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ST7 - 8-bit Microcontrollers
Low voltage motor control demo kit
User Manual
Format:
(881 kb)
or
(76 kb)
Last Updated: 24/07/2007
Pages: 49
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UM0432 User manual
Low voltage motor control demo kit
Introduction
The evaluation board STEVAL-IHM015V1 is a complete development platform for low voltage motor control applications. Based on a cost effective, flexible and open design, it allows easy demonstration of ST7MC capabilities to drive low voltage synchronous motors. It includes an ST7MC 8-bit microcontroller with 16 Kbyte internal flash memory. The STEVAL-IHM015V1 features complete hardware for developing motor control applications based on ST7MC peripherals including motor control peripheral (MTC), and Serial Communication Interface (SCI). The STEVAL-IHM015V1 uses an In-Circuit Communication (ICC) standard interface to connect to the host PC via In-circuit debuggers/programmers such as the inDART-STX board from Softec. The power stage of the board is designed to support up to 25 A and up to 50 V. It is possible to use the STS8DNH3LL devices which are included or replace them with different devices in the SO-8 package (dual or single devices for chip) or DPAK. Power supply stages can be easily configured for a wide range of bus voltages. Figure 1. STEVAL-IHM015V1
Features
Voltage range from 5 V to 48 V Current up to 25 A Power MOSFET STS8DNH3LL (dual device) 8 A 30 V included Compatible with Power MOSFET in SO-8 and DPAK 10 V auxiliary power supply connector Serial Communication Interface connector Programming and debug support via 10-pin ICC connector Onboard 2 K-bit (256 byte) serial memory Four potentiometers for runtime settings Start/stop button Reset button Debug pins available
Rev 1 1/49
www.st.com
July 2007
Contents
UM0432
Contents
1 2 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Safety and operating instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 2.2 2.3 2.4 2.5 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Demo kit board intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Demo kit board installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Electronic connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Demo kit board operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3
ST7FMC2S4T6 microcontroller functions . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 5 6
STS8DNH3LL characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Board electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Board architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.1 6.2 6.3 ICC connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 SDI interface (Serial Data Interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Board schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7
Motor control demonstration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7.1 7.2 7.3 7.4 Environmental considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.3.1 Installing the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Board setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.4.1 7.4.2 7.4.3 7.4.4 7.4.5 7.4.6 7.4.7 Choosing the right firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Configuring the firmware using GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Motor type selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 "3-Phase BLAC/DC (trapezoidal)" settings . . . . . . . . . . . . . . . . . . . . . . 23 "3-Phase BLAC/DC (trapezoidal)" advanced settings . . . . . . . . . . . . . . 25 "3-Phase PMAC motor (sinewave)" settings . . . . . . . . . . . . . . . . . . . . . 27 "3-Phase PMAC motor (sinewave)" advanced settings . . . . . . . . . . . . . 28
2/49
UM0432 7.4.8 7.4.9 7.4.10 7.4.11 7.4.12 7.4.13 7.4.14 7.4.15 7.4.16
Contents Changing the maximum current allowed by GUI . . . . . . . . . . . . . . . . . . 30 Compiling the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Programming the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Setup option byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Configuring DC input range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Jumper settings table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Board connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Changing the maximum bus voltage level allowed . . . . . . . . . . . . . . . . 35 Changing the maximum current level allowed . . . . . . . . . . . . . . . . . . . . 35
7.5
Driving BLDC motor (trapezoidal - sensorless) . . . . . . . . . . . . . . . . . . . . 36
7.5.1 7.5.2 7.5.3 7.5.4 7.5.5 7.5.6 7.5.7 7.5.8 Specific connection (sensor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Specific jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 LED behavior after power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Setting the potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Running the motor (LED behavior) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Changing real-time parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Stopping the motor (LED behavior) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Configuring the system for BEMF amplification . . . . . . . . . . . . . . . . . . . 39
7.6
Driving BLDC motor (trapezoidal - sensored) . . . . . . . . . . . . . . . . . . . . . 39
7.6.1 7.6.2 7.6.3 7.6.4 7.6.5 7.6.6 7.6.7 Specific connection (sensor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Specific jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 LED behavior after power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Setting the potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Running the motor (LED behavior) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Changing real-time parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Stopping the motor (LED behavior) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.7
Driving BLAC motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.7.1 7.7.2 7.7.3 7.7.4 7.7.5 7.7.6 7.7.7 Specific connection (sensor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Specific jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 LED behavior after power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Setting the potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Running the motor (LED behavior) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Changing real-time parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Stopping the motor (LED behavior) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8
Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3/49
Contents
UM0432
9 10
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4/49
UM0432
List of tables
List of tables
Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Table 7. Table 8. Table 9. Table 10. Table 11. Table 12. Table 13. Table 14. Table 15. Table 16. Table 17. Table 18. Table 19. Table 20. Table 21. Table 22. Table 23. Table 24. Table 25. ST7FMC2S4T6 functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 STS8DNH3LL absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Control board electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Power supply jumpers settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Compatible devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Firmware libraries arranged according to driving strategy . . . . . . . . . . . . . . . . . . . . . . . . . 21 Configuration ".h" files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 "3-Phase BLAC/DC (trapezoidal)" basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 "3-Phase BLAC/DC (trapezoidal)" advanced parameters. . . . . . . . . . . . . . . . . . . . . . . . . . 25 "3-Phase PMAC motor (sinewave)" basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 "3-Phase PMAC motor (sinewave)" advanced parameters . . . . . . . . . . . . . . . . . . . . . . . . 29 Jumper configuration based on bus voltage range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Jumper settings table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Bus voltage threshold parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 BLDC SL jumpers setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Potentiometer functionality based on open/closed loop driving strategy . . . . . . . . . . . . . . 38 BLDC SL with BEMF amplification jumpers setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 "BLDC Sensored" motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 BLDC SR jumpers setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Potentiometer functionality based on open/closed loop driving strategy . . . . . . . . . . . . . . 41 "PMAC Sensored" motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 PMAC SR jumpers setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Potentiometer functionality based on open/closed loop driving strategy . . . . . . . . . . . . . . 44 Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5/49
List of figures
UM0432
List of figures
Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Figure 8. Figure 9. Figure 10. Figure 11. Figure 12. Figure 13. Figure 14. Figure 15. Figure 16. Figure 17. Figure 18. Figure 19. Figure 20. Figure 21. Figure 22. STEVAL-IHM015V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Motor control system architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 STS8DNH3LL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Board architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Power supply architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Power devices footprint selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Board layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 ICC connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 SDI connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Board schematic - control block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Board schematic - power block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 STVD7 for InDART-STX Toolset configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Motor type choice window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 "3 Phase BLAC/DC (trapezoidal)" basic parameters window . . . . . . . . . . . . . . . . . . . . . . . 23 "3 Phase BLAC/DC (trapezoidal)" advanced parameters window . . . . . . . . . . . . . . . . . . . 25 "3 Phase PMAC motor (sinewave)" basic parameters window. . . . . . . . . . . . . . . . . . . . . . 27 "3 Phase PMAC motor (sinewave)" advanced parameters window . . . . . . . . . . . . . . . . . . 29 ST7VD active project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 System setup for programming phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Option byte settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Programming option auto window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 System setup for running phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6/49
UM0432
System architecture
1
System architecture
The generic motor control system can be schematized as the arrangement of four blocks (see Figure 2):
Control block Power block Motor Power supply Motor control system architecture
Figure 2.
