ST STEVAL-IHM015V1 User manual

October 2008 Rev 2 1/53
UM0432
User manual
Low voltage motor control demonstration board
based on ST7MC MCU
Introduction
The low-voltage motor control demonstration board (also referred to by its order code
STEVAL-IHM015V1) is a complete development platform for low-voltage motor control
applications. Based on a cost-effective, flexible and open design, it allows easy
demonstration of ST7MC capabilities to drive low-voltage synchronous motors. It includes
an ST7MC 8-bit microcontroller with a 16-Kbyte internal Flash memory. The STEVAL-
IHM015V1 comes with all the hardware necessary for developing motor control applications
based on ST7MC peripherals including a motor control peripheral (MTC) and serial
communication interface (SCI). The STEVAL-IHM015V1 uses an in-circuit communication
(ICC) standard interface to connect to the host PC via in-circuit debuggers/programmers
such as the in DART-STX board from Softec. The board’s power stage is designed to
support up to 25 A and up to 48 V. With the included power MOSFET device STS8DNH3LL
in SO-8 package, the maximum input voltage is 30 V and the maximum current rating is 8 A.
The power supply stage can be easily configured to accept a wide range of input voltages.
Figure 1. STEVAL-IHM015V1
Features
■Voltage range from 5 to 48 V
■Maximum current up to 25 A
■Power MOSFET STS8DNH3LL (dual n-channel) 8 A/30 V included
■Compatible with power MOSFET in SO-8 and DPAK packages
■10 V auxiliary power supply connector
■Serial communication interface connector
■Programming and debug support via a 10-pin ICC connector
■On-board 2 K-bit (256 bytes) serial memory
■Four potentiometers for runtime settings
■Start/stop button
■Reset button
■Debug pins available
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Contents UM0432
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Contents
1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 Safety and operating instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Intended use of the demonstration board . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Installing the demonstration board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Electronic connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5 Operating the demonstration board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 ST7FMC2S4T6 microcontroller functions . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4 STS8DNH3LL characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5 Electrical characteristics of the board . . . . . . . . . . . . . . . . . . . . . . . . . 13
6 Board architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.2 Power stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.3 ICC connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.4 SDI interface (serial data interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.5 Board schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7 Motor control operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.1 Environmental considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.2 Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.3 Software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.3.1 Installing the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7.4 Board setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.4.1 Choosing the right firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.4.2 Configuring the firmware using the GUI . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.4.3 Motor type selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.4.4 "3-phase BLAC/DC (trapezoidal)" settings . . . . . . . . . . . . . . . . . . . . . . 25
7.4.5 "3-phase BLAC/DC (trapezoidal)" advanced settings . . . . . . . . . . . . . . 27
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UM0432 Contents
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7.4.6 "3-phase PMAC motor (sinewave)" settings . . . . . . . . . . . . . . . . . . . . . 29
7.4.7 "3-phase PMAC motor (sinewave)" advanced settings . . . . . . . . . . . . . 31
7.4.8 Changing the maximum current allowed by GUI . . . . . . . . . . . . . . . . . . 32
7.4.9 Compiling the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.4.10 Programming the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4.11 Setting the option bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.4.12 Configuring the DC input range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.13 Jumper settings table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4.14 Board connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.15 Changing the maximum allowed bus voltage level . . . . . . . . . . . . . . . . 36
7.4.16 Changing the maximum allowed current level . . . . . . . . . . . . . . . . . . . . 37
7.5 Driving the BLDC motor (trapezoidal - sensorless) . . . . . . . . . . . . . . . . . 38
7.5.1 Specific connection (sensor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.5.2 Specific jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.5.3 LED action after power-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.5.4 Setting the potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.5.5 Running the motor (LED action) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.5.6 Changing the real-time parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.5.7 Stopping the motor (LED action) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.5.8 Configuring the system for BEMF amplification . . . . . . . . . . . . . . . . . . . 40
7.5.9 Detecting the BEMF during the PWM on time . . . . . . . . . . . . . . . . . . . . 40
7.5.10 Detecting the BEMF using the internal reference . . . . . . . . . . . . . . . . . 41
7.5.11 Detecting the BEMF using the external reference VBus/2 . . . . . . . . . . . 41
7.5.12 Detecting the BEMF using the external reference and reconstructed
neutral point of the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.6 Driving the BLDC motor (trapezoidal - sensored) . . . . . . . . . . . . . . . . . . 42
7.6.1 Specific sensor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.6.2 Specific jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.6.3 LED action after power-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.4 Setting the potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.5 Running the motor (LED action) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.6 Changing the real-time parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.7 Stopping the motor (LED action) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.7 Driving the BLAC motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.7.1 Specific sensor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.7.2 Specific jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.7.3 LED action after power-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
