ARTERY AT32F4 Series User manual

Low Voltage Motor Control Development Board
2022.12.01 1 Ver 2.0.2
UM0011
User Manual
AT32 MCU-based Low Voltage Motor Control Development Board
Overview
This document mainly introduces the basic functions, hardware features and hardware circuits,
aimed at helping developers to easily develop motor control applications with AT32 MCU on this
board.
Applicable products:
Part number
AT32F4xx, AT32L0xx

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Contents
1Board description............................................................................................6
2Software and hardware requirements .............................................................7
3Getting started ................................................................................................8
4Hardware configuration...................................................................................9
4.1 System architecture ..........................................................................................................9
4.2 Jumper and connector location......................................................................................10
4.3 Jumper settings...............................................................................................................11
4.4 Connectors.......................................................................................................................11
4.4.1 CN1 .......................................................................................................................11
4.4.2 CN2 .......................................................................................................................12
4.4.3 CN3 .......................................................................................................................12
4.4.4 CN4 .......................................................................................................................12
4.4.5 CN5 .......................................................................................................................13
4.4.6 CN6 .......................................................................................................................13
4.4.7 Pin header connectors...........................................................................................13
4.5 Test points........................................................................................................................14
5Hardware circuit ............................................................................................16
5.1 Incremental encoder circuit ............................................................................................17
5.2 Hall sensor circuit............................................................................................................17
5.3 Current sensing circuit....................................................................................................18
5.3.1 Phase current sensing circuit.................................................................................18
5.3.2 DC bus current sensing circuit...............................................................................18
5.4 OCP sensing circuit.........................................................................................................19
5.4.1 Three-phase OCP sensing circuit...........................................................................19
5.4.2 Bus OCP sensing circuit........................................................................................19
5.5 Bus voltage sensing circuit.............................................................................................20
5.6 Three-phase output voltage sensing circuit..................................................................20
5.7 Power stage circuit..........................................................................................................22

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5.7.1 Three-phase full-bridge converter circuit................................................................22
5.7.2 Brake circuit...........................................................................................................22
5.8 Communication circuit ....................................................................................................23
5.9 Potentiometer input interface .........................................................................................24
6Schematic diagrams......................................................................................25
6.1 System power supply......................................................................................................25
6.2 MCU interface..................................................................................................................26
6.3 USB-to-UART interface ..................................................................................................27
6.4 Hall / Encoder circuit.......................................................................................................28
6.5 Power MOSFET schematic............................................................................................29
6.6 Voltage feedback schematic ..........................................................................................30
6.7 Current feedback schematic ..........................................................................................31
6.8 Other.................................................................................................................................32
7PCB layouts...................................................................................................33
7.1 Component location diagram .........................................................................................33
7.2 Top layer layout ...............................................................................................................34
7.3 Bottom layer layout .........................................................................................................35
8Bill of materials ............................................................................................. 36
9Revision history ............................................................................................40

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List of tables
Table 1. Jumper settings................................................................................................................11
Table 2. CN1 description................................................................................................................11
Table 3. CN2 (JTAG) description................................................................................................... 12
Table 4. CN3 (AT-Link) description................................................................................................ 12
Table 5. CN4 (USB) description.................................................................................................... 12
Table 6. CN5 description............................................................................................................... 13
Table 7. CN6 description............................................................................................................... 13
Table 8. Pin connector description................................................................................................ 13
Table 9. Summary of test points.................................................................................................... 14
Table 10. Document revision history............................................................................................. 40

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List of figures
Figure 1. Low voltage motor control development board................................................................. 6
Figure 2. Board system architecture ............................................................................................... 9
Figure 3. Jumper and connector location...................................................................................... 10
Figure 4. Incremental encoder circuit............................................................................................ 17
Figure 5. Hall sensor circuit.......................................................................................................... 17
Figure 6. Phase current sensing feedback circuit.......................................................................... 18
Figure 7. DC bus current sensing feedback circuit........................................................................ 18
Figure 8. Phase current OCP sensing circuit................................................................................. 19
Figure 9. Bus OCP sensing circuit................................................................................................ 19
Figure 10. Bus voltage sensing circuit........................................................................................... 20
Figure 11. Output voltage sensing circuit...................................................................................... 21
Figure 12. Virtual neutral point comparator circuit......................................................................... 21
Figure 13. V-shunt half-bridge power conversion circuit................................................................ 22
Figure 14. Brake circuit................................................................................................................. 23
Figure 15. UART serial interface circuit......................................................................................... 23
Figure 16. Potentiometer input interface circuit............................................................................. 24

