MEMCMR32CBUM

Freescale Semiconductor, Inc.
MEMCMR32CBUM/D Rev. 1.0
Freescale Semiconductor, Inc...
Motorola Embedded Motion Control
MC68HC908MR32 Control Board

Users Manual
For More Information On This Product, Go to: www.freescale.com
N O N - D I S C L O S U R E
A G R E E M E N T
R E Q U I R E D
Freescale Semiconductor, Inc. MC68HC908MR32 Control Board
Important Notice to Users While every effort has been made to ensure the accuracy of all information in this document, Motorola assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document, its updates, supplements, or special editions, whether such errors are omissions or statements resulting from negligence, accident, or any other cause. Motorola further assumes no liability arising out of the application or use of any information, product, or system described herein: nor any liability for incidental or consequential damages arising from the use of this document. Motorola disclaims all warranties regarding the information contained herein, whether expressed, implied, or statutory, including implied warranties of merchantability or fitness for a particular purpose. Motorola makes no representation that the interconnection of products in the manner described herein will not infringe on existing or future patent rights, nor do the descriptions contained herein imply the granting or license to make, use or sell equipment constructed in accordance with this description.
Trademarks This document includes these trademarks: Motorola and the Motorola logo are registered trademarks of Motorola, Inc. Motorola, Inc., is an Equal Opportunity / Affirmative Action Employer.
Motorola, Inc., 2000; All Rights Reserved
Users Manual 2
MC68HC908MR32 Control Board Rev. 1.0 MC68HC908MR32 Control Board For More Information On This Product, Go to: www.freescale.com MOTOROLA
Users Manual MC68HC908MR32 Control Board
List of Sections
Section 1. Introduction and Setup . . . . . . . . . . . . . . . . . . 11 Section 2. Operational Description . . . . . . . . . . . . . . . . . 21
Section 3. Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . 31 Section 4. Schematics and Parts List . . . . . . . . . . . . . . . 43 Section 5. Design Considerations . . . . . . . . . . . . . . . . . . 53
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA List of Sections For More Information On This Product, Go to: www.freescale.com
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Freescale Semiconductor, Inc. List of Sections

Users Manual 4
MC68HC908MR32 Control Board Rev. 1.0 List of Sections For More Information On This Product, Go to: www.freescale.com MOTOROLA
Table of Contents
Section 1. Introduction and Setup

1.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 1.3 1.4 1.5
Section 2. Operational Description

2.1 2.2 2.3 2.4 2.4.1 2.4.2 2.4.3 2.4.4 2.4.5 2.4.6 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 User Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Section 3. Pin Descriptions

3.1 3.2 3.3 3.3.1 3.3.2 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Control Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Tacho Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Hall Sensor/Encoder Input Connector J2. . . . . . . . . . . . . . . . . . . . 33
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MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Table of Contents For More Information On This Product, Go to: www.freescale.com
Freescale Semiconductor, Inc. Table of Contents

3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.4 3.4.1 3.4.2 40-Pin Emulator Connector J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 40-Pin Emulator Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 40-Pin Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 RS-232 DB-9 Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Power Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Daughter Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Section 4. Schematics and Parts List

4.1 4.2 4.3 4.4 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Section 5. Design Considerations

5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Simultaneous Conduction Lockout. . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Dead Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Power-Up/Power-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Optoisolated RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
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MC68HC908MR32 Control Board Rev. 1.0 Table of Contents For More Information On This Product, Go to: www.freescale.com MOTOROLA
List of Figures
Figure 1-1 1-2 1-3 1-4 1-5 2-1 3-1 3-2 4-1 4-2 4-3 4-4 4-5 5-1 5-2 5-3 5-4 5-5
Title
Page
Systems Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Control Board Photograph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Setup Parts Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Setup for High-Voltage Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Setup for Low-Voltage Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Connector Parts Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 40-Pin Ribbon Cable Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Daughter Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Connectors J3 and J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Control Board Schematic (Sheet 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Control Board Schematic (Sheet 2) . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Control Board Schematic (Sheet 3) . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Hall Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Zero Cross Back EMF Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA List of Figures For More Information On This Product, Go to: www.freescale.com
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Freescale Semiconductor, Inc. List of Figures

Users Manual 8
MC68HC908MR32 Control Board Rev. 1.0 List of Figures For More Information On This Product, Go to: www.freescale.com MOTOROLA
List of Tables
Table 1-1 1-2 2-1 2-2 2-3 3-1 3-2 3-3 3-4 3-5 3-6 4-1 4-2
Title
Page
Jumper JP1JP5 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Overcurrent and Overvoltage Adjustments . . . . . . . . . . . . . . . . . . . . 18 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Timer Channel Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Hall Sensor Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Quadrature Encoder Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Connector J3 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Connector J4 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Connector J5 Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Connector J6 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Control Board Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Daughter Board Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA List of Tables For More Information On This Product, Go to: www.freescale.com
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Freescale Semiconductor, Inc. List of Tables

Users Manual 10
MC68HC908MR32 Control Board Rev. 1.0 List of Tables For More Information On This Product, Go to: www.freescale.com MOTOROLA
Section 1. Introduction and Setup
1.1 Contents
1.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Setup Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3 1.4 1.5
1.2 Introduction
Motorolas MC68HC908MR32 motor control board is an integral part of the embedded motion control series of development tools. It interfaces easily with power stages, optoisolators, and emulators to complement software development tools for the MC68HC908MR32 (MR32). The MR32 motor control board is supplied in kit number ECCTR908MR32. It is shipped along with a small printed circuit daughter board (SKT908MR32), an MR32, a 12-volt/4-amp power supply, mounting hardware, a 40-pin ribbon cable, and a CD ROM. The MR32 motor control board is designed as an aid for hardware and software development of 3-phase ac induction, brushless dc (BLDC), and switched reluctance (SR) motor drives. There are two modes of operation. The MR32 control board can be connected to an M68EM08MR32 emulator board, in an MMDS05/08 or MMEVS05/08 emulation system, through an M68CBL08A impedance-matched ribbon cable. Alternatively, the daughter board housing an HC908MR32 can be plugged into the control board in place of the emulator cable from the MMDS08.
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com
Users Manual 11
Freescale Semiconductor, Inc. Introduction and Setup

A few of the more noteworthy features are: Six motor control PWM outputs with LED indicators Speed control potentiometer Optoisolated half-duplex RS-232 interface Start/Stop and Forward/Reverse switches Hall effect inputs for brushless dc motor control Back EMF inputs for brushless dc motor control Tachometer input 2-position DIP switch for user option control Emulator/Daughter board connectors Processor reset switch Two system fault inputs Nine analog inputs Three softwarecontrolled LEDs Regulated on-board regulated power supply
The MR32 motor control board fits into the systems configurations that are shown in Figure 1-1. A photograph of the control board with its daughter board attached appears in Figure 1-2.
Users Manual 12
MC68HC908MR32 Control Board Rev. 1.0 Introduction and Setup For More Information On This Product, Go to: www.freescale.com MOTOROLA

Introduction and Setup About this Manual
EMULATOR
CONTROL BOARD
EMULATOR
CONTROL BOARD
WORKSTATION
WORKSTATION
LOW-VOLTAGE POWER BOARD
OPTOISOLATION BOARD
HIGH-VOLTAGE POWER BOARD
MOTOR
MOTOR
OPTIONAL FEEDBACK a) LOW VOLTAGE
OPTIONAL FEEDBACK b) HIGH VOLTAGE
Figure 1-1. Systems Configurations
1.3 About this Manual

Key items can be found in the following locations in this manual: Setup instructions are found in 1.5 Setup Guide. Schematics are found in 4.3 Schematics. Pin assignments are shown in Figure 3-2. 40-Pin Ribbon Cable Connector J5, and a pin-by-pin description is contained in 3.3 Control Board Signal Descriptions. For those interested in the reference design aspects of the boards circuitry, a description is provided in Section 5. Design Considerations.
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Freescale Semiconductor, Inc. Introduction and Setup 1.4 Warnings

This development tool set operates in an environment that can include dangerous voltages and rotating machinery. To facilitate safe operation, input power for high-voltage power stages should come from a current-limited dc laboratory power supply, unless power factor correction is specifically being investigated. When operating high-voltage power stages directly from an ac line, power stage grounds and oscilloscope grounds are at different potentials, unless the oscilloscope is floating. Note that probe grounds and, therefore, the case of a floated oscilloscope, are subjected to dangerous voltages. The user should be aware that: Before moving scope probes, making connections, etc., it is generally advisable to power down the high-voltage supply. When high voltage is applied to one of the high-voltage power stages, using only one hand for operating the test setup minimizes the possibility of electrical shock. Operation in labs with grounded tables and/or chairs should be avoided. Wearing safety glasses, avoiding ties and jewelry, using shields, and operation by personnel trained in high-voltage lab techniques are also advisable.
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Introduction and Setup Setup Guide
1.5 Setup Guide

