Cypress SPANSION FM4 MB9BF568 Series User manual

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PMSM Servo Motor Speed Control
User Manual
32-bit ARM Cortex-M4F based Microcontroller
MB9BF568x Series and S6E2HG Series
User Manual
Jan 26, 2015, AN709-00011-1v0-E 1

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Table of Contents
1. Introduction..................................................................................................................................... 4
1.1 Purpose …………………………………………………………………………………………….4
1.2 Definitions, Acronyms and Abbreviations............................................................................ 4
1.3 Document Overview............................................................................................................ 4
2. System Hardware Environment...................................................................................................... 5
3. Development Environment............................................................................................................. 6
4. System Firmware Design ............................................................................................................... 7
4.1 FW Feature......................................................................................................................... 7
4.2 FW Structure....................................................................................................................... 7
4.3 Files Description................................................................................................................ 10
4.4 FW Control Flow................................................................................................................ 11
5. Interrupt Function ......................................................................................................................... 12
5.1 Function List...................................................................................................................... 12
5.2 Interrupt Priority Setting..................................................................................................... 12
5.3 Interrupt Generation.......................................................................................................... 13
5.3.1 MFT.................................................................................................................. 13
5.3.2 Encoder Capture.............................................................................................. 13
5.3.3 DTTI ................................................................................................................. 14
6. Demo System............................................................................................................................... 15
6.1 Demo System Introduction................................................................................................ 15
6.1.1 Hardware Connection....................................................................................... 16
6.2 Motor Debug ..................................................................................................................... 17
6.2.1 FW Interface Configuration............................................................................... 18
6.2.2 Encoder Check................................................................................................. 21
6.2.3 Run Motor......................................................................................................... 22
6.2.4 Speed Acceleration and Deceleration .............................................................. 24
6.3 Troubleshooting ................................................................................................................ 24
6.3.1 Protection......................................................................................................... 24
7. Additional Information................................................................................................................... 25
8. Reference Documents.................................................................................................................. 26
Figures
Figure 4-1: Structure of FW........................................................................................................................ 8
Figure 4-2: Sub-files in Each Layer............................................................................................................ 9
Figure 4-3: Servo motor FW Architecture................................................................................................. 10
Figure 4-4: Diagram of the Control Flow ...................................................................................................11
Figure 5-1: Interrupt Priority Setting ......................................................................................................... 12
Figure 5-2: Free Run Timer Interrupt........................................................................................................ 13
Figure 5-3: Encoder Capture with Base-Timer......................................................................................... 13
Figure 5-4: DTTI Interrupt......................................................................................................................... 14
Figure 6-1: System Connection................................................................................................................ 15
Figure 6-2: Encoder Signal Line Connection............................................................................................ 16
Figure 6-3: Motor Line Connection........................................................................................................... 16
Figure 6-4: JTAG Line Connection........................................................................................................... 17
Figure 6-5: AC Plug.................................................................................................................................. 17
Figure 6-6: Open the Workspace ............................................................................................................. 18
Figure 6-7: Interface File Diagram............................................................................................................ 18
Figure 6-8: Macro Define for encoder....................................................................................................... 21
Figure 6-9: Download and debug by J-link............................................................................................... 23
Figure 6-10:Motor Run by J-link............................................................................................................... 23
Figure 6-11: Motor in Running Status....................................................................................................... 23

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Tables
Table 3-1: MCU Development Environment............................................................................................... 6
Table 4-1: Feature List of servo motor speed control ................................................................................. 7
Table 4-2: Directory Description of Project................................................................................................. 8
Table 4-3: File Description of Project........................................................................................................ 10
Table 5-1: System Used Interrupt Function.............................................................................................. 12
Table 6-1: Encoder Connection................................................................................................................ 16
Table 6-2: Sample Resistor, Amplification, Carrier Frequency and Dead-Time........................................ 19
Table 6-3: Current PID and Speed PID .................................................................................................... 19
Table 6-4: Motor Startup Parameters ....................................................................................................... 20
Table 6-5: Motor Close-Loop Parameters................................................................................................. 20
Table 6-6: Protection Parameters............................................................................................................. 21
Table 6-7: Brake Enable or Disable Flag.................................................................................................. 21
Table 6-8: Global Structure for Encoder Check........................................................................................ 22
Table 6-9: Running Status by the Command Speed................................................................................. 24

