NXP Semiconductors BLDC User manual

© 2020 NXP B.V.
BLDC Control Demo User's Guide
1. Introduction
This document provides instructions for running and
controlling the Brushless DC (BLDC) sensorless
application with the Freedom and Tower System
development boards shown in Table 1.
The required software, hardware setup, jumper settings,
project arrangement, and user interface is described in
the following sections. For more information, see
Section 9, “References” or visit
www.nxp.com/motorcontrol_bldc.
NXP Semiconductors
Document Number: BLDCDEMO
UG
User's Guide
Rev.
6
,
06/2020
Contents
1. Introduction ........................................................................1
2. Supported development boards...........................................2
3. Motor Control vs. SDK Peripheral Drivers ........................2
4. Hardware setup ...................................................................2
4.1. Linix 45ZWN24-40 motor.......................................3
4.2. MIGE 60CST-MO1330 motor ................................3
4.3. Tower System..........................................................4
4.4. Tower System assembly ..........................................8
4.5. Freedom development platform...............................9
4.6. High-Voltage Platform ..........................................15
5. Project file structure..........................................................15
6. User Interface ...................................................................17
6.1. Control button........................................................17
6.2. Remote control using FreeMASTER.....................17
7. Instructions .......................................................................21
7.1. Running the motor.................................................21
7.2. Stopping the motor ................................................21
7.3. Clearing a fault ......................................................21
7.4. Turning on demonstration mode............................21
8. Acronyms and abbreviations ............................................21
9. References ........................................................................22
10. Revision history................................................................22

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2. Supported development boards
There are three supported development boards with two Kinetis KV series motor-control MCUs for
motor-control applications. The development boards and supported MCUs are shown in Table 1.
The Tower System modular development platform and the Freedom development platform are targeted
for low-voltage and low-power applications with BLDC control type. The High-Voltage Platform
(HVP) is designed to drive high-voltage (115/220 V) applications with up to 1 kW of power.
Table 1. Supported development boards
—
Platform
FRDM TWR HVP
Power stage FRDM-MC-LVBLDC TWR-LV3PH HVP-MC3PH
MCU
KV11 FRDM-KV11Z — —
KV31 FRDM-KV31F — HVP-KV31F512
KV46 — TWR-KV46F150M HVP-KV46F150
KV58 — TWR-KV58F220M HVP-KV58F220M
KE15Z FRDM-KE15Z — —
KE18F — TWR-KE18F HVP-KE18F
KE16Z FRDM-KE16Z — —
3. Motor Control vs. SDK Peripheral Drivers
The motor-control examples use the SDK peripheral drivers to configure the general peripherals (such as
clocks, SPI, SIM, and ports). However, motor control requires critical application timing because most
control algorithms run in a 50-µs loop. To optimize the CPU load, most peripheral-hardware features are
implemented for the PWM signal generation, analog signal sampling, and synchronization between the
PWM and ADC units.
The standard SDK peripheral drivers do not support the configuration and handling of all required
features. The motor-control drivers are designed to configure the critical MC peripherals (eflexPWM,
FTM, ADC, and PDB).
It is highly recommended not to modify the default configuration of the allocated MC peripherals due to
a possible application-timing conflict. The particular mcdrv_< board&MCU >.c source file contains
configuration functions of allocated peripherals.
4. Hardware setup
The BLDC sensorless application runs on Tower System and Freedom development platforms with a
default 24-V Linix motor.