Setup and connections for the MR32 motor control board are very straightforward. Input connections to an M68EM08MR32 emulator are made through an M68CBL08A impedance-matched ribbon cable. Output connections to an embedded motion control optoisolation board or low-voltage power stage are made via a 40-pin ribbon cable that is supplied in the ECCTR908MR32 kit. The MR32 motor control board is powered through the 40-pin ribbon cable, regardless if it is connected to the optoisolation board or a low-voltage power stage. The included 12-volt/4-amp power supply provides power for either the optoisolation board or a low-voltage power stage. Figure 1-3 shows parts locations, and Figure 1-4 depicts a completed high-voltage setup. A step-by-step procedure for setup with an optoisolator board and high-voltage power stage follows. 1. Mount four standoffs to the optoisolation board at the locations indicated in Figure 1-4. Standoffs, screws, and washers are included in the MR32 motor control board kit. 2. Plug one end of the 40-pin ribbon cable into the optoisolation boards input connector J2, labeled Control Board. The 40-pin ribbon cable is also supplied in the MR32 motor control board kit. 3. Mount the control board on top of the standoffs. 4. Plug the free end of the 40-pin ribbon cable into the control boards output connector, J5, located on the right hand side of the board. 5. Plug the square end of an M68CBL08A emulator cable into the emulator cable connectors, J3 and J4, in the center of the board. 6. Plug the free end of the emulator cable into the emulator. If the emulator has not been set up, it will need to be connected to a PC and power source according to its setup instructions. 7. Locate START/STOP switch SW3 and set it to STOP. 8. Locate SPEED potentiometer, P1, and set it to the slowest speed by rotating P1 to its most counter clockwise position. 9. Locate forward (FWD) and reverse (REV) switch SW4 and set it to the desired direction of motor rotation.
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com Users Manual 15
Figure 1-2. Control Board
SPEED
R34 & I_ref
R35 & V_ref
RESET
STOP/START
FWD/REV
SWI2
JP1-JP5
RS232
JP7
Figure 1-3. Setup Parts Locations

MOTOR STANDOFFS
40-PIN RIBBON CABLE
CONTROL BOARD
+12 Vdc
POWER STAGE
OPTOISOLATOR
40-PIN RIBBON CABLE
J1 J2
STANDOFFS HIGH-VOLTAGE MOTOR SUPPLY
EM08MR32
EMULATOR
Figure 1-4. Setup for High-Voltage Systems 10. If an encoder, tachometer, back EMF signals, or the power factor correction (PFC) circuit are used, it is necessary to configure jumpers JP1JP5. An X in Table 1-1 indicates that the respective jumper should be shorted. The encoder and BEMF zero crossing signals are connected to the same timer channel (TCH2A). Therefore, do not short both JP2 and JP3.
Users Manual 17

Table 1-1. Jumper JP1JP5 Settings
Function Encoder Power factor correction Tachometer Back EMF X X JP1 Tacho JP2 Encoder X X X JP3 BEMF_z_c JP4 PFC_z_c JP5 PFC_PWM
X = Short this jumper.
11. Switch SW2 and jumper JP6 can also be used for configuration. They are set up according to the requirements of the specific software package that is used. 12. Apply dc power to the optoisolation board. 13. Adjust R34 such that the voltage at test point I_ref matches the value indicated in Table 1-2. The ground reference is GND_A. 14. Adjust R35 such that the voltage at test point V_ref matches the value indicated in Table 1-2. The ground reference is GND_A. Table 1-2. Overcurrent and Overvoltage Adjustments
Power Stage EVM motor board Low-voltage BLDC power stage Low-voltage SR power stage High-voltage ac BLDC power stage High-voltage SR power stage Overcurrent Comparator U5B R34 R34 R34 R34 R34 2.8 Vdc 3.3 Vdc 3.3 Vdc 3.3 Vdc 3.3 Vdc Overvoltage Comparator U5C R35 R35 R35 R35 R35 1.24 Vdc 2.5 Vdc 2.5 Vdc 3.07 Vdc 3.07 Vdc
15. Turn off power to the optoisolation board. 16. If a brushless dc motor is controlled with either Hall sensors or an encoder, plug the Hall sensor or encoder cable into Hall sensor / encoder connector J2.
Users Manual 18 MC68HC908MR32 Control Board Rev. 1.0 Introduction and Setup For More Information On This Product, Go to: www.freescale.com MOTOROLA

17. If a tachometer is used, plug it into tacho input connector J1. 18. If PC-Master software is used for real-time control of motor operation, it is necessary to set up RS-232 serial communication with a PC. To do this, connect a 9-conductor straight-through cable from the control boards DB-9 connector, J6, to the COM1 or COM2 serial port of the PC. PC serial ports are wired as DTE (data terminal equipment) and the control board serial communications interface (SCI) port is wired as DCE (data communications equipment). Therefore, a 9-conductor cable wired straight through must be used. Do NOT use a null modem cable.
19. This completes control board setup. If a low-voltage power stage is used, the setup procedure follows the same steps, with the low-voltage power stage substituted for the optoisolation board. For low-voltage systems, setup is depicted in Figure 1-5.
STANDOFFS
MOTOR CONTROL BOARD
LOW-VOLTAGE POWER STAGE
40-PIN RIBBON CABLE
STANDOFFS
12-VOLT MOTOR SUPPLY
EM08MR32
EMULATOR
Figure 1-5. Setup for Low-Voltage Systems

MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Introduction and Setup For More Information On This Product, Go to: www.freescale.com Users Manual 19

To switch from operation with the emulator to the daughter board, the following steps apply: 1. Rotate SPEED potentiometer, P1, counter clockwise to its slowest speed setting. 2. Remove power from the entire system (power stage, optoisolator, and emulator). 3. Remove the emulator cable from the control board.
4. Plug the daughter board into the emulator cable socket on the control board. Proper alignment is achieved when the number 1 in a circle on both boards in the vicinity of pins 1 and 2 are located in the same corner. 5. Program an MR32 microcontroller. 6. Insert the programmed microcontroller into its socket on the daughter board. Proper alignment is achieved when pin 1 of U1 is in the same corner of the socket as the 1 in a circle on the daughter board. 7. Restore power and resume operation. It is also possible to use the MR32 motor control board by itself, without connection to any of the other embedded motion control series boards. To do so requires shorting jumper JP7 and plugging the 12-volt power supply into the power jack, J3.
Users Manual 20
Section 2. Operational Description
2.1 Contents
2.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 User Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.3 2.4 2.4.1 2.4.2 2.4.3 2.4.4 2.4.5 2.4.6
2.2 Introduction
Motorolas embedded motion control series MR32 motor control board is designed to provide control signals for 3-phase ac induction, 3-phase brushless dc (BLDC), and 3-phase switched reluctance (SR) motors. In combination with one of the embedded motion control series power stages, and an optoisolation board, it provides a software development platform that allows algorithms to be written and tested without the need to design and build hardware. With software supplied on the CD-ROM, the control board supports a wide variety of algorithms for ac induction, SR, and BLDC motors. User control inputs are accepted from START/STOP, FWD/REV switches, and a SPEED potentiometer located on the control board. Alternately, motor commands can be entered via a PC and transmitted over a serial cable to DB-9 connector, J6. Output connections and power stage feedback signals are grouped together on 40-pin ribbon cable connector, J5. Motor feedback signals can be connected to Hall sensor/encoder connector J2. Power is supplied through the 40-pin ribbon cable from the optoisolation board or low-voltage power stage.
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com Users Manual 21
Freescale Semiconductor, Inc. Operational Description

The control board is designed to run in two configurations. It can be connected to an M68EM08MR32 emulator via an M68CBL08A impedance matched ribbon cable, or it can operate using the daughter board. The M68EM08MR32 emulator board may be used in either an MMDS05/08 or MMEVS05/08 emulation system. Figure 2-1 shows a block diagram of the boards circuitry.
FORWARD/REVERSE SWITCH START/STOP SWITCH RESET SWITCH (2) OPTION SWITCHES SPEED POT
TERMINAL I/F
OPTOISOLATED RS-232 I/F
TACHOMETER INPUT HALL EFFECT INPUTS (3)
EMULATOR/ PROCESSOR CONNECTOR
dc POWER 12 Vdc
REGULATED POWER SUPPLY
PWM LEDs (6) OPTO/POWER DRIVER I/O CONNECTOR 40-PIN RIBBON CONNECTOR
OVERCURRENT/ OVERVOLTAGE INPUTS
CONFIG. JUMPERS
CURRENT/TEMP SENSE INPUTS PWM (6) OUTPUTS
BACK EMF INPUTS MISC. POWER AND CONTROL I/O
Figure 2-1. Block Diagram A summary of the information needed to use the HC908MR32 motor control board is presented in the following sections. A discussion of the design appears in Section 5. Design Considerations.
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MC68HC908MR32 Control Board Rev. 1.0 Operational Description For More Information On This Product, Go to: www.freescale.com MOTOROLA

Operational Description Electrical Characteristics
2.3 Electrical Characteristics

The electrical characteristics in Table 2-1 apply to operation at 25C. Table 2-1. Electrical Characteristics
Characteristic dc power supply voltage Quiescent current Symbol Vdc ICC VIH VIL tdly VIn Min 10.8* 2.0 0 IPK Typ 12* 80 Max 16.5* 0.8 500 5.0 9600 20 Units V mA V V ns V Baud mA
Min logic 1 input voltage (MR32) Max logic 0 input voltage (MR32) Propagation delay (Hall sensor/encoder input) Analog input range RS-232 connection speed PWM sink current
* When operated and powered separately from other Embedded Motion Control tool set products
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Operational Description For More Information On This Product, Go to: www.freescale.com
Users Manual 23
Freescale Semiconductor, Inc. Operational Description 2.4 User Interfaces

