystems always look-out ways improve Products Services. this reason feedback, comments, suggestions criticisms, however small, always welcome.
SofTec Microsystems E-mail (general information): info@softecmicro.com E-mail (marketing department): marketing@softecmicro.com E-mail (technical support): support@softecmicro.com Web: http://www.softecmicro.com
Important SofTec Microsystems reserves right make improvements AK-ST7FMC Starter Kit, documentation software routines, without notice. Information this manual intended accurate reliable. However, SofTec Microsystems assumes responsibility use; infringements rights third parties which result from use. SOFTEC MICROSYSTEMS WILL LIABLE DAMAGES RESULTING FROM LOSS DATA, PROFITS, PRODUCTS, INCIDENTAL CONSEQUENTIAL DAMAGES, EVEN ADVISED POSSIBILITY THEREOF. Trademarks STMicroelectronics registered trademark STMicroelectronics, Inc. Metrowerks CodeWarrior trademarks registered trademarks Metrowerks Corp. Microsoft Windows trademarks registered trademarks Microsoft Corporation. registered trademark International Business Machines Corporation. Other products company names listed trademarks trade names their respective companies.
AK-ST7FMC User's Manual
Contents
Before Starting
Safety Warnings 0.1.1 General 0.1.2 Intended 0.1.3 Operation 0.1.4 Important Notice Users Required Skills Credits
Overview
What AK-ST7FMC Starter Kit? ST7FMC Family Overview Brushless (BLDC) Motor Induction Motor Recommended Reading Software Upgrades Troubleshooting Getting Technical Support Package Checklist Motor Control Board BLDC Motor In-Circuit Debugger/Programmer (inDART-STX) Optoisolation board "Alternate Sampling" Daughter Board
AK-ST7FMC Components
Getting Started BLDC Motors
Introduction Step-by-Step Tutorial 3.2.1 Tools Required 3.2.2 Installing Software 3.2.3 Installing Hardware 3.2.4 Tutorial Steps
Contents
Getting Started Motors
Introduction Step-by-Step Tutorial 4.2.1 Tools Required 4.2.2 Installing Software 4.2.3 Installing Hardware 4.2.4 Tutorial Steps
Connectors Functions
Power Supply 5.1.1 Introduction 5.1.2 Optoisolation Board Supply 5.1.3 Power Supply Connectors Summary Push-Buttons Potentiometer (Standalone Mode) 5.2.1 Introduction 5.2.2 Preparing Standalone Mode: General Notes 5.2.3 Preparing Standalone Mode: BLDC Motors 5.2.4 Preparing Standalone Mode: Motors 5.2.5 Push-Buttons 5.2.6 Potentiometers 5.2.7 Standalone Mode: Driving BLDC Motor 5.2.8 Standalone Mode: Driving Motor BLDC Motor Outputs Feedback 5.3.1 Introduction 5.3.2 Sensorless Mode (STMicroelectronics Method) 5.3.3 Sensorless Mode (Standard Method) 5.3.4 Sensor Mode Motor Outputs Feedback 5.4.1 Open Loop 5.4.2 Closed Loop Connector External Power Stage Connectors RS-232 Connector Summary Jumper Connector Settings 5.8.1 Jumpers Summary 5.8.2 Connectors Summary/Pinout 5.8.3 Jumper Settings BLDC Motor (Default) 5.8.4 Jumper Settings Motor
AK-ST7FMC Control Panel Features
Introduction
AK-ST7FMC User's Manual 6.1.1 Suggested BLDC Motor Learning Steps 6.1.2 Suggested Motor Learning Steps Motor Type Choice BLDC Motor Parameters 6.3.1 Main Motor Settings 6.3.2 Start-Up Settings 6.3.3 Real-Time Settings 6.3.4 Advanced Settings Motor Parameters 6.4.1 Main Motor Settings 6.4.2 Curve Settings 6.4.3 Start-Up Settings 6.4.4 Real-Time Settings 6.4.5 Advanced Settings
Electrical Specifications
AK-ST7FMC User's Manual
Index Figures
Figure 2.1: AK-ST7FMC Hardware Components Figure 2.2: Motor Control Board Figure 3.1: Motor Type Choice Dialog Figure 3.2: AK-ST7FMC Control Panel Main Window BLDC Motors Figure 4.1: AK-ST7FMC Control Panel Main Window Motors Figure 5.1: Power Supply Connectors Figure 5.2: BLDC Motor Closed Loop Parameters Collecting Figure 5.3: Motor Closed Loop Parameters Collecting: Figure 5.4: Motor Closed Loop Parameters Collecting: Slip Frequency Figure 5.5: Push Buttons Figure 5.6: Potentiometers Figure 5.7: Motor Outputs Feedback Figure 5.8: Motor Outputs Feedback Figure 6.1: AK-ST7FMC Control Panel Main Window BLDC Motors Figure 6.2: BLDC Motor Advanced Settings Dialog Figure 6.3: BLDC Motor: BEMF Sampling Methods Figure 6.4: AK-ST7FMC Control Panel Main Window Motors Figure 6.5: Motor Advanced Settings Dialog
AK-ST7FMC User's Manual
Index Tables
Table 5.1: BLDC Motor Closed Loop Standalone Firmware Defines Table 5.2: Option Bytes Settings ST7FMC Programming Table 5.3: Motor Closed Loop Standalone Firmware Defines Table 5.4: Open Closed Loop Standalone Controls BLDC Motor Table 5.5: Open Closed Loop Standalone Controls Motor Table 5.6: Jumpers Summary Table 5.7: Connectors Summary/Pinout Table 5.8: Jumper Settings Example BLDC Motor Table 5.9: Jumper Settings Example Motor Table 6.1: AK-ST7FMC Control Panel: Motor Type Choice Table 6.2: AK-ST7FMC Control Panel: BLDC Motor Main Settings Table 6.3: AK-ST7FMC Control Panel: BLDC Motor Start-Up Settings Table 6.4: AK-ST7FMC Control Panel: BLDC Motor Real-Time Settings Table 6.5: AK-ST7FMC Control Panel: BLDC Motor Advanced Settings Table 6.6: AK-ST7FMC Control Panel: Motor Main Settings Table 6.7: AK-ST7FMC Control Panel: Motor Curve Settings Table 6.8: AK-ST7FMC Control Panel: Motor Start-Up Settings Table 6.9: AK-ST7FMC Control Panel: Motor Real-Time Settings Table 6.10: AK-ST7FMC Control Panel: Motor Advanced Settings Table 7.1: Motor Control Board Electrical Specifications Table 7.2: Optoisolation Board Electrical Specifications
AK-ST7FMC User's Manual
Before Starting
Safety Warnings
0.1.1 General
operation, AK-ST7FMC Starter uninsulated wires, moving rotating parts (when connected motor), well surfaces. case improper use, wrong installation maloperation, there danger serious personal injury damage property. operations, installation maintenance carried skilled technical personnel (national accident prevention rules must observed). When Motor Control board supplied with voltages greater than AC/DC, board components must considered "hot", contact with board must avoided. operator should stay away from board well (risk projection material case components destruction, especially when powering board with high voltages). rotating parts motors also source danger. AK-ST7FMC Starter contains electrostatic sensitive components which damaged through improper use.
0.1.2 Intended
AK-ST7FMC Starter made components designed demonstration purposes must included electrical installations machinery. Instructions about setup AK-ST7FMC Starter must strictly observed.
0.1.3 Operation
After disconnecting board from voltage supply, several parts power terminals must touched immediately because possible energized capacitors surfaces.
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Before Starting
0.1.4 Important Notice Users
While every effort been made ensure accuracy information this document, SofTec Microsystems 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.
Required Skills
order profitably AK-ST7FMC Starter Kit, should acquainted with several skills, ranging from hardware design software design. particular, should possess following knowledge: Electrical motor knowledge; Programming knowledge (Assembly Microcontroller systems; architecture knowledge.
Credits
AK-ST7FMC Start been developed SofTec Microsystems together with STMicroelectronics. particular, Motor Control board been developed STMicroelectronics. special thanks goes following people contributing this project manual with ideas, technical information, diagrams. Matteo Borini (SofTec Microsystems) Jean-Marie Charreton (STMicroelectronics) Arnaud Julienne (STMicroelectronics) Vincent Onde (STMicroelectronics) Loris Pacquola (SofTec Microsystems) Eric Payet (STMicroelectronics) Piero Poletto (SofTec Microsystems) Page
AK-ST7FMC User's Manual Jawhar Turki (STMicroelectronics) Thomas Vicenzotto (SofTec Microsystems) This manual been edited Paolo Xausa (SofTec Microsystems).
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AK-ST7FMC User's Manual
Overview
What AK-ST7FMC Starter Kit?
AK-ST7FMC Starter integrated system designed provide user with complete, ready-to-use motor control application. Starter built around STMicroelectronics ST7FMC microcontroller, which built-in, dedicated motor control peripheral. This peripheral particularly suited drive brushless motors (either induction permanent magnet types). Starter demonstrates effectively ST7FMC family microcontrollers used real-world motor control applications. Starter composed Motor Control board, three-phase, permanent-magnet, brushless (BLDC) motor, plus in-circuit debugger board Optoisolation board. Motor Control board built-in power stage capable directly driving both motors. Starter used ways: demonstration purposes. Connect your motor drive graphical user interface (AK-ST7FMC Control Panel) provided, which allows change driving parameters. user application development. complete, integrated development environment provided, which allows write your software, download ST7FMC microcontroller debug
Caution: AK-ST7FMC Starter should only used engineers technicians experienced power electronics.