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1. Introduction
1.1 Purpose
This user manual describes the speed-control solution of the SPANSION servo motor and how to use the
inverter servo motor FW library.
This document will help you quickly learn how to build a servo motor project and how to debug the motor
with SPANSION inverter servo motor FW library.
The document introduces the basic information of whole servo motor control system, including hardware,
firmware, initial functions, basic motor setting functions and FOC drive modules. When you have understood
the provided information, you can get an overview of a whole servo motor project. And you can run a motor
following the demo project step.
1.2 Definitions, Acronyms and Abbreviations
API - Application Programming Interface
FOC - Field Oriented Control
FW - Firmware
HW - Hardware
I/O - Input and output
CW - Clockwise
CCW - Counter clockwise
1.3 Document Overview
The rest of document is organized as the following:
Chapter 2explains System Hardware Environment
Chapter 3 explains Development Environment
Chapter 4explains System Firmware Design
Chapter 5explains Interrupt Function
Chapter 6explains Demo System
Chapter 7 explains Additional Information
Chapter 8 explains Reference Documents

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2. System Hardware Environment
The below shows the brief information of MCU used in servo motor inverter board.
CPU chip: Spansion MB9BF568R.
CPU Frequency: 160MHz.
MCU pin number: 120pin.
RAM Space: 128Kbytes.
Code Space: 1024Kbytes.
Demo HW version:
FSDC-FM3-314-1-0015-01 + FSDC-FM4-560-2-071200050

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3. Development Environment
Table 3-1: MCU Development Environment
Name
Description
Part Number
Manufacturer
Remark
IAR bedded Workbench
7.3
FW code edit , compile and
debug
N/A
N/A
N/A
J-Link
Debug and Load FW by JTAG
N/A
N/A
N/A
SPANSION FLASH
LOADER
Flash download program
N/A
N/A
N/A
Source Insight
Source code edit
N/A
N/A
Editor
Eclipse
Source code edit
N/A
N/A
Editor

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4. System Firmware Design
This chapter introduces the FW structure of the inverter servo motor project
4.1 FW Feature
The features of the servo motor speed control solution are shown in Table 4-1.
Table 4-1: Feature List of servo motor speed control
No
Feature
Description
Remark
1.
Encoder Zero-Check
Match encoder zero signal with electrical position
2.
Hardware Self -check
Check offset of current sampling
3.
Adjustable Carrier
Frequency
Carrier frequency can be set by the corresponding variable in
user interface
4.
Rapid speed
acceleration
Motor can be accelerated from 0rpm to 5000rpm within 200ms
5.
Rapid speed
deceleration
Motor can be decelerated from 5000rpm to 0rpm within
200ms
6.
FOC Control
Using FOC control algorithm
7.
Speed regulate
This function is used to speed up or slow down a motor by the
command from host via UART or debugger
8.
Speed precision
Accurate speed controlling with less than 1% target error.
9.
Brake
Stop motor by brake down
Slow down a motor by brake
10.
Current sample
Three-phase hall-sensor for current sampling
11.
Protect
DC voltage protect
A/D offset protect
Lock rotor protect
Over Current Protect
12.
Bi-directional rotating
Motor can run in both directions.
4.2 FW Structure
There are 5 layers in the FW structure of IAR, which are shown in Figure 4-1.

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Figure 4-1: Structure of FW
The C source and Header files which are included in each layer are shown in Table 4-2
Table 4-2: Directory Description of Project
Layer
Folder
Description
global
h01_global,
s01_global
MCU system file
driver
h02_driver,
s02_driver
MCU register setting function such as GPIO, interrupt, MFT, AD
module
h03_module,
s03_module
Algorithm folder for basic motor control such as FOC frame transform ,
SVPWM, math, PID, filter
app
h04_app,
s04_app
Application folder for the files of application functions such as speed and
position generator by hall sensor, protection, motor start-up, field
weaken, brake and etc.
user
h05_user,
s05_user
Customer interface folder for the files for motor Configuration and HW
setting
Note: if you want to quickly start the motor, you can refer to the setting for user layer at 6.2.1FW Interface
Configuration and chapter 5 Interrupt Function.
The sub-files in each folder are shown in Figure 4-2, and the structure of header files is the same with C
files.