There are five types of user interfaces on the HC908MR32 motor control board. They include an RS-232 serial interface, potentiometers, switches, jumpers, indicator lights, and test points. Descriptions of these interfaces follow.
2.4.1 Potentiometers Three potentiometers (pot) provide for motor speed control, adjustment of the overcurrent fault threshold, and adjustment of the overvoltage fault threshold. They are: P1: SPEED P1, labeled SPEED, is the speed control pot. Clockwise rotation increases motor speed. Speed control commands can also be sent over the RS-232 interface. At power-up and reset, speed control defaults to P1. R34: Overcurrent Threshold The overcurrent fault threshold is set by trim pot R34. Clockwise rotation increases the threshold. Default settings for power stages in the embedded motion control tool set are found in Table 1-2. Overcurrent and Overvoltage Adjustments. R35: Overvoltage Threshold The overvoltage fault threshold is set by trim pot R35. Clockwise rotation increases the threshold. Default settings for power stages in the embedded motion control tool set are found in Table 1-2. Overcurrent and Overvoltage Adjustments.
2.4.2 Switches Four switches provide for user inputs. They are: SW1: Reset SW1, the reset switch, is a push button located near the top of the board. It resets the 68HC908MR32. SW2: DIP Switch SW2 DIP switch SW2 contains two switches that are used for software configuration. They are set up according to the specific requirements of the software package used. SW3: START/STOP SW3, START/STOP, is a toggle switch located on the left-hand side of the board. It starts and stops the motor. Up (toward the top of the board) turns the motor on and down stops it.
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Operational Description User Interfaces
SW4: FWD/REV SW4, FWD/REV, is a toggle switch located next to the START/STOP switch on the left side of the board. It controls direction of the motor. Up (toward the top of the board) runs the motor forward and down runs it in reverse.
2.4.3 Jumpers There are seven jumpers, JP1JP7. Jumpers JP1 through JP5 are located together near the center of the board above the emulator cable sockets. Jumper JP6 is located with switch SW2, and JP7 is in the lower left-hand corner of the board. They are: JP1: Tacho Jumper JP1 is used to configure the board for a tachometer input. It is shorted when a tachometer is used. JP2: Encoder Jumper JP2 is used to configure the board for an encoder input. It is shorted when an encoder is used. It should not be shorted when jumper JP3 is shorted. JP3: BEMF_z_c Jumper JP3 is used to configure the board for back EMF signals. It is shorted when back EMF signals are used. It should not be shorted when jumper JP2 is shorted. JP4: PFC_z_c Jumper JP4 is used to configure the board for power factor correction. It is shorted when set up for power factor correction (PFC). JP5: PFC_PWM Jumper JP5 is also used to configure the board for PFC. It is shorted when set up for PFC. JP6: Software Configuration Jumper JP6 can be used for software configuration. It is set up according to the specific requirements of the software package used. JP7: Power Supply Jumper JP7 is shorted when power jack J3 is used for the power supply input. This configuration is used only when the HC908MR32 motor control board is operated by itself, without connection to any of the other embedded motion control series boards.
Looked at from a timer channel point of view, jumpers JP1JP5 provide the options summarized in Table 2-2.
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Table 2-2. Timer Channel Conguration
Timer Channel TCH0A TCH0B TCH1A TCH1B TCH2A JP2 JP3 TCH3A JP1 Encoder BEMF zero crossing Tacho Jumper JP4 JP5 Jumper Inserted PFC zero crossing PFC PWM Jumper Removed Test point PTE4 Test point PTE1 Test point PTE5 Test point PTE2 Test point PTE6 Test point PTE6 Test point PTE7
NOTE:
The encoder and BEMF zero crossing signals are connected to the same timer channel (TCH2A). Therefore, both JP2 and JP3 should not be shorted.
2.4.4 Indicator Lights Ten LEDs located on the control board provide status information to the user. Power-on LED, D2, is located in the top right-hand quadrant of the board. The other nine indicator lights are lined up in a row to the left of 40-pin ribbon connector J5. Descriptions are:
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D2: Power On D2, labeled POWER, lights when power is applied to the board. D3: Phase A Top D3 lights when PWM signal phase A top is high. D4: Phase A Bottom D4 lights when PWM signal phase A bottom is high. D5: Phase B Top D5 lights when PWM signal phase B top is high. D6: Phase B Bottom D6 lights when PWM signal phase B bottom is high. D7: Phase C Top D7 lights when PWM signal phase C top is high. D8: Phase C Bottom D8 lights when PWM signal phase C bottom is high. D9: Run (Green) D9 lights when the motor is running. D10: Ready (Yellow) D10 lights when the motor is ready to run, and blinks when a fault is imminent. D11: Fault (Red) D11 lights when a fault has occurred.

2.4.5 Test Points A variety of test points, listed in Table 2-3, are provided to facilitate measurements with an oscilloscope. Table 2-3. Test Points
Label GND +5V_D Location Upper right corner Upper right corner Upper right corner Upper right corner Upper right corner Upper right corner Upper right corner Above RUN/STOP Switch Above FWD/REV Switch Below power-on LED Left of PWM indicator lights Left of PWM indicator lights Left of PWM indicator lights Left of PWM indicator lights Left of PWM indicator lights Left of PWM indicator lights Above emulator connector Above emulator connector Above emulator connector Above emulator connector Above emulator connector Above emulator connector Above emulator connector Above emulator connector Above emulator connector GND PWM_AT PWM_AB PWM_BT PWM_BB PWM_CT PWM_CB Signal Name GND +5V_D GNDA +3.3V_A +5V_A_ref +12/15V_A 12/15V_A Connected To Digital ground 5-volt digital supply Analog ground 3.3-volt analog supply 5-volt analog reference +12-volt to +15-volt analog supply 12-volt to 15-volt analog supply Wiper of R34 Wiper of R35 Digital ground Connector J5, pin 1 Connector J5, pin 3 Connector J5, pin 5 Connector J5, pin 7 Connector J5, pin 9 Connector J5, pin 11 IRQ1/Vpp PTE7/TCH3A PTE6/THC2A PTE5/TCH1A PTE4/TCH0A PTE3/TCLKA PTE2/TCH1B PTE1/TCTCH0B PTE0/TCLKB
GNDA +3.3V_A +5V_Aref +15V_A 15V_A I_ref V_ref GND PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 /IRQ PTE7 PTE6 PTE5 PTE4 PTE3 PTE2 PTE1 PTE0
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Table 2-3. Test Points (Continued)
Label GND +5V_D GNDA PTA0 PTA4 Location Above emulator connector Above emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Below emulator connector Left of status indicator lights Left of status indicator lights Left of status indicator lights Left of status indicator lights Left of ribbon connector J5 Left of ribbon connector J5 Left of ribbon connector J5 Overcurrent Overvoltage LED3 LED2 LED1 Speed Control V_sense_DCB I_sense_DCB I_sense_A I_sense_B I_sense_C Temp_sense BEMF_sense_A BEMF_sense_B BEMF_sense_C Signal Name GND +5V_D GNDA Connected To Digital ground 5-volt digital supply Analog ground PTA0 PTA4 PTA5 Wiper of P1 Connector J5, pin 21 Connector J5, pin 22 Connector J5, pin 23 Connector J5, pin 24 Connector J5, pin 25 Connector J5, pin 26 Connector J5, pin 38 Connector J5, pin 39 Connector J5, pin 40 PTC2 PTC3 PTD2/FLT3 PTD3/FLT4 Output of U5B Output of U5C PTC6 PTC5 PTC4
PTA5 ADC0 ADC1 ADC2 ADC3 ADC4 ADC5 ADC6 ADC7 ADC8 ADC9 PTC2 PTC3 FLT3 FLT4 OC OV D9 D10 D11
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2.4.6 RS-232 Interface An RS-232 interface is available via DB-9 connector J6. It connects to serial port COM1 or COM2 on a Windows-based PC and enables motor commands to be entered via PC Master software. At power up or reset, control defaults to speed control pot P1, START/STOP switch SW3, and FWD/REV switch SW4. Control is transferred to the serial interface on the receipt of a command entered via PC-Master software.

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Section 3. Pin Descriptions
3.1 Contents
3.2 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Control Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Tacho Input Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Hall Sensor/Encoder Input Connector J2. . . . . . . . . . . . . . . . . . . . 33 40-Pin Emulator Connector J3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 40-Pin Emulator Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 40-Pin Connector J5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 RS-232 DB-9 Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Power Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Daughter Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Daughter Board Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.4 3.4.1 3.4.2
3.2 Introduction
There are seven connectors on the control board, J1J7. Figure 3-1 illustrates locations for these connectors. They are: J1 Tachometer input connector J2 5-pin Hall sensor and encoder connector J3 40-pin emulator connector J4 40-pin emulator connector J5 40-pin ribbon cable connector J6 RS-232 DB-9 connector J7 Power jack
Two connectors on the daughter board are labeled J1 and J2. They mate with connectors J3 and J4 on the control board.
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Pin Descriptions For More Information On This Product, Go to: www.freescale.com Users Manual 31
Freescale Semiconductor, Inc. Pin Descriptions 3.3 Control Board Signal Descriptions
The following subsections describe signals on control board connectors J1J7.
3.3.1 Tacho Input Connector J1 Tacho input connector, J1, is a 2-pin connector that accepts inputs from an analog tachometer. This signal is conditioned with comparator U5A and through jumper JP1 provides an input to timer channel TCH3A. The schematic in Figure 4-4. Control Board Schematic (Sheet 2) shows J1 at the left-center of the page. Pin 1 carries the tachometer input signal, and pin 2 is connected to analog ground, GNDA.
Figure 3-1. Connector Parts Locations
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MC68HC908MR32 Control Board Rev. 1.0 Pin Descriptions For More Information On This Product, Go to: www.freescale.com MOTOROLA

Pin Descriptions Control Board Signal Descriptions
3.3.2 Hall Sensor/Encoder Input Connector J2 The Hall sensor/encoder input connector, J2, is a 5-pin connector, which accepts input signals from Hall sensors or a quadrature encoder. Due to the likelihood of noise on Hall sensor inputs, these signals are filtered, and passed through a Schmitt trigger before being routed to logic circuitry. The schematic in Figure 4-5. Control Board Schematic (Sheet 3) shows J2 at the left-hand side of the page. The pinouts for a Hall sensor input are shown in Table 3-1.
Table 3-1. Hall Sensor Input

Pin No. 1 2 3 4 5 Signal Name +5V Gnd Hall A Hall B Hall C Description +5V supplies power from the control board to the Hall sensors. Gnd is the Hall sensor ground. Hall A is an open collector output from Hall sensor A. Hall B is an open collector output from Hall sensor B. Hall C is an open collector output from Hall sensor C.
Pin assignments for quadrature encoder input are shown in Table 3-2.
Table 3-2. Quadrature Encoder Input