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4.1. Linix 45ZWN24-40 motor
The BLDC sensorless application uses the Linix 45ZWN24-40 motor described in Table 2. The motor
can be used with the Tower System or Freedom development platforms.
Table 2. Linix 45ZWN24-40 motor parameters
Characteristic Symbol Value Units
Rated Voltage
Vt
24
V
Rated Speed @ Vt
—
4000
RPM
Rated Torque
T
0.0924
Nm
Rated Power
P
40
W
Continuous Current
Ics
2.34
A
Number of Pole Pairs
pp
2
—
Figure 1. Linix motor 45ZWN24-40
The motor has two types of cable connectors. One cable has three wires and it is designated to power the
motor. The second cable has five wires and it is designated for the Hall sensors signal sensing. Only the
power input wires are needed for the BLDC sensorless application.
4.2. MIGE 60CST-MO1330 motor
The MIGE 60CST-MO1330 motor (described in Table 3) is primarily used for the Permanent Magnet
Synchronous Motor (PMSM) sensorless application but you can also use it for the BLDC sensorless
application. You can also adapt the application to other motors by defining and changing the motor-
related parameters. The motor is connected directly to the high-voltage development board via a flexible
cable connected to the 3-wire development board connector.
Table 3. MIGE 60CST-MO1330 motor parameters
Characteristic Symbol Value Units
Rated voltage
Vt
220
V
Rated speed @ Vt
—
3000
RPM
Rated power
P
400
W
Number of pole pairs
Pp
4
—

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Figure 2. MIGE motor
4.3. Tower System
To run the BLDC application using the Tower System, these Tower boards are required:
•Tower board with a Kinetis V series MCU (TWR-KV46F150M or TWR-KV58F220M).
•Tower board with Kinetis E series MCU (TWR-KE18F).
•3-Phase Low-Voltage Motor Control module (see TWR-MC-LV3PH) including the Linix
motor.
•Tower System elevator modules (see TWR-ELEV).

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4.3.1. TWR-MC-LV3PH module
The 3-Phase Low-Voltage Motor Control module (TWR-MC-LV3PH) is a peripheral Tower System
module, interchangeable across the Tower System. The phase voltage and current feedback signals are
provided. These signals enable a variety of algorithms to control the 3-phase PMSM and BLDC motors.
A high level of board protection (over-current, under-voltage, over-temperature) is provided by the
MC33937 pre-driver. Before you insert the TWR-MC-LV3PH module into the Tower System, ensure
that the jumpers on your TWR-MC-LV3PH module are configured as follows:
Table 4. TWR-MC-LV3PH jumper settings
Jumper Setting Function
J2
1-2
Selects the internal analog power supply.
J3
1-2
Selects the internal analog power reference (GND).
J10
2-3
Selects BEMF_SENSE_C.
J11
2-3
Selects BEMF_SENSE_B.
J12
2-3
Selects BEMF_SENSE_A.
J13
2-3
Selects I_SENSE_DCB.
J14
2-3
Selects V_SENSE_DCB_HALF.
Figure 3. TWR-LV-MC3PH jumper settings

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4.3.2. TWR-KV46F150M MCU module
Configure the jumpers on the TWR-KV46F150 and TWR-MC-LV3PH modules properly. Table 7 lists
the relevant jumpers and their settings for the TWR-KV46F150 MCU module:
Table 5. TWR-KV46F jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1
open
J16
open
J505
3-4
J2
open
J19
open
J506
3-4
J4
2-3
J20
1-2
J512
1-2
J5
1-2
J21
open
J514
2-3
J13
1-2, 3-4
J23
open
J517
2-3
J15 1-2 — —
J519
J520
J521
J522
3-4
1-2
1-2
1-2
Figure 4. TWR-KV46F150M MCU module

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4.3.3. TWR-KV58F Tower System module
The TWR-KV58F220M is a development module for the Kinetis KV5x family of MCUs built around
the Arm®Cortex®-M7 core. This MCU has enough power for use in multi-motor control applications
(such as the PMSM or BLDC motors with simple or advanced control techniques). The MCU has a wide
range of motor-control peripherals, lots of memory (depending on the model used), and a powerful core.
To begin, configure the jumpers on the TWR-KV58F220M and TWR-MC-LV3PH Tower System
modules properly. Table 8 lists the specific jumpers and their settings for the TWR-KV58F220M Tower
System module:
Table 6. TWR-KV58F jumper settings
Jumper Setting Jumper Setting Jumper Setting
J1
1-2
J11
1-2
J23
2-3
J2
open
J12
1-2
J24
2-3
J3
1-2
J14
open
J25
2-3
J4
1-2
J17
open
J26
2-3
J7
1-2
J18
open
J28
1-2
J8
1-2
J19
open
J29
open
J9
open
J20
open
J30
1-2, 3-4, 5-6, 7-8
J10
1-2
J21
1-2
—
—
Figure 5. TWR-KV58F Tower System module