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1 Board description
The motor development board serves as a general-purpose lowvoltage three-phase motor
driver based on ARTERY AT32 MCU and motor control function library. It can be used to drive
BLDC, AC synchronous and induction motors.
A MCU socket applied to all AT32 MCUs for motor control algorithmexecution
Hall connector and encoder connector for rotor position feedback, to drive motor with sensor in
FOC vector control or six-step square wave mode
Brake resistor connector for dynamic braking in high dynamic response control mode
3-phase output terminal voltage sensing circuit connected to ADC, virtual neutral point circuit
and comparator circuit, suitable for multiple BLDC six-step square wave sensorless
applications
Three phase current sensing resistors and one DC ground bus current sensing resistor,
supporting three current sensing modes (3-shunt, 2-shunt and 1-shunt current sensing modes)
Built-in overcurrent compare circuits for phase currents and bus current
Support sensored/sensorless field-oriented vector control algorithmto drive three-phase AC
motors
Support household, commercial and industrial motor control application technologies
Input voltage/output current spec
Input voltage: 12V~60V
Maximum output phase current: 30APEAK
Overcurrent protection point: 45APEAK
Figure 1. Low voltage motor control development board

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2 Software and hardware requirements
Windows®-based PC (Windows 8, Windows 10, Windows 11) to installuser interface control
program
Micro-B USB cable to connect the board with PC for communication
ARTERYAT-Link or third-party programmer
ARTERYAT32 motor control demonstration project program
3-phaseAC motor with 12V~60V rated voltage and below 30Arated current
DC power supply

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3 Getting started
Rated specifications for motor development board
Input voltage: 12V~60V
Maximum output phase current: 30APEAK
Overcurrent protection point: 45APEAK
Get started with the steps below:
1) Check that the jumper settings are correct (See Section 4.3)
2) Connect AT-Link to CN3, or JTAG to CN2
3) Program ARTERY AT32 motor control demonstration program
4) Use micro-B USB cable to connect UART-to-USB interface (CN4) to PC USB port
5) Connect 3-phase motor cable to CN5, and connect U, V and W wires to OUT1, OUT2 and
OUT3, respectively
6) Adjust voltage and current if DC power supply, connect output to CN1 before turning on power
supply, and then LED1 (12 V power indicator) and LED2 (3.3 V power indicator) will be ON
7) Set parameters and control motor operation using the interface control program
(ArteryMotorMonitor)

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4 Hardware configuration
4.1 System architecture
Figure 2 presents the system architecture of low voltage motor control development board.
As illustrated in Figure 2,AT32 MCU socket is available to be connected with most AT32 MCUs.
The MCU PWM generator isused to control three-phase full-bridge circuit and brake circuit. The
output of 3-phase power stage has a voltage divider circuit for 3-phase output voltages feedback.
The board also includes a comparator circuit with virtual neutral point, which is able to feedback the
zero crossing signals of BLDC BEMF. Besides, there are on-board Hall sensor and encoder
connectors designed to feedback rotor positions. In terms of command input interfaces, the board
incorporates USB-to-USART, UART, I2C, and a potentiometer analog input interface. By adjusting
this potentiometer to change the output voltage command and read byADC. In addition, the board
offers two DIP switches and one button switch that can be used to configure control modes. Also,
five LEDs including an error LED are available on the board.
Figure 2. Board system architecture
Bulk Cap. Brake
Conn.
DC IN
Conn.
Phase 3
3-phase
Power
stage
Phase 2
3-phase
Power
stage
Motor
Conn.
Brake
PWM
Gate
Driver
Phase 1
3-phase
Power
stage
DC Volt.
sense
VBUS
I_ BUS
I_ ph1
I_ ph2
I_ ph3
Power
Converter High
side
PWM
Low
side
PWM
12V
5V
3.3V
12V
AT32 MCU
Socket
Motor
Voltage
sense
High side
PWM
Low side
PWM
Motor
Voltages
sense
Currents
feedback
VBUS
ADC
Timer w/
PWM Gen.
Motor
voltages
sense
Comparator
w/ virtual
neutral point
Timer w/
Capture &
QE I/F J umpers
BEMF zero
crossing
signals
Hall
Sensor
Conn.
Hall sensor
signals
Encoder
signals
Hall
circuit
Encoder
Conn.
Timer w/
QE I/F Encoder
circuit
USB
Conn.
USB