Pin No. 1 2 3 4 5 Signal Name +5V Gnd Channel A Channel B Index Description Pin 1 supplies +5 volts from the control board to the encoder. Pin 1 is the encoders ground. Pin 3 is the channel A input. Pin 4 is the channel B input. Pin 5 is the Index input.
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Freescale Semiconductor, Inc. Pin Descriptions

3.3.3 40-Pin Emulator Connector J3 Connectors J3 and J4 are 40-pin connectors which link signals between the control board and an MR32 emulator cable or daughter board. Figure 4-2. Connectors J3 and J4 shows the pinouts and signal names. Signal descriptions for connector J3 are given in Table 3-3.
Table 3-3. Connector J3 Signal Descriptions
Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Signal Name I_sense_DCB (PTB2/ATD2) I_sense_A (PTB3/ATD3) GND I_sense_B (PTB4/ATD4) I_sense_C (PTB5/ATD5) Temp_sense (PTB6/TD6) BEMF_sense_A (PTB7/ATD7) GND BEMF_sense_B (PTC0/ATD8) BEMF_sense_C (PTC0/ATD8) Not used Not used Not used +5V_A_ref PTB0/ATD0 V_sense_DCB (PTB1/ATD1)
Description An analog sense input signal that measures the power boards dc bus current An analog sense input signal that measures the phase A current Digital power supply ground An analog sense input signal that measures the phase B current An analog sense input signal that measures the phase C current An analog sense input signal that measures power stage substrate temperature An analog sense input signal that measures the back EMF of phase A Digital power supply ground An analog sense input signal that measures the back EMF of phase B An analog sense input signal that measures the back EMF of phase C
+5V_A_ref is the A/D converters reference voltage. PTB0/ATD0 is derived from the wiper of the SPEED potentiometer, P1. An analog sense input signal that measures the power boards dc bus voltage
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Table 3-3. Connector J3 Signal Descriptions (Continued)

Pin No. 17 18 19 20 21 Signal Name GND Brake (PTA7) PTA5 S_C (PTA6) Not used PTA4 (PTA1) Not used (PTA2) Not used (PTA0) Not used GND xEM_Vdda GND Not used GNDA (Extra GND) Not used EM_RESET IRQ1/Vpp TxD (PTF5/TxD) RxD (PTF4/RxD) MUX_A (PTF3) MUX_B (PTF2) GND MUX_C (PTF1) EM_RESET is the reset signal from the RESET push-button switch SW1. IRQ1/Vpp is a connection from the MR32s IRQ1/Vpp pin through 10 k to +5 volts. TxD is an RS-232 serial communications signal transmitted from the MR32. RxD is an RS-232 serial communications signal received by the MR32. MUX_A is a multiplexed digital control signal for phase A used in the back EMF selection logic circuitry. MUX_B is a multiplexed digital control signal for phase B used in the back EMF selection logic circuitry. Digital power supply ground MUX_C is a multiplexed digital control signal for phase C used in the back EMF selection logic circuitry. Analog power supply ground Extra digital power supply ground Digital power supply ground xEM_Vdda is a ltered +5-volt power supply voltage that is derived from +5V_D. Digital power supply ground This is a digital signal from the FWD/REV switch, SW4. Digital power supply ground Brake is the gate drive signal for the power boards brake transistor. PTA5 is a digital signal from the START/STOP switch, SW3. S_C is the serial communications signal used for power stage identication. Description
22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
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3.3.4 40-Pin Emulator Connector J4 Signal descriptions for connector J4 are listed in Table 3-4.

Pin No. 1 Signal Name PTC2 GND PTC3 GND LED1 (PTC4) GND LED2 (PTC5) GND LED3 (PTC6) Overvoltage (PTD0/FAULT1) Overcurrent (PTD1/FAULT2) GND GND +5V_D FLT3 FLT4 Zero_Cross_A (PTD4/IS1) Zero_Cross_B (PTD5/IS2) Zero_Cross_C (PTD6/IS3) Not used Digital power supply ground Not used Digital power supply ground LED1 is a digital signal that turns on the red (fault) LED when a fault is present. Digital power supply ground LED2 is a digital that controls the yellow (ready/warning) LED. Digital power supply ground LED3 is a digital signal that turns on the green (run) LED when the motor is running. Overvoltage is a digital input signal that indicates an overvoltage fault. This pin is at logic 1 when a fault is present. Overcurrent is a digital signal that indicates an overcurrent fault. This pin is at logic 1 when a fault is present. Digital power supply ground Digital power supply ground +5V_D is the digital supply voltage. FLT3 is a digital signal that indicates a commutation error. A logic 1 indicates that a commutation fault occurred. FLT4 is a digital signal that indicates an overtemperature fault. This pin is at logic 1 when a fault is present. Zero_Cross_A is a digital signal used for sensing phase A back EMF zero crossing events. Zero_Cross_B is a digital signal used for sensing phase B back EMF zero crossing events. Zero_Cross_C is a digital signal used for sensing phase C back EMF zero crossing events. Description
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
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Table 3-4. Connector J4 Signal Descriptions (Continued)

Pin No. 20 21 22 23 24 Signal Name GND PWM2 PWM1 PWM4 PWM3 PWM5 PWMGND GND PWM6 PTE1/TCTCH0B PTE0/TCLKB PTE3/TCLKA PTE2/TCH1B PTE4/TCH0A GND PTE6/TCH2A PTE5/TCH1A +5V_D PTE7/TCH3A PFC_inhibit (PTF0/SPSCK) Not used Digital power supply ground PWM2 is the gate drive signal for the bottom half-bridge of phase A. PWM1 is the gate drive signal for the top half-bridge of phase A. PWM4 is the gate drive signal for the bottom half-bridge of phase B. PWM3 is the gate drive signal for the top half-bridge of phase B. PWM5 is the gate drive signal for the top half-bridge of phase C. PWMGND is the PWM timers ground. It is tied to digital power supply ground, GND. Digital power supply ground PWM6 is the gate drive signal for the bottom half-bridge of phase C. When jumper JP5 is shorted, PTE1/TCTCH0B is the power factor correction circuits gate drive signal, PFC_PWM. Not used Not used Not used When jumper JP4 is shorted, PTE4/TCH0A is the power factor correction circuits zero crossing signal, PFC_z_c. Digital power supply ground When jumper JP2 is shorted, PTE6/TCH2A is the encoder signal from the output of the encoder/Hall sensor XOR logic circuit, U4B. When jumper JP3 is shorted, PTE6/TCH2A is the power factor correction circuits zero crossing signal, PFC_z_c. Not used +5V_D is the 5-volt digital power supply. When jumper JP1 is shorted, the PTE7/TCH3A is the tacho digital output signal from U5A. PFC_inhibit is a digital output from the microcontroller used to enable or disable the power factor correction circuit. Description
25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
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3.3.5 40-Pin Connector J5 Signals to and from a power stage are grouped together on 40-pin ribbon cable connector J5. Pin assignments are shown in Figure 3-2. In this figure, a schematic representation appears on the left, and a physical layout of the connector appears on the right. The physical view assumes that the board is oriented such that its title is read from left to right. See Table 3-5.
J5 BEMF_sense_C BEMF_sense_B BEMF_sense_A Shielding Zero_cross_C Zero_cross_B Zero_cross_A PFC_z_c PFC_inhibit PFC_PWM Serial_Con Brake_control Shielding Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB 12/15V_A +12/15V_A GNDA GNDA +3.3V_A +5V_D +5V_D GND_PS GND PWM_CB Shielding PWM_CT Shielding PWM_BB Shielding PWM_BT Shielding PWM_AB Shielding PWM_AT 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 PWM_AT PWM_AB PWM_BT PWM_BB PWM_CT PWM_CB GND_PS +5V_D GNDA +12/15V_A V_sense_DCB I_sense_A I_sense_C Brake_control PFC_PWM PFC_z_c Zero_cross_B Shielding BEMF_sense_B 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 Shielding Shielding Shielding Shielding Shielding GND +5V_D +3.3V_A GNDA 12/15V_A I_sense_DCB I_sense_B Temp_sense Shielding Serial_Con PFC_inhibit Zero_cross_A Zero_cross_C BEMF_sense_A BEMF_sense_C
PHYSICAL VIEW
SCHEMATIC VIEW
Figure 3-2. 40-Pin Ribbon Cable Connector J5
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Table 3-5. Connector J5 Signal Descriptions (Sheet 1 of 3)