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7.7.4 Setting the potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.7.5 Running the motor (LED action) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.7.6 Changing the real-time parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.7.7 Stopping the motor (LED action) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8 Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
10 Known limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
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UM0432 List of tables
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List of tables
Table 1. ST7FMC2S4T6 functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 2. STS8DNH3LL absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 3. Electrical characteristics of the control board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 4. Power supply jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 5. Compatible devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Table 6. Firmware libraries arranged according to driving strategy . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table 7. ".h" configuration files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table 8. "3-phase BLAC/DC (trapezoidal)" basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Table 9. "3-phase BLAC/DC (trapezoidal)" advanced parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Table 10. "3-phase PMAC motor (sinewave)" basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Table 11. "3-phase PMAC motor (sinewave)" advanced parameters. . . . . . . . . . . . . . . . . . . . . . . . . 31
Table 12. Jumper settings table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Table 13. Bus voltage threshold parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 14. BLDC SL jumpers setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 15. Potentiometer functionality based on open/closed loop driving strategy . . . . . . . . . . . . . . 39
Table 16. BLDC SL with BEMF amplification jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 17. "BLDC sensored" motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 18. BLDC SR jumper settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 19. Potentiometer functionality based on open/closed loop driving strategy . . . . . . . . . . . . . . 44
Table 20. "PMAC sensored" motor connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 21. PMAC SR jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 22. Potentiometer functionality based on an open-/closed-loop driving strategy . . . . . . . . . . . 46
Table 23. Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 24. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
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List of figures UM0432
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List of figures
Figure 1. STEVAL-IHM015V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Figure 2. Motor control system architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 3. STS8DNH3LL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 4. Board architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 5. Power supply architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 6. Footprint selection of power devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 7. Board layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 8. ICC connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 9. SDI connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 10. Board schematic: control block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 11. Board schematic: power block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 12. STVD7 for InDART-STX toolset configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 13. Motor Type Choice window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 14. "3-phase BLAC/DC (trapezoidal)" basic parameters window . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 15. "3-phase BLAC/DC (trapezoidal)" advanced parameters window . . . . . . . . . . . . . . . . . . . 28
Figure 16. "3-phase PMAC motor (sinewave)" basic parameters window. . . . . . . . . . . . . . . . . . . . . . 29
Figure 17. "3-phase PMAC motor (sinewave)" advanced parameters window . . . . . . . . . . . . . . . . . . 31
Figure 18. ST7VD active project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 19. System setup for programming phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 20. Option byte settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 21. Programming option Auto window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 22. System setup for running phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
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UM0432 System architecture
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1 System architecture
A generic motor control system can be basically schematized as the arrangement of four
main blocks (see Figure 2).
●A control block, whose main tasks are to accept user commands and motor drive
configuration parameters and to provide digital signals to implement the correct motor
driving strategy.
●A power block that makes a power conversion from the DC bus transferring it into the
motor by means of a 3-phase inverter topology.
●The motor itself. The STEVAL-IHM015V1 board can drive the following kinds of motors.
– PMDC (or BLAC/BLDC) permanent magnet motors, 6-step current, both in
sensored and sensorless mode.
– PMAC (or BLAC) permanent magnet motors, sinusoidal current, only in sensored
mode.
●A power supply block that accepts a wide range of input voltages and provides the
appropriate levels to supply both the control block and power block devices.
Figure 2. Motor control system architecture
The system proposed by the STEVAL-IHM015V1 includes all the above hardware blocks
(apart from the motor) plus a software GUI to configure the motor drive. Additionally, open-
source C code is available, derived from the ST7MC motor control libraries, allowing easy
customization and extension of the control algorithms.