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Overview
ST7FMC Family Overview
ST7FMC microcontroller family designed mid-range applications with Motor Control dedicated peripheral. devices based common industry-standard 8-bit core, featuring enhanced instruction available with FLASH memory. Motor Controller peripheral (MTC) seen three-phase, pulse-width modulator multiplexed output channels Back Electromotive Force (BEMF) zero-crossing detector sensorless control Permanent Magnet Brushless Direct Current (BLDC) motors. particularly suited driving brushless motors (either induction permanent magnet types) supports operating modes like: Commutation step control with motor voltage regulation current limitation. Commutation step control with motor current regulation, i.e. direct torque control. Position sensor sensorless motor phase commutation control (sixstep mode). BEMF zero-crossing detection with high sensitivity. integrated phase voltage comparator directly referred full BEMF voltage without attenuation. BEMF voltage down detected, providing high noise immunity self-commutated operation large speed range. Real-time motor winding demagnetization detection fine-tuning phase voltage masking time applied before BEMF monitoring. Automatic programmable delay between BEMF zero-crossing detection motor phase commutation. generation three-phase sinewave three-channel independent signals.
Brushless (BLDC) Motor
brushless (BLDC) motor rotating electric machine where stator classic three-phase stator like that induction motor rotor surface-mounted permanent magnets. this respect, BLDC motor equivalent reversed commutator motor, which magnet Page
AK-ST7FMC User's Manual rotates while conductors remain stationary. commutator motor, current polarity altered commutator brushes. contrary, brushless motor, polarity reversal performed power transistors switching synchronization with rotor position. Therefore, BLDC motors often incorporate either internal external position sensors sense actual rotor position position detected without sensors. BLDC motor driven rectangular voltage strokes coupled with given rotor position. generated stator flux interacts with rotor flux, (which generated rotor magnet) defines torque thus speed motor. voltage strokes must properly applied phases three-phase winding system that angle between stator flux rotor flux kept close maximum generated torque. this fact, motor requires electronic control proper operation.
Induction Motor
induction motor rotating electric machine designed operate from three-phase source alternating voltage. stator classic three phase stator with winding displaced 120°. most common type induction motor squirrel cage rotor which aluminum conductors bars shorted together both ends rotor cast aluminum rings. When three currents flow through three symmetrically placed windings, sinusoidally distributed flux generating rotor current produced. interaction sinusoidally distributed flux induced rotor currents produces torque rotor. mechanical angular velocity rotor lower then angular velocity flux wave called slip velocity. adjustable speed applications, motors powered inverters. inverter converts power power required frequency amplitude. inverter consists three half-bridge units where upper lower switches controlled complimentarily. power device's turn-off time longer than turn-on time, some dead-time must inserted between turn-off transistor half-bridge turn-on it's complementary device. output voltage mostly created pulse width modulation (PWM) technique. three-phase voltage waves shifted 120° each other thus three-phase motor supplied.
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Overview
Recommended Reading
This documentation describes AK-ST7FMC Starter basic debugging sessions with STMicrolectronics Visual Debug together with inDART-STX in-circuit debugger/programmer. Additional information found following documents: ST7FMC Datasheets. STMicroelectronics Motor Control Application Notes. AK-ST7FMC Schematic. Visual Debug Additional Documentation. inDART-STX User's Manual User's Manual Addendum.
above documents (and many more) present AKST7FMC "System Software" CD-ROM.
Additionally, AK-ST7FMC "System Software" CD-ROM, interactive tutorial electric motors present.
Software Upgrades
latest version AK-ST7FMC system software always available free charge from website: http://www.softecmicro.com. When installing AK-ST7FMC system software have option electronically register product. register product, will automatically notified e-mail every time version AK-ST7FMC system software available.
Troubleshooting
troubleshooting guide available online http://mcu.st.com/faq.html.
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AK-ST7FMC User's Manual
Getting Technical Support
Technical assistance provided free customers. technical assistance, documentation information about products services, please refer your local SofTec Microsystems partner. SofTec Microsystems offers customers free technical support service support@softecmicro.com. Before getting contact with advise check that working with latest version AK-ST7FMC system software (upgrades available free charge http://www.softecmicro.com). Additional online support available STMicroelectronics Support Site (http://mcu.st.com). ST7FMC product information (datasheets, tools, application notes, etc.), please Knowledge base (FAQ) available http://mcu.st.com/faq.html. subscribe automatic Motor Control updates please STMicroelectronics also hosts Motor Control forum http://mcu.st.com/forums.html.
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AK-ST7FMC User's Manual
AK-ST7FMC Components
Package Checklist
AK-ST7FMC package includes following items: Motor Control board (1). BLDC motor AMETEK blower) (2). in-circuit debugger/programmer (inDART-STX) (3). Optoisolation board (code 237-00156) (4). "Alternate Sampling" daughter board, (optionally) with BLDC motors (code 237-00158) (5). Cables: motor cable (6), Optoisolation board's power supply cable (7), Cable (8), Cables (also called cables STMicroelectronics terminology) (9). SofTec Microsystems AK-ST7FMC "System Software" CD-ROM. "QuickStart Tutorial" color poster. inDART-STX user's manual. This user's manual.
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AK-ST7FMC Components
Figure 2.1: AK-ST7FMC Hardware Components
Motor Control Board
following figure illustrates main connectors functions Motor Control board.
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AK-ST7FMC User's Manual
Figure 2.2: Motor Control Board
Motor board input power stage, auxiliary power supply, voltage rectification. Prototype area. RS-232 connector. Push buttons trimmers standalone operation. Hall sensors input. Tachometer input closed-loop controlled motors. Three-phases outputs motor. connector isolation board, directly inDART-STX.
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AK-ST7FMC Components inverter level shifter.
BLDC Motor
motor included AK-ST7FMC Starter AMETEK BLDC Low-Voltage Blower. electrical specifications mechanical dimensions please refer AMETEK datasheets present SofTec Microsystems AK-ST7FMC "System Software" CD-ROM.
In-Circuit Debugger/Programmer (inDARTSTX)
inDART-STX powerful entry-level tool STMicroelectronics ST7-based systems. inDART-STX takes advantage STMicroelectronics STVD7 (STMicroelectronics Visual Debug) Integrated Development Environment (In-System Programming) feature program FLASH memory microcontrollers belonging ST72F family. Together with STVD7, inDART-STX provides with everything need write, compile, download, in-circuit emulate debug user code. Full-speed program execution allows perform hardware software testing real time. inDART-STX connected host through port, while 10-pin probe product fits into target's standard connector. standalone, full-featured programming utility (DataBlaze) also provided with inDART-STX. inDART-STX required program in-circuit debug real-time) ST7FMC microcontroller present Motor Control board. more information inDART-STX, please refer inDART-STX User's Manual.
Optoisolation board
Optoisolation board's purpose provide galvanic isolation between inDART-STX in-circuit debugger/programmer board Motor Control board. inDART-STX cable (also called cable
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AK-ST7FMC User's Manual STMicroelectronics terminology) plugs into Optoisolation board, while another cable goes from Optoisolation board Motor Control board's connector. Optoisolation board helps prevent damage event catastrophic failure Motor Control board. This isolation barrier also solves problem caused inDART-STX Motor Control board being different ground potentials.
"Alternate Sampling" Daughter Board
When using BLDC motor Motor Control board uses, default, STMicroelectronics patented three-resistor method BEMF detection. This method advantage being implemented with components, drawback limiting maximum duty cycle signal applied power switches. specific application requires 100% duty cycle, "classical" BEMF detection method must implemented. "Alternate Sampling" daughter board allows drive BLDC motor using classical BEMF detection circuit. daughter board plugs into connector into W14, jumpers Motor Control board. course, motor-specific resistors capacitors must mounted daughter board. detailed information, please refer STMicroelectronics' AN1946 Application Note.
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AK-ST7FMC User's Manual
Getting Started BLDC Motors
Introduction
Motor Control board interfaced host inDART-STX incircuit debugger/programmer. control panel application provided which allows change real time) motor's electrical parameters. this possible learn possibilities offered ST7FMC integrated motor control peripheral.
Caution: before supplying board, double check proper connections, make sure that there metal parts below around that there undesired earth/ground loops measuring equipment such oscilloscope.
Step-by-Step Tutorial
3.2.1 Tools Required
this tutorial, need: Motor Control board together with provided BLDC motor; inDART-STX in-circuit debugger/programmer; Optoisolation board; power supply (not provided with Starter Kit).
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Getting Started BLDC Motors
3.2.2 Installing Software
Note: before connect inDART-STX board recommended that install AK-ST7FMC Control Panel application first (see below), that inDART-STX driver will automatically found Windows when connect board.
install AK-ST7FMC Control Panel, insert SofTec Microsystems "System Software" CD-ROM into your computer's CD-ROM drive. startup window will automatically appear. Choose "Install Instrument Software" from main menu. list available software will appear. Click "AK-ST7FMC Control Panel" option. Follow on-screen instructions.
Note: installing AK-ST7FMC Control Panel Windows 2000 Windows must have logged Administrator.
3.2.3 Installing Hardware
Connection steps listed below recommended flow order: Verify that Motor Control board jumpers their default position detailed Table 5.8: Jumper Settings Example BLDC Motor page 64). Motor Control board provided BLDC motor come assembled together over metal support. Verify that motor cable correctly connected between Motor Control board's "MOTOR" connector (J12) motor terminal connector. Motor Control board Optoisolation board come already connected through cable. Moreover, Optoisolation board's power connector also already connected Motor Control board's connector. this way, Motor Control board automatically supplies Optoisolation board. Verify that both power cable cable connected stated above.
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AK-ST7FMC User's Manual Connect inDART-STX Optoisolation board with other cable provided (from inDART-STX's "ISP" connector Optoisolation board's "ICC connector). Connect inDART-STX host with cable provided. green "POWER" instrument will turn Windows will automatically recognize instrument will load appropriate driver. Power Motor Control board connecting output terminals your power supply "MAINS" connector. provided voltage must your power supply must able provide current
Note: both Windows 2000 Windows issue warning first time inDART-STX connected This warning related fact that driver used inDART-STX digitally signed Microsoft, Windows considers potentially malfunctioning dangerous system. However, safely ignore warning, since every kind compatibility/security test been carried SofTec Microsystems.