Pin No. 1 2 3 Signal Name PWM_AT Shielding PWM_AB Shielding PWM_BT Shielding PWM_BB Shielding PWM_CT Shielding PWM_CB GND GND +5V digital +5V digital +3.3V analog GNDA GNDA +12/15V_A Description PWM_AT is the gate drive signal for the top half-bridge of phase A. A logic high turns phase As top switch on. Pin 2 is connected to an unused wire that helps prevent cross talk between adjacent signals. PWM_AB is the gate drive signal for the bottom half-bridge of phase A. A logic high turns on phase As bottom switch. Pin 4 is connected to an unused wire that helps prevent cross talk between adjacent signals. PWM_BT is the gate drive signal for the top half-bridge of phase B. A logic high turns on phase Bs top switch. Pin 6 is connected to an unused wire that helps prevent cross talk between adjacent signals. PWM_BB is the gate drive signal for the bottom half-bridge of phase B. A logic high turns on phase Bs bottom switch. Pin 8 is connected to an unused wire that helps prevent cross talk between adjacent signals. PWM_CT is the gate drive signal for the top half-bridge of phase C. A logic high turns on phase Cs top switch. Pin 10 is connected to an unused wire that helps prevent cross talk between adjacent signals. PWM_CB is the gate drive signal for the bottom half-bridge of phase C. A logic high turns on phase Cs bottom switch. Digital power supply ground Digital power supply ground, redundant connection Digital +5-volt power supply Digital +5-volt power supply, redundant connection Analog +3.3-volt power supply Analog power supply ground Analog power supply ground, redundant connection Analog +12-volt to +15-volt power supply. +12 volts is supplied from low-voltage power stages. +15 volts is supplied from the optoisolation board and high-voltage power stages.
4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
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Pin No. 20 Signal Name Description Analog 12-volt to 15-volt power supply. 12 volts are supplied from low-voltage power stages. 15 volts are supplied from the optoisolation board and high-voltage power stages. V_sense_DCB is an analog sense signal that measures the power boards dc bus voltage. I_sense_DCB is an analog sense signal that measures the power boards dc bus current. I_sense_A is an analog sense signal that measures current in phase A. I_sense_B is an analog sense signal that measures current in phase B. I_sense_C is an analog sense signal that measures current in phase C. Temp_sense is an analog sense signal that measures the power stages substrate temperature. Pin 27 is connected to an unused wire that helps prevent cross talk between adjacent signals. Pin 28 is connected to an unused wire that helps prevent cross talk between adjacent signals. Brake_control is the gate drive signal for the power boards brake transistor. Serial_Con is a bidirectional digital serial interface used to identify the power board to the control board. This information is then used by the control boards software to scale analog feedback signals. PFC_PWM is the power factor correction circuits gate drive signal. PFC_inhibit is a digital output from the microcontroller, U1, that is used to enable or disable the power factor correction circuit. PFC_z_c is the power factor correction circuits zero crossing signal. Zero_cross_A is a digital signal that is used for sensing phase A back-EMF zero crossing events. Zero_cross_B is a digital signal that is used for sensing phase B back-EMF zero crossing events. Zero_cross_C is a digital signal that is used for sensing phase C back-EMF zero crossing events. Pin 37 is connected to an unused wire that helps prevent cross talk between adjacent signals. BEMF_sense_A is an analog sense signal that measures phase A back EMF.
12/15V_A
21 22
V_sense_DCB I_sense_DCB I_sense_A I_sense_B I_sense_C Temp_sense Shielding Shielding Brake_control Serial_Con PFC_PWM PFC_inhibit PFC_z_c Zero_cross_A Zero_cross_B Zero_cross_C Shielding BEMF_sense_A
23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38
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Pin No. 39 40 Signal Name BEMF_sense_B BEMF_sense_C Description BEMF_sense_B is an analog sense signal that measures phase B back EMF. BEMF_sense_C is an analog sense signal that measures phase C back EMF.
3.3.6 RS-232 DB-9 Connector J6
The RS-232 DB-9 connector, J6, is a 9-pin female connector for serial communications with a PC. It has standard RS-232 pinouts. The schematic in Figure 4-4. Control Board Schematic (Sheet 2) shows J6 at the top-center of the page. Signal descriptions are listed in Table 3-6:

Pin No. 1 2 3 4 5 6 7 8 9 Signal Name Unused RXD TXD DTR GND Unused RTS Unused Unused N/A Data received by the PC from the control board Data transmitted from the PC to the control board PC indicates that it is ready to receive data Common ground reference N/A PC requests to send data to the control board N/A N/A Description
3.3.7 Power Connector J7 A power connector, J7, is a 2.1-mm power jack provided for connection to the 12-volt power supply included in the HC908MR32 motor control board kit. This power input connector is used only when the control board is operating independently from other boards in the embedded motion control tool set.
Users Manual 41
Freescale Semiconductor, Inc. Pin Descriptions 3.4 Daughter Board Signal Descriptions
Pin assignments for daughter board connectors J1 and J2 are identified as follows.
3.4.1 Daughter Board Connector J1 Daughter board 40-pin connector J1 mates with control board connector J3. Pin assignments for both connectors are identical. See Table 3-3.
3.4.2 Daughter Board Connector J2 Daughter board 40-pin connector J2 mates with control board connector J4. Pin assignments for both connectors are identical. See Table 3-4.
Users Manual 42
Section 4. Schematics and Parts List
4.1 Contents
4.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.3 4.4
4.2 Overview
A set of schematics for the control and daughter boards appear in Figure 4-1 through Figure 4-5. Figure 4-1 shows how the 68HC098MR32s pinouts match signal names on the control board. Figure 4-2 depicts the two 40-pin connector connections that are made with either the daughter board or emulator cable. Figure 4-3 through Figure 4-5 show the control boards circuitry. Unless otherwise specified, resistor values are in ohms, resistors are specified as 1/8-watt 5%, and interrupted lines coded with the same letters are electrically connected. Parts lists for the control and daughter boards appear in Table 4-1 and Table 4-2.
4.3 Schematics
Schematics for the control and daughter boards appear on the following pages.
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Schematics and Parts List For More Information On This Product, Go to: www.freescale.com
Users Manual 43
U1 V_sense_DCB PTB0/ATD0 Brake S_C PTA5 PTA4 PTA3 PTA2 PTA1 PTA0 GND 4MHz X1 xEM_Vdda EM_RESET IRQ1/Vpp TxD RxD MUX_A MUX_B MUX_C PFC_inhibit PTE7/TCH3A PTE6/TCH2A PTE5/TCH1A PTE4/TCH0A PTE3/TCLKA PTE2/TCH1B PTE1/TCTCH0B C4 .1UF GND +5V_D C2 .1UF GND C3 .1UF GND R1 10M
I_sense_DCB
PTB3/ATD3
PTB4/ATD4
PTB5/ATD5
+5V_A_ref
PTB6/ATD6
PTB7/ATD7
PTC0/ATD8
PTC1/ATD9
C1 .1UF PTC2 LED1 LED3
GNDA
PTC3
LED2
Overvoltage FLT4
Overcurrent
FLT3
Zero_cross_A PWM1 PWM3
Zero_cross_B
Zero_cross_C
PWM2
PWM4
PWMGND PWM6 MC68HC908MR24FU
PWM5
PTE0/TCLKB
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 PTB2/ATD2 PTB3/ATD3 PTB4/ATD4 PTB5/ATD5 PTB6/ATD6 PTB7/ATD7 PTC0/ATD8 PTC1/ATD9 V_ddad V_ssad V_refl V_refh PTC2 PTC3 PTC4 PTC5 PTC6 PTD0/FAULT1 PTD1/FAULT2 PTD2/FAULT3 PTD3/FAULT4 PTD4/IS1 PTD5/IS2 PTD6/IS3 PWM1 PWM2 PWM3 PWM4 PWMGND PWM5 PWM6 PTE0/TCLKB PTB1/ATD1 PTB0/ATD0 PTA7 PTA6 PTA5 PTA4 PTA3 PTA2 PTA1 PTA0 V_ssa OSC2 OSC1 CGMXFC V_dda RST IRQ1/V_pp PTF5/TxD PTF4/RxD PTF3/MISO PTF2/MOSI PTF1/SS PTF0/SPSCK V_ss V_dd PTE7/TCH3A PTE6/TCH2A PTE5/TCH1A PTE4/TCH0A PTE3/TCLKA PTE2/TCH1B PTE1/TCH0B
64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
Figure 4-1. Daughter Board
TARGET A J3 MUX_C (PTF1) PTC2 MUX_B(PTF2) PTC3 (PTC4) LED1 (PTC5) LED2 MUX_A (PTF3) RxD (PTF4/RxD) TxD(PTF5/TxD) IRQ1/Vpp EM_RESET (Extra GND) J4
TARGET B
(PTB2/ATD2) I_sense_DCB
PTB3/ATD3
(PTF0/SPSCK) PFC_inhibit PTE7/TCH3A +5V_D PTE5/TCH1A PTE6/TCH2A PTE4/TCH0A PTE2/TCH1B PTE3/TCLKA PTE0/TCLKB PTE1/TCTCH0B PWM6 (J7-26 PWMGND) PWM5 PWM3 PWM4 PWM1 PWM2
PTB4/ATD4
PTB5/ATD5
PTB6/ATD6
PTB7/ATD7
PTC0/ATD8
PTC1/ATD9
+5V_A_ref PTA0 PTA1 PTA3 GND
(J6-28 xEM_Vssa)
PTB0/ATD0
V_sense_DCB (PTB1/ATD1)
(PTA7) Brake
PTA5 EMU_TOP
(PTA6) S_C
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 (PTC6) LED3 (PTD0/FAULT1) Overvoltage (PTD1/FAULT2) Overcurrent GNDA (Extra GND) (Extra GND) xEM_Vdda +5V_D FLT3 FLT4 (PTD4/IS1) Zero_cross_A PTA2 (PTD5/IS2) Zero_cross_B PTA4 (PTD6/IS3) Zero_cross_C GND 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 EMU_BOT
GND
GND
Figure 4-2. Connectors J3 & J4