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Figure 4-2: Sub-files in Each Layer

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The relationship between each layer is shown as the diagram in Figure 4-3.
Figure 4-3: Servo motor FW Architecture
4.3 Files Description
The detailed descriptions for each file are shown as Table 4-3.
Table 4-3: File Description of Project
Folder
File
Description
s01_global
N/A
No files temporarily.
S02_driver
N/A
No files temporarily.
s03_module
coordinate_transfrom.c
FOC axis convert
filter.c
One order low pass filter
math.c
The math module including the function such as
SQRT,COS,SIN
User Layer
App Layer
Module Layer
Drive Layer
Global Layer
Coordinate transformation
SVPWM
PID Regulator
Math
Filter
Motor Start-up
Brake
Motor Speed Set
Speed Calculation
Voltage Protect
A/D Offset Protect
Over Current Protect
Lock Rotor Protect
Voltage and Current Limit
User interface
Main program entrance
Interrupt vectors
Initialization
Int. event
Current sample
Field-weaken
Encoder zero check
Dead-time compensation

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pid_regulation.c
The PID module for current and speed PI
svpwm.c
The SVPWM module
s04_app
adc_sample.c
The ADC process module based on the ADC ISR
brake.c
The brake module including motor stop by brake
limitation.c
The FOC current and voltage limitation module
Dead-time compensation.c
Dead-time compensation module()
motor_ctrl.c
The main file of the motor control including the main
function of FOC process of motor and the start/stop
function of motor
motor_startup_encoder.c
The motor start-up module with encoder after
zero-checking
observer_encoder.c
The Position Calculate module by encoder
protect.c
The Protect module
speed_calculate.c
The Speed Calculate module
qprc_zero_seach
Search encoder zero signal module
s05_user
customer_interface.c
The motor parameter setting
main.c
Main function
isr.c
MCU interrupt vector list
init_mcu.c
Initialize MCU peripheral functions
Startup_mb9xfxxx.s
MCU startup file
4.4 FW Control Flow
The control flow for the motor is shown as Figure 4-4. There are 4 interrupts that are red highlighted for the
motor FOC control, hall capture, AD converter. The timer events are executed in the end-less loop and the
timers are generated in the zero detection interrupt ‘ISR_MFT_FRT’ of the free run timer 0.
Figure 4-4: Diagram of the Control Flow
Feed watchdog
Start
Current U\V\W sample
FOC control
Speed &Position Generate
Protection(High Priority)
PID
SVPWM
Other Algorithm
DC bus sample and calculate
Current restoration
ISR_ADC_unit0
ISR_MFT_FRT
End-less loop in Main.c
Initialize peripheral
Motor Start/Stop

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5. Interrupt Function
5.1 Function List
Table 5-1: System Used Interrupt Function
Prototype
Description
Remark
__root void HWD_Handler(void)
The HW watch dog ISR
s05_user/isr.c
__root void Swd_IsrHandler (void)
The software watch dog ISR
s05_user/isr.c
__root void Mft0_Frt0_ZeroIsrHandler (void)
The MFT zero detect ISR for the motor control
s05_user/isr.c
__root void Mft0_Wfg_IsrHandler (void)
The HW over-current ISR
s05_user/isr.c
__root void Adc_0_IsrHandler (void)
The ADC unit0 ISR, trigger at the zero point for
the 3 shunts
s05_user/isr.c
5.2 Interrupt Priority Setting
Each interrupt priority can be set by the function ‘void InitMcu_Nvic(void)’ which is located at the file
‘s05_user/init_mcu.c’. Users are not recommended to modify it. The priority used for motor control is shown
in Figure 5-1. The lower the number is, the higher the priority is.
Figure 5-1: Interrupt Priority Setting

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5.3 Interrupt Generation
The diagram of the interrupt used for the motor control is briefly introduced in this section.
5.3.1 MFT
The multifunction timer is used to generate the interrupt for the motor control algorithm execution, and
trigger the AD sample at the zero point.
Figure 5-2: Free Run Timer Interrupt
5.3.2 Encoder Capture
The PWC timer is used to capture the encoder A/B signal and calculate pulse-width of the edge of A/B.
Figure 5-3: Encoder Capture with Base-Timer
H
L
One motor mechanical cycle
Encoder A/B signal Voltage High or Low level
Measure completion
Motor speed
calculate and
rotor phase angle
core
Base timer Count Over Flow
ISR_MFT_FRT
Free run timer 0, UP/DOWN mode, PWM cycle: 66.7 µs, 15K Hz
Trigger AD unit0 and FOC interrupt
A/D unit0: sample U, V,
W current
FOC interrupt to drive
motor

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5.3.3 DTTI
The DTTI0 is used to trigger the HW fault protection from the IPM. When the phase current is large enough
to trigger the HW over-current fault, the interrupt is got and all of the drive signals for the motor control will
shut off immediately.
Figure 5-4: DTTI Interrupt
ISR_MFT_WFG
IPM fault signal low voltage
H
L
Trigger over Current
Interrupt, PWM closed