The control block’s core consists of an ST7MC MCU that provides the driving signals to the
power block according to a driving strategy that is closely related to the motor type and
characteristics.
The driving signals consist of three complementary PWM signals (in the range of 0-5 V) for
providing logic inputs for the high-/low-side gate drivers that belong to the power block. The
proposed system has three legs (3-phase inverter).
The power block, based on the gate drivers L6387 and power MOSFET (STS8DNH3LL),
converts the control signals from the ST7MC MCU to power signals for the 3-phase inverter
in order to drive the motor.
The board can be supplied by a DC power supply from 5 up to 48 V with a maximum current
rating up to 25 A. Refer to Section 6 for more information on the system’s architecture.
With the included power MOSFET device STS8DNH3LL, the maximum voltage rating is
30 V and the maximum current rating is 8 A.
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Safety and operating instructions UM0432
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2 Safety and operating instructions
2.1 General
Warning: During assembly and operation, the STEVAL-IHM015V1
demonstration board poses several inherent hazards,
including bare wires, moving or rotating parts and hot
surfaces. Serious personal injury and damage to property
may occur if the kit or its components are used or installed
incorrectly.
All operations involving transportation, installation and use, as well as maintenance, should
be carried out by skilled technical personnel (national accident prevention rules must be
observed). Skilled technical personnel refers to suitably-qualified persons who are familiar
with the installation, use and maintenance of electronic power systems.
2.2 Intended use of the demonstration board
The STEVAL-IHM015V1 demonstration board is a component designed for demonstration
purposes only, and must not be used for electrical installations or machinery. Technical data
and information concerning the power supply conditions are detailed in the documentation
and should be strictly observed.
2.3 Installing the demonstration board
The installation and cooling of the demonstration kit boards must be in accordance with the
specifications and targeted application (see Section 7).
●The motor drive converters must be protected against excessive strain. In particular,
components should not be bent or isolating distances altered during transportation or
handling.
●No contact must be made with other electronic components and contacts.
●The boards contain electrostatically-sensitive components that are prone to damage if
used incorrectly. Do not mechanically damage or destroy the electrical components
(potential health risks).
2.4 Electronic connections
Applicable national accident prevention rules must be followed when working on the main
power supply with a motor drive. The electrical installation must be completed in accordance
with the appropriate requirements (for example, cross-sectional areas of conductors, fusing,
PE connections, etc). For further information, see Section 7.
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UM0432 Safety and operating instructions
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2.5 Operating the demonstration board
A system architecture that supplies power to the STEVAL-IHM015V1 demonstration board
must be equipped with additional control and protective devices in accordance with the
applicable safety requirements (for example, compliance with technical equipment and
accident prevention rules).
Warning: Do not touch the board immediately after it has been
disconnected from the voltage supply as several parts and
power terminals containing possibly-energized capacitors
need time to discharge.
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ST7FMC2S4T6 microcontroller functions UM0432
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3 ST7FMC2S4T6 microcontroller functions
3.1 Main features
●TQFP44 package.
●16 Kbyte dual-voltage Flash program memory with read-out protection capability.
●768 bytes of RAM (256 stacked bytes).
●Clock, reset and supply management with:
– enhanced reset system,
– enhanced low-voltage supervisor (LVD) for the main supply and auxiliary voltage
detector (AVD) with interrupt capability,
– clock sources: crystal/ceramic resonator oscillators and bypass for the external
clock, clock security system,
– four power-saving modes: halt, active-halt, wait and slow.
●Configurable window watchdog timer.
●Nested interrupt controller with 14 interrupt vectors.
●Two 16-bit timers.
●One 8-bit auto-reload timer.
●Serial peripheral interface (SPI).
●Serial communication interface (LINSCI™).
●Motor controller (MTC) peripheral with:
– 6 high-sink pulse-width modulator (PWM) output channels,
– asynchronous emergency stop,
– analog inputs for rotor position detection,
– permanent magnet motor coprocessor including multiplier, programmable filters,
blanking windows and event counters,
– op-amp and comparator for current limitations.
●10-bit analog-to-digital converter (ADC) with 11 inputs.
●In-circuit communication interface (ICC, debug).
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