Analog to Digital Converter
+5V_D 3 +5V_A_ref
MP48 MP47 MP46 MP45 MP44 MP43 MP42 MP41 MP40 MP39 MP35 ADC9 ADC8 ADC7 ADC6 ADC5 ADC4 ADC3 ADC2 ADC1 ADC0 GNDA
Speed Setup
+5V_D 2 R17 1.8k GND 1 3 1 1 3 SW4 2 2 Fwd/Rev 10k R48 P1 5k
GNDA
D2 GNDA SW3 Start/Stop LED
J5
PTC1/ATD9 PTB0/ATD0 PTC0/ATD8 PTB7/ATD7 I_sense_DCB PTB3/ATD3 PTB6/ATD6 PTB5/ATD5 PTB4/ATD4 EM_RESET R26 V_sense_DCB Zero_cross_C Zero_cross_B PTE7/TCH3A Zero_cross_A + PTE6/TCH2A GND +5V_D xEM_Vdda SW1 Reset C20 100nF JP6 GND SM/Jumper IRQ1/Vpp R27 10k 10k MP12 /IRQ +5V_D PTA3 PTA2 PTA1 R50 10k R49 10k R51 10k 1 2 SW2 Switch/DIP2 4 3 PTA5 PTA4 GND
BEMF_sense_C BEMF_sense_B BEMF_sense_A Sheilding Zero_cross_C Zero_cross_B Zero_cross_A PFC_z_c PFC_inhibit PFC_PWM Serial_Con Brake_control Sheilding
PFC_z_c PFC_inhibit PFC_PWM S_C Brake
+5V_D
-12/15V_A +12/15V_A
+3.3V_A
GNDA
+5V_D
GND PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 PTE2/TCH1B PTE1/TCTCH0B PTE0/TCLKB PTE3/TCLKA PTE4/TCH0A
Motor Control PWMs

PTE5/TCH1A
C21 C18 100nF 22uF/10V
C22 100nF GND
FLT1 DS306-55Y5S222M50 3 +5V_D
Temp_sense I_sense_C I_sense_B I_sense_A I_sense_DCB V_sense_DCB_5 -12/15V_A +12/15V_A GNDA GNDA +3.3V analog +5V digital +5V digital GND GND PWM_CB Sheilding PWM_CT Sheilding PWM_BB Sheilding PWM_BT Sheilding PWM_AB Sheilding PWM_AT JP1 JP2 D5 LED D6 LED D7 LED D8 LED +5V_D JP3 JP4 JP5
40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Tacho Encoder BEMF_z_c PFC_z_c PFC_PWM C13 10uF/35V + 2
GND
-15V_A+15V_A
+3.3V_A

R28 1.8k R31 1.8k R37 1.8k R39 1.8k GND GND MP23 PWM3 MP24 PWM2 MP27 PWM1 MP8 GND MP22 MP19 MP17 MP15 MP13 +5V_D PTE1 PTE3 PTE5 PTE7 MP21 MP20 MP18 MP16 MP14 GND PTE0 PTE2 PTE4 PE6
D3 LED
D4 LED
C10 100nF
+5V_D C4 C2 100nF 22uF/10V C11 100nF GNDA
R19 1.8k
R23 1.8k
C24 100nF
C23 22uF/10V
GND
MP9 PWM6
MP10 PWM5
MP11 PWM4
PORT E / Timers
Figure 4-3. Control Board Circuitry (Sheet 1 of 3)

Isolation Barrier
+15V_A U8 MC78L05ACD 8 VIN VOUT 2 3 6 7 D14 R52 1N4148 SMD 1k U6 SFH6106 GNDA J6 D12 1N4148 SMD 1 2 + 3 (PTF4/RxD) 4 GND C27 100nF + C26 10uF/35V C25 100nF 1 +5V_D R40 1k +5V_A_ref
D18 MBR0530T1
GND DTR
D15 1N4148 SMD R53 4.7k 4 3 C30 2.2uF/35V 1 2
D22 MBR0530T1 D17 +5V_D 3 D16 C28 100nF 1N4148 SMD 1N4148 SMD
D13 MBR0530T1
RxD
J7 Power Jack U9 MC78M05CDT 1 IN GND 2 OUT +
D20 MBR0530T1
TXD RTS RXD
R45 +5V_D 330 TxD (PTF5/TxD)
-V
5 9 4 8 3 7 2 6 1
-V +V
C31 10uF/35V
(+12V)
U7 SFH6106 JP7 GND_Connection GNDA
1 GND
D19 MBR0530T1
C29 100nF
D21 MBR0530T1 R33 100k +5V_A_ref +12/15V_A R32 15k 3 R9 2.2k U5A 2 Tacho (PTE7/TCH3A) LM339D 5 + 12 4 MMSZ5230BT1 D1 C3 220nF/100V GND GNDA GNDA GNDA FLT3 FLT4 R36 15k V_sense_DCB +5V_D C17 68pF GNDA 1 LM339D Overcurrent +5V_A_ref R22 10k U5C 9 8 + LM339D 14 (PTD0/FAULT1) Overvoltage R35 10k +5V_D GND GND R30 15k R25 1M R42 10k R43 10k MP33 LED2 MP32 LED3 MP34 LED1 MP50 PTC3 MP49 PTC2 MP36 PTA0 MP37 PTA4 MP38 PTA5 R29 470 R24 10k LED D10 GND D11 LED +5V_D D9 LED R44 1.8k R46 1.8k (PTC6) (PTC5) (PTC4) R47 1.8k LED3 LED2 LED1 PTC3 PTC2 PTA0 MP31 MP30 MP29 MP28 OV OC FLT3 FLT4 PTA4 PTA5
J1
R1 3.3k
R5 3.3k
1 2
Tacho Input

U5B R20 10k GNDA MP26 V_DCB_ref
GNDA
R41 15k
R38 15k
R21 1M
I_sense_DCB
C19 68pF
+5V_A_ref
GNDA
R34 10k
+15V_A
C16 10nF
GND
GNDA
MP25 I_DCB_ref

+5V_D
Back-EMF Selection Logic

R18 5.6k U3A Zero_cross_A 3 2 MC74HC03AD R16 5.6k +5V_D 1
+5V_D
+3.3V_A
MP2 +5V_D MP4 +3.3V_A
+5V_A_ref
+12/15V_A
-12/15V_A U3B Zero_cross_B 6 5 MC74HC03AD 10 4 9 U3C
MP5 +5V_A_ref MP6 +15V_A MP7 -15V_A
GND GNDA
MP1 GND MP3 GNDA
8 (PTE6/TCH2A) MC74HC03AD +5V_D
BEMF_z_c
C5 100nF U3D Zero_cross_C 13 (PTF3/MISO) MUX_A (PTF2/MOSI) MUX_B (PTF1/SS) MUX_C MC74HC03AD 12
C1 2.2uF/10V
+5V_D
11
C12 100nF
GND
Hall Sensor / Encoder Input

+5V_D
GND
+5V_D
+5V_D
Filtering & Schmitt Trigger

R10 22 U2A 12 1 13 2 11 U1D
R13 10k
J2
R2 1k
Encoder / Hall Sensor XOR Logic

U4A 1 3 2 4 6 5 MC74HC86D U4B GND
C15 10nF
R6 22
1 2 3 4 5 C6 470pF MC74HC14AD +5V_D R14 10k R11 22 U2B 4 3 5 C7 470pF MC74HC14AD MC74HC03AD GND +5V_D R15 10k U2C 9 5 10 C8 470pF MC74HC14AD GND MC74HC03AD 6 8 R12 22 U1C 4 6 U1B MC74HC03AD GND
+5V_D
(PTE6/TCH2A) MC74HC86D
Encoder
Hall Sensor / Encoder
R3 1k
R7 22
+5V_D
+5V_D
VCC
+5V_D
C14 10nF
C9 10nF
R4 1k
R8 22
GND
GND

Schematics and Parts List Parts Lists
4.4 Parts Lists

The following two parts lists describe parts content for the control and daughter boards.
Table 4-1. Control Board Parts List

Designators C1 Qty 1 3 1 13 3 4 3 2 1 1 7 1 2 5 6 1 1 1 1 Description 2.2 F/10 Vdc tantalum 22 F/10 Vdc tantalum 220 nF/63 Vdc polyester 100 nF/50 Vdc ceramic 470 pF/50 Vdc ceramic 10 nF/50 Vdc ceramic 10 F/35 Vdc tantalum 68 pF/50 Vdc ceramic 2.2 F/35 Vdc tantalum Zener diode, 4.7 V LED, yellow, 2 mA, 3 mm LED, red, 2 mA, 3 mm LED, green, 2 mA, 3 mm 1N4148 Schottky diode Filter Jumper 2x5 x.1oc Jumper 2x1 x.1oc Connector, tacho input, 2-pin Manufacturer Panasonic Panasonic Philips/BC Panasonic Panasonic Panasonic Panasonic Panasonic Panasonic ON Semiconductor Kingbright Kingbright Kingbright Vishay ON Semiconductor muRata Berg Electronics Berg Electronics AMP Part Number ECS-T1AY225R ECS-T1AC226R 2222 370 12224 ECJ-2VF1H104Z ECU-V1H471JCX ECJ-2VF1H103Z ECS-T1VD106R ECU-V1H680JCG ECS-H1VC225R MMSZ5230BT1 L-934LYD L-934LID L-934LGD LL4148 MBR0530T1 DS306-55Y5S222M50 67997-210H 67997-202H MTA-100-640456-2
C2, C18, C23 C3 C4, C5, C10, C11, C12, C20, C21, C22, C24, C25, C27, C28, C29 C6, C7, C8 C9, C14, C15, C16 C13, C26, C31 C17, C19 C30 D1 D3D8, D10 D11 D2, D9 D12, D14D17 D13, D18D22 FLT1 JP1JP5 JP7 J1
Users Manual 49
Freescale Semiconductor, Inc. Schematics and Parts List

Table 4-1. Control Board Parts List (Continued)
Designators J2 J3, J4 J5 J6 Qty 1 2 1 1 1 1 Description Connector, Hall input, 5-pin 2x20-pin connector (male) UNI 2x20x.1" shrouded DB-9 connector Power connector Potentiometer 5 k 3.3 k resistor 1/10W 5% 0805 1 k resistor 1/10W 5% 0805 22 resistor 1/10W 5% 0805 2.2 k resistor 1/10W 5% 0805 10 k resistor 1/10W 5% 0805 5.6 k resistor 1/10W 5% 0805 Manufacturer AMP Berg Electronics 3M Keltron Switchcraft Clarostat Sensors and Controls, Inc. Any acceptable Any acceptable Any acceptable Any acceptable Any acceptable Any acceptable Part Number MTA-100-640456-5 89465-120 2540-6002UB DNR-09SCJB-SG RAPC722 392-JA-502
J7 P1
R1, R5 R2, R3, R4, R40, R52 R6, R7, R8, R10, R11, R12 R9 R13, R14, R15, R20, R22, R24, R26, R27, R42, R43, R48R51 R16, R18
2 5 6 1
14
Users Manual 50
MC68HC908MR32 Control Board Rev. 1.0 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com MOTOROLA