3.2.4 Tutorial Steps
Start AK-ST7FMC Control Panel selecting Start Programs SofTec Microsystems AK-ST7FMC AK-ST7FMC Control Panel. AK-ST7FMC Control Panel application will open. will asked what motor type working with. Select Phase Brushless Permanent Magnet Motor (Trapezoidal)" option click "OK" button.
Figure 3.1: Motor Type Choice Dialog
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Getting Started BLDC Motors dialog will appear asking check proper jumpers configuration. Click "OK" button. AK-ST7FMC Control Panel main window will open.
Figure 3.2: AK-ST7FMC Control Panel Main Window BLDC Motors
Change "Speed Regulation" parameter "Closed Loop" click "START" button. firmware will automatically created based AK-ST7FMC Control Panel's parameter downloaded ST7FMC microcontroller Motor Control board. download phase motor will start run. Change "Target Mechanical Speed" parameter 5000 typing value pressing Enter key. parameter will downloaded ST7FMC microcontroller real time motor will accelerate. Click "STOP" button stop motor.
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AK-ST7FMC User's Manual
Congratulations! have successfully completed this tutorial! continue experiment with AK-ST7FMC Control Panel your own. Additionally, develop debug your application installing "inDART-STX ST7" software (which includes complete development toolchain) present SofTec Microsystems "System Software" CD-ROM.
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AK-ST7FMC User's Manual
Getting Started Motors
Introduction
Motor Control board interfaced host inDART-STX incircuit debugger/programmer. control panel application provided which allows change real time) motor's electrical parameters. this possible learn possibilities offered ST7FMC integrated motor control peripheral.
Caution: before supplying board, double check proper connections, make sure that there metal parts below around that there undesired earth/ground loops measuring equipment such oscilloscope.
Caution: when Motor Control board supplied with voltages greater than AC/DC, board components must considered "hot", contact with board must avoided. operator should stay away from board well (risk projection material case components destruction, especially when powering board with high voltages). rotating parts motors also source danger.
Step-by-Step Tutorial
4.2.1 Tools Required
this tutorial, need:
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Getting Started Motors Motor Control board; three-phase, SELNI motor (available accessory-SofTec Microsystems order code 237-00157); inDART-STX in-circuit debugger/programmer; Optoisolation board.
4.2.2 Installing Software
Note: before connect inDART-STX board recommended that install AK-ST7FMC Control Panel application (see below), that inDART-STX driver will automatically found Windows when connect board.
install AK-ST7FMC Control Panel, insert SofTec Microsystems "System Software" CD-ROM into your computer's CD-ROM drive. startup window will automatically appear. Choose "Install Instrument Software" from main menu. list available software will appear. Click "AK-ST7FMC Control Panel" option. Follow on-screen instructions.
Note: installing AK-ST7FMC Control Panel Windows 2000 Windows must have logged Administrator.
4.2.3 Installing Hardware
Connection steps listed below recommended flow order: Verify that Motor Control board jumpers with motor explained Table 5.9: Jumper Settings Example Motor page 65). Motor Control board provided BLDC motor come assembled together over metal support. motor
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AK-ST7FMC User's Manual must first disconnect BLDC motor cable from "MOTOR" connector (J12) from "HALL SENSOR" connector (J19). Connect motor phases Motor Control board's "MOTOR" connector (J12) with motor cable provided with motor. Connect motor tachometer sensor Motor Control board's "TACHOMETER" connector (J16) with tachometer cable provided with motor. Motor Control board Optoisolation board come already connected through cable. Moreover, Optoisolation board's power connector also already connected Motor Control board's connector. this way, Motor Control board automatically supplies Optoisolation board. Verify that both power cable cable connected stated above. Connect inDART-STX Optoisolation board with other cable provided (from inDART-STX's "ISP" connector Optoisolation board's "ICC connector). Connect inDART-STX host with cable provided. green "POWER" instrument will turn Windows will automatically recognize instrument will load appropriate driver. Make sure that "S1" jumper selects "<35V ONLY" position, then power Motor Control board connecting output terminals your power supply "MAINS" connector. provided voltage must your power supply must able provide current
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Getting Started Motors
Note: both Windows 2000 Windows issue warning first time inDART-STX connected This warning related fact that driver used inDART-STX digitally signed Microsoft, Windows considers potentially malfunctioning dangerous system. However, safely ignore warning, since every kind compatibility/security test been carried SofTec Microsystems.
4.2.4 Tutorial Steps
Start AK-ST7FMC Control Panel selecting Start Programs SofTec Microsystems AK-ST7FMC AK-ST7FMC Control Panel. AK-ST7FMC Control Panel application will open. will asked what motor type working with. Select Phase Induction Motor (Sinewave)" option click "OK" button. dialog will appear asking check proper jumpers configuration. Click "OK" button. AK-ST7FMC Control Panel main window will open.
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AK-ST7FMC User's Manual
Figure 4.1: AK-ST7FMC Control Panel Main Window Motors
Click "START" button. firmware will automatically created based AK-ST7FMC Control Panel's parameter downloaded ST7FMC microcontroller Motor Control board. download phase motor will start run. Change "Target Rotor Frequency" parameter typing value pressing Enter key. parameter will downloaded ST7FMC microcontroller real time motor will accelerate. Click "STOP" button stop motor.
Congratulations! have successfully completed this tutorial! continue experiment with AK-ST7FMC Control Panel your own.
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Getting Started Motors Additionally, develop debug your application installing "inDART-STX ST7" software (which includes complete development toolchain) present SofTec Microsystems "System Software" CD-ROM.
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AK-ST7FMC User's Manual
Connectors Functions
Power Supply
5.1.1 Introduction
Motor Control board supplied ways: Single power supply (for motors requiring voltage greater than Power supplied connector. Power supply voltage must higher than Veff This power supplies both motor Motor Control board. voltage automatically generated Motor Control board logic. However, depending voltage supplied connector, cases possible: supplied voltage greater than jumper must select "HIGH VOLTAGE" position; supplied voltage between jumper must select "<35V ONLY" position.
Dual power supply (for motors requiring voltage less than Power motor supplied connector, while separate power Motor Control board logic must supplied connector jumper must removed.
Note: connector, polarity input important.
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Connectors Functions
5.1.2 Optoisolation Board Supply
Optoisolation board requires power supply. This power conveniently provided Motor Control board's connector.
Note: connectors internally connected same power bus.
5.1.3 Power Supply Connectors Summary
following figure illustrates location Motor Control board power supply connectors.
Figure 5.1: Power Supply Connectors
connector. power supply input (used dual power supply mode). connector. output Optoisolation board. connector. Motor power supply (for dual power supply mode) motor plus Motor Control board power supply (for single power supply mode). Veff
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AK-ST7FMC User's Manual jumper. single power supply mode, selects motor voltage. dual power supply mode, must removed.
Push-Buttons Potentiometer (Standalone Mode)
5.2.1 Introduction
Four potentiometer push-buttons available Motor Control board standalone operation connection required). operate Motor Control board standalone mode, several steps must completed ensure compatibility between ST7FMC firmware push-buttons potentiometers.
5.2.2 Preparing Standalone Mode: General Notes
steps below must followed generate correct firmware Motor Control board standalone mode. Please note that firmware motor-specific. After generating (and downloading ST7FMC microcontroller) appropriate firmware type motor type control want use, push-buttons potentiometers available standalone mode, explained later.
Note: following steps require that inDART-STX System Software installed. install inDART-STX System Software, insert SofTec Microsystems "System Software" CD-ROM into your computer's CD-ROM drive. startup window will automatically appear. Choose "Install Instrument Software" from main menu. list available software will appear. Click "inDART-STX ST7" option. Follow on-screen instructions.
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Connectors Functions
Note: order compile project linked STMicroelectronics Motor Control library, must have full version either Metrowerks Cosmic compiler. size STMicroelectronics Motor Control library, code size limit evaluation versions these compilers, attempt compile project linked Motor Control library will succeed, unless have full version above compilers.
Note: following steps illustrate Metrowerks compiler compile project based STMicroelectronics Motor Control library. Similar procedures apply Cosmic compiler.
5.2.3 Preparing Standalone Mode: BLDC Motors
Motor Control board explained "Installing Hardware" section "Getting Started BLDC Motors" chapter. latest release AK-ST7FMC Control Panel system software from SofTec Microsystems website (http://www.softecmicro.com), uninstall previous version install one. "\Program Files\SofTec Microsystems\AK-ST7FMC\Library" directory there various subdirectories, each specific motor/control type (e.g. "BLDC Sensorless"). Each subdirectory contains pre-made project specific that motor/control type. Copy appropriate subdirectory (the subdirectory that corresponds your motor control type) into another location. copied subdirectory will become your working directory. AK-ST7FMC Control Panel selecting Start Programs SofTec Microsystems AK-ST7FMC AK-ST7FMC Control Panel. will asked what motor type working with. Select Phase Brushless Permanent Magnet Motor (Trapezoidal)" option click "OK" button. main AKST7FMC Control Panel window will open. BLDC motor standalone mode (Closed Loop), must choose optimum sampling time collect, each four critical
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AK-ST7FMC User's Manual speeds, real-time parameters (rising BEMF delay, falling BEMF delay, Kp). These parameters must fine tuned minimum maximum motor speed (the same speeds specified Advanced Settings window) plus other intermediate speeds your choice. During operation, ST7FMC firmware will make linear extrapolation real-time parameters between four specified speeds ensure smooth operation (for more information about parameter collecting, refer STMicroelectronics' Application Note AN1905).
