Toshiba TB6605FTG User manual

RD022-RGUIDE-01-E
2019-Jan-15
Rev.1.0
1/ 31
© 2019
Toshiba Electronic Devices & Storage Corporation
Motor Control Closed-loop System
REFERENCE GUIDE
RD022-RGUIDE-01-E

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Rev.1.0
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© 2019
Toshiba Electronic Devices & Storage Corporation
Table of Contents
1. INTRODUCTION .....................................................................................................................4
2. FEATURES..............................................................................................................................5
3. SPECIFICATIONS...................................................................................................................5
4. EXTERNAL VIEW....................................................................................................................6
5. WIRING CONNECTION...........................................................................................................7
6. SWITCHES..............................................................................................................................8
Potentiometer.......................................................................................................................................................8
7. MCD+MCU MODE...................................................................................................................9
Block Diagram in Case of MCD+MCU Mode .....................................................................................................9
Hardware Connection..........................................................................................................................................9
Jumper Setting...................................................................................................................................................10
Arduino Connection ..........................................................................................................................................11
LCD Shield..........................................................................................................................................................12
Usage..................................................................................................................................................................13
Software on Arduino UNO ................................................................................................................................14
Arduino Sketch ..................................................................................................................................................14
Connection with Arduino UNO.........................................................................................................................16
Code Uploading to Arduino UNO...................................................................................................................17
Serial Monitor of Arduino IDE.........................................................................................................................18
How to Change Kp in Serial Monitor .............................................................................................................19
Selected LCD Shield........................................................................................................................................20
Motor Speed Control for MCD + MCU............................................................................................................21
8. MCD＋OP-AMP MODE .........................................................................................................24
Block Diagram In Case of MCD＋Op-AMP......................................................................................................25
Usage..................................................................................................................................................................26
OPERATING PROCEDURE ...............................................................................................................................27

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Speed Control Part ............................................................................................................................................28
Auto Lead Angle Setting...................................................................................................................................29
9. ATTACHED BRUSHLESS MOTOR PARAMETERS.............................................................30

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1. INTRODUCTION
This reference guide describes the usage of Motor Control Closed-loop system incorporating Toshiba’s
BLDC motor driver IC TB6605FTG. The board is designed as a plug-in board (Shield) for Arduino UNO
platform. This document provides guidelines to quickly setup the hardware and software for BLDC motor
driver IC performance evaluation.
This system can be used as two types:
1. MCD + MCU mode
2. MCD + Op-Amp mode
Motor Control Closed-loop System evaluation kit includes:
‒Motor Control Reference Board (with Arduino connector)
* Arduino is not attached.
‒Brushless Motor (attached)
Figure 1-1 Motor Control Closed-loop system
In MCD+MCU mode, the following items are needed for evaluation.
-MCU Arduino (Not attached, Commercial goods)
-LCD module (Commercial goods)

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2. FEATURES
●Support three-Hall sensor BLDC motor driver
●Motor control function: Start, Brake, CW/CCW function
●Tune motor rotation speed with potentiometer
●A reference motor is attached for quick start
●Replaceable resistors and capacitors are used to adopt other motors
●Two work modes are available:
1. MCD+MCU mode
Designed as plug-in Shield for Arduino UNO platform
Speed closed-loop control is implemented based on PID control in software.
Arduino example program (Sketch) is provided.
2. MCD + Op-Amp mode
Speed closed-loop control is implemented using Op-Amp on the board.
3. SPECIFICATIONS Table 3-1 Specifications
Parameter Description
TB6605FTG Sine Wave BLDC motor controller
Power supply voltage 10V－28V DC
Attached motor specifications Middle speed motor 10V－24V
/
0.5A－10A
/
Output 26W/ 4000rpm
Motor driver output + MosFET N ch+ Nch MosFET (Toshiba TK20P04M1)
Main ICs TB6605FTG, TC75S5１F, TK20P04M1
(Arduino UNO is needed in MCD+MCU mode.)
MosFET specifications and
package information
TK20P04M1: NMOS, 40V/20A, DPAK, Rdson=19m
Ω

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4. External View
Figure 4-1 External View
Motor switch
Arduino connector
Arduino connector
Switch for work mode:
- MCD+OpAmp
- MCD+MCU
Test pin (VSP)
Test pin (HP)
Hall sensor
connector
Motor connector
Potentiometer
(Speed adjustment)
TB6605FTG
TC75S51F
TK20P04M1

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5. Wiring Connection
Figure 5-1 Wiring Connection
Note:
Phase U/V/W line of motor should be connected with U/V/W on reference model.
Do not mix Hall U/V/W line and Phase U/V/W line.
+5V RED
HALL U YELLOW
HALL V GREEN
HALL W BLUE
GND BLACK
Phase U YELLOW
Phase V GREEN
Phase W BLUE
Motor Cable
Power supply
10-28V
2A current limited
If an attached motor does
not rotate, check if the
current is lower than
0.02A.

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6. Switches
The Closed-loop system includes:
‒ Start switch for starting or stopping motor rotation
‒ Brake switch for stopping motor rotation in an emergency
‒ CW/CCW switch for setting rotation direction
‒ Speed control by potentiometer (see 6.1)
The settings are shown in below:
START BRAKE Mode
L H Active/Normal
L L Active/Brake
H H/L Standby
HL
CW/CCW CCW CW
OVP Sine wave Square wave
Figure 6-1 Switches
Potentiometer
Motor speed can be controlled using potentiometer.
In MCD + Op-Amp mode:
Target speed increases in a counter-clockwise direction
In MCD+MCU mode:
Target speed increases by 100RPM in a counter-clockwise direction.
LCD displays target speed is shown as below:
CW/CCW
BRAKE
START
OVP
Push to outer side
to start rotation

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7. MCD+MCU Mode
Block Diagram in Case of MCD+MCU Mode
Figure 7-1 Block Diagram in MCD+MCU Mode
Hardware Connection
Figure 7-2 Hardware Connection
LCD shield
TOP
Arduino UNO
BOTTOM
MCD shield
MIDDLE

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Jumper Setting
Figure 7-3 Jumper Setting
Table 7-1 Jumper Setting
JP4,
JP3
JP6
JP5
JP2, JP7

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Arduino Connection
Figure 7-4 Arduino Connection
A0, A4, A5: for connection with LCD shield
D0, D1: for serial Tx/Rx, debug log out and set
target speed
xxx: used for motor control
IDC, LA are not used in the current solution.

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LCD Shield
Figure 7-5 LCD Shield

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Usage
Perform steps (1) to (11) in order.
This system includes a 42BLF BLDC motor manufactured by ACT motor.
Motors must be a Hall sensor BLDC type for normal working.
Table 7-2 Usage for MCD+MCU mode
Step Item
(1) Check the R/B exterior, set the switch correctly as described in 6.
(2) Connect the motor to the board. (see 5)
(3) Insert the R/B board to Arduino and insert the LCD board to the R/B board.
(4) Connect the stabilized power supply to the R/B board.
(5) Check the motor control switch. Set the start switch to “H”. Set the brake
switch to “H”. Set the OVP switch as desired (“L”: square wave, “H”: sine
wave). Set the CW/CCW switch as desired rotation direction. (“L”: CW, “H”:
CCW)
(6) Supply power to the R/B board.
(7) Connect PC with Arduino board via USB cable. Upload the attached sketch
to Arduino. (See 7.4)