Schematics and Parts List Parts Lists
Table 4-2. Daughter Board Parts List

Designators R17, R19, R23, R28, R31, R37, R39, R44, R46, R47 R21, R25 R29 R30, R32, R36, R38, R41 R33 R45 R53 R34, R35 SW1 SW2 SW3, SW4 U1, U3 U2 U4 U5 U6, U7 U8 U9 Install on JP1, JP2, JP4, JP5, JP7 No designator No designator Qty 10 1 1 5 1 1 1 2 1 1 2 2 1 1 1 2 1 1 5 1 5 Description 1.8 k resistor 1/10W 5% 0805 1 M resistor 1/10W 5% 0805 560 (was 470 ) resistor 1/10W 5% 0805 15 k resistor 1/10W 5% 0805 330 k (was 100 k) resistor 1/10W 5% 0805 330 resistor 1/10W 5% 0805 4.7 k resistor 1/10W 5% 0805 10 k SMT trimmer Push-button switch 2-position DIP switch SPDT toggle switch Quad NAND-open collector Quad Schmitt trigger Quad exclusive OR Quad comparator Opto coupler Voltage regulator Voltage regulator Shunt Knob for P1 Stick-on rubber feet Manufacturer Any acceptable Any acceptable Any acceptable Any acceptable Any acceptable Any acceptable Any acceptable Bourns NKK Switches CTS NKK Switches ON Semi ON Semi ON Semi ON Semi Siemens ON Semi ON Semi Specialty Electronics Thomas & Bates Fastex 3364W-1-103E CB15FP 206-2 M2012SS1G03 MC74HC03AD MC74HC14AD MC74HC86AD LM339D SFH6106 MC78L05ACD MC78M05CDT 2JM-G PKG-40B-1/8 5033-01-00-5001 Part Number
Users Manual 51
Freescale Semiconductor, Inc. Schematics and Parts List

Table 4-2. Daughter Board Parts List (Continued)
Designators C1, C2, C3, C4 J1, J2 R1 U1 Qty 4 2 1 1 1 1 Description 0.1UF cap 25 Vdc 0805 2x20-pin connector (female) 10 M resistor 1/10W 0805 Microprocessor 68HC908MR32 Ceramic resonator 4 MHz Socket for U1 Manufacturer Digi-Key Berg Digi-Key Motorola muRata Enplas Part Number PCC1828CT-ND 87012-620 P10MGCT-ND 68HC908MR32CFU CSTCC4.00MG FPQ-64-0.8-02
X1 XU1
Users Manual 52
MC68HC908MR32 Control Board Rev. 1.0 Schematics and Parts List For More Information On This Product, Go to: www.freescale.com MOTOROLA
Section 5. Design Considerations
5.1 Contents
5.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Sensor Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Simultaneous Conduction Lockout. . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Dead Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Power-Up/Power-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Fault Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Tachometer Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Optoisolated RS-232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Back EMF Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11
5.2 Overview
Motor drive systems have a number of important design considerations related to noise management and protection of the power transistors. They include noise management of Hall sensor inputs, simultaneous conduction lockout, dead time, power-up/power-down, and grounding. These design considerations are discussed in 5.3 Sensor Inputs through 5.7 Grounding. A description of some of the control boards circuits is included in 5.8 Fault Circuits through 5.11 Back EMF Signals.
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com
Users Manual 53
Freescale Semiconductor, Inc. Design Considerations 5.3 Sensor Inputs

For brushless motors that use Hall sensor inputs for commutation, noise immunity of the sensor inputs is a key design consideration. Noise on these inputs can be particularly troublesome, since commutating to the wrong state precludes smooth operation of the motor. To facilitate noise robust sensor inputs, Schmitt triggers have been placed between the Hall sensor input connector and the processor. Schmitt triggers improve noise immunity by adding hysteresis to the signal paths. In addition, the sensor inputs are filtered with 100-ns single-pole filters, as shown in Figure 5-1. Using relatively low value pullup resistors, on the order of 1 k, provides an additional measure of noise immunity. How the code is written also has an important influence on noise robustness. Since the sequence of commutation is known, based upon the state of the forward/reverse input, it is relatively easy to detect an out-of-sequence Hall sensor input. Generally, when this occurs it is desirable to turn off all the power transistors until a valid Hall code is received.
+5V_D
J2 1 2 3 4 5 GND
+5V_D
R2 1 k
+5V_D R13 10 k HALL A +5V_D
R6 22
R10 22 C6 470 pF
U2A 1 2 12 13 MC74HC14AD
U1D 11 MC74HC03AD
+5V_D
GND
HALL SENSOR/ENCODER
R3 1 k
R7 22
R11 22 C7 470 pF
U2B 3 4 4 5 MC74HC14AD
U1B 6 MC74HC03AD
R14 10 k HALL B +5V_D R15 10 k
+5V_D
R4 1 k
GND
R8 22
R12 22 C8 470 pF
U2C 5 6 9 10 MC74HC14AD
U1C 8 MC74HC03AD
HALL C
GND
Figure 5-1. Hall Sensor Inputs
Users Manual 54
MC68HC908MR32 Control Board Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA

Design Considerations Simultaneous Conduction Lockout
5.4 Simultaneous Conduction Lockout

Especially on a machine that will be used for software development, it is desirable to prevent simultaneous conduction of upper and lower power transistors in the same phase. This feature is built into the 68HC908MMR32s PWM module. Once the PWM module has been initialized correctly, simultaneous conduction of a top and bottom output transistor in the same phase is locked out. Software errors that occur after initialization is completed will, therefore, not destroy power stage output transistors by turning on the top and bottom of one-half bridge simultaneously. This feature also prevents simultaneous conduction in the event of a noise-induced software runaway.
5.5 Dead Time

In Induction motor drives, providing dead time between turn-off of one output transistor and turn-on of the other output transistor in the same phase is an important design consideration. Dead time is also a feature that is built into the 68HC908MR32s PWM module. It is programmable to accommodate a variety of gate drives and output transistors. In this tool set, 2 s of dead time has been selected for operation with the high-voltage power stages.
5.6 Power-Up/Power-Down
When power is applied or removed, it is important that top and bottom output transistors in the same phase are not turned on simultaneously. Since logic states are not always defined during power-up, it is important to ensure that all power transistors remain off when the controllers supply voltage is below its normal operating level. The 68HC908MR32s PWM module outputs make this easy by switching to a high-impedance configuration whenever the 5-volt supply is below its specified minimum. The embedded motion control tool sets power boards have pull-down resistors at all of the gate drive inputs. This feature, coupled with the 68HC908MR32 PWM modules outputs, ensures that all power transistors remain off during power-up and power-down.
Users Manual 55
Freescale Semiconductor, Inc. Design Considerations 5.7 Grounding

Board layout is an important design consideration. In particular, ground planes and how grounds are tied together influence noise immunity. In order to maximize noise immunity, it is important to get a good ground plane under the 68HC908MR32. Because it is also important to separate analog and digital grounds, there are two ground designations, GND and GNDA. GND is the digital ground plane and power supply return and GNDA is the analog circuit ground. They are both the same reference voltage, but are routed separately, and tie together at only one point.
In a design that uses the MR32s PWM outputs to directly drive opto couplers, it is also a good idea to section the digital ground plane around the PWM modules outputs. That way the relatively high return current associated with the PWM outputs does not flow all over the board.
5.8 Fault Circuits

Two fault signals are generated from analog bus current and bus voltage feedback signals, I_sense_DCB and V_sense_DCB. These analog signals are fed into comparators that have adjustable reference voltages, as shown in Figure 5-2. The comparator outputs provide digital signals to the MR32s FAULT 1 and FAULT 2 inputs, respectively. Should one or both occur, these faults will force the PWM module into a known inactive state, protecting the power stage outputs. One M resistors R21 and R25 add 20 mV of hysteresis to aid with noise immunity.
Users Manual 56

Design Considerations Fault Circuits
R41 15 k I_sense_DCB
R38 15 k
R21 1 M
+5V_D
C19 68 pF GNDA
+5V_A_ref U5B
R20 10 k
1 Overcurrent (FAULT2)
R34 10 k
+ 6
LM339D
GNDA
MP25 I_DCB_ref
R36 15 k V_sense_DCB
R30 15 k
R25 1 M
+5V_D
C17 68 pF GNDA
+5V_A_ref U5C
R22 10 k
14 Overvoltage (FAULT1)
R35 10 k
+ 8
LM339D
GNDA
MP26 V_DCB_ref
Figure 5-2. Fault Circuits
Users Manual 57
Freescale Semiconductor, Inc. Design Considerations 5.9 Tachometer Input

One method for measuring motor speed is to use the analog ac output signal from a tachometer connected to the motors shaft. The conditioned signal then can be carried into a timer interrupt on the MR32. The period between interrupts is used to calculate motor shaft speed. The circuit in Figure 5-2 is used to square the ac signal from the tachometer output into a digital signal acceptable to the timer. The input of this circuit has a threshold of approximately 180 mV. Its input hysteresis is set at approximately 20 mV to aid with noise immunity.
+5V_A_ref R32 15 k 5
R33 100 k +12/15V_A 3 + 4 2 LM339D GND
+5V_D R24 10 k Tacho (PTE7/TCH3A)
J1 1 2 TACHO INPUT GNDA
R1 3.3 k
R5 3.3 k
R9 2.2 k MMSZ5230BT1 C3 D1 220 nF/100 V
R29 470 GNDA
2 1
GNDA
GNDA
Figure 5-3. Tachometer Input
5.10 Optoisolated RS-232 Interface