Rising B-EMF Delay, Falling B-EMF Delay,
Maximum speed
Target Mechanical Speed
Minimum speed
Figure 5.2: BLDC Motor Closed Loop Parameters Collecting
BLDC motor standalone mode (Open Loop), necessary collect real-time settings, since real-time parameters controlled through potentiometers. Click "Generate Source Files." button. Browse your working directory select "\source" subdirectory. Click "OK" button. appropriate header files will generated saved "\source" subdirectory files. parameters AKST7FMC Control Panel (other than real-time parameters listed point saved automatically files. STVD7 selecting Start Programs SofTec Microsystems inDART-STX STVD7 inDART-STX. From main menu, choose File Open Workspace. Select "BLDC
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Connectors Functions _Sensor_Metrowerks.wsp" workspace file that located under your working directory. Click "Open". Only case Closed Loop control, some defines "mtc.h" file must edited according collected parameters. defines edited listed following table.
Table 5.1: BLDC Motor Closed Loop Standalone Firmware Defines BLDC Motor-Specific Defines Edited #define SAMPLING_TIME
#define Rising_Fmin #define Falling_Fmin #define Ki_Fmin #define Kp_Fmin
#define #define Rising_F_1 #define Falling_F_1 #define Ki_F_1 #define Kp_F_1
#define #define Rising_F_2 #define Falling_F_2 #define Ki_F_2 #define Kp_F_2
#define Rising_Fmax #define Falling_Fmax #define Ki_Fmax #define Kp_Fmax
Select "Build" command from "Project" menu. project will compiled built, executable file will generated.
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AK-ST7FMC User's Manual Using DataBlaze programming utility, program ST7FMC microcontroller with generated executable. launch DataBlaze, select Start Programs SofTec Microsystems inDART-STX DataBlaze Programmer. From DataBlaze's main menu, select Operations Select Device. Make sure that "Programming Hardware" parameter "inDART-STX" that "Device Code" parameter specifies "ST7FMC2N6B" microcontroller. Click "OK" button. From DataBlaze's main menu, select File Load Code Buffer. Change "Format" parameter "Motorola S-Rec" browse BLDC_Metrowerks.s19 file located under "object\Metrowerks" subdirectory your working directory. Click "OK" button. From DataBlaze's main menu, select Edit Option Bytes. Option Bytes must edited detailed table below.
Table 5.2: Option Bytes Settings ST7FMC Programming Option Bits [FMP_R] Read-Out Protection [DIV2] Divider [RSTC] RESET Clock Cycle Selection [VD] Voltage Detection Selection [CKSEL] Clock Source Selection [WDG_SW] Watchdog Activation [WDG_HALT] Watchdog Halt Mode [MCO] Motor Control Output Options [PKG] Package Selection Setting Read-Out Protection Disabled DIV2 divider enabled Reset phase with 4096 cycles clock selected Software Reset HALT SDIP56
From DataBlaze's main menu, select Operations Auto. Make sure that programming steps (but "Run") enabled. Click "START" button. microcontroller programmed. unplug cable from Motor Control board operate Motor Control board standalone mode. start running microcontroller, press "RESET" push-button. details about control motor with Motor Control
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Connectors Functions board's push-buttons potentiometers, please refer "PushButtons", "Potentiometers" "Standalone Mode: Driving BLDC Motor" sections later this chapter.
5.2.4 Preparing Standalone Mode: Motors
Motor Control board explained "Installing Hardware" section "Getting Started Motors" chapter. latest release AK-ST7FMC Control Panel system software from SofTec Microsystems website (http://www.softecmicro.com), uninstall previous version install one. "\Program Files\SofTec Microsystems\AK-ST7FMC\Library" directory there various subdirectories, each specific motor/control type. Each subdirectory contains pre-made project specific that motor/control type. Copy appropriate subdirectory (the subdirectory that corresponds your motor control type) into another location. copied subdirectory will become your working directory. AK-ST7FMC Control Panel selecting Start Programs SofTec Microsystems AK-ST7FMC AK-ST7FMC Control Panel. will asked what motor type working with. Select Phase Induction Motor (Sinewave)" option click "OK" button. main AK-ST7FMC Control Panel window will open. motor standalone mode (Closed Loop), must choose optimum sampling time then characterize curves, versus stator frequency curve slip frequency versus stator frequency curve. Both curves must have points, illustrated below.
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Target Rotor Frequency
Figure 5.3: Motor Closed Loop Parameters Collecting:
Slip Frequency
Target Rotor Frequency
Figure 5.4: Motor Closed Loop Parameters Collecting: Slip Frequency
motor standalone mode (Open Loop), necessary collect real-time settings, since real-time parameters controlled through potentiometers. Click "Generate Source Files." button. Browse your working directory select "\source" subdirectory. Click "OK" button. appropriate header files will generated. STVD7 selecting Start Programs SofTec Microsystems inDART-STX STVD7 inDART-STX.
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Connectors Functions From main menu, choose File Open Workspace. Select "AC_Metrowerks.wsp" workspace file that located under your working directory. Click "Open". Only case Closed Loop control, some defines "ACMParam.h" file must edited according collected parameters. defines edited listed following table.
Table 5.3: Motor Closed Loop Standalone Firmware Defines Motor-Specific Defines Edited #define SAMPLING_TIME
#define PI_PROP_LOWSPD #define PI_PROP_HIGHSPD #define PI_INT_LOWSPD #define PI_INT_HIGHSPD
#define PI_LOWFREQ_LIMIT #define PI_HIGHFREQ_LIMIT
#define OPT_SLIP_LOWFREQ_LIMIT #define OPT_SLIP_HIGHFREQ_LIMIT #define OPT_SLIP_LOWFREQ #define OPT_SLIP_HIGHFREQ
Select "Build" command from "Project" menu. project will compiled built, executable file will generated. Using DataBlaze programming utility, program ST7FMC microcontroller with generated executable. launch DataBlaze, select Start Programs SofTec Microsystems inDART-STX DataBlaze Programmer. From DataBlaze's main menu, select Operations Select Device. Make sure that "Programming Hardware" parameter "inDART-STX" that "Device Code" parameter specifies "ST7FMC2N6B" microcontroller. Click "OK" button. From DataBlaze's main menu, select File Load Code Buffer. Change "Format" parameter "Motorola S-Rec" browse
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AK-ST7FMC User's Manual AC_Metrowerks.s19 file located under "object\Metrowerks" subdirectory your working directory. Click "OK" button. From DataBlaze's main menu, select Edit Option Bytes. Option Bytes must edited detailed Table 5.2: Option Bytes Settings ST7FMC ProgrammingTable 5.2: Option Bytes Settings ST7FMC ProgrammingTable 5.2: Option Bytes Settings ST7FMC Programming page From DataBlaze's main menu, select Operations Auto. Make sure that programming steps (but "Run") enabled. Click "START" button. microcontroller programmed. unplug cable from Motor Control board Motor Control board standalone mode. start running microcontroller, press "RESET" push-button. details about control motor with Motor Control board's push-buttons potentiometers, please refer "PushButtons", "Potentiometers" "Standalone Mode: Driving Motor" sections here below.
5.2.5 Push-Buttons
following figure shows location push-buttons available Motor Control board.
Figure 5.5: Push Buttons
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Connectors Functions "ON/OFF": starts stops motor. "RESET": resets ST7FMC microcontroller.
5.2.6 Potentiometers
following figure shows location four potentiometers available Motor Control board.
Figure 5.6: Potentiometers
"POT1": current reference setting (for BLDC motor only). "RV1", "RV2", "RV3": open loop closed loop settings.
5.2.7 Standalone Mode: Driving BLDC Motor
BLDC motor driven Current mode Voltage mode. Depending driving mode, must jumper accordingly. Furthermore, either mode, drive motor Open Loop mode Closed Loop mode. jumper must follows. jumper selects "VARIABLE" position, current reference comes from PWM-generated, RC-filtered signal generated ST7FMC microcontroller. "VARIABLE" position selected either Current mode Voltage mode. Note: Voltage
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AK-ST7FMC User's Manual mode, maximum current AK-ST7FMC Control Panel before generating files. jumper select "FIXED" position, current reference comes from "POT1" potentiometer. "FIXED" position selected only Voltage mode.
following table summarizes potentiometers used Open Loop mode Closed Loop mode BLDC motor.
Table 5.4: Open Closed Loop Standalone Controls BLDC Motor Potentiometer Open Loop Sets duty cycle (Voltage mode) current reference (Current mode) Sets coefficient calculate delay rising BEMF Sets coefficient calculate delay falling BEMF Sets maximum current allowed motor (Voltage mode only) Closed Loop Sets target speed (frequency)
POT1
used used Sets maximum current allowed motor (Voltage mode only)
Note: Current mode, jumper must always select "VARIABLE" position allow dynamic current control ST7FMC microcontroller. Current mode, "POT1" potentiometer inactive.
5.2.8 Standalone Mode: Driving Motor
following table summarizes potentiometers used Open Loop mode Closed Loop mode motor.
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Table 5.5: Open Closed Loop Standalone Controls Motor Potentiometer Open Loop Sets stator frequency (from Sets stator voltage (from limit curve) Sets braking torque (from duty cycle frequency 12.5 from other frequencies) used Closed Loop target speed (from used Closed Loop with Tuning target speed (from Sets integral coefficient (from 255) Sets proportional coefficient (from 255)
used
POT1
used
used
BLDC Motor Outputs Feedback
5.3.1 Introduction
Motor Control board configured drive BLDC motor Sensor/Sensorless mode, Open/Closed Loop mode, motor Open/Closed loop. This sections explains configure Motor Control board drive BLDC motor, while next section explains configure Motor Control board drive motor. following figure illustrates where input (sensor) connectors, output connector (motor phases) related jumper settings selectors located.
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Figure 5.7: Motor Outputs Feedback
filtering capacitors jumper selection. W14, W15, W16: Sensor/Sensorless mode jumper selection. W13: tachometer jumper selection motors only). J19: Hall sensors input connector. J12: motor phases output connector. J16: tachometer input connector.