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4.3.4. TWR-KE18F Tower System module
The TWR-KE18F is a development tool for the NXP Kinetis KE1x family of MCUs built around the
Arm Cortex-M4 core. This MCU has enough power for use in motor-control applications (such as
PMSM or BLDC motors with simple or advanced control techniques). The MCU has a wide range of
peripherals, lots of memory (depending on the model used), and a powerful core.
To begin, configure the jumpers on the TWR-KE18F and TWR-MC-LV3PH Tower System modules
properly. Table 9 lists the specific jumpers and their settings for the TWR-KE18F Tower System
module.
Table 7. TWR-KE18F jumper settings
Jumper Setting Jumper Setting Jumper Setting
J3
2-3
J9
1-2
J18
1-2
J4
1-2
J11
1-2
J19
1-2
J5
2-3
J12
1-2
J21
open
J6
1-2
J13
1-2
J22
1-2
J7
1-2
J16
1-2
J23
Open
J8
open
J17
1-2
J24
1-2
Figure 6. TWR-KE18F Tower System module
4.4. Tower System assembly
1. Insert the TWR-KVxxXxx MCU module and the TWR-MC-LV3PH module into the
TWR-ELEV card slots. Ensure that the primary sides of the modules (marked by white stripes)
are inserted into the primary elevator card (marked by white connectors).
2. After assembling the Tower System, connect the required cables as follows:

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•Connect the power input cable (3-wire connector) of the Linix motor to its corresponding
connector (J5) on the TWR-MC-LV3PH motor control driver board.
•Plug in the power supply cable that is attached to the TWR-MC-LV3PH system kit to the
motor control peripheral board TWR-MC-LV3PH.
•Connect the TWR MCU module to the host PC via a USB cable.
Figure 7. Assembled Tower System
4.5. Freedom development platform
To run the BLDC application using Freedom, you need these Freedom boards:
•Kinetis KV11Z Freedom board (see FRDM-KV11Z), Kinetis KV31F Freedom board
(see FRDM-KV31F), Kinetis KE15Z, or Kinetis KE16Z Freedom board.
•3-Phase Low-Voltage Power Freedom shield (see FRDM-MC-LVBLDC) including the
Linix motor.

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4.5.1. FRDM-MC-LVBLDC low-voltage evaluation board
The FRDM-MC-LVBLDC low-voltage evaluation board (in a shield form factor) effectively turns the
Freedom development platform into a complete motor-control reference design compatible with the
existing Freedom development platforms (FRDM-KV31F, FRDM-KV11Z, FRDM-KE15Z, and
FRDM-KE16Z).
The FRDM-MC-LVBLDC board does not require any hardware configuration or jumper settings.
It contains no jumpers.
Figure 8. FRDM-MC-LVBLDC

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4.5.2. FRDM-KV11Z board
The FRDM-KV11Z board is a low-cost development tool for the Kinetis V series KV1x MCU family
built upon the Arm Cortex-M0+ processor. The FRDM-KV11Z board hardware is form-factor
compatible with the Arduino R3 pin layout, providing a broad range of expansion board options. The
FRDM-KV11Z platform features OpenSDA, the open-source hardware embedded serial and debug
adapter running an open-source bootloader.
To begin, configure the jumpers on the FRDM-KV11Z Freedom System module properly. Table 10 lists
the specific jumpers and their settings for the FRDM-KV11Z Freedom System module.
Table 8. FRDM-K11Z jumper settings
Jumper Setting
J10
1-2
Figure 9. FRDM-KV11Z Freedom development board