The system proposed for the low voltage motor control demo kit is composed of one board STEVAL-IHM015V1 (containing control and power block), one motor and the power supply. The control block is a microcontroller (ST7MC) based block that provides the driving signals related to the motor selected and the diving strategies. synchronized with sensor signal (if it is required). Driving signals are constituted of 6 PWM signals in the range of 0-5 V paired in High side/low side pairs of one pair for each leg. In the system proposed, three legs are present (three-phase inverter). The power block is based on the gate drivers L6387 and Power MOSFET (STS8DNH3LL) that convert the control signal to power signals in order to drive the motor. The low voltage motor control demo kit is able to drive following kinds of motors:
Brushless permanent magnet motor (trapezoidal driven), sensored or sensorless Brushless permanent magnet motor (sinusoidal driven), sensored.
The board is supplied by low voltage DC power supply from 5 up to 48 V with the capability to generate current up to 25 A. Section 6: Board architecture. With the included Power MOSFET device STS8DNH3LL, the maximum rating of voltage is 30 V and the maximum rating current is 8 A.
7/49
Safety and operating instructions
UM0432
2
2.1
Safety and operating instructions
General
Warning: During assembly and operation, the low voltage motor control demo kit poses several inherent hazards, including bare wires, moving or rotating parts, and hot surfaces. There is danger of serious personal injury and damage to property, if the kit or its components are improperly used or installed incorrectly.
All operations involving transportation, installation and use, as well as maintenance are to be carried out by skilled technical personnel (national accident prevention rules must be observed). For the purposes of these basic safety instructions, "skilled technical personnel" are suitably qualified people who are familiar with the installation, use, and maintenance of power electronic systems.
2.2
Demo kit board intended use
The low voltage motor control demo kit boards are components designed for demonstration purposes only, and shall not be used for electrical installation or machinery. The technical data as well as information concerning the power supply conditions shall be taken from the documentation and strictly observed.
2.3
Demo kit board installation
The installation and cooling of the demo kit boards shall be in accordance with the specifications and the targeted application (see Section 7: Motor control demonstration).
The motor drive converters shall be protected against excessive strain. In particular, no components are to be bent, or isolating distances altered during the course of transportation or handling. No contact shall be made with other electronic components and contacts. The boards contain electrostatically sensitive components that are prone to damage through improper use. Electrical components must not be mechanically damaged or destroyed (to avoid potential health risks).
2.4
Electronic connections
Applicable national accident prevention rules must be followed when working on the main power supply with a motor drive. The electrical installation shall be completed in accordance with the appropriate requirements (e.g., cross-sectional areas of conductors, fusing, PE connections; for further information, see Section 7: Motor control demonstration).
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UM0432
ST7FMC2S4T6 microcontroller functions
2.5
Demo kit board operation
A system architecture which supplies power to the low voltage motor control demo kit boards shall be equipped with additional control and protective devices in accordance with the applicable safety requirements (e.g., compliance with technical equipment and accident prevention rules).
Warning:
Do not touch the board after disconnection from the voltage supply, as several parts and power terminals which contain possibly energized capacitors need to be allowed to discharge.
3
3.1
ST7FMC2S4T6 microcontroller functions
Main features
TQFP44 package 16 Kbyte dual voltage FLASH program memory with read-out protection capability 768 bytes RAM (256 stack bytes) Clock, Reset And Supply Management with: enhanced reset system enhanced low voltage supervisor (LVD) for main supply and auxiliary voltage detector (AVD) with interrupt capability clock sources: crystal/ceramic resonator oscillators and bypass for external clock, clock security system four power saving modes: halt, active-halt, wait and slow
configurable window watchdog timer nested interrupt controller with 14 interrupt vectors two 16-bit timers one 8-bit auto-reload timer Serial Peripheral Interface (SPI) Serial Communication Interface (LINSCITM) Motor Controller (MTC) peripheral with: 6 high sink Pulse Width Modulator (PWM) output channels asynchronous emergency stop analog inputs for rotor position detection permanent magnet motor coprocessor including: multiplier, programmable filters, blanking windows and event counters Op Amp and comparator for current limitation
10-bit Analog-to-Digital Converter (ADC) with 11 inputs In-circuit Communication Interface (ICC, debug)
9/49
ST7FMC2S4T6 microcontroller functions
UM0432
Table 1.
Function
ST7FMC2S4T6 functions
I/o name MCO0 MCO1 MCO2 MCO3 MCO4 MCO5 MCIA, MCIB, MCIC Description (depends on embedded software) PWM outputs high side phase A PWM outputs low side phase A PWM outputs high side phase B PWM outputs Low Side Phase B PWM outputs high side phase C PWM outputs low side phase C Analog or digital input for position sensor or B.E.M.F. detection B.E.M.F. detection comparator reference Emergency stop Operational amplifier positive input Operational amplifier negative input Operational amplifier output Current limitation reference PWM Output V user for current reference Debug pin C/Z event Debug pin C/D event Master in/slave out data Master out/slave in data Serial clock Received data input Transmit data output Temperature sensor input Bus voltage sensing input Trimmer P1 reading input Trimmer P2 reading input Trimmer P3 reading input Output serial clock Input/Output serial data Programming voltage input GPIO_A for GE method of BEMF detection GPIO_B for GE method of BEMF detection GPIO_C for GE method of BEMF detection Star t/stop pushbutton LED management
MTC
MCVREF NMCES OAP OAN OAZ MCCREF MCPWMV MCZEM MCDEM MISO
SPI
MOSI SCK RDI
LINSCITM TDO AIN0 AIN1 10-bit ADC AIN13 AIN11 AIN7 ICCCLK ICC ICCDATA ICCSEL/Vpp PE0 PE1 Other I/O PE2 PE3 PB7
10/49
UM0432
STS8DNH3LL characteristics
4
STS8DNH3LL characteristics
The STS8DNH3LL is a dual N-channel Power MOSFET in the SO-8 package (30 V - 0.018 - 8 A) low gate charge, STripFETTM III. Figure 3. STS8DNH3LL
VDSS = 30 V RDS(on) = 0.018 ID = 8 A STS8DNH3LL absolute maximum ratings
Parameter Drain-source voltage(VGS = 0) Drain-gate voltage (RGS = 20 k) Gate- source voltage Drain current (continuous) at TC = 25 C Drain current (continuous) at TC = 100 C Drain current (pulsed) Total dissipation at TC = 25 C Value 30 30 16 8 5 32 2 Unit V V V A A A W
Table 2.
Symbol VDS VDGR VGS ID ID IDM(1) Ptot
1. Pulse width limited by safe operating area.
Stresses above the limit shown in Table 2 may cause permanent damage to the device.
11/49
Board electrical characteristics
UM0432
5
Board electrical characteristics
Stresses above the limit shown in Table 3 may cause permanent damage to the devices present inside the board. This is a stress rating only and functional operation of the device under these conditions is not implied. Exposure to maximum rating conditions for extended periods may affect device reliability. 10 V Bias Current measurement can be useful to check the working status of the board. If measured value is considerably greater than typical value, it means that some damage has occurred in the board. See the power supply configuration for 10 V auxiliary supply. Table 3. Control board electrical characteristics
STEVAL-IHM015V1 Control board parameters Min 10 V auxiliary supply range J6 10 V bias current (typical) VBUS J5 (low voltage configuration)(1) VBUS J5 (medium voltage VBUS J5 (high voltage configuration)(1) configuration)(1) 5 30 5 6.5 9 Max 15 70 6.5 9 48 V mA V V V Unit
1. See power supply configuration
12/49
UM0432
Board architecture
6
Board architecture
The STEVAL-IHM015V1 can be schematized as in Figure 4. Figure 4. Board architecture
5V..50V
L6387
Power Supply
Vdriver
L6387
L6387
M
H
RSENSE
PWMs 5V
ST7MC
Communication I/O
User Interface
The heart of the control board is the ST7MC microcontroller with a dedicated peripheral included to drive the three-phase brushless motor. The user interface is constituted of four potentiometers (P1, P2, P3, P4) used to set parameters related to the specific drive. See Section 7: Motor control demonstration. Two push buttons are also present: Reset button for a "hardware reset". Star t/stop button used to start and stop the motor driving. Section 7: Motor control demonstration.
