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UM0289 User manual
eMotion: motion control based ST10F276
This user manual describes features eMotion Kit, explains perform generic speed control BLDC motors. Figure eMotion
features
software (Windows OS-compatible) Control board MDK-ST10 (ST10F276 core, 16-bit MHz) Shielded interface board (for encoder feedback) powerSPIN boards (L6205 L6235 eval) Configurable closed speed loop three motors BLDC RS232 communication
November 2006
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www.st.com
Contents
UM0289
Contents
Overview
Getting started
Hardware
MDK-ST10 PowerSPIN boards
2.2.1 2.2.2 L6205 Eval board Motor) L6235 Eval board (BLDC Motor)
Feedback board
software
eMotion
3.1.1 3.1.2 3.1.3 EVAL 6235 window EVAL 6205 window window
ST10 firmware
Communication protocol Control algorithm
Using eMotion
Evaluate eMotion
5.1.1 5.1.2 5.1.3 Installing eMotion Board configuration Control operations
Limitations
Hardware issues
Revision history
Appendix Bibliography
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UM0289
Overview
Overview
Getting started
eMotion motion control able manage motors BLDC) simultaneously, used starting point evaluation control algorithms, motors drivers. complete composed
Windows (XP-compatible): Multi-Windows software managing, through serial connection, control three motors. MDK-ST10 board: control board based microcontroller ST10F276 three connectors compatible with powerSPIN board (eval 62xx) Interface board: board with shielded connectors, stacked into sockets MDK-ST10 allow motor feedback encoder signals. powerSPIN boards: eMotion manage three motor driver boards based L6205 (DMOS dual full bridge motor driver) L6235 (DMOS fully integrated three-phase motor driver) chips, BLDC motors respectively. Firmware open/closed loop operation: complete source library developed manage control BLDC motors open loop mode (PWM driver settings) closed loop mode (speed regulation with encoder feedback) using 62xx eval boards. Protocol communication: complete frame-based protocol developed allow exchange data with standard RS232 channel. eMotion block diagram
RS232 Serial Protocol Encoder signals Control board ST10 PWM/ Driver Board Power Feedback board (shielded) PowerSPIN boards Encoder signals BLDC motors Power signals Driver Power
Figure
possible interact with ST10F276 control board (MDK-ST10) generate open loop signals three BLDC motors. frequency (17-30 kHz) duty cycle (0-100%) managed together with driver signals such enable/disable, brake/unbrake (BLDC) forward/reverse (DC). closed loop operation performed terms motor speed with encoder feedback. complete (Proportional, Integrative, Derivative) control algorithm implemented. user configure:
value terms (from 0.01 100) speed (from 3000 rpm) control loop time (from number encoder pulses revolution 65536)
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Overview
UM0289 Encoder feedback signals directly managed ST10F276 through dedicated peripherals. order guarantee optimum quality encoder waveforms, special adapter included shield signals avoid interference (refer Section page further information).
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UM0289
Hardware
Hardware
MDK-ST10
(Refer MDK-ST10 User manual (UM0288) more detailed information) core eMotion control board which based ST10F276 microcontroller, which driver board management routines implemented. Board features:
ST10F276 core (16-bit with MHz, Flash,68 RAM) RS232 RS485 (3.3V Connector powerSPIN connectors VN808 board connector outs available
board design allows user develop high-end motion control system based this 16-bit microcontroller. features this powerful device allow integration complex routines create advanced motion control algorithms. Referring Figure eMotion uses connectors PowerSpin_1, indicated silkscreen board with text "PractiSpin "PractiSpin "PractiSpin allow compatibility with powerSPIN evaluation boards, each board connector inserted jumper (VCC PRACTI located close connector) that, closed, provides power supply respective board. Communication with system achieved RS232 channel through standard female connector using standard RS232 cable.