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4.5.3. FRDM-KV31F board
The FRDM-KV31F board is a low-cost development tool for the Kinetis V series KV3x MCU family
built upon the Arm Cortex-M4 processor. The FRDM-KV31F board hardware is form-factor compatible
with the Arduino R3 pin layout, providing a broad range of expansion board options, including FRDM-
MC-LVPMSM and FRDM-MC-LVBLDC for PMSM and BLDC motor control.
The FRDM-KV31F platform features OpenSDA, the open-source hardware embedded serial and debug
adapter running an open-source bootloader. This circuit offers several options for serial communication,
flash programming, and run-control debugging.
The FRDM-KV31F board does not require any hardware configuration or jumper settings. It contains no
jumpers.
Figure 10. FRDM-KV31F Freedom development board

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4.5.4. FRDM-KE15Z board
The FRDM-KE15Z is a low-cost development tool for Kinetis KE1x family of MCUs built around the
Arm Cortex-M0+ core. The FRDM-KE15Z hardware is form-factor compatible with the Arduino R3 pin
layout, providing a broad range of expansion board options. The FRDM-KE15Z platform features
OpenSDA, the NXP open-source hardware embedded serial and debug adapter running an open-source
bootloader.
To begin, configure the jumpers on the FRDM-KE15Z Freedom System module properly. Table 11 lists
the specific jumpers and their settings for the FRDM-KE15Z Freedom System module.
Table 9. FRDM-KE15Z jumper settings
Jumper Setting Jumper Setting Jumper Setting
J7
1-2
J10
1-2
J15
2-3
J8
1-2
J14
1-2
Figure 11. FRDM-KE15Z Freedom development board
4.5.5. FRDM-KE16Z board
The FRDM-KE16Z is a low-cost development tool for Kinetis KE1xZ family of MCUs built around the
Arm Cortex-M0+ core. The FRDM-KE16Z hardware is form-factor compatible with the Arduino R3 pin
layout, providing a broad range of expansion board options. The FRDM-KE16Z platform features
OpenSDA, the NXP open-source hardware embedded serial and debug adapter running an open-source
bootloader.
To begin, configure the jumpers and 0-Ωresistors on the FRDM-KE16Z Freedom System module
properly. Table 13 lists the specific jumpers and Table 14 lists the 0-Ωresistor position settings for the
FRDM-KE16Z Freedom System module.

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Table 10. FRDM-KE16Z jumper setting
Jumper Setting Jumper Setting Jumper Setting
J7
1-2
J10
1-2
J19
2-3
J8
1-2
J14
1-2
—
—
Table 11. FRDM-KE16Z O-Ωresistor setting
MCU signal Resistor Add/remove
PTB4/RGB_GREEN
R24
remove
PTB4/MC_PWM_CT
R25
add
PTB5/RGB_RED
R28
remove
PTB5/MC_PWM_CB
R29
add
PTC0/GES_R0
R110
remove
PTC0/MC_PWM_AT
R111
add
PTC1/GES_R1
R8
remove
PTC1/MC_PWM_AB
R13
add
PTD1/RGB_BLUE
R6
remove
PTD1/MC_PWM_BB
R9
add
PTC1/GES_R1_R6
R107
remove
PTC2/MC_CUR_DCB
R108
add
PTC0/GES_R0
R112
remove
PTB2/MC_VOLT_DCB
R113
add
Figure 12. FRDM-KE16Z Freedom development board
4.5.6. Freedom development platform assembly
1. Connect the FRDM-MC-LVBLDC shield on top of the FRDM-KVxxx board.
2. Connect the BLDC motor 3-phase wires into the screw terminals on the board.
3. Plug in the USB cable from the USB host to the OpenSDA micro USB connector.
4. Plug in a 12 V DC power supply to the DC power jack.