BLDC motor controlled Sensorless mode (using STMicroelectronics patented three-resistor method), Sensorless mode (using classic method) Sensor mode, detailed below.
5.3.2 Sensorless Mode (STMicroelectronics Method)
drive BLDC motor Sensorless mode, using STMicroelectronics patented three-resistor method, W14, jumpers should select upper position (default factory setting). jumper jumpers should removed. Additionally, Event Sampling Method" parameter, AKST7FMC Control Panel Advanced Settings dialog box) should state".
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Connectors Functions
5.3.3 Sensorless Mode (Standard Method)
drive BLDC motor Sensorless mode using classic method (dividers filters each three phases reconstruction motor virtual neutral), "Alternate Sampling" daughter board supplied with should plugged pins W14, jumpers pins connector. jumper must removed. jumpers kept provided filtering capacitors compatible with filter needed. course, motor-specific resistors capacitors must mounted daughter board (see STMicroelectronics application note AN1946) Additionally, Event Sampling Method" parameter, AKST7FMC Control Panel Advanced Settings dialog box) should with delay, once", with delay, fSCF frequency" fSCF frequency".
5.3.4 Sensor Mode
drive BLDC motor Sensor mode, W14, jumpers should select lower position. jumper must removed. jumpers kept filter sensor signal.
Motor Outputs Feedback
motor controlled open closed loop, detailed below.
5.4.1 Open Loop
drive motor open loop, jumpers must select lower position, jumper must removed, jumpers must present.
5.4.2 Closed Loop
drive motor closed loop, jumpers must select lower position, jumper must removed. Additionally, jumper must present, feed tachometer signal Page
AK-ST7FMC User's Manual microcontroller's MCIC input. This signals needs filtered capacitor. filtering done placing jumper between pins connector.
Connector
ST7FMC microcontroller in-circuit programmed "ICC" connector, using inDART-STX in-circuit debugger/programmer.
External Power Stage Connectors
connectors allow override internal power inverter.
Figure 5.8: Motor Outputs Feedback
motor power connector. BLDC motor power connector. onboard power inverter current sensor. onboard power inverter diagnostic/enable. onboard power inverter thermal sensor.
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Connectors Functions jumpers should removed when using external power inverter. jumper should present thermal monitoring available external power inverter, otherwise thermal sensor must connected jumper.
RS-232 Connector
optoisolated RS-232 connector allows Motor Control board connected displaying information about using terminal utility like HyperTerminal. default, motor real-time values such speed, voltage, stator frequency, etc. sent (see STMicroelectronics Application Note AN1904).
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Summary Jumper Connector Settings
5.8.1 Jumpers Summary
Table 5.6: Jumpers Summary Name Selection "HIGH VOLTAGE" "<35V ONLY" present Description Motor supply greater than Veff Motor supply less than Veff Motor supply separated from Motor Control board. Motor Control board must supplied with (0.5 Connects shunt resistor external Operational OpAmp circuitry ST7FMC internal OpAmp. Disconnects shunt resistor from external Operational OpAmp circuitry ST7FMC internal OpAmp, when using external power stage through Connects diagnostic output L6386 driver MCES ST7FMC enables onboard inverter power stage. Disables onboard inverter, when using external inverter power stage Connects heatsink thermal sensor (NTC2, located bottom side PCB) AIN0 ST7FMC. Heatsink thermal sensor connected AIN0 ST7FMC. ST7FMC internal OpAmp used amplify current sensed shunt resistor. ST7FMC internal OpAmp used. External OpAmp used. ST7FMC MCCFI0 (comparator input) directly connected shunt resistor sense current. ST7FMC internal OpAmp used. External OpAmp used amplify current sensed shunt resistor. ST7FMC MCCFI0 (comparator input) connected external OpAmp output. voltage applied supply external inverter driver).
Present present
Present
present Present
present present Upper position
Lower position
"15V" (left position)
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Connectors Functions
Name Selection "5V" (right position "5V" (left position) Right position "INT" (lower position) Description voltage applied supply external inverter driver). voltage applied redirected MCES input ST7FMC. Internal voltage applied L9638 transceiver. transceiver supplied with onboard mainly debugging purposes. External voltage applied L9638 transceiver. transceiver supplied with external voltage, typically battery automotive applications. output ST7FMC directed L9638 transceiver. output ST7FMC directed ST232 UART transceiver. input ST7FMC comes from L9638 transceiver. input ST7FMC comes from ST232 UART transceiver. current reference comes from PWM-generated, RC-filtered signal generated ST7FMC microcontroller (Current mode Voltage mode). current reference comes from "POT1" potentiometer (Voltage mode only). BLDC motor: sensorless input MCIA, MCIB, MCIC pins ST7FMC (rotor position information comes from motor's three phases).
"EXT" (upper position)
Upper position Lower position
Upper position Lower position
"VARIABLE"
"FIXED" present Upper position Upper position Upper position present Lower position Lower position Lower position present Lower position Lower position Lower position
BLDC motor: sensor input MCIA, MCIB, MCIC pins ST7FMC (rotor position information comes from J19).
motor with tachometer sensor.
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Name Selection Present Lower position Lower position Jumper jumpers present Description motor with tachometer sensor (the tachometer signal connected MCIC input ST7FMC).
motor: tachometer signal filtered with capacitors. BLDC motor, sensorless method other than STMicroelectronics method: four analog inputs MCIA, MCIB, MCIC MCVREF filtered with capacitors. BLDC motor, Sensor mode: hall sensors signals filtered with capacitors. BLDC motor, STMicroelectronics sensorless method. Connects voltage AIN1 microcontroller, temperature monitoring signal AIN0 microcontroller. monitoring voltage temperature (not recommended). AK-ST7FMC Control Panel Motor Control library might work properly these jumpers removed (real-time monitoring voltage heatsink temperature might read values leading motor stop). used wrapping purposes ST7FMC Port E[3:0] pins. Always connected.
jumper present jumpers present
jumper present
jumpers present jumpers present
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5.8.2 Connectors Summary/Pinout
following table details pinout each Motor Control board's connector.
Table 5.7: Connectors Summary/Pinout Name Reference
Description/Pinout Optional input connector supply Motor Control board logic separately from motor power stage. Power Supply Power
output connector supply Optoisolation board. Power Supply Power
Veff power supply input connector.
Earth Power Input (AC/DC) Power Input (AC/DC)
motor power connector (when overriding internal power inverter). MCO0 Motor Control Output MCO2 Motor Control Output MCO4 Motor Control Output MCO1 Motor Control Output MCO3 Motor Control Output MCO5 Motor Control Output MCES Motor Control Emergency Stop Selectable between MCES (see Jumper) Selectable between (see Jumper) Board
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Name Reference
Description/Pinout output connector. Transceiver External Supply Voltage Bidirectional Board
BLDC motor power connector (when overriding internal power inverter). MCES Motor Control Emergency Stop Board MCO1 Motor Control Output Board MCO0 Motor Control Output Board MCO3 Motor Control Output Board MCO2 Motor Control Output Board MCO5 Motor Control Output Board MCO4 Motor Control Output Board Power Supply Board MCIA Motor Control Input Board MCIB Motor Control Input Board MCIC Motor Control Input Board Operational Amplifier Input Board Power Supply Board
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Connectors Functions
Name Reference
Description/Pinout control connector. Wake-Up Input Inhibit Output Enable Input KOhm Pull-Up Resistor (enables transceiver when adding jumper between
Motor phases additional monitor signals. Also used connect "Alternate Sampling" daughter board (for classic sensorless control method). Motor Phase Board Motor Phase Board Motor Phase Board MCVREF Motor Control Voltage Reference
Motor three phases output. Motor Phase Motor Phase Motor Phase Middle Point (may used bi-phase motors) Earth
connector, used with inDART-STX download/debug code. Board ICCDATA Board ICCCLK Board RESET# Power Supply N.C. Board
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Name Reference
Description/Pinout Tachometer input connector motor speed loop control. Tachometer Bias (0.6 Tachometer Input
External analog input connected AIN9 ST7FMC (available user). Analog Input (filtered with KOhm/10 network) Board
External digital connected ST7FMC (available user). Digital Input KOhm pull-up resistor debouncing capacitor: allows directly connect push-button switch). Board
Hall sensors input connector. Hall Sensor Input Hall Sensor Input Hall Sensor Input Power Supply Board
RS-232 connector. N.C. Tied Tied Tied Tied N.C.
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Connectors Functions
5.8.3 Jumper Settings BLDC Motor (Default)
Table 5.8: Jumper Settings Example BLDC Motor Jumper Settings Default AMETEK BLDC Motor "<35V ONLY" Settings Generic High-Voltage BLDC Motor "<35V ONLY" "HIGH VOLTAGE" Present Present Present present present present present Lower position Lower position "VARIABLE" present Sensorless mode (default): jumpers upper position Sensor mode: jumpers lower position jumper present jumpers present jumper present jumpers present
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5.8.4 Jumper Settings Motor
Table 5.9: Jumper Settings Example Motor Jumper Settings Generic Motor, Onboard Inverter Power Stage, Tachometer Feedback "<35V ONLY" "HIGH VOLTAGE" Present Present Present present present present present Lower position Lower position "VARIABLE" Present Lower position Lower position present jumpers present jumpers present jumper present jumpers present
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AK-ST7FMC Control Panel Features
Introduction
Note: AK-ST7FMC Control Panel doesn't reflect full capabilities ST7FMC microcontroller uses only partially built-in resources. take full advantage ST7FMC capabilities, necessary bypass AK-ST7FMC Control Panel edit directly ST7FMC firmware. instance, sinewave control PMAC motors with sensors implemented AK-ST7FMC Control Panel time printing requires separate firmware.
case that specific motor (e.g. PMAC BLDC compressor with load condition) AK-ST7FMC Control Panel doesn't provide enough flexibility used motor driving (start-up and/or run). this case, separate fine tuning ST7FMC firmware needed optimum start-up algorithm maximum speed.