UART
UART
VR
Current
sense
VR
J TAG
Conn.
AT-Link
Conn.
Serial Wire Debug
UART
UART
Conn.
UART
GPIO
2 DIP
switches
5 LEDs
1 Button
Digital
signals
Digital
signals
Brake PWM
I2C
I2C
Conn.
Over
Current
circuit
OCP
OCP

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4.2 Jumper and connector location
Figure 3. Jumper and connector location

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4.3 Jumper settings
Table 1. Jumper settings
Jumper
No.
Description
Pre-configured
state
JP1
ConnectBoot0 to eitherVCC(1-2) or GND(2-3)
2-3
JP2
ConnectHall sensorsignaltoVCC pull-up resistor
CLOSED
JP3
ConnectEncodersignal toVCC pull-upresistor
OPEN
JP4
ConnectEncoderAsignal to Hall signal H1on MCU side
OPEN
JP5
ConnectEncoderB signalto Hall signalH2 on MCU side
OPEN
JP6
ConnectEncoderZ signal to Hallsignal H3on MCU side
OPEN
JP7
This is usedto connectBEMF1 voltage dividerresistors inparalleltoreduce
the divider value.
OPEN
JP8
ConnectBEMF1 comparesignal outputto Hall signalH1on MCU side
OPEN
JP9
This is usedto connectBEMF2 voltage dividerresistors inparalleltoreduce
the divider value.
OPEN
JP10
ConnectBEMF2 comparesignal outputto Hall signal H2on MCU side
OPEN
JP11
This is usedto connectBEMF3 voltage dividerresistors inparalleltoreduce
the divider value.
OPEN
JP12
ConnectBEMF3 comparesignal outputto Hall signalH3on MCU side
OPEN
4.4 Connectors
4.4.1 CN1
CN1 is DC power supply input, in the range of 12V~60V.
Table 2. CN1 description
Pin
Symbol
Description
1
-
Negative power input
2
+
Positive power input

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4.4.2 CN2
CN2 is a 20-pin JTAG connector that can be used for programming and debugging through third-
party programmers.
Table 3. CN2 (JTAG) description
Pin
Description
Pin
Description
1
Volt Target ref
2
Volt supply
3
nTRST
4
GND
5
TDI
6
GND
7
TMS (SWDIO)
8
GND
9
TCK (SWCLK)
10
GND
11
RTCK
12
GND
13
TDO (SWO)
14
GND
15
nSRST
16
GND
17
NC
18
GND
19
NC
20
GND
4.4.3 CN3
CN3 is a 10-pinAT-Link connector that can be used for programming and debugging through
ARTERY’s AT-Link tool.
Table 4. CN3 (AT-Link) description
Pin
Description
Pin
Description
1
3.3V supply
2
5.0V supply
3
TMS (SWDIO)
4
BOOT0
5
TCK (SWCLK)
6
TDO (SWO)
7
TMS (SWDIO)
8
UART_RX
9
RESET
10
UART_TX
4.4.4 CN4
CN4 is a Micro-B connector. It is used for serial communication between the on-board UART-to-
USB circuit and external USB interface.
Table 5. CN4 (USB) description
Pin
Description
Pin
Description
1
5V
2
D-
3
D+
4
ID
5
GND