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Figure 13. Assembled Freedom system
4.6. High-Voltage Platform
To run the BLDC application within the High-Voltage Platform, you need these components:
•Kinetis KV31F High-Voltage Daughter Board (HVP-KV31F512), Kinetis KV46F High-Voltage
Daughter Board (HVP-KV46F150), Kinetis KV58F220M High-Voltage Daughter Board
(HVP-KV58F220M), or Kinetis KE18F High-Voltage Daughter Board (HVP-KE18F).
•High-Voltage Platform (HVP-MC-3PH) (motor not included).
Order all the modules of the High-Voltage Platform from www.nxp.com (or from distributors) and build
the hardware platform for the target application easily.
5. Project file structure
The demo project folder (for example boards\frdmkv11z\demo_apps\mc_bldc)contains these folders and
files:
•IAR folder—contains the configuration files for IAR Embedded Workbench®IDE. If IAR
Embedded Workbench for Arm is installed on your computer, open the project using IAR IDE.
•Project files—contains the device-specific files. These files specify the peripheral initialization
routines, motor definitions, and state machines. The source code contains a lot of comments. The
functions of the particular files are explained in this list:
om1_bldc_appconfig.h—contains the definitions of constants for the application control
processes (parameters of the motor and regulators and constants for the BLDC sensorless
control-related algorithms).

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omain.c—contains the basic application initialization (enabling interrupts), the subroutines
for accessing the MCU peripherals, and the interrupt service routines.
omcdrv.h—includes the specific mcdrv_< board&MCU >.h file into the project.
omcdrv_< board&MCU >.c—contains the motor-control driver peripherals’ initialization
functions specific to the board and MCU used.
omcdrv_< board&MCU >.h—header file for mcdrv_<board&MCU>.c. This file contains
the macros for changing the PWM period and ADC channels assigned to the back-EMF
voltages and the board voltage and current.
opin_mux.c—contains the board initialization function to configure the pin routing. This
file is generated by the Pins tool.
opin_mux.h—header file for pin_mux.c.
oboard.c—common MCUXpresso SDK file containing the initialization of a debug
console.
oboard.h—common MCUXpresso SDK file containing the macros for a specific board
pinout.
oclock_config.c—contains the MCU clock configuration functions.
oclock_config.h—header file for clock_config.c.
oreadme.txt—basic information about the requirements, settings, and the demo.
The motor-control folder <KSDK_install_folder>\middleware\motor_control\bldc contains these
common source and header files used in all motor-control projects. The folder contains the subfolders
common to the entire project in this package:
•mc_algorithms—contains the control algorithms used to control the BLDC motor.
•mc_drivers—contains the source and header files used to initialize and run motor-control
applications.
•mc_state_machine—contains the software routines that are executed when the application is in a
particular state or state transition.
•state_machine—contains the state machine functions for the Fault, Initialization, Stop, and Run
states.
Each motor-control project is based on RTCESL (Real-Time Control Embedded Software Library)
placed in the <KSDK_install_folder>\middleware folder. The library contains the mathematical
functions used in the project. It contains the library subfolders for specific cores (“cm0”, “cm4”, and
“cm7”). This subfolder includes the required header files and library files used in the project. The
RTCESL folder is taken from the RTCESL release 4.5, and it is fully compatible with the official
release. The library names are changed for easier use with the available IDEs. See www.nxp.com/rtcesl
for more information about RTCESL.