6.1.1 Suggested BLDC Motor Learning Steps
provided AMETEK motor AK-ST7FMC Control Panel default settings understand interdependence various parameters. Then, your motor Sensorless, Open Loop mode order find correct start-up sequence setting. Preferably, select Voltage mode: this allows motor take much current needed (within maximum current limit acceptable motor) ensures successful start-up. correct alignment parameters acceleration phase parameters. Real-Time Settings parameter group, duty cycle least equal acceleration phase's. Click "START"
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AK-ST7FMC Control Panel Features button and, case motor fails start, adjust start-up settings and/or advanced settings. When motor starts, adjust delay coefficients given duty cycle (speed) best motor efficiency. After Open Loop mode start-up parameters advanced settings have been fine tuned, motor then Closed Loop mode based these parameters. Closed Loop mode, start-up parameters must again comply with closed loop operation. then possible motor standalone mode collecting real-time data generating appropriate header files used with provided Motor Control library, order generate firmware programmed into microcontroller. This explained detail "Preparing Standalone Mode: BLDC Motors" section page
6.1.2 Suggested Motor Learning Steps
suggest order SELNI motor experiment with AKST7FMC Control Panel's default settings this motor, understand interdependence various parameters. Then, your motor Open Loop mode with speed sensor (this will allow monitor speed ensure that stator frequency doesn't below rotor frequency-otherwise reactive current will generated motor, causing overvoltage bulk capacitors possibly destruction board) order characterize motor and/or verify that motor suitable intended load. After curve, start-up parameters advanced settings have been fine tuned, motor then Closed Loop mode. Closed Loop mode, start-up parameters must again comply with closed loop operation. then possible motor standalone mode collecting real-time data generating appropriate header files used with provided Motor Control library, order generate firmware programmed into microcontroller. This explained detail "Preparing Standalone Mode: Motors" section page
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Motor Type Choice
When starting AK-ST7FMC Control Panel, must choose which motor type working with.
Table 6.1: AK-ST7FMC Control Panel: Motor Type Choice Parameter Name Motor Type Choice Phase Brushless Permanent Magnet Motor (Trapezoidal) Phase Induction Motor (Sinewave) Parameter Values/Description Controls BLDC blower included AKST7FMC Starter other BLDC motor/compressor, including PMAC wound motors six-step mode. MDTG write-once register, Controls SELNI three-phase induction motor (not included AK-ST7FMC Starter Kit) other three-phase induction motor/compressor sinewave mode. MDTG write-once register,
BLDC Motor Parameters
This parameters allows control AMETEK BLDC blower included other BLDC motor/compressor, including PMAC wound motors step mode. Please ensure that correct jumper settings have been board.
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Figure 6.1: AK-ST7FMC Control Panel Main Window BLDC Motors
Note: following tables, name ST7FMC registers corresponding AK-ST7FMC Control Panel settings reported bold when applicable. This order help establish easy link between AK-ST7FMC Control Panel information available microcontroller datasheet.
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6.3.1 Main Motor Settings
Table 6.2: AK-ST7FMC Control Panel: BLDC Motor Main Settings Parameter Name Motor Type AMETEK Motor Parameter Values/Description AMETEK BLDC blower default motor included AK-ST7FMC Starter Kit. This motor features Hall sensors controlled Sensorless mode default. also controlled Sensor mode (see below). "Default Settings" button restores best performance settings this motor. other BLDC motor (including compressor) with without sensors controlled AK-ST7FMC Starter Kit. Motors (including compressors) wound sinewave mode called PMAC motors) also controlled with optimum results trapezoidal mode. Note that basic advanced parameters default those chosen AMETEK motor. unlikely that these settings will suit your motor. AK-ST7FMC Control Panel help find these parameters.
Other BLDC Motor
Poles Pair
Number pair poles motor connected Starter Kit. BLDC motors with pairs poles used. Sensorless default sensorless control method STMicroelectronics patented three-resistor method. Other standard sensorless methods implemented modifying Motor Control board hardware selecting appropriate BEMF sampling method. sensorless methods implemented this Starter six-step signal driving topology. MCRA register, motor Sensor mode need properly jumpers W14, W15, W16. need connect sensors respect sensor wiring. MCRA register,
Detection Mode
Sensor 120°
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Parameter Name Sensor Parameter Values/Description motor Sensor mode need properly jumpers W14, W15, W16. AMETEK motor wiring sensors provided compatible with firmware control motor Sensor mode. other motors need connect sensors respect sensor wiring (and modify jumper settings accordingly). MCRA register, this mode, current reference either user Open Loop mode) (Proportional Integral regulator) reach maintain target speed Closed Loop mode). ST7FMC motor control peripheral automatically adapts duty cycle maintain current motor level current reference. MCRA register, V0C1 Voltage mode preferred applications requiring high torque start-up applications with significant load variations. this mode, duty cycle user Open Loop mode) (Proportional Integral regulator) reach maintain target speed Closed Loop mode). MCRA register, V0C1
Driving Mode
Current Mode
Voltage Mode
Current Limitation
When using Voltage mode, programmable current limitation set. AK-ST7FMC Control Panel doesn't allow this value real time (the motor needs stopped each time). However, actual application, maximum current value programmed modified software real time varying 8-bit ARTimer 12-bit duty cycle connecting 8-bit ARTimer 12-bit output proper circuit, this circuit being connected current comparator input). MCPVH MCPVL compare registers. Open Loop speed regulation Proportional Integral regulation) available. motor controlled directly user through duty cycle (voltage mode) current reference (current mode). Useful fine tune start-up parameters BEMF rising falling edge coefficients.
Speed Regulation
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Parameter Name Closed Loop Parameter Values/Description Proportional Integral regulation available (this done software MCU). user sets desired speed: based values this speed, defines duty cycle (voltage mode) current reference (current mode). Closed Loop mode used implement fine speed response regulation.
6.3.2 Start-Up Settings
successful motor start-up start-up that occurs 100% times very short time. achieve successful start-up, phases required: alignment phase acceleration phase. start-up method implemented AK-ST7FMC Control Panel only among many different start-up methods. some motors necessary implement start-up strategy different than proposed AKST7FMC Control Panel. This will require ST7FMC firmware edited directly without using AK-ST7FMC Control Panel. alignment phase consist rotating motor know position stabilize rotor before starting. achieve this, voltage current ramp supplied motor (increasing current increasing duty cycle depending Current Voltage mode). During alignment phase, motor polarized with fixed step configuration T1-T4-T6 rotating statoric field). acceleration phase phase during which synchronous rotation forced motor with fixed acceleration rate order BEMF information switch soon possible from Forced mode Autoswitched mode (for more information about Forced mode Autoswitched mode please refer ST7FMC microcontroller datasheet).
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Table 6.3: AK-ST7FMC Control Panel: BLDC Motor Start-Up Settings Parameter Name Final Current Parameter Description Current mode, sets final current programmed alignment time. MCPVH MCPVL compare registers. Voltage mode, sets final duty cycle programmed alignment time. MCPUH MCPUL compare registers. alignment duration duration alignment phase. MCOMP (data) MPRSR (clock) registers. acceleration phase phase during which synchronous rotation forced motor with fixed acceleration rate order BEMF information switch from forced mode autoswitched mode soon possible. Forced mode: MCRA register, Autoswitched mode: MCRA register, achieve mechanical acceleration, 64-step acceleration ramp built, based this parameter. steps usually more than enough safely reach Autoswitched mode. Autoswitched mode cannot reach acceleration ramp, motor will stop "Start-Up Fails" "Motor Stalled" rotor blocked) icon turns This value Hz/s RPM/s (click "Hz" "RPM" button next edit switch between units). Constant duty cycle applied during acceleration phase. MCPUH MCPUL compare registers. Constant current reference applied during acceleration phase. MCPVH MCPVL compare registers. Number consecutive events that must detected switch Autoswitched mode.
Final Duty Cycle
Alignment Duration Mechanical Acceleration Rate
Duty Cycle Current Number Events Before Autoswitched Mode Step Number without detection
Number first steps ramp which blanked BEMF reading). During very first steps acceleration, BEMF detected. During these first steps, BEMF detection should inhibited.
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Parameter Name Electrical Frequency Parameter Description Theoretical projected mechanical speed based 64th step duration acceleration rate. Based number pairs poles acceleration rate, AK-ST7FMC Control Panel will compute length elementary electrical steps acceleration ramp therefore provide projection mechanical frequency steps (this theoretical value, unlikely that steps actually needed start-up motor-typically motor control will switched Autoswitched mode within first steps). This value (click "Hz" "RPM" button next edit switch between units). Theoretical duration acceleration phase steps completed.
Total Duration
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6.3.3 Real-Time Settings
Table 6.4: AK-ST7FMC Control Panel: BLDC Motor Real-Time Settings Parameter Name Target Electrical Frequency Parameter Description Closed Loop target speed. When running Closed Loop this parameter because, given speed, several other parameters AK-ST7FMC Control Panel main window (BEMF coefficients, control coefficients, sampling time) Advanced Settings window (software demagnetization, possibly blanking windows/event counters) needs fine tuned. This value (click "Hz" "RPM" button next edit switch between units). Note: desired speed cannot reached, because minimum maximum speed limits Advanced Settings window. Please also check that "Switches Minimum Time" parameter Advanced Settings window high (only when using STMicroelectronics' patented three-resistor BEMF sampling method). This Open Loop, Voltage Mode parameter. used manually control speed motor. Note: desired duty cycle cannot reached, because maximum duty cycle Advanced Settings window. Please also check that "Switches Minimum Time" parameter Advanced Settings window high (only when using STMicroelectronics' patented three-resistor BEMF sampling method). MCPUH MCPUL compare registers. This Open Loop, Current Mode parameter. used manually control speed motor. MCPVH MCPVL compare registers. Value between used compute delay between Zero Crossing event Next Commutation event (C). Formula: Delay (Delay Coefficient ZTime) 256, where ZTime time between current Zero Crossing event previous Zero Crossing event previous this been "Delay Computation" parameter Advanced Setting window). Rising falling edge detection have been differentiated compensate small delay imbalance step time. Imbalance step time comes from fact that Zero Crossing event exactly detected zero slightly before (falling BEMF) after (rising BEMF). This caused threshold voltage asymmetrical BEMF shape some motors.