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Hardware Figure MDK-ST10 board
POWERSPIN_1
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MC_CONNECTOR
CAN1
POWERSPIN_2
ST10F276 CAN2 VN808 RS485 POWERSPIN_3
RS232
Note:
Refer also Section 5.1.2: Board configuration page default configuration board (once programmed)
jumper: order obtain fetch code from internal flash microcontroller) switches: switches: Switch (CSEL Switch (CLK Other switches:
Selector J206: "PRACTI" position order connect micro lines powerSPIN connectors)
These configurations impose core clock frequency leave port microcontroller free I/0s (needed because P6.0=CS0 used manage powerSPIN boards) better understand powerSPIN boards managed control board, Table provides description powerSPIN connectors:
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UM0289 Table
Hardware PractiSPIN connectors description
PractiSPIN Jumper J207 (VCC PRACTI P2_10 P5_5 P0L.0 P1L.0 P0L.3 P0L.6 P6.0 P2.0 P8.0 P7.4 P7.0 P2.13 P2.3 P1H.4 PractiSPIN Jumper J208 (VCC PRACTI P2_11 P5_6 P0L.1 P1L.1 P0L.4 P0L.7 P6.1 P2.1 P8.1 P7.5 P7.1 P2.14 P2.4 P1H.5 PractiSPIN Jumper J209 (VCC PRACTI P2_12 P5_7 P0L.2 P1L.2 P0L.5 P6.3 P6.2 P2.2 P8.2 P7.6 P7.2 P2.15 P2.5 P1H.6 Interrupt GPIO GPIO GPIO GPIO GPIO Capcom GPIO GPIO Capcom GPIO GPIO Capcom GPIO Capcom GPIO Capcom Functionality
PowerSPIN boards
eMotion manage three boards based monolithic driver L62xx family. This first release system works with BLDC drivers with boards L6205 L6235 also with similar boards same motors.
2.2.1
L6205 Eval board Motor)
(refer application note AN1762 L620x datasheet more details)
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Hardware eMotion manage evaluation board based DMOS full bridge (L6205,L6206,L6207). Figure Eval 6205N board
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Refer Section 5.1.2: Board configuration page description board configuration using eMotion.
2.2.2
L6235 Eval board (BLDC Motor)
(refer application note AN1625 L6235 datasheet more details) eMotion manage evaluation board based L6235 three phase brushless motor. Figure Eval 6235 board
Refer Section 5.1.2: Board configuration page description board configuration using eMotion.
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Hardware
Feedback board
order interface control system with encoder signals coming from motors, special board, with pins connectors side, used (Feedback board). This stackable board inserted using four 36-pin connectors around microcontroller MDK-ST10 board. insertion orientation indicated with corner board (corresponding ST10 MCU) connectors (Conn1 Conn2 J4), used allow encoder feedback, shielded with pair pins connected GND. dimensions this board about following tables show assignments each connector. Table Conn1 Feedback board
Conn.1 P3.7 P5.15 P3.6 P3.4 P3.5 P5.14 P2.6 P1L.3 P1L.4 MDK-ST10 Functionality T2IN (encoder_1 T2EUD (encoder_1 T3IN (encoder_2 T3EUD (encoder_2 T4IN (encoder_3 T4EUD (encoder_3 CC16 (capture GPIO) GPIO GPIO
Table
Conn2 Feedback board
Conn.2 MDK-ST10 P1L.5 P2.7 Functionality GPIO/ (capture GPIO)
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Hardware
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Conn.2 P1L.6 P1L.7 P1H.0 P1H.7 P1H.1 P1H.2 P1H.3
MDK-ST10
Functionality
GPIO GPIO GPIO CC27 (capture GPIO) GPIO GPIO GPIO
Figure
Feedback board schematic
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UM0289 Figure Feedback board
Hardware
order report feedback motors, 20-pin flat cable could used. first connector used incremental encoder timer pins used incremental interface mode. second connector used absolute encoder feedback where GPIO capture pins used. Note: system allows feedback encoder signals channels) each motor, Signals must squared with right logic level 5V). When necessary, refer datasheet encoder used. needed, pull-up encoder signals (not provided with encoder kit).