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4.4.5 CN5
CN5 serves as a connector linking the board to the motor three-phase power lines.
Table 6. CN5 description
Pin
Symbol
Description
1
OUT1
Motor phase U connection
2
OUT2
Motor phase Vconnection
3
OUT3
Motor phase W connection
4.4.6 CN6
CN6 connector is used to connect the board to a brake resistor. The selection of the value of the
brake resistor should take into consideration the applied voltage in order to make sure that the
maximum brake current is below 40A. For example, for a 40V DC power (applied voltage), the
value of the resistor must be greater than 1 .
Table 7. CN6 description
Pin
Symbol
Description
1
+
Brake interface on power supplyside
2
-
Brake interface on transistor side
4.4.7 Pin header connectors
Table 8. Pin connector description
Connector
Pin
Symbol
Description
J1
1
H1
Hall sensor signal pin 1
2
H2
Hall sensor signal pin 2
3
H3
Hall sensor signal pin 3
4
5V
Hall sensor 5Vpower pin
5
GND
Hall sensor power ground
J2
1
A+
Incremental encoder phaseAsignal pin
2
B+
Incremental encoder phase B signal pin
3
Z+
Incremental encoder phase Z signal pin
4
5V
Incremental encoder 5Vpower pin
5
GND
Incremental encoder power ground
J3
1
3V3
I2C 3.3V power ground
2
SCL
I2C SCL signal pin
3
GND
I2C power ground
4
SDA
I2C SDAsignal pin

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Connector
Pin
Symbol
Description
J4
1
3V3
UART 3.3V power pin
2
TX
UART TX signal pin
3
GND
UART power ground
4
RX
UART RX signal pin
4.5 Test points
Table 9. Summary of test points
Test point No.
Description
TP1
Input voltage
TP2
12V voltage
TP3
5V voltage
TP4
3.3V voltage
TP5
GND
TP6,TP7,TP8
DGND digital ground
TP9
EncoderA+ signal
TP10
EncoderB+ signal
TP11
EncoderZ+ signal
TP12
HallsensorH1signal
TP13
HallsensorH2signal
TP14
HallsensorH3signal
TP15
PWM2H signal
TP16
PWM3H signal
TP17
PWM1H signal
TP18
Feedbacksignal ofthe 2nd phase currentafter goingthroughcurrent sensing resistorand
beingamplified
TP19
Feedbacksignal ofthe 3rd phase currentafter goingthroughcurrent sensing resistorand
beingamplified
TP20
Feedbacksignal ofthe 1st phase currentafter goingthroughcurrent sensing resistorand
beingamplified
TP21
AGND analogground
TP22
Feedbacksignal ofDC bus currentafter goingthroughcurrentsensingresistorand being
amplified
TP23
Overcurrent setpointvoltageof DC bus current
TP24
Overcurrent setpointvoltageof phase current
TP25
Overcurrent emergencystopprotection BKIN signal

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Test point No.
Description
TP26
LED1 status indicator
TP27
LED3 status indicator
TP28
Digital outputtest pointsignal
TP29
LED2 status indicator
TP30
LED errorstatus indicator
TP31
PWM1L signal
TP32
PWM2L signal
TP33
PWM3L signal

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5 Hardware circuit
Contains a three-phase full-bridge power stage circuit that can drive three-phase motors, and
includes a brake resistor circuit that can consume regenerative power by applying an external
resistor;
Designed with two buck converters: one steps down the input DC voltage to 12 V to provide
gate driver chip control voltage, and the other one converts 12 V to 5 V to provide power for
the Hall sensor and incrementalencoder; with a LDO circuit that provides3.3 V working power;
Provides input interface of incremental encoder and Hall sensor, which can be used to
feedback rotor position;
Designed with three current sensing resistors and circuit to feedback three-phase current, and
one current sensing resistor on DC bus to feedback bus current, which can be used to realize
single-shunt current sensing control;
The aforementioned current sensing feedback circuits contain OCP(overcurrent protection)
circuits, and connect the output to MCU to shutdown PWM output and realize the overcurrent
protection mechanism;
Contains three-phase terminal voltage divider circuit and its feedback signals are connected to
MCU ADC pins, virtual neutral point circuit and phase voltage polarity judgment circuit. They
can be used in six-step square-wave sensorless control mode;
Contains a DC input voltage divider circuit that is used for sensing DC bus voltage, and a
temperature sensing circuit composed of a NTC (negative temperature coefficient) resistor to
feedback MOSFET temperature;
Contains a RESET button, a USER button, two custom DIP switches, four status LEDs and
one error LED;
Designed with one potentiometer circuit that is connected to MCU ADC pin and can be
customized by the user;
Provides a serial-Micro-BUSB interface for the convenience of communication with external
devices, and one USB power LED;
Provides one I2C interface and one UART serial interface;
Designed with AT-Link connector and the JTAG connector for a 3rd-party programmer.