Two LEDs (green/red) are used to get information about the status of the system. Their behavior is related to the specific drive. See Section 7: Motor control demonstration. In normal functionality it is expected that the board is supplied by VBUS connector J5 but an auxiliary supply connector J6 is included on the board to feed the drivers and the microcontroller. The board is supplied with 2 Kbit EEPROM (M95020) connected to the micro by the SPI bus. To enable the onboard EEPROM memory, the jumper J2 must be closed and the debug feature must be disabled inside the firmware. J4 can be set by the user connecting a jumper between pin 1-2 or 2-3. This setting is related to a specific drive (see Section 7: Motor control demonstration). Two communication systems can be established with the microcontroller: ICC used for Programming/Debugging purposes SCI used for data exchange through the SDI connector
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Board architecture
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Power supply
The power supply has been designed to address a wide range of DC bus voltages from 5V to 48 V. Three configurations of power supply have been designed: Low voltage: 5 V - 6.5 V based on boost converter L5970. Medium voltage: 6.5 V - 9 V direct connection to the bus. High voltage: 9 V - 48 V based on buck converter L4976 (for VBUS > 28 V the Power MOSFET must be replaced with the STD20NF06LT4 or STS7NF60L). Power supply architecture
L5970D
V (Driver) 1 3 V (Micro)
Figure 5.
VBus
2
1
1
2
LK112SM50
J23
3
J22
J27
1
J24
L4976D
Table 4.
Power supply jumper settings
VBUS range 5 V - 6.5 V 6.5 V - 9 V 9 V -4 8 V V Driver 7V VBUS 8V Jumper configuration J23 between 1-2 J24 between 2-3 J23 pin2 J22 J24 pin 2 J27 J23 between 2-3 J24 between 1-2
Configuration Low voltage Medium voltage High voltage
The following can be used to supply the 5 V to the micro: - the Vref signal of the L4976D regulator if it is used (High voltage setting in Table 4) or - the LK112SM50TR The first setting can be configured by putting J8 between pins 2-3 and the second configuration by putting J8 between pins 1-2 Using the Vref signal of the L4976D, it is possible to provide the microcontroller with up to 20 m A. Using the LK112SM50TR it is possible to provide up to 200 m A.
Power stage
The power stage is based on six Power MOSFETs in full three-phase bridge configuration. In the board there are three STS8DNH3LLs in an SO-8 package, each one containing two devices. The maximum driving current is 8 A, and the suggested maximum driving voltage is 24 V.
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Board architecture It is possible to use different Power MOSFET devices replacing U15, U17 and U18 with other devices. Compatible devices are Power MOSFETs in an SO-8 package containing single or dual devices and Power MOSFETs in a DPAK package. The board is designed to work up to 25 A and 48 V. Figure 6. Power devices footprint selection
Figure 6 shows one of the three legs of the bridge where it is possible to mount one of the three kinds of devices. Table 5 indicates a list of compatible devices. Table 5. Compatible devices
Place holder U15, U17, U18 Q9, Q10, Q13, Q14, Q17, Q18 Q11, Q12, Q15, Q16, Q19, Q20 Packages SO-8 SO-8 DPAK Type Dual Single Single Compatible devices STS8DNH3LL(1) STS20NHS3LL(1) STS7NF60L(1) STD20NF06LT4(1)
1. These devices are only examples of compatible devices. See the Power MOSFET Selection guide for a complete list of devices.
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Board architecture Figure 7. Board layout
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6.1
ICC connector
The ICC connector (J1) is used to establish ICC communication for programming/debugging purposes. The pin-out is shown in Figure 8. This connector is compatible with Softec's inDART-STX board (not included in the package). Figure 8. ICC connector
6.2
SDI Interface (Serial Data Interface)
The board is provided with an SDI interface (JP1) able to establish SCI communication with external devices. We suggest using an isolation board between the SDI Interface and the external devices. The pin-out is shown in Figure 9.
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UM0432 Figure 9. SDI connector
Board architecture
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6.3
Board schematic
Figure 10. Board schematic - control block
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UM0432 Figure 11. Board schematic - power block
Board architecture
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7
7.1
Motor control demonstration
Environmental considerations
Warning: The low voltage motor control demo kit must only be used in a power laboratory. The voltage used in the drive system presents a shock hazard.
The kit is not electrically isolated from the DC input. This topology is very common in motor drives. The microprocessor is grounded by the integrated Ground of the DC bus. The microprocessor and associated circuitry are hot and MUST be isolated from user controls and serial interfaces.
Warning:
Any measurement equipment must be isolated from the main power supply before powering up the motor drive. To use an oscilloscope with the kit, it is safer to isolate the DC supply AND the oscilloscope. This prevents a shock occurring as a result of touching any SINGLE point in the circuit, but does NOT prevent shocks when touching two or more points in the circuit.
An isolated DC power supply can be constructed using an isolation transformer and a variable transformer. A schematic of this DC power supply is in the application note, "AN438, TRIAC + Microcontroller: safety precautions for development tools." (Although this Application Note was written for TRIAC, the isolation constraints still apply for switching semiconductor devices such as MOFSETs.) Note: Isolating the application rather than the oscilloscope is highly recommended in any case.
7.2
Hardware requirements
To set up the low voltage motor control demo kit system, the following items are required:
The board: STEVAL-IHM015V1 Insulated DC power supply up to 24 V 8 A Softec inDART-STX (not included in the package) Softec ICC isolation board (not included in the package) Two 10-pin flat cables (not included in the package) Brushless PM motor Ametek (not included in the package) Insulated oscilloscope (as needed) Insulated multimeter (as needed)
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7.3
Software requirements
To customize, compile, and download the motor control firmware, the following software must be installed:
"LV ST7MC - GUI" (included in the CD-ROM) STVD7 for inDART-STX V.3.11 (also called "ST7 Toolset" downloadable from Softec's website: www.softecmicro.com) Cosmic compiler - ST7 C compiler 16 Kbyte free version - 4.5c (downloadable from Cosmic's website: www.cosmic-software.com).
7.3.1
Installing the software
LV ST7MC - GUI installation 3rd party software installation
Inser t the CD-ROM provided with the kit and execute Setup.exe.
Follow the instructions of the related software to install and configure STVD7 for inDARTSTX and cosmic compiler.
Installation note Install the Cosmic compiler first. Use the default installation folder: "C:\Program Files\COSMIC\CXST7_16Kbite". Registration is required before using the product. You can perform this procedure at any time by running the "lmreg16k.exe" file inside Cosmic's installation folder. Complete the form and click on the "Register by email" button. You will receive a license file "license.lic" that must be copied inside the installation folder under the "license" folder. Then install STVD7 for inDART-STX. During the first run of the software after installation, a prompt for the configuration of the toolset should appear. The toolset can be configured at any time by opening "tools options" inside STVD7. To do this, click "toolset", and select the "toolset" menu tab, select "ST7Cosmic" and configure as in Figure 12.
1.
2.