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software
UM0289
software
parameters eMotion system configured through Windows-based (eMotion GUI), that interacts with control board RS232 straight cable. following paragraphs provide description software features.
eMotion
Refer Section 5.1.1: Installing eMotion page installation procedure. After start-up eMotion GUI, series menu functions available user:
File:
Connect: Open "Serial Port Selection" window, from which possible select serial port open communication between MDK-ST10 board Disconnect: Close connection between MDK-ST10 board. New: Open 6205 6235 window (for BLDC motor respectively) Window: Open Window. this window possible communication data hexadecimal value sent MDK-ST10 board Exit: Exit program
View:
Toolbar: Display hide toolbar Status Bar: Display hide status bottom-right corner main window
Help
Help Topics: Open Help Topics About: Displays eMotion Project credits
3.1.1
EVAL 6235 window
6235 window allows user drive BLDC motor through EVAL6235 board. After starting eMotion, click 6235 window icon choose 6235 window from File menu. 6235 window opens.
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UM0289 Figure 6235 window
software
Connector Selection panel shows connector MDK-ST10 with which EVAL6235 connected (some connector selections could disabled connector used other windows). left part this window allows user control BLDC motor open loop mode. right part window allows user perform speed closed loop control with encoder feedback. Motor Control Command panel always enabled, while Control Parameters Control Loop Time panels disabled when Closed Loop check button checked. each case button always enabled.
Motor Control Command panel:
Enable: Enables 6235 driver. This command switches Power MOSFETs driver (pin high). Disable: Disables 6235 driver. This command switches Power MOSFETs driver (pin low). Unbrake: Sets BRAKE high 6235 enables normal mode (six step control strategy). Brake: Sets BRAKE 6235. This command switches High Side Power MOSFETs, implementing Brake Function. Duty Cycle Set: This slider allows user duty cycle generated ST10 input FWD/REV 6235 driver. Values between cause rotation motor direction, while values between 100% cause rotation motor other direction. value corresponds motor rotation.
Note:
real direction (clockwise counterclockwise) depends connection between 6235 motor.
set: This slider allows user change frequency generated ST10. allowed values from minimum maximum kHz. (with steps)
Note:
system startup default values are: disable, brake, duty cycle 50%, frequency kHz.
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software
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Enable/Disable Control Parameters panel:
Closed Loop: This check control enables/disables text boxes push buttons Control Parameters Control Loop Time panels.
Control Parameters panel:
This panel allows user perform speed closed loop control with encoder feedback. user must fill following text boxes then press button order control parameters:
Enc. Pulses/r: number pulses revolution motor encoder. Speed: Speed motor expressed RPM. Allowed values from 3000 (steps rpm). Proportional gain control. Allowed values from 100, steps 0.01. Integral gain control. Allowed values from 100, steps 0.01. Derivative gain control. Allowed values from 100, steps 0.01. Set: control parameters.
Note:
values range inserted more text boxes, pop-up window will appear indicating that least value range.
Start: Start speed closed loop control. rotation motor remains same motor before starting control. Stop: Stop speed closed loop control. motor will rotate with speed accordingly duty cycle calculated last control routine before stopping. Get: This command returns status control parameters control loop time actually memorized MDK-ST10 board.
Control loop time:
This text allow user insert value control loop time case closed loop operation); range this parameter from (with steps) Note: control loop time intended frequency adjustment duty cycle (according action) order reach speed reference.
3.1.2
EVAL 6205 window
6205 window designed allow user drive motor through EVAL6205. After starting eMotion click 6205 window icon choose 6205 window from File menu. 6205 window opened.
Note:
functions this window same 6235 window, except motor control panel.
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UM0289 Figure 6205 window
software
Connector Selection panel shows connector MDK-ST10 with which EVAL6205 connected (some connector selections could disabled connector used other windows). left part this window allows user control motor open loop mode. right part window allows user perform speed closed loop control with encoder feedback. Motor Control Command panel always enabled, while Control Parameters Control Loop Time panels disabled when Closed Loop check button checked. each case push button always enabled.