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6. Demo System
This chapter introduces one example of inverter servo motor project and help you run a motor quickly.
The primary steps are shown as following:
Hardware Connection
FW Interface Configuration
Encoder Check
Run Motor
Speed Acceleration and Deceleration
6.1 Demo System Introduction
The servo motor solution can be adaptive to any type of servo motor speed control which uses the PMSM or
BLDC motor. The connection diagram for debugger is shown in Figure 6-1.
Figure 6-1: System Connection

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6.1.1 Hardware Connection
It is necessary to connect below 4 lines:
1. Connect motor’s encoder signal to inverter board, shown as below.
Figure 6-2: Encoder Signal Line Connection
The connection of the encoder signal line follows the definition in the below table.
Table 6-1: Encoder Connection
Motor’s line
Inverter Board Circuit Port
Encoder A
AIN
Encoder B
BIN
Encoder Z
ZIN
+5V
Vcc
GND
GND
Note:
Connection order between A and B is mixable.
VCC and GND must be connected rightly, otherwise the encoder won’t work right and the motor
will also not run.
2. Connect motor’s U, V, W phase lines to inverter board, shown as below.
Figure 6-3: Motor Line Connection
Motor’s U, V, W line can be optionally connected to Inverter’s output U, V, W. It has no constant define. Just
connect it. And it is also recommended to connect according to the UVW definition of the motor.
3. Connect JTAG to Inverter, shown as below.
U, V, W
Encoder port

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Figure 6-4: JTAG Line Connection
Note:
If there is no isolator between the J-link and the HW, you must unplug the AC power and use the battery of
your laptop computer
4. Connect AC power to inverter board, shown as below.
Figure 6-5: AC Plug
6.2 Motor Debug
After the hardware connection with the motor is completed, you can debug the new motor, as described in
this section.
Click the IAR program to open the IAR, and open the ‘EWW’ file of the inverter servo motor workspace at the
location you’ve stored on your computer as shown in Figure 6-6.
J-Link
AC Power

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Figure 6-6: Open the Workspace
6.2.1 FW Interface Configuration
All of the variables reserved for the user interfaces are located in the file ‘s05_user/ customer_interface.c’
and the macro definitions are located in the file ‘h05_user/ customer_interface.h’.
Figure 6-7: Interface File Diagram
6.2.1.1 UI_01 Motor Parameters
Set motor pole pairs. Set it to 3 if motor with 3 pole pairs is being used.

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6.2.1.2 UI_02 Encoder Information
QPRC_LineNumber: indicating pulses per cycle for encoder signal A or B.
QPRC_times: indicating QPRC unit working mode for detecting encoder signal. This is set to 4 by default.
For more information about it, you can refer to MCU peripheral manual reading chapter QPRC for
PC_Mode2 setting.
6.2.1.3 UI_03 Sample Resistor, Amplification, Carrier Frequency and
Dead-Time
Table 6-2: Sample Resistor, Amplification, Carrier Frequency and Dead-Time
Name
Explanation
Value
Motor_f32IuvwSampleResistor
Sample resistor
0.015
Motor_i32IuvwAmplifierFactor
Amplification factor
5.0 times
Motor_i32IuvwOffsetNormal
ADC value for 2.5V offset
2.5V<=>2048
Motor_i32IuvwOffsetRange
Define offset range
150 : Offset
range<2048-150,2048+150>
Motor_f32DeadTimeMicroSec
Dead-time
2.5us
Motor_u16CarrierFreq
Carrier frequency for PWM
15000Hz
Sample resistor and amplification is related to hardware board, they must be written correctly.
Dead-time is depended on IPM, MOSFET or IGBT, the minimum dead-time can be found in its
datasheet.
Carrier frequency can be rewritten as requirement.
6.2.1.4 UI_04 Current PID and Speed Loop PID
Table 6-3: Current PID and Speed PID
Name
Explanation
Motor_f32LowSpdKi
Speed loop integration parameters when speed
lower than Motor_u16ChgPiSpdHz
These parameters are
not fixed. Instead, they
depend on motors and
systems.
Tune these parameters
when changing motor.
Motor_f32LowSpdKP
Speed loop proportion parameters when speed
lower than Motor_u16ChgPiSpdHz
Motor_f32Dki
Current loop integration parameters in D-axis
Motor_f32Dkp
Current loop proportion parameters in D-axis
Motor_f32Qki
Current loop integration parameters in Q-axis
Motor_f32Qkp
Current loop proportion parameters in Q-axis
Motor_f32Skp
Speed loop integration parameters when speed