Figure 12. STVD7 for InDART-STX Toolset configuration
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7.4
7.4.1
Board setup
Choosing the right firmware
Motor control firmwares are arranged according to the kind of motor to be driven and according to the driving strategy. See Table 6 to choose which firmware should be used. Together with the installation of "LV ST7MC - GUI" the firmware source code is installed on the PC inside the installation folder under the "LVK_Firm" folder. Each firmware is stored inside working folder under the same name as the firmware itself. The following files are present inside each working folder: Table 6. ".stw" file - STVD7 workspace file ".stp" file - STVD7 project file "source" folder - containing all .c and .h files required Firmware libraries arranged according to driving strategy
Description to drive sensored PM brushless motor sinusoidal driven to drive sensorless PM brushless motor trapezoidal driven to drive sensored PM brushless motor trapezoidal driven
Firmware name BLAC_3PH_SR BLDC_3PH_SL BLDC_3PH_SR
Note:
We suggest making a backup copy of the original working folder for each firmware. The following procedure modifes the original content of the workspace folder without leaving the possibility to return to a previous step.
7.4.2
Configuring the firmware using GUI
Before "using" the firmware, it must be configured. The term "configure" indicates the act of selecting a specific driving strategy, such as open or closed loop, voltage or current mode and so on. The setting of customized parameters such as current limitation, motor settings, driving related parameters and so on is also indicated. Configuring the firmware is performed by compiling a set of .h files inside the source folder and writing a series of values as fields of #define statements. To do this configuration, solid knowledge of the hardware and the architecture of the firmware is required. Otherwise, the configuration tool provided inside the CD-ROM called "LV ST7MC - GUI" can be used. This allows the user to choose and set all required parameters visually and the software automatically generates the ".h" files required (refer to the ".h" files that constitute the configurations related to the firmware in Table 7).
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Table 7.
Configuration ".h" files
Configuration files PMACparam.h config.h
Firmware name
BLAC_3PH_SR Mainparam.h MTCparam.h MTC_Settings_Sensorless.h BLDC_3PH_SL spec_settings.h version.h MTC_Settings_Sensor.h BLDC_3PH_SR spec_settings.h version.h
For a detailed description of the configuration files and how to manually customize the related parameters see AN1905, AN1947.
7.4.3
Motor type selection
After "LV ST7MC - GUI" is started, the motor type choice dialog box appears (see Figure 13). In this window the user can choose the kind of motor (PM Brushless) and the driving strategy (sinusoidal or trapezoidal). The two options are: "3-Phase BLAC/DC (trapezoidal)" to select PM brushless motor trapezoidal driven, or "3-Phase PMAC Motor (sinewave)" to select PM brushless motor sinusoidal driven.
Figure 13. Motor type choice window
The user must select the desired value and press OK.
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7.4.4
"3-Phase BLAC/DC (trapezoidal)" settings
Figure 14. "3-Phase BLAC/DC (trapezoidal)" basic parameters window
Table 8.
"3-Phase BLAC/DC (trapezoidal)" basic parameters
Description the number of pole (north/south) pairs in the motor the manner in which to run the motor, either open loop (without speed regulation) or closed loop (with speed regulation) the motor driving mode, current mode or voltage mode the software current limitation value (only in voltage mode), if the current flowing inside one (of three) phases of the motor reach this value overcurrent is not generated but the pwm is managed to limit the current at this level. the Back EMF (BEMF) detection mode (rotor position), either sensorless, hall (effect) sensor 60, or hall (effect) sensor 120 Alignment phase (only for sensorless mode)
Parameter name Poles pairs Speed regulation Driving mode Current bus limitation
Detection mode
Final duty cycle Final current Alignment duration
the percentage of final duty cycle applied at the end of alignment phase (only in voltage mode) the value of current flowing inside the motor at the end of the "alignment phase" (only in current mode) the duration of the "alignment phase" in milliseconds (ms) Acceleration phase (only for sensorless mode)
Mechanical acceleration rate
the mechanical acceleration rate of the rotor during the ramp UP in RPMs (or Hz) per second (alternate between RPM and Hz settings by clicking on the "RPM" button)
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UM0432 Table 8.
Motor control demonstration "3-Phase BLAC/DC (trapezoidal)" basic parameters (continued)
Description the duty cycle percentage during the ramp Up (only in voltage mode) the value of current flowing inside one (of three) phases of the motor at the end of the "acceleration phase" (only in current mode) the number of consecutive Z events that occur before the microcontroller runs the motor in autoswitched mode Electrical frequency
Parameter name Duty cycle Current reference Number of Z events before auto-switched mode
Minimum Maximum
the Minimum target rotor frequency in closed loop, expressed in Hz the Maximum target rotor frequency in closed loop, expressed in Hz Run settings when the "From RV1" checkbox is selected: Duty cycle value is defined by the RV1 potentiometer (only for voltage mode), or Current reference is defined by the RV1 potentiometer (only for current mode), or Target speed is defined by the RV1 potentiometer (only for closed loop) If this box is unchecked, the above parameters are set by the user. the duty cycle percentage when the motor is run in "open loop" "voltage mode" The value of current flowing inside one (of three) phases of the motor at run time in "open loop" "current mode" the target mechanical (rotor) Speed in RPMs (or Hz) if speed regulation is set to "closed loop" (alternate between RPM and Hz settings by clicking on the "RPM" button) When the "From RV2 - RV3" checkbox is selected, the value of rising delay is defined by the RV2 potentiometer and the value of falling delay is defined by the RV3 potentiometer. If this box is unchecked, the above parameters are set by the user. the B-EMF Rising Edge delay coefficient value (from 0 to 255) the B-EMF Falling Edge delay coefficient value (from 0 to 255) Closed loop parameter (only in closed loop)
From RV1
Duty cycle Current reference
Target speed
Delay coefficient from RV2-RV3 B-emf rising edge B-emf falling edge
Integral coefficient (Ki) Propor tional coefficient (KP) Sampling time Change motor type Advanced settings
the value of the Integral Coefficient (Ki) of the Proportional Integrative (PI) regulator the value of the proportional coefficient (Kp) of the PI regulator the regulation sampling time (in milliseconds)
the "change motor type" button enables the user to change the motor type (see Figure 13) the "advanced settings" button enables the user to set the advanced parameters (see Section 7.4.5: "3-Phase BLAC/DC (trapezoidal)" advanced settings) the "generate source files" button enables the user to generate the configuration ".h" files shown in Table 7 - configuration ".h" files. A "save" dialog window appears, where the user can select in which folder to create the file. User must choose the right "Source" directory in the firmware working folder (see Section 7.4.1: Choosing the right firmware).
Generate source files
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7.4.5
"3-Phase BLAC/DC (trapezoidal)" advanced settings
Clicking the "advanced settings" button (see Figure 14) opens the "advanced settings" dialog box (see Figure 15). This is where the advanced "3-Phase BLAC/DC (trapezoidal)" motor type parameters are set. Figure 15. "3-Phase BLAC/DC (trapezoidal)" advanced parameters window
Table 9.
"3-Phase BLAC/DC (trapezoidal)" advanced parameters
Description Pulse Width Modulation (PWM) frequency in kHz PWM minimum off time in microseconds (s) to detect the BEMF if synchronous rectification it is enable or not value of dead time in s (only if Complementary PWM enabled) Current loop
Parameter name Switches PWM frequency Switches PWM minimum off time Complementary PWM signal Dead time
Current blanking window Current event counter filter
time window filter in milliseconds to prevent erroneous sampling of the current after the PWM is turned ON defines the number of counter events required to validate a current limitation event D and Z sampling parameters
Sampling clock Unused MCIx input
sets the frequency of the sampling clock for D and Z events in kHz defines in which state the unused MCI input is fixed, either "Grounded" or "Hi-Z
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UM0432 Table 9.