Motor Control Command panel:
Enable: Enables 6205 driver. This command switches Power MOSFETs driver (pin high). Disable: Disables 6205 driver. This command switches Power MOSFETs driver (pin low). Forward: This command EVAL6205 (pin IN1A 6205 driver). Reverse: This command high EVAL6205 (pin IN1A 6205 driver). Duty Cycle Set: This slider allows user duty cycle generated ST10 input EVAL6205 (pin IN2A 6205 driver).The direction rotation motor depends Forward/Reverse radio buttons. Forward (Reverse) radio button checked value (100%) stops motor while value 100% (0%) runs motor maximum velocity.
Note:
real direction (clockwise counterclockwise) depends connection between 6205 motor.
set: This slider allows user change frequency generated ST10. allowed values from minimum maximum (steps kHz).
Note:
systems startup default value are: disable, forward, duty cycle 50%, frequency kHz.
Enable/Disable Control Parameters panel:
Refer Section 3.1.1: EVAL 6235 window page
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software
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Control Parameters panel:
Refer Section 3.1.1: EVAL 6235 window page
Control loop time:
Refer Section 3.1.1: EVAL 6235 window page
3.1.3
window
Using window possible view frames sent received check state communication with board). text string shown explaining command also hexadecimal value command (refer Section 4.1: Communication protocol page 17). Figure window
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ST10 firmware
ST10 firmware
firmware manage eMotion system organized separate modules:
Communication module: able exchange data with PC-GUI using structured protocol. Control module: able perform open closed loop operation three motors communicates with first module.
Note:
firmware developed, standard language, using tasking toolchain from Altium.
Communication protocol
serial protocol used communicate with PC-GUI frame based protocol, with baud rate 115200, 8-bit data length, parity check, stop. frame variable length, with field. mechanism acknowledgement each command implemented. Figure Frame protocol
Frame Type
byte byte
Length
Payload
variable length byte
Figure shows general frame format which communication based, field byte length computed with this formula: 16_Total_Length (16_bit) (FRAME_TYPE LENGTH DATA) (8_bit) (High_Byte(16_Total_Length) Low_Byte(16_Total_Length)) Table shows general description frames. Table Frame description
Description Open connection Enable motor drive Disable motor drive Enable brake motor drive Disable brake motor drive Frame Type 0x00 0x01 0x02 0x03 0x04 Length Direction Type
Frame name Connect Enable_Motor Disable_Motor Brake_Motor Unbrake_Motor
PC-MDK ST10 Command PC-MDK ST10 Command PC-MDK ST10 Command PC-MDK ST10 Command PC-MDK ST10 Command
Forward_Motor
forward motor direction 0x05 (6205 motor drive)
PC-MDK ST10 Command
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ST10 firmware
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Frame name
Description
Frame Type
Length
Direction
Type
Reverse_Motor
reverse motor direction 0x06 (6205 motor drive) duty cycle 0x07 frequency speed values 0x08
PC-MDK ST10 Command
Set_PWM Set_Freq_PWM Set_PID_Contr
PC-MDK ST10 Command+Data PC-MDK ST10 Command+Data
0x09
PC-MDK ST10 Command+Data
Set_Control _Loop Time Get_Parameter Start_Control Stop_Control Get_Latest_Err Send_Paramet
time executing 0x0A closed control loop control 0x0B parameters. Start control loop Stop control loop Latest error occurred Transmission parameters values 0x0C 0x0D 0x0E
PC-MDK ST10 Command+Data
PC-MDK ST10 Command PC-MDK ST10 Command PC-MDK ST10 Command PC-MDK ST10 Command
0x40
ST10-PC Data
Send_Latest_E Send latest rror error occurred Confirm correct reception frame
0x41
1-50
ST10-PC Data
0x80
ST10-PC Acknowledgment PC-MDK ST10
length field indicated number bytes payload. each frame (with length greater than first byte payload indicates association connector-powerspin board (except "Send_Latest_Error") (see Table Table Connector-Eval62xx
Byte 0x1A 0x1B 0x2A 0x2B First connector with eval 6235 First connector with eval 6205 Second connector with eval 6235 Second connector with eval 6205 Value
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ST10 firmware
Byte 0x3A 0x3B Third connector with eval 6235 Third connector with eval 6205
Value