RS-232 serial communication is provided by the circuit in Figure 5-4. It is optically isolated for safety and is suitable for communication rates up to 9600 baud.
ISOLATION BARRIER D14 1N4148 SMD D12 1N4148 SMD
J6 5 9 4 8 3 7 2 6 1
R52 1 k
+5V_D 1 U6 SFH6106 4 3 GND (PTF4/RxD) R45 330 R40 1 k RxD
GND DTR TxD RTS RxD D15 1N4148 SMD + C30 R53 4.7 k 2.2 F/35V
+5V_D
3 (+12 V) U7 SFH6106
2 (PTF5/TxD)
TxD
Figure 5-4. RS-232 Interface

Users Manual 58 MC68HC908MR32 Control Board Rev. 1.0 Design Considerations For More Information On This Product, Go to: www.freescale.com MOTOROLA

Design Considerations Optoisolated RS-232 Interface
The EIA RS-232 specification states that signal levels can range from 3 volts to 25 volts. A mark is defined as a signal that ranges from 3 volts to 25 volts. A space is defined as a signal that ranges from +3 volts to +25 volts. Therefore, to meet the RS-232 specification, signals to and from a terminal must transition through 0 volts as they change from a mark to a space. Breaking the isolated RS-232 circuit into input and output sections makes explanation of the circuit simpler. Input interface is through opto coupler U6. To send data from a PC through U6, it is necessary to satisfy the SCI input on the MR32. In the idle condition, the SCI input must be at a logic 1. To accomplish that, the transistor in U6 must be off. The idle state of the transmit data line (TXD) on the PC serial port is a mark (3 V to 25 V). Therefore, the diode in U6 is off and the transistor in U6 is off, yielding a logic 1 to the SCI input. When the start bit is sent to the SCI from the PCs serial port, the PCs TXD transitions from a mark to a space (+3 V to +25 V), forward biasing the diode in U6. Forward biasing the diode in D3 turns on the transistor in U6, providing a logic 0 to the input of the SCI. Simply stated, the input half of the circuit provides input isolation, signal inversion, and level shifting from the PC to the MR32s SCI port. An RS-232 line receiver, such as an MC1489, serves the same purpose without the optoisolation function. To send data from the MR32 control board to a PC serial port input, it is necessary to satisfy the PCs receive data (RXD) input requirements. In an idle condition, the RXD input to the PC must be at mark (3 V to 25 V). The data terminal ready output (DTR) on the PC outputs a mark when the port is initialized. The request to send RTS output is set to a space (+3 V to +25 V) when the PCs serial port is initialized. Because the interface is half-duplex, the PCs TXD output is also at a mark, as it is idle. The idle state of the transmit data line (TXD) on the MR32s SCI is a logic 1. The logic 1 out of the SCIs output port forces the diode in U7 to be turned off. With the diode in U7 turned off, the transistor in U7 is also turned off. The junction of D12 and D15 are at a mark (3 V to 25 V). With the transistor in U7 turned off, the input is pulled to a mark through current limiting resistor R53, satisfying the PCs serial input in an idle condition. When a start bit is sent from the MR32s SCI port to the output of the MR32s SCI, output transitions to a logic 0. That logic 0 turns on the diode in U5, thus turning on the transistor in U7. The conducting transistor in U5 passes the voltage output from the PCs RTS output, that is now at a space (+3 V to +25 V), to the PCs receive data (RXD) input. Capacitor C30 is a bypass capacitor used to stiffen the mark signal. The output half of the circuit
MC68HC908MR32 Control Board Rev. 1.0 MOTOROLA Design Considerations For More Information On This Product, Go to: www.freescale.com Users Manual 59
Freescale Semiconductor, Inc. Design Considerations

provides output isolation, signal inversion, and level shifting from the MR32s SCI output port to the PCs serial port. Again an RS-232 line driver, such as an MC1488, serves the same purpose without the optoisolation function.
5.11 Back EMF Signals

Back EMF signals are provided for sensorless control of brushless dc motors and dead time distortion correction in ac induction motors. Analog signals BEMF_sense_A, BEMF_sense_B, and BEMF_sense_C are passed directly from connector J5 pins 38, 39, and 40 to A/D inputs ADC7, ADC8, and ADC9. Digital signals Zero_cross_A, Zero_cross_B, and Zero_cross_C are routed to the circuit illustrated in Figure 5-5.
+5V_D +5V_D
R18 5.6 k Zero_cross_A MUX_A 1 2 MC74HC03AD U3A 3 R16 5.6 k
Zero_cross_B MUX_B
4 5
U3B 6
9 10
U3C 8 BEMF_z_c (PTE6/TCH2A)
MC74HC03AD
MC74HC03AD
Zero_cross_C MUX_C
12 13
U3D 11
MC74HC03AD
Figure 5-5. Zero Cross Back EMF Circuit
Users Manual 60

Design Considerations Back EMF Signals
The back-EMF selection logic in Figure 5-5 is designed to provide an interrupt to channel 2 of the MR32s timer A input upon each motor phases zero-crossing. The three open collector NAND gates U3A, U3B, andU3D are wire ORed such that any one of these outputs switching to logic 0 will provide an interrupt to the MR32s timer A input. MUXA, MUXB, and MUXC inputs to the NAND gates enable zero cross signals from each phase to interrupt the processor. During system operation, the software is aware of the window when a zero-crossing interrupt should occur for any given phase. MUXA, MUXB, and MUXC inputs to the NAND gates are enabled for each phase during its computed zero cross window. This technique increases noise robustness by eliminating noise glitches from triggering false interrupts outside of the computed zero cross-windows.
Users Manual 61
Freescale Semiconductor, Inc. Design Considerations

Users Manual 62
Motorola reserves the right to make changes without further notice to any products herein. Motorola makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does Motorola assume any liability arising out of the application or use of any product or circuit, and specically disclaims any and all liability, including without limitation consequential or incidental damages. "Typical" parameters which may be provided in Motorola data sheets and/or specications can and do vary in different applications and actual performance may vary over time. All operating parameters, including "Typicals" must be validated for each customer application by customer's technical experts. Motorola does not convey any license under its patent rights nor the rights of others. Motorola products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the Motorola product could create a situation where personal injury or death may occur. Should Buyer purchase or use Motorola products for any such unintended or unauthorized application, Buyer shall indemnify and hold Motorola and its ofcers, employees, subsidiaries, afliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that Motorola was negligent regarding the design or manufacture of the part. Motorola and are registered trademarks of Motorola, Inc. Motorola, Inc. is an Equal Opportunity/Afrmative Action Employer.
How to reach us: USA/EUROPE/Locations Not Listed: Motorola Literature Distribution, P.O. Box 5405, Denver, Colorado 80217. 1-303-675-2140 or 1-800-441-2447. Customer Focus Center, 1-800-521-6274 JAPAN: Motorola Japan Ltd.; SPS, Technical Information Center, 3-20-1, Minami-Azabu, Minato-ku, Tokyo 106-8573 Japan. 81-3-3440-8573 ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd.; Silicon Harbour Centre, 2 Dai King Street, Tai Po Industrial Estate, Tai Po, N.T., Hong Kong. 852-26668334 HOME PAGE: http://motorola.com/semiconductors/
Motorola, Inc., 2000
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Freescale Semiconductor, Inc.

MEMCMR32CBUM/D Rev. 1.0

Freescale Semiconductor, Inc...

Motorola Embedded Motion Control

MC68HC908MR32 Control Board

For More Information On This Product, Go to: www.freescale.com

Freescale Semiconductor, Inc. MC68HC908MR32 Control Board

Freescale Semiconductor, Inc...

Motorola, Inc., 2000; All Rights Reserved

Freescale Semiconductor, Inc.

Users Manual MC68HC908MR32 Control Board

Section 1. Introduction and Setup . . . . . . . . . . . . . . . . . . 11 Section 2. Operational Description . . . . . . . . . . . . . . . . . 21

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc. List of Sections

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc.

Users Manual MC68HC908MR32 Control Board

Section 1. Introduction and Setup

Freescale Semiconductor, Inc...

1.2 1.3 1.4 1.5

Section 2. Operational Description

Section 3. Pin Descriptions

Freescale Semiconductor, Inc. Table of Contents

Freescale Semiconductor, Inc...

Section 4. Schematics and Parts List

Section 5. Design Considerations

Freescale Semiconductor, Inc.

Users Manual MC68HC908MR32 Control Board

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc. List of Figures

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc.

Users Manual MC68HC908MR32 Control Board

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc. List of Tables

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc.

Users Manual MC68HC908MR32 Control Board

Section 1. Introduction and Setup

Freescale Semiconductor, Inc...

1.3 1.4 1.5

Freescale Semiconductor, Inc. Introduction and Setup

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc.

LOW-VOLTAGE POWER BOARD

HIGH-VOLTAGE POWER BOARD

Freescale Semiconductor, Inc...

OPTIONAL FEEDBACK a) LOW VOLTAGE

OPTIONAL FEEDBACK b) HIGH VOLTAGE

Figure 1-1. Systems Configurations

1.3 About this Manual

Freescale Semiconductor, Inc. Introduction and Setup 1.4 Warnings

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc.

1.5 Setup Guide

Freescale Semiconductor, Inc...

Freescale Semiconductor, Inc.

Freescale Semiconductor, Inc...

Figure 1-2. Control Board

R35 & V_ref

Figure 1-3. Setup Parts Locations

For More Information On This Product, Go to: www.freescale.com

Freescale Semiconductor, Inc.