Motor control demonstration "3-Phase BLAC/DC (trapezoidal)" advanced parameters (continued)
Description Zero crossing
Parameter name
After D Blanking Window Z Event Counter Filter Threshold Voltage
sets the blanking window after a D event in microseconds (s) defines the number of counter events required to validate a Z event voltage set (in Volts) for Z detection Demagnetization
After C blanking window D event counter filter Demagnetization method Demagnetization time Force duty cycle during demagnetization Duty cycle
sets the blanking window after a C event in microseconds (s) defines the number of counter events required to validate a D event Three methods are available: "all hardware", "alternate hardware/software" or "all software" fixed demagnetization time in microseconds (s) (only with demagnetization methods "all software") allows using a different value of duty cycle rather than the one in run time setting value of duty cycle percentage forced during demagnetization Stop condition
Free wheeling DC current braking Brake level Brake time
after stopping, the motor continues to spin freely active brake obtained injected dc current into the motor value of duty cycle percentage of PWM brake signal duration in milliseconds of the active brake
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7.4.6
"3-Phase PMAC motor (sinewave)" settings
Figure 16. "3-Phase PMAC motor (sinewave)" basic parameters window
Table 10.
"3-Phase PMAC motor (sinewave)" basic parameters
Description the number of pole (north/south) pairs in the motor the manner in which to run the motor, either open loop (without speed regulation) or closed loop (with speed regulation) the number of Hall sensors on the motor One sensor Two sensors Three sensors Synchronous speed Min Max sets the target minimum stator frequency in Hz for closed loop mode sets the target maximum stator frequency in Hz for closed loop mode V/F (Voltage vs. Frequency) curve limitation
Parameter name Poles pairs Speed regulation
Sensor configuration
Min voltage Low frequency High frequency
sets the voltage level (expressed as a part of the 255th of the bus voltage) in the first corner of the V/F curve sets the frequency of the first corner of the V/F curve in Hz sets the frequency of the second corner of the V/F curve in Hz
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UM0432 Table 10.
Motor control demonstration "3-Phase PMAC motor (sinewave)" basic parameters (continued)
Description Start-up settings
Parameter name
Voltage slew rate Star t-Up stator frequency Max duration
affects the slew rate of the voltage during the motor start-up phase before reaching the potentiometer set value (only in open loop) sets the stator frequency during the start-up sequence (only in closed loop) sets the maximum duration of the start-up sequence in milliseconds (ms) (only in closed loop)
Min rotor frequency to validate sets the rotor speed or frequency to validate the closed loop mode (only in closed closed loop loop) Regulator settings Integral coefficient (Ki) Propor tional Coefficient (Kp) Sampling Time sets the value of the integral coefficient (Ki) of the Proportional Integrative (PI) regulator sets the value of the Proportional Coefficient (Kp) of the PI regulator sets the regulator sampling frequency in milliseconds (ms) Phase shift Set phase shift according to Ph/F Curve Set phase shift according by P3 Change motor type Advanced settings software sets (in run time) the actual phase shift from the Ph/F curve defined in the advanced settings (based on the rotor speed). manual setting of the phase shift using potentiometer P3; the maximum CCW position is 0 of phase shift and the maximum CW position is 360 of phase shift. the "Change Motor Type" button enables the user to change the motor type (see Figure 13) the "advanced settings" button enables the user to set the advanced parameters (see Section 7.4.7: "3-Phase PMAC motor (sinewave)" advanced settings) the "generate source files" button enables the user to generate the configuration ".h" files shown in Table 7 - Configuration ".h" files. A "save" dialog window appears, where the user can select in which folder to create the file. User must choose the right "Source" directory in the firmware working folder (see Section 7.4.1: Choosing the right firmware).
Generate source files
7.4.7
"3-Phase PMAC motor (sinewave)" advanced settings
Clicking the "advanced settings" button (see Figure 16) opens the "advanced settings" dialog box (see Figure 17). This is where the advanced "3-phase PMAC motor (sinewave)" motor type parameters are set.
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Motor control demonstration Figure 17. "3-Phase PMAC motor (sinewave)" advanced parameters window
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Table 11.
"3-Phase PMAC motor (sinewave)" advanced parameters
Description Pulse Width Modulation (PWM) frequency in kHz
Parameters name Switches PWM frequency
Dead times value selects from available preset dead time duration values in microseconds (s) Ph/F curve Software uses this curve to set the value of the phase shift based on the actual value of the rotor frequency when the "set phase shift according to Ph/F curve" option is set in the main window. The curve is a linear interpolation between two knee-points. First knee-point Phase shift Frequency sets the value of phase shift of the first knee-point of the curve sets the value of frequency of the first knee-point of the curve Second knee-point Phase shift Frequency sets the value of phase shift of the second knee-point of the curve sets the value of frequency of the second knee-point of the curve Stop condition Free wheeling Active braking Brake voltage Brake min speed after stopping, the motor will continue to spin freely the motor will be braked generating a stator field 90 in advance respect the rotor field voltage level (expressed as a part of the 255th of the bus voltage) of the active braking stator field brake stays active until the motor it is brought below this rotor frequency
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7.4.8
Changing the maximum current allowed by GUI
The maximum current allowed by GUI has been set to 8 A. This value may be changed by modifying the file "gui.ini" inside the folder where the "LVST7MC - GUI" file is installed. Open the "gui.ini" file using the notepad and change the value of the following line: MAX_C URRE NT = 8 Replace the value 8 with the desired value of current limitation expressed in ampere. Remember that also the hardware current limitation must be changed accordingly, see Section 7.4.16: Changing the maximum current level allowed to know how to modify this limitation.
7.4.9
Compiling the firmware
Once the configuration files have been produced (manually or using the GUI), the binary executable file (.s19) must be compiled and produced. To do this, the STVD7 for inDART-STX is used with the Cosmic compiler (see Section 7.3: Software requirements) 1. 2. 3. 4. Run the STDV7 for inDART-STX and choose "file > open workspace". Select the workspace file under the "firmware working folder" depending on the motor type (see Section 7.4.1: Choosing the right firmware). The default project in use is opened by the environment and is shown on the left side of the window below the opened ".stw" file. Make sure that "Release" is set as the active project configuration (see Figure 18).
Figure 18. ST7VD active project configuration
5.
Use the "build" pull-down menu to display and select the "rebuild all" command. The project will be compiled and built, and an executable file "
.s19" will be generated inside "release" folder under the workspace.
1 2
Make sure that the following string: "
.elf - 0 error(s), 0 warning(s)" is displayed inside the output pane after the building of the executable. After the building of the executable, please ensure that the file "
.s19" generated inside the "release" folder under the workspace has been created. To do this, show the properties and check the creation date.
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7.4.10
Programming the firmware
Before programming the firmware, the board must be supplied and connected to the PC using the inDART board. We suggest setting up the system as described in Figure 19. Figure 19. System setup for programming phase
1.
Use the USB cable to connect the inDART-STX board to the PC. The green LED on the inDART-STX Board turns on. The Windows operating system automatically detects the new hardware and loads the appropriate USB and inDART-STX drivers.
3
Windows 2000 and Windows XP may issue a warning the first time the inDART-STX power board is connected to the PC. The USB driver used by inDART-STX is not digitally signed by Microsoft, however, the user may safely ignore the warning since every kind of compatibility and security test has been carried out by Softec Microsystems. 2. 3. 4. Connect the inDART board with the J1 connector using the 10-pin flat cable. Before supplying the board, remove J23 and J24. Check that J8 is connected between pin 1 and 2. Supply the Control Board using a 10 V power supply connected to J6 observing the polarity.
Once the ST7VD for inDART has been installed, the "datablaze programmer" utility that can be used to program the firmware using the inDART-STX is automatically installed. 5. 6. 7. 4 Run the Softec datablaze programmer utility. Click the "select device" button on the toolbar. In the "select device" window, select "inDART-STX" in the "programmer hardware" box, and "ST7FMC2S4" as the device code, and press OK.
If an error occurs, make sure that the inDART-STX board is connected to the PC. A green LED lights up if the board is connected.
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8. 9.
Click on the file pull-down menu, select "load", then "code buffer". In the "load file to code buffer" dialog box format menu, select "Motorola S-Rec" settings.