Duty Cycle
Current Reference Delay Coefficient
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Parameter Name BEMF Rising Edge BEMF Falling Edge Integral Coefficient (Ki) Parameter Description Sets coefficient used compute delay when BEMF rising. MWGHT register. Sets coefficient used compute delay when BEMF falling. MWGHT register. Closed Loop parameter. beginning with motor, recommended start from higher value, shorter time necessary cancel static error, value high will render system unstable. Closed Loop parameter. higher value, lower will static error, value high will render system unstable. time interval between control samplings. lower sampling time better will regulation bandwith. However, value will increase system dynamic response above certain point, will consume microcontroller resources. Rotor speed reading. This value read (click "Hz" "RPM" button next value switch between units). Available Closed Loop only. Displays duty cycle computed control, which directly applied power switches Voltage mode), used modulate current reference Current mode).
Proportional Coefficient (Kp) Sampling Time
Electrical Frequency Reported Duty Cycle
6.3.4 Advanced Settings
BLDC motor advanced settings available clicking "Advanced Settings" button main AK-ST7FMC Control Panel window.
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AK-ST7FMC Control Panel Features
Figure 6.2: BLDC Motor Advanced Settings Dialog
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Table 6.5: AK-ST7FMC Control Panel: BLDC Motor Advanced Settings Parameter Name Settings Switches Frequency Inverter switches (IGBT/MOSFET) output frequency. firmware, frequency follows: Voltage mode, 12-bit timer frequency desired frequency (MCPOL, MCPOH MPCR registers); Current mode, frequency selected MPRSR register, bits from SA0. output polarity (MPOL register, bits from OP0) outputs fixed STMicroelectronics drivers cannot changed. sources using opposite polarity, please contact STMicroelectronics. When using STMicroelectronics patented three-resistor method, this parameter required maintain sufficient state high side switches allow BEMF reading. This parameter enabled only when state" Event sampling method selected. BEMF sampling done during state, just before state. optimum time should carefully calculated depending switching frequency motor behavior (mainly motor stray capacitance). MPWME register, bits from OT0. Only when using MOSFETs (instead Motor Control board's onboard IGBTs), this feature enabled perform synchronous rectification, allowing free wheeling current pass inside MOSFETs instead body diode (reduced power losses). "Dead Times" parameter (see below) must correctly. Compl. disabled: MDTG write-once register, Compl. enabled: MDTG write-once register, Sets deadtime between switches' high side avoid cross conduction. inverter Motor Control board requires minimum deadtime 0.625 avoid cross conduction problems. Values from 0.625 available AK-ST7FMC Control Panel. However, values 0.125 when editing ST7FMC registers directly. This allows modify deadtime case external inverter power stage connected board. MDTG write-once register, bits from DTG5 DTG0. Parameter Values/Description
Switches Minimum OffTime
Complementary Signal
Dead Times
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AK-ST7FMC Control Panel Features
Parameter Name Distribution Parameter Values/Description Sets signal distribution between switches' high side side (respectively even odd) after each event. Double click toggle from vice versa. each step possible select which active switch signal applied after different events This useful accelerate demagnetization reduce level reactive current inside winding. Example: step T1-T4, high side (even) side (odd). Setting corresponding "After value causes signal applied switch (T4) from event until event; setting "After value causes signal applied even switch (T1) from event until event; setting "After value causes signal applied switch (T4) from event until next event. MCRB register, bits from OS0.
Speed Range Minimum Mechanical Speed Available Closed Loop only. Speed below which want motor run. This useful Sensorless mode, avoid going below speed that doesn't allow generate enough BEMF. This value (click "Hz" "RPM" button next edit switch between units). This safety value. Example: motor with specification 20,000 absolute maximum, same value; this speed exceeded, rotor explode ball bearings damaged, turn this cause major injuries (the rotor blocked instantaneously, causing whole motor chassis turn reaction). Always securely motor mechanical bench. This value (click "Hz" "RPM" button next edit switch between units).
Maximum Mechanical Speed
Current Loop Current Blanking Window Used prevent Current Loop from stopping current spike after This spike usually caused recovery current from half-bridge free wheeling diode further increased discharge motor winding stray capacitance. blanking window starts after each event during this blanking window reading current done. This blanking window also disabled. MCFR register, bits from CFW2 CFW0. Number consecutive current comparator samples MHz) required switch signal OFF. MCFR register, bits from CFF2 CFF0.
Current Event Counter Filter
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AK-ST7FMC User's Manual
Parameter Name Maximum Allowed Current Parameter Values/Description Current mode, avoid damaging motor, user maximum current acceptable motor. This value cannot exceeded control Closed Loop) current reference real-time setting Open Loop). However, this value exceeded during start-up phase (Alignment Phase Acceleration Phase). AK-ST7FMC Control Panel maximum current value clamped suit starter hardware. Voltage mode, user specify maximum duty cycle that application can't exceed. This value cannot exceeded control Closed Loop) duty cycle real-time setting Open Loop). However, this value exceeded during startup phase (Alignment Phase Acceleration Phase). When using STMicroelectronics' patented three-resistor control method Event Sampling Method" parameter state"), maximum duty cycle clamped value (calculated AK-ST7FMC Control Panel) which based programmed signal frequency minimum time. Clamping maximum signal duty cycle this value allows sufficient time BEMF reading during state.
Maximum Allowed Duty Cycle
Sampling Parameters Sampling Clock (fSCF) Sampling frequency used detecting events. same sampling frequency used detecting Zero Crossing events, when Event Sampling Method" parameter with delay, fSCF frequency" fSCF frequency". MSCR register, bits from SCF1 SCF0. Sets state phases that, given time, sampled (while third phase being sampled). When using STMicroelectronics' patented three-resistor sensorless method, unused MCIx input grounded. MSCR register, DISS bit.
Unused MCIx Input
BEMF Sampling Method Event Sampling Method state used with STMicroelectronics patented three-resistor control method. This method uses default jumper setting Motor Control board. used with sensorless classic control method. "Alternate Sampling" daughter board must used, jumpers Motor Control board must accordingly. Classic automotive method. "Alternate Sampling" daughter board must used, jumpers Motor Control board must accordingly.
with delay, once
with delay, fSCF frequency
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AK-ST7FMC Control Panel Features
Parameter Name fSCF frequency Parameter Values/Description Pulse Amplitude Modulation method. Motor Control board needs significantly modified.
figure this table illustrates these four sampling methods. MCRC register, SPLG MCONF register, bits from DS0. Delay Sampling delay between signal rising edge start BEMF sampling. This feature only applicable with delay, once" with delay, fSCF frequency" sampling methods. MCONF register, bits from DS0.
Zero Crossing After Blanking Window Protects against noise that wrongly interpreted Zero Crossing event. After commutation, there time window during which Zero Crossing event cannot physically occur. During this time window there should sampling. MZFR register, bits from ZWF3 ZWF0. Protects against Zero Crossing spurious information. It's possible detect from Zero Crossing events before validating event. MZFR register, bits from ZEF3 ZEF0. Formula: Delay (Delay Coefficient ZTime) When calculating Delay value (see "Delay Coefficient" parameter Real-Time Settings group), Ztime time between current Zero Crossing event before, between previous Zero Crossing event preceding Usually, "Current" used. "Previous" selected compensate asymmetrical step times. MCRA register, bit. Event Protection enabled, Motor Control board verifies that, when Zero Crossing event detected, state BEMF signal opposite previous sampling. This needed differentiate BEMF Zero Crossing event from End-of-Demagnetization event. This feature useful when using hardware End-of-Demagnetization event detection running motor high speed. When this parameter enabled, Event Counter Filter" parameter disabled. MCRA register, bit.
Event Counter Filter
Delay Computation
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AK-ST7FMC User's Manual
Parameter Name Threshold Voltage Parameter Values/Description When using STMicroelectronics' patented sensorless BLDC method, this parameter sets voltage second comparator input (the voltage compared BEMF, first comparator input being BEMF). list pre-set values available. When using other BEMF sampling methods, requiring reconstruction motor ground, external threshold option ("Ext. Ref." value) should selected, corresponding hardware should implemented Motor Control board. MCRC register, bits from VR0. Protect against noise that wrongly interpreted End-ofDemagnetization event. After commutation, there time window during which End-of-Demagnetization event cannot physically occur. During this time window there should sampling. MDFR register, bits from DWF3 DWF0. Protects against End-of-Demagnetization spurious information. It's possible detect from events before validating event. MDFR register, bits from DEF3 DEF0. Hardware End-of-Demagnetization event detected only hardware. MCRB register,
After Blanking Window
Event Counter Filter Demagnetization
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AK-ST7FMC Control Panel Features
Parameter Name Alternate Hardware/ Software Parameter Values/Description possible more reliable End-ofDemagnetization event detection using hardware detection together with software detection. This consists extending software (after hardware detection event) total demagnetization time before validating End-of-Demagnetization event. both AKST7FMC Control Panel ST7FMC firmware, this implemented multiplying detected hardware demagnetization time 1.25, following formula: Total demagnetization time Hardware demagnetization time Ked, where 1.25. However, when editing directly ST7FMC firmware, possible change value also possible fixed time, i.e.: Total demagnetization time Hardware demagnetization time Ved,
where time user which depends several parameters, including motor speed (see "All Software" below). MCRB register,
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AK-ST7FMC User's Manual
Parameter Name Software Parameter Values/Description some situations (e.g. when "Hardware/Software" option safe enough) necessary demagnetization time. This demagnetization time must always equal higher than physical demagnetization time motor winding. addition, since rotor speed will affect directly step time, important, each speed duty cycle Open Loop, Voltage mode current reference Open Loop, Current mode) corresponding software demagnetization time duty cycle, current reference). demagnetization time long, will limit speed that reached motor. What this means that, when using software demagnetization, should significantly modify target speed, duty cycle, current reference real-time settings (when motor running), should instead stop motor, change software demagnetization time start motor again. MCRB register,
Demagnetization Time
Available when "All Software" option above selected. This time should longer than physical demagnetization time motor, short enough delay BEMF detection. each target speed there should different software demagnetization time. MDREG register, bits from DN0. During demagnetization, current circulating windings where polarization doesn't change increase level which damage motor. avoid this situation, dedicated duty cycle applied during demagnetization. This feature available Sensorless, Voltage mode. Available when "Force Duty Cycle during Demagnetization" option above enabled. Free Wheeling Current Braking After stop, motor will continue spin freely. slow down motor quickly, this feature allows apply active braking.