timeout fixed both ST10, payload "ACK" frame command code acknowledged. "Set_PID_Control" (0x09) frame used setting specific values each control loop, contents this frame shown table below. Table Table Set_PID_Control payload
Field Motor Connector Driver Encoder Speed Description Association connector-powerSPIN board Byte reserved use, indicating kind driver (0xCD a6205,0xEB 6235) Bytes indicating number pulse revolution motor encoder. Bytes indicating reference speed motor (range 1-3000 rpm) Bytes indicating proportional gain speed control (range 1-1000, with firmware scaling) Bytes indicating integral gain speed control (range 1-1000, with firmware scaling) Bytes indicating derivative gain speed control (range 1-1000, with firmware scaling)
Payload byte order
9-10 11-12
"Set_Control_Loop time" (0x0A) frame used control loop time each motor control, according table below. Table Set_Control loop time payload
Field Motor Connector Time Description Byte indicating which powerSPIN board connected specific connector. Byte indicating control loop time (number 200us steps added basic control loop 1ms).
Payload byte order
"Send_Parameters" (0x40) particular frame used send status system parameters contents this frame shown Table
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ST10 firmware Table Send_Parameters contents
Field Motor Connector Encoder Freq. Time control loop Status Speed Description
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Payload
byte order 10-11 12-13 14-15
Byte indicating which powerSPIN board connected specific connector. Bytes indicating number pulses revolution motor encoder. Byte indicating duty cycle value (range: 0100) Byte indicating frequency (range: 17-30) Byte indicating control loop time (number 200us steps added basic control loop 1ms). Byte indicating control enabled Bytes indicating reference speed motor (range 13000 rpm) Bytes indicating proportional gain speed control (range 1-1000, with firmware scaling) Bytes indicating integral gain speed control (range 1-1000, with firmware scaling) Bytes indicating derivative gain speed control (range 1-1000, with firmware scaling)
"Send latest error" (0x41) particular frame which payload formed text string indicating last error occurred, typical values shown below. Table Error strings
String Types error valid Command valid Command executable Motor error Value range
series protocol frames, used communication, provided Table Table Frame examples
Frame Description Connect Enable 6235 driver powerSPIN connector Brake 6205 driver powerSPIN connector Forward command 00-00-00 01-01-1A-1C 03-01-3B-3F 80-01-05-86 Value (Hex)
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UM0289
ST10 firmware
Frame Description PWM% 6235 driver connector control loop time 6205 driver connector
Value (Hex) 08-02-2A-16-4A 0A-02-2B-05-3C
control motor with 1024/revolution encoder, first connector. speed reference 00-02-00-01-6D with control parameters P=0.04,I=0.02,D=0.01 Receive parameters connector with BLDC motor with 500/revolution encoder controlled with P=0.60, control loop With actual 00-C8-00-3C-00-02-00-00-A9 signal
Control algorithm
Communication layer after reception checking complete frame puts microcontroller execution state which right control layer function involved. management open loop signals executed with functions that directly register signals through pins right generation connector signals. Closed loop operations, instead managed through three independent where reload timing depends closed loop time specific control. speed reference expressed terms encoder pulses, counted closed loop timing imposed, each works with actual values encoder inputs with duty cycles perform action reach right value encoder reference. Figure Algorithm block diagram Communication Layer Shared memory Control Layer
SERIAL BUFFER Figure shows modules interact (through shared memory) perform eMotion operations. algorithm implemented approximated with following formula:
e(n)
e(n)
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ST10 firmware where: u(n): output time (related duty cycle sent driver)
UM0289
respectively proportional gain, integrational gain derivative gain. error terms encoder pulses) sample time
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UM0289
Using eMotion
Using eMotion
Evaluate eMotion
order start eMotion system this items should available:
eMotion MDK-ST10 board Feedback board least powerSPIN board (Eval 6205 Eval 6235) least BLDC motor (respectively used with Eval 6205 Eval 6235) eMotion firmware
5.1.1
Installing eMotion
install eMotion GUI, launch setup file named eMotion_GUI_XX_Setup.exe. After acceptance license agreement, menu item (STMicroelectronics eMotion will created; this link launch software. eMotion software compatible with Windows
5.1.2
Board configuration
MDK-ST10:
ST10 FLASHING: first operation perform, before starting eMotion kit, flash ST10 microcontroller with eMotion firmware; order achieve this task, ST10Flasher (V2.4B above) software used (i.e. software windows compatible useful program internal flash ST10). Connect MDK-ST10 RS232 straight cable puts ST10 mode (turn switch reset board). Using ST10Flasher, load file named "emotion.hex" perform flashing microcontroller, turn switch reset board. MDK-ST10 ready used with eMotion jumpers switched J206 jumpers: order power spin boards, J206 jumpers have placed "Practi" position. Practi Jumpers: leave open Jumper Practi1,VCC Practi2 Practi3. SW3: SW5: CSSEL0 ON,CLK1 remains bits OFF.
Feedback board:
Connect feedback board four expansion connectors MDK-ST10 (the connectors surrounding microcontroller). correct connection incremental encoder motors shown Table
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Using eMotion Table Feedback connector
Feedback board connector Connector (J3), Connector (J3), Connector (J3), Connector (J3), Connector (J3), Connector (J3),
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MDK-Connector/ Motor Value Motor Practi encoder Motor Practi encoder Motor Practi encoder Motor Practi encoder Motor Practi encoder Motor Practi encoder
flat cable recommended keep signals shielded.
Eval 6205 configuration:
JP1: Place position enable on-board 5VDC supply. JP3: Install assure proper timing operation L6205's internal high side overcurrent protection. JP5: Install configure Vref circuits. Supply power eval 6205 through connector CN1. Connect motor through connector (OUT1A OUT2A). Refer L6205 datasheet more detailed information Note: each EVAL 6205 board eMotion allows connect control motor.
Eval 6235 configuration:
JP2: Install enable on-board 5VDC supply. SWITCHES: Place four switches position. HALL SENSORS: Connect Hall sensors BLDC motor CN5. Connect power supply wires from Hall sensors pins Connect signals their respective pins. Motor Connections: Connect three motor armature wires being careful match phasing Hall sensor connections. Refer L6235 datasheet more detailed information. connect power spin boards flat 34-pin cables before power systems (motors boards) please refer Section 6.1: Hardware issues page
5.1.3
Control operations
Before starting motors, ensure that connection correctly established. Turn MDK-ST10 later turn power motors.
Open Loop
enable driver modify terms DUTY (depending motor connection, value corresponds either minimum maximum speed).
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UM0289 direction rotation depends connection motor. startup Duty cycle fixed
Using eMotion
BLDC: enable driver unbrake motor. Start vary Duty startup Duty cycle fixed
Closed Loop
parameter values depend type motor suggestion start with lower values increment them order reach better performance. speeds recommended high control loop time.
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Limitations
UM0289
Limitations
This section provides tips eMotion system avoid incorrect operation.
Hardware issues
sharing some microcontroller configuration pins with powerSPIN connectors (P0L.0 P0L.1), reset phase, when L6235 evaluation board connected through "practi1" "practi2" connectors causes micro enter "ADAPT" "EMU" modes (when pull-up used). feature release 1.2) MDK-ST10 will include series buffers isolate these pins from connectors during reset phase.
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Revision history
Revision history
Table
Date 30-Nov-2006
Document revision history
Revision Initial release. Changes
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Bibliography
UM0289
Appendix
Bibliography
AN1794 Application Note, "PractiSpin evaluation system configuration setup guide". L6205 datasheet L6235 datasheet UM0288, MDK-ST10 user manual
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