10. Click the button near "name" box and select the binary code (.S19) to download into the microcontroller, and press "OK" (to know which binary code to select, see Section 7.4.9: Compiling the firmware).
7.4.11
Setup option byte
11. Press the "option byte" button in the toolbar and select the value as shown in the "option configuration" window (see Figure 20), and press "OK". Figure 20. Option byte settings
12. Press the "auto" button in the toolbar and select the programming options as shown in Figure 21. Figure 21. Programming option auto window
13. Press "start" to program the device.
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If an error window appears, make sure that the inDART-STX board is connected to the ControlBDST7MC2 control board and that the control board is well supplied. 14. After programming check LED behavior to verify that the firmware has been correctly downloaded (see Section 7.5.3, Section 7.6.3, and Section 7.7.3: LED behavior after power on ).
7.4.12
Configuring DC input range
Before supplying the board with bus voltage, it must be configured by setting the jumper J22, J23, J24, J27 and J8 in the proper position. Follow Table 4 to configure the jumper based on the DC input range and keep the J8 jumper between 1-2.
7.4.13
Table 12.
Name J2
Jumper settings table
Jumper settings table
Selection Open Closed(*) Open Description Disable the auxiliary flash memory. Debug feature can be enabled. Enable the auxiliary flash memory. Debug feature cannot be enabled. Disable the current reference generated by PWMV. Debug feature can be enabled (this setting is not allowed driving BLDC trapezoidal) Enable the current reference generated by PWMV. Debug features cannot be enabled. Adjustable The current reference value (MCCREF) is set by potentiometer P4 Only for BLDC (trapezoidal) driving. Variable The current reference value (MCCREF) is driven by the microcontroller PWMV - Only for BLDC (trapezoidal) driving. No current reference is required For PMAC Motor (sinewave) driving. Threshold voltage used for BEMF detecting is set internally by the microcontroller firmware. This option should be selected for ST BEMF detecting strategy. Threshold voltage used for BEMF detecting is derived from phases voltage value. This option should be selected for GE BEMF detecting strategy. Threshold voltage used for BEMF detecting is derived from Bus voltage. This option should be selected for GE BEMF detecting strategy.
J3 Closed(*) Between 1-2 J4 Between 2-3(*) Open Open(*) J21 Between 1-2 Between 2-3
Note:
The default configuration is indicated with (*) in Table 12.
7.4.14
Board connection
After the board has been programmed, the system can be configured as shown in Figure 22. This configuration is called a "running configuration". Remove the ICC flat cable from the board if present. 1. 2. Connect the insulated DC power supply to the J5 connector of STEVAL-IHM015V1, following the serigraphy for polarity. Connect the phases of the motor to the J10 connector of the board and if required, connect the sensor signal to the hall sensor connector J14.
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UM0432 Figure 22. System setup for running phase
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7.4.15
Changing the maximum bus voltage level allowed
Inside the board an over voltage protection mechanism is included that protects the system, preventing the motor from starting if the bus voltage it is greater than a certain voltage. If this occurs, the red LED starts blinking. This threshold value is coded inside the firmware and is fixed at 29 V as the default value. To change this value, one parameter inside the source code must be modified and the executable must be rebuilt. To do this find the following definition inside the adc.c source file. #define HVBUS_THRESHOLD 539 // bus voltage reference (29 V)
See Table 13 to get the value relative to the desired bus voltage threshold and replace the number 539 in the statement above with this value. Table 13. Bus voltage threshold parameter
HVBUS_threshold value 112 223 335 446 558 670 781 893
Bus threshold 6V 12 V 18 V 24 V 30 V 36 V 42 V 48 V
7.4.16
Changing the maximum current level allowed
An over current protection mechanism is included inside the board that protects the system, disabling all the power switches if current that flows inside the motor is greater than a certain
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threshold. If this occurs, the red LED starts blinking. This mechanism is called "hardware current protection". This threshold value is fixed by the hardware to 7.65 A. To change this threshold to IMAX, resistor R77 must be modified according to Equation 1 (Changing hardware current protection threshold). Equation 1
10 K R 77 = -------------------------------------------5------------- 1 ---------------0.07 · I M A X
When the BLDC (trapezoidal) driving strategy is used, there is another current protection mechanism called "software current limitation" which regulates the current that flows inside the motor. In "current mode" the current is regulated to a certain value, and in "voltage mode" the current is limited to a maximum value. The maximum current allowed by this mechanism is related to the hardware and is fixed at 6.5 A. To change this threshold, resistor R20 must be modified as follows. First the amplification factor called AMP must be calculated using Equation 2 (Amplification factor). Equation 2
5 A M P = ----------------------------0.07 · I M A X
Then the value of R20 can be calculated using Equation 3 (Changing the maximum current allowed). Equation 3
R 20 = ( A M P 1 ) · 10 K
After this modification the "gui.ini" file must be modified. This file is inside the same folder as the "LVST7MC - GUI" file. Open the "gui.ini" file using the notepad and change the value of the following line: MAX_CURRENT = 8 ... AMP_SENS = 11 Replace the value 8 with IMAX expressed in amps and 11 with the AMP value calculated by Equation 2. Remember to close and re-open "LVST7MC - GUI" to activate this modification and follow the instructions in Section 7.4.2: Configuring the firmware using GUI.
7.5
Driving the BLDC motor (trapezoidal - sensorless)
Let's start the demonstration driving the brushless permanent magnet motor sensorless, so at this point please check that the board has been set up for sensorless driving (See Section 7.4.4: "3-Phase BLAC/DC (trapezoidal)" settings.
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7.5.1
Specific connection (sensor)
To drive the motor also in closed loop mode, it is not required that the motor include any position or speed sensor. For this demonstration we suggest using one Ametek BLDC Blower motor (voltage max 30 Vdc).
7.5.2
Specific jumper settings
Set up the board following the instructions in Section 7.4.12: Configuring DC input range (Bus voltage between 9 V - 28 V) and Section 7.4.13: Jumper settings table. Table 14. BLDC SL jumpers setting
Jumpers setting J11 between 2-3, J12 between 2-3, J13 between 1-2 J15 between 2-3, J16 between 2-3, J17 between 1-2 BLDC_3PH_SL J18 between 2-3, J19 between 2-3, J20 between 1-2 J3 Closed, J4 variable (2-3)
Driving mode
Set up the board as in Table 14.
7.5.3
LED behavior after power on
Turn on the power supply. For this demonstration the power supply output voltage should be set to 20 Vdc and the current limitation of the power supply should be set to 4 A. After power on the Control board LED behavior should be the following:
Red LEDs blink signaling that the firmware has started to run. After a while a green LED stays on to indicate "idle state"
7.5.4
Setting the potentiometers
Before running the motor, the three potentiometers P1, P2, P3 must be set up (see Table 15: Potentiometer functionality based on open/closed loop driving strategy for the correct configuration.
7.5.5
Running the motor (LED behavior)
Push the start/stop button. After pushing the button the LEDs toggle from green to red to indicate "run state" The motor starts to run.
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During any state: idle, start, run or brake, blinking of the red LED together with the brake of the motor indicates a fault condition. A fault condition can be obtained is due to one of the following conditions:
Hardware overcurrent: current flowing inside motor reaches a value greater than max current allowed 7.65 A (see Section 7.4.16: Changing the maximum current level allowed) Over voltage: bus voltage reaches a value greater than 29 Vac. Over temperature: onboard temperature sensor measures a temperature greater than 110. Star t-up failed: start-up phase ends without getting a sufficient number of valid zero crossing events. Motor stalled: during the running of the motor no more zero crossing events have been observed.
5
Blinking of the red LED during the running of the motor indicates that software current limitation is in action.