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5.1 Incremental encoder circuit
As shown in Figure 4, for the open-drain encoder, JP3 can be short-connected to connect the input
pin to a 1kpull-up resistor, and the input signal is connected to MCU through an RC low-pass
filter composed of 10resistor and 470pF capacitor. If the applied MCU does not have the
corresponding peripheral pins of the circuit, the output signal can be connected to Hall sensor
circuit output end through JP4 ~ JP6 jumpers and use another timer peripherals of MCU.
Figure 4. Incremental encoder circuit
5.2 Hall sensor circuit
As shown in Figure 5, the Hall sensor is generallyopen-drain type, so that JP2 jumper is short-
connected by default and connects the input pin to a 1kpull-up resistor. The input signal is
connected to MCU through an RC low-pass filter composed of 2kresistor and 100pF capacitor.
Figure 5. Hall sensor circuit

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5.3 Current sensing circuit
5.3.1 Phase current sensing circuit
As shown in Figure 6, the phase current passes through a 2mcurrent sensing resistor, and then it
is amplified 16.5 times by an amplifying circuit, and the output DC voltage level is also pulled up to
1.65 V; therefore, the maximum current sensing range is 50APEAK.
Figure 6. Phase current sensing feedback circuit
5.3.2 DC bus current sensing circuit
As shown in Figure 7, the bus current passes through a 5 mcurrent sensing resistor, and then it
is amplified 9.85 times by an amplifying circuit, and the output DC voltage level is also pulled up to
0.833 V; therefore, the maximum current sensing range is -16.9APEAK to 50.1APEAK.
Figure 7. DC bus current sensing feedback circuit

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5.4 OCP sensing circuit
5.4.1 Three-phase OCP sensing circuit
The three-phase OCPsensing circuit consists of three comparator circuits (one-phase protection
circuit is shown in Figure 8), and the three-phase OCPcircuit contains one overcurrent reference
level divider circuit. The protection circuit compares the amplified three-phase current feedback
signal with the overcurrent reference voltage. If the feedback signal is higher than the reference
voltage, the comparator outputs low level, and connects to the MCU timer BKIN pin to stop PWM
output. Based on the voltage division level as shown in the figure below, the overcurrent protection
point of phase current is 45APEAK.
Figure 8. Phase current OCP sensing circuit
5.4.2 Bus OCP sensing circuit
The bus overcurrent sensing circuit is composed of a comparator, and its OCP sensing circuit is
shown in Figure 9, which contains an overcurrent referencelevel divider circuit. The OCP circuit
compares the amplified bus current feedback signal with the overcurrent reference voltage. If the
feedback signal is higher than the reference voltage, the comparator outputs lowlevel, and
connects to MCU timer BKIN pin to stop PWM output. Based on the voltage division level as shown
in the figure below, the overcurrent protection point of phase current is 45APEAK.
Figure 9. Bus OCP sensing circuit

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5.5 Bus voltage sensing circuit
The bus voltage sensing circuit is composed of a divider circuit as shown in Figure 10. The
maximum voltage value that can be measured by the circuit is 64 V, and the
overvoltage/undervoltageprotection function can be realized according to the bus voltage
feedback. Calculating with three-phase PWMduty cycles, the driver output voltage can be
estimated, which can be used to estimate the BEMF in sensorlesscontrol.
Figure 10. Bus voltage sensing circuit
5.6 Three-phase output voltage sensing circuit
One of the three-phase output voltage sensing circuit isshown in Figure 11, which passes through
a low-pass RC filter and connects to MCU ADC input pin. In sine wave driving mode, it can
feedback the motor terminal voltage, and then integrate with the feedback currents to estimate the
motor three-phase BEMF. In case of six-step square-wave drive control, it can be used to measure
the BEMF zero crossing point of open phase. Based on the PWM duty cycle, it is possible to
measure the zero crossing point during PWM OFF or PWM ON. If the PWM duty cycle is low,
measure the zero crossing point in PWM OFF; otherwise, measure in PWM ON. The filter capacitor
after voltage division can be changed or removed according to the actual demand.