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6. User Interface
The application contains the demo application mode to demonstrate the motor rotation. Operate it using
the user button. The Tower System and Freedom boards include a user button associated with the port
interrupt (generated whenever one of the buttons is pressed). At the beginning of the ISR, a simple logic
executes, and the interrupt flag clears. When you press the SW2 button, the demo mode starts; when you
press the same button again, the application stops and transitions back to the STOP state. There is also
an LED indication of the current application state. The green continuous LED indicates that the
application is in the RUN state, the flashing LED indicates the FAULT state, and the LED off (or red
LED) indicates the STOP state.
Control the application using the buttons on the NXP Kinetis V Tower System and Freedom
development boards. Because the HVP platform does not provide any push-buttons to control the
application, the demo mode runs automatically after the HVP board is switched on.
6.1. Control button
Pressing the control button switches the demo mode on (or switches the demo mode off if it is currently
switched on). Table 14 shows the correct switch button for your development board.
Table 12. Control button assignment
Board Control button LED state indication
TWR-KV46F150M
SW2
D5
TWR-KV58F220M
SW2
D5
TWR-KE18F
SW2
D5
FRDM-KV11Z
SW2
D4
FRDM-KV31F
SW2
D4
FRDM-KE15Z
SW2
D4
FRDM-KE16Z
SW2
—
HVP-KV31F
—
D20
HVP-KV46F
—
D20
HVP-KV58F
—
D20
HVP-KE18F
—
D20
6.2. Remote control using FreeMASTER
Remote operation is provided by the FreeMASTER software via the USB interface. FreeMASTER 3.0 is
required for optimal operation of the application. The FreeMASTER 3.0 application installation is
available for download at www.nxp.com/freemaster.
Perform these steps to control a BLDC motor using FreeMASTER:
1. Open the FreeMASTER project file (bldc.pmp) in the
<sdk_package_folder>middleware/motor_control/freemaster folder.
2. Click the communication button (the green “GO!” button in the top left-hand corner) to establish
the communication.

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Figure 14. Green "GO!" button in top left hand corner
When the communication is successfully established, the FreeMASTER communication status in the
bottom right-hand corner should change from “Not connected” to “RS232 UART Communication;
COMxx; speed=115200”. When the communication setup fails, a FreeMASTER warning pop-up
window appears.
Figure 15. FreeMASTER communication status when communication is established successfully
3. Control the BLDC motor using the control page.
If the communication setup fails, perform these troubleshooting steps:
1. Go to the “Project->Options->Comm” tab and make sure that “COM_ALL” is set in the “Port”
option and the communication speed is set to 115200 bps.
Figure 16. FreeMASTER communication setup window

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2. When “OpenSDA-CDC Serial Port” is not displayed in the message window next to the “Port”
drop-down menu, unplug and plug in the USB cable and reopen the FreeMASTER project again.
3. Make sure that your development board is supplied by a sufficient power source. Sometimes the
USB PC port does not have sufficient power to supply the development board.
6.2.1. FreeMASTER TSA and user variables addition to FreeMASTER watch
By default, all projects use the TSA (Target Side addressing). This means that the information about the
variables’ address and size are stored in the MCU flash memory. The TSA feature may be enabled or
disabled by the BOARD_FMSTR_USE_TSA macro in the board.h file. Only the variables necessary for
the MCAT functionality are stored in the TSA and visible in FreeMASTER. If you want to monitor your
own variables, provide a symbol file which contains the information about the addresses of all variables
in the project to FreeMASTER. The symbol files are generated during the build process to the
boards/demo_apps/mc_bldc/<compiler>/<debug or release> folder. The symbol files have different
extensions for different compilers (IAR generates *.out, Keil and MCUXpresso generate *.axf). For
more information about the TSA, see FreeMASTER Serial Communication Driver (document
FMSTERSCIDRVUG).
Figure 17. FreeMASTER symbol file selection
6.2.2. Control page
After launching the application and performing all necessary settings, control the BLDC motor using the
FreeMASTER control page. The FreeMASTER control page contains:
•Speed gauge—shows the actual and required speeds.

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•Speed slider—sets the required speed.
•DC-bus voltage gauge—shows the actual DC-bus voltage.
•DC-bus current gauge—shows the actual DC-bus current.
•DC-bus current limitation slider—sets up the DC-bus current limit.
•Demo mode button—turns the demonstration mode on/off.
•STOP button—stops the whole application.
•Application State Notification—shows the actual application state and faults.
Figure 18. FreeMASTER control page
The MCAT tuning tool plug-in module is in the FreeMASTER GUI.This tool is targeted at
motor-control applications, where you can change the motor-control parameters or adjust the start-up
and control parameters. Each tab represents one submodule of the embedded-side control, and tunes its
parameters. For more information, see Sensorless BLDC Control on Kinetis KV (document AN4642).
Here are the basic instructions:
•To start the motor, set up the required speed using the speed slider.