7.5.6
Changing real-time parameters
The real-time parameters can be changed using the potentiometers of the control board. Table 15 explains the potentiometer functionality based on the driving strategy.
Table 15.
Potentiometer functionality based on open/closed loop driving strategy
Voltage mode Open loop sets the duty cycle percentage from 0% to the maximum duty cycle allowed. Closed loop sets the target rotor frequency value from minimum value to maximum value configured (see Section 7.4.4: "3-Phase BLAC/DC (trapezoidal)" settings)
P1
P2 P3 P4
sets the value of rising delay coefficient from 0 to 255 sets the value of falling delay coefficient from 0 to 255 not used Current mode Open loop sets the current reference value from 0 A to maximum current allowed. Closed loop sets the target rotor frequency value from minimum value to maximum value configured (see Section 7.4.4: "3-Phase BLAC/DC (trapezoidal)" settings)
P1
P2 P3 P4
sets the value of rising delay coefficient from 0 to 255 sets the value of falling delay coefficient from 0 to 255 not used
If during the configuration using GUI, the "from RV1" control has been unchecked, then the value of the duty cycle (or the value of current reference) is not set by P1 but has a fixed value.
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Motor control demonstration If during the configuration using GUI, the "from RV2 - RV3" control has been unchecked, then the value of the rising delay coefficient and the value of the falling delay coefficient are not set by P2 and P3 but have fixed values. The maximum duty cycle allowed in voltage mode depends on the value of PWM frequency and the value of PWM min off time set by the GUI. The maximum current allowed by GUI has been set to 8A. (see Section 7.4.8: Changing the maximum current allowed by GUI).
7.5.7
Stopping the motor (LED behavior)
Push the Start/Stop button to stop the motor. The LEDs toggle from green to red to indicate "idle state".
7.5.8
Configuring the system for BEMF amplification
It is possible to configure the system to enable a BEMF amplification network. This configuration can be useful for any circumstance in which the BEMF signal is very low such as low speed for instance. This network is able also to compensate the freewheeling diode voltage drop that can not be negligible in case of low value bus voltage. See AN1103 "Improved B-EMF detection for low-speed and low-voltage applications". Use the settings in Table 16 to enable this feature. Table 16. BLDC SL with BEMF amplification jumper settings
Jumper setting J11 between 2-3, J12 between 2-3, J13 between 1-2 J15 between 2-3, J16 between 2-3, J17 between 1-2 BLDC_3PH_SL J18 between 2-3, J19 between 2-3, J20 between 1-2 J3 Closed, J4 variable (2-3)
Driving mode
7.6
Driving the BLDC motor (trapezoidal - sensored)
Let's start the demonstration driving the brushless permanent magnet motor with three Hall sensors 60. At this point please check that the board has been set up for BLDC sensor 60 driving (See Section 7.4.4: "3-Phase BLAC/DC (trapezoidal)" settings).
7.6.1
Specific connection (sensor)
To drive the motor, it must have three position sensors, in this case three Hall sensors. For this demonstration, we suggest using one Ametek BLDC Blower motor (voltage max 30 Vdc). Use the connections described in Table 17 to connect the motor to the power board.
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Table 17.
"BLDC Sensored" motor connections
Motor Phase A (red) Phase B (yellow) Phase C (black) Hall sensor 1 (white) Hall sensor 2 (green) Hall sensor 3 (blue) Hall sensor +5V (red) Hall ground (black) Power board J10 pin 1 J10 pin 2 J10 pin 3 J14 pin 1 J14 pin 2 J14 pin 3 J14 pin 4 J14 pin 5
7.6.2
Specific jumper settings
Set up the board following the instructions in Section 7.4.12: Configuring DC input range (bus voltage between 9 V - 28 V) and Section 7.4.13: Jumper settings table. Table 18. BLDC SR jumper settings
Jumper setting J11 open, J12 open, J13 between 2-3 J15 open, J16 open, J17 between 2-3 BLDC_3PH_SR J18 open, J19 open, J20 between 2-3 J3 Closed, J4 Variable (2-3)
Driving mode
Set up the board as in Table 18.
7.6.3
LED behavior after power on
Turn on the power supply. For this demonstration the power supply output voltage should be set to 20 Vdc and the current limitation of the power supply should be set to 4 A. After power on the control board LED behavior should be the following:
Green LEDs blink signaling that the firmware has started to run. After a while a green LED stays on to indicate "idle state".
7.6.4
Setting the potentiometers
Before running the motor, the three potentiometers P1, P2, P3 must be set up (see Table 19: Potentiometer functionality based on open/closed loop driving strategy for the correct configuration.
7.6.5
Running the motor (LED behavior)
Push the start/stop button. After pushing the button the LEDs toggle from green to red to indicate "run state"
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Motor control demonstration
During any state: idle, start, run or brake, a red LED that stays on together with the brake of the motor indicates a fault condition. A fault condition is due to one of the following conditions:
Hardware overcurrent: current flowing inside motor reaches a value greater than the max current allowed 7.65 A (see Section 7.4.16: Changing the maximum current level allowed.) Over voltage: bus voltage reaches a value greater than 29 Vac. Over temperature: onboard temperature sensor measures a temperature greater than 110. Star t-up Failed: Start-up phase ends without getting a sufficient number of valid zero crossing events. Motor stalled: during the running of the motor no more zero crossing events have been observed.
6
Blinking of the red LED during the running of the motor indicates that software current limitation is in action.
7.6.6
Changing real-time parameters
The real-time parameters can be changed using the potentiometers of the control board. Table 19 explains the potentiometer functionality based on the driving strategy.
Table 19.
Potentiometer functionality based on open/closed loop driving strategy
Voltage mode Open Loop Closed loop sets the target rotor frequency value from Minimum value to Maximum value configured (see Section 7.4.4: "3-Phase BLAC/DC (trapezoidal)" settings)
P1
sets the duty cycle percentage from 0% to 100%.
P2 P3 P4
sets the value of rising delay coefficient from 0 to 255 sets the value of falling delay coefficient from 0 to 255 not used Current mode Open loop sets the current reference value from 0 A to maximum current allowed. Closed loop sets the target rotor frequency value from Minimum value to Maximum value configured (see Section 7.4.4: "3-Phase BLAC/DC (trapezoidal)" settings)
P1
P2 P3 P4
sets the value of rising delay coefficient from 0 to 255 sets the value of falling delay coefficient from 0 to 255 not used
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If during the configuration using GUI, the "from RV1" control has been unchecked, then the value of the duty cycle (or the value of current reference) is not set by P1 but has a fixed value. If during the configuration using GUI, the "from RV2 - RV3" control has been unchecked, then the value of the rising delay coefficient and the value of the falling delay coefficient are not set by P2 and P3 but have fixed values. The maximum current allowed by GUI has been set to 8A. (see Section 7.4.8: Changing the maximum current allowed by GUI.)
7.6.7
Stopping the motor (LED behavior)
Push the start/stop button to stop the motor. The LEDs toggle from green to red to indicate "idle state".
7.7
Driving the BLAC motor
Let's start the demonstration driving the brushless permanent magnet motor. At this point please check that the board has been set up for BLAC driving (See Section 7.4.6: "3-Phase PMAC motor (sinewave)" settings).
7.7.1
Specific connection (sensor)
To drive the motor it must have three position sensors, in this case three Hall sensors. For this demonstration we suggest using one Ametek BLDC Blower motor (voltage max 30 Vdc). Refer to the connections in Table 20 to connect the motor to the power board. Table 20. "PMAC Sensored" motor connections
Motor Phase A (red) Phase B (yellow) Phase C (black) Hall sensor 1 (white) Hall sensor 2 (green) Hall sensor 3 (blue) Hall sensor +5 V (red) Hall ground (black) Power board J10 pin 1 J10 pin 2 J10 pin 3 J14 pin 1 J14 pin 2 J14 pin 3 J14 pin 4 J14 pin 5
7.7.2
Specific jumper settings
Set up the board following the instructions in Section 7.4.12: Configuring DC input range (Bus voltage between 9 V - 28 V) and Section 7.4.13: Jumper settings table.