Force Duty Cycle during Demagnetization
Duty Cycle Stop Condition
Brake Level
Available when Current Braking" option above selected. three bridge legs grounded signal with duty cycle (maximum) applied third leg's high side switch. Voltage mode, duty cycle loaded MCPUH MCPUL registers. Current mode, current reference loaded MCPVH MCPVL registers.
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AK-ST7FMC Control Panel Features
Parameter Name Brake Time Parameter Values/Description Available when Current Braking" option above selected. Time during which active braking applied after which motor free wheeling.
following figures illustrates options available Event Sampling Method" parameter.
Sampling state
Programmable delay
Sampling with delay, once
Sampling with delay, fSCF frequency
Programmable delay
Sampling
Sampling fSCF
Sampling fSCF frequency
Figure 6.3: BLDC Motor: BEMF Sampling Methods
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AK-ST7FMC User's Manual
Motor Parameters
This parameters allows control SELNI three-phase induction motor ordered separately) other three-phase induction motors/compressors sinewave mode. Please ensure that correct jumper settings been board.
Figure 6.4: AK-ST7FMC Control Panel Main Window Motors
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AK-ST7FMC Control Panel Features
6.4.1 Main Motor Settings
Table 6.6: AK-ST7FMC Control Panel: Motor Main Settings Parameter Name Motor Type SELNI Induction Motor Parameter Values/Description SELNI motor threephase induction motor. features tachometer generator speed monitoring. size weight included AK-ST7FMC Starter ordered separately. Beginners three-phase induction motor control strongly recommended first SELNI motor learning phase. "Default Settings" button restores best performance settings driving this motor when Motor Control board supplied with input voltage three-phase induction motor with without sensor (tachometer, encoder, Hall sensor).
Other 3-Phase Induction Motor Poles Pair
Number pair poles motor connected Starter Kit. Induction motors with pairs poles used. Setting correct number pairs poles important, this defines relationship between speed stator frequency. Open Loop Open Loop selected operating motor with sensors predictable load. Open Loop also used drive motor over full Voltage/Frequency range. When selecting Open Loop, Proportional Integer (PI) control available, speed monitoring possible (with speed sensor). When characterizing efficiency versus slip motor, speed sensor must used. Beware motor breakdown reactive current. Closed Loop requires speed sensor (either tachometer Hall sensor), uses control (see real-time settings below). values must adjusted depending load conditions. parameters properly lead unstable behavior, especially case load condition.
Speed Regulation
Closed Loop
Speed Sensor Feedback
Enable this feature speed monitoring required Open Loop efficiency versus slip characterization.
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AK-ST7FMC User's Manual
Parameter Name Tachometer Periods Revolution Parameter Values/Description Available when "Speed Sensor Feedback" option above enabled, specifies number poles pair tachometer generator tachometer pairs poles, then pulses revolution will sent). SELNI motor, this value fixed
6.4.2 Curve Settings
Table 6.7: AK-ST7FMC Control Panel: Motor Curve Settings Parameter Name Voltage Parameter Description Sets maximum allowed voltage (255 corresponds full voltage) frequencies. This avoid stator winding saturation (and, turn, stator overcurrent). Frequency below which voltage cannot higher than minimum voltage specified user. Frequency above which voltage full voltage (255/255).
Frequency High Frequency
6.4.3 Start-Up Settings
Table 6.8: AK-ST7FMC Control Panel: Motor Start-Up Settings Parameter Name Voltage Slew Rate Start-Up Stator Frequency Maximum Duration Minimum Rotor Frequency Validate Closed Loop Parameter Description Open Loop parameter only. Time interval between voltage increments (1/255). Closed Loop parameter only. Inverter output frequency start-up. This value (click "Hz" "RPM" button next edit switch between units). Closed Loop parameter only. Time after which motor considered started speed information been detected. This frequency, when reached rotor, will trigger true Closed Loop control exiting start-up phase entering Closed Loop routine (the start-up phase controlled Open Loop default, speed information available during this phase). This value always smaller then start-up frequency. This value (click "Hz" "RPM" button next edit switch between units).
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AK-ST7FMC Control Panel Features
6.4.4 Real-Time Settings
Table 6.9: AK-ST7FMC Control Panel: Motor Real-Time Settings Parameter Name Stator Frequency Parameter Description Open Loop parameter only. Defines synchronous speed motor. Basically inverter output frequency. This value (click "Hz" "RPM" button next edit switch between units). Open Loop (and predictable load systems), this option useful adjust speed without taking care applied voltage (the curve been tuned load). this option disabled, then voltage "Voltage" parameter below. Open Loop parameter only. given stator frequency, this voltage applied stator windings voltage below limit, other words voltage within area). Closed Loop parameter only. target rotor speed (frequency) expected speed (frequency) rotor. Proportional Integral (PI) control will adjust stator voltage frequency according this target frequency, slip frequency curve. This value (click "Hz" "RPM" button next edit switch between units). Closed Loop parameter only. slip value entered here should slip giving optimum efficiency given target rotor frequency motor characteristics. control will adjust stator voltage frequency according this slip frequency, target frequency curve. This value (click "Hz" "RPM" button next edit switch between units). Closed Loop parameter. beginning with motor, recommended start from higher value, shorter time necessary cancel static error, value high will render system unstable. Closed Loop parameter. higher value, lower will static error, value high will render system unstable. time interval between control samplings. lower sampling time better will regulation bandwith. However, value will increase system dynamic response above certain point, will consume microcontroller resources. Only valid Closed Loop Open Loop with speed sensor feedback. This speed (frequency) rotor read speed sensor. This value read (click "Hz" "RPM" button next value switch between units).
Voltage According Curve Voltage
Target Rotor Frequency
Target Slip Frequency
Integral Coefficient (Ki)
Proportional Coefficient (Kp) Sampling Time
Reported Frequency
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AK-ST7FMC User's Manual
Parameter Name Slip Frequency Parameter Description slip speed (frequency) stator speed (frequency) minus rotor speed (frequency). This value read (click "Hz" "RPM" button next value switch between units). Voltage output controller units voltage, full voltage being 255/255).
Reported Voltage
6.4.5 Advanced Settings
motor advanced settings available clicking "Advanced Settings" button main AK-ST7FMC Control Panel window.
Figure 6.5: Motor Advanced Settings Dialog
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AK-ST7FMC Control Panel Features
Table 6.10: AK-ST7FMC Control Panel: Motor Advanced Settings Parameter Name Switches Frequency Parameter Values/Description Inverter switches (IGBT/MOSFET) output frequency. firmware, 12-bit timer frequency desired frequency (MCPOL, MCPOH MPCR registers). output polarity (MPOL register, bits from OP0) outputs fixed STMicroelectronics drivers cannot changed. sources using opposite polarity, please contact STMicroelectronics. Speed below which want motor run. This value (click "Hz" "RPM" button next edit switch between units). This safety value. Example: motor with specification 20,000 absolute maximum, same value; this speed exceeded, rotor explode ball bearings damaged, turn this cause major injuries (the rotor blocked instantaneously, causing whole motor chassis turn reaction). Always securely motor mechanical bench. This value (click "Hz" "RPM" button next edit switch between units). Sets deadtime between switches' high side avoid cross conduction. inverter Motor Control board requires minimum deadtime 0.625 avoid cross conduction problems. Values from 0.625 available AK-ST7FMC Control Panel. However, values 0.125 when editing ST7FMC registers directly. This allows deadtime modified case external inverter power stage connected board. MDTG write-once register, bits from DTG5 DTG0. Free Wheeling Current Braking Brake Level After stop, motor will continue spin freely. slow down motor quickly, this feature allows apply active braking.
Minimum Stator Frequency Maximum Stator Frequency
Dead Times Value
Stop Condition
Available when Current Braking" option above selected. three bridge legs grounded complementary with maximum duty cycle applied switches third leg. Duty cycle loaded MCPUH MCPUL registers. Available when Current Braking" option above selected. Time during which active braking applied after which motor free wheeling.
Brake Time
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AK-ST7FMC User's Manual
Electrical Specifications
Table 7.1: Motor Control Board Electrical Specifications Parameter Motor Types Main Input Voltage (J3) Auxiliary Input Voltage (J1) Auxiliary Output Voltage (J2) Maximum Output Current Motor Phases (J12) Analog Input Voltage (J17) Digital Input/Output Voltage (J18) Maximum Ratings Three-Phase BLDC, Three-Phase Veff
Table 7.2: Optoisolation Board Electrical Specifications Parameter Input Voltage (J3) "ICC Connector Lines Voltage (J1) "ICC OUT" Connector Lines Voltage (J2) Maximum Ratings
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