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Table 21.
PMAC SR jumper settings
Driving mode Jumper setting J11 open, J12 open, J13 between 2-3 PMAC_3PH_SR J15 open, J16 open, J17 between 2-3 J18 open, J19 open, J20 between 2-3
Set up the board as in Table 21.
7.7.3
LED behavior after power on
Turn on the power supply. For this demonstration the power supply output voltage should be set to 30 Vdc and the current limitation of the power supply should be set to 4 A. After power on, the Control board LED behavior should be the following:
Green and red LEDs blink alternatingly signaling that the firmware has started to run. After a while a green LED stays on to indicate "idle state"
7.7.4
Setting the potentiometers
Before running the motor the two potentiometers P1, P3 must be set up (see Table 22: Potentiometer functionality based on open/closed loop driving strategy for the correct configuration).
7.7.5
Running the motor (LED behavior)
Push the Start/Stop button. After pushing the button the LEDs toggle from green to red to indicate "run state". Turn P1 in clockwise direction. Keeping P1 fixed, turn P3 in a clockwise direction until the motor runs. 7 Turning the P3 potentiometer modifies the "phase shift" parameter. To optimize driving, the right value of this parameter must be set. Finding the optimum value of "phase shift" can be useful to monitor the DC current provided by the power supply. The user should try to fine tune the P3 potentiometer to minimize the current absorption. When this parameter has been found, the potentiometer P3 can be left at this value for all future tests. During any state: idle, start, run or brake, blinking of the red LED indicates a fault condition. A fault condition is due to one of the following conditions:
Hardware overcurrent: current flowing inside motor reaches a value greater than max current allowed 7.65 A (see Section 7.4.16: Changing the maximum current level allowed.) Over voltage: bus voltage reaches a value greater than 29Vac. Over temperature: onboard temperature sensor measures a temperature greater than 110. Star t-up failed: no signal from sensors is present at the end of start-up. Motor stalled: during the running of the motor no sensor signal has been observed.
7.7.6
Changing real-time parameters
The real-time parameters can be changed using the potentiometers of the control board. Table 22 explains the potentiometer functionality based on the driving strategy.
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Table 22.
Potentiometer functionality based on open/closed loop driving strategy
Open loop Closed loop sets the target rotor frequency value from minimum value to Maximum value configured (see Section 7.4.6: "3-Phase PMAC motor (sinewave)" settings)
P1
sets the voltage modulation index from 0% to 100% of bus voltage.
P2 P3 P4
not used manual setting of the phase shift; the maximum CCW position is 0 of phase shift and the maximum CW position is 360 of phase shift not used
If during the configuration using GUI, the "Set Phase Shift according to Pf/F curve" control has been checked, then the value of "phase shift" is not set by P3 but is calculated run time based on the Pf/F curve (see Section 7.4.7: "3-Phase PMAC motor (sinewave)" advanced settings). The maximum current allowed by GUI has been set to 8A (see Section 7.4.8: Changing the maximum current allowed by GUI).
7.7.7
Stopping the motor (LED behavior)
Push the start/stop button to stop the motor. The LEDs toggle from green to red to indicate "idle state".
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Bill of materials
8
Table 23.
Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
Bill of materials
Bill of materials
Reference C1 C2 C3 C4,C5,C6,C8,C34 C7,C9,C10,C11,C21 C12 C13,C31 C22 C23 C24 C25 C26 C43, C44, C45 C27 C28,C32 C29 C30,C40 C33 C39 C41 C42 C46,C47,C48 C49,C50 D1 D2 D4 D3 D5 D6,D7,D8,D9,D10,D11 D14,D15 JP1 J1 Part 1 nF (NC) 100 nF (NC) 1 F/25 V 10 nF/50 V 100 nF/50 V 1 nF/50 V (NC) 100 nF/25 V 1 F/10 V 100 F/25 V 330 F ESR 42 m 100 F 150 m 220 nF/50 V 1 F/50 V 100 pF/50 V 1 F/25 V 3.3 nF/50 V 22 nF/50 V 1 F 25 V 10 F 16 V 220 pF/50 V 100 F 16 V 2.2 nF 25 V (NC) 10 nF/25 V Green LED Red LED Green LED 1.5KE15A STPS1L60A 1N4148 STPS2L25U CON4 ICC connector: HE10 male type
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Bill of materials Table 23.
Item 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67
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Bill of materials (continued)
Reference J2,J3 J4,J8,J11,J12,J13,J15, J16,J17,J18,J19,J20,J21 J5 J6 J10 J14 J22,J27 J23,J24 L1 L3 NTC1 R12,R13,R19,R64,R68, R72,R73,R75 P1,P2,P3 P4 R20 Q8 Q9,Q10,Q11,Q12,Q13,Q14,Q15,Q16,Q17,Q18,Q19,Q20 RF1,RF2,RF3 R1, R4, R39, R50, R63, R71 R2 R3,R5,R6 R7, R8, R17, R18, R67 R9,R10,R11 R14 R15 R16 R21 R26 R27,R41,R53,R65 R28 R29 R30 R31,R45,R57 R32,R47,R59,R69 R38,R42,R44,R49,R54,R56,R62,R66,R76 Part CON2 CON3 VBUS +10 V Phase OUT CON5 CON1 CON3 470 H 0.35 A 15 H 1 A 10 k 10 k 50 k - trimmer 100 k - trimmer 100 k - 1/4 W STN4NF03L (NC) 330 k - 1/4 W 470 - 1/4 W 100 k (NC) 10 k (NC) 47 k - 1/4 W (NC) 100 - 1/4 W 1 M- 1/4 W 1.2 k - 1/4 W 33 K -1/4 W 470 - 1/4 W 15 k - 1/4 W 4.6 k - 1/4 W 18 k - 1/4 W 3.3 k - 1/4 W 200 R - 1/4 W 22 k - 1/4 W 2.2 k - 1/4 W
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Item 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87
Bill of materials Bill of materials (continued)
Reference R33,R37,R46,R48,R58,R60 R34,R35,R36,R74,R81 R40,R51,R61 R43, R55,R70 R52 R77 R82 R83 SW3 SW4 U1 U2 U3 U9 U10 U11,U13,U14 U15,U17,U18 U16 U19 X1 Part 22 - 1/4 W 4.7 k - 1/4 W 220 - 1/4 W 2.2 k - 1/4 W 0.07 - 5 W 1.2 k - 1/4 W 2.7 K - 1/4 W 13 k - 1/4 W Reset button Star t/stop TS271ACD (NC) ST7FMC2S4T6-TQFP44 M95020-MN3TP/S LK112SM50TR L4976D L6387 STS8DNH3LL L5970D TS274 CSTCS-16MX
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References
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9
References
This user manual provides information about using the STEVAL-IHM015V1 and its hardware features. For additional information about supporting software and tools, please refer to: ST7MC Datasheet: complete information about microcontroller features and peripherals. ST7MC Motor Control related application notes: complete information about motor control libraries developed for the ST7MC microcontroller. STS8DNH3LL Datasheet: complete information about the Power MOSFET devices included. Website http://mcu.st.com/ which is dedicated to the complete STMicroelectronic's microcontroller portfolio. Motor Control forum: http://mcu.st.com/mcu/modules.php?mop=modload&name=Splatt_Forums&file=viewforum &forum=13.
10
Revision history
Table 24.
Date 24-Jul-2007
Revision history
Revision 1 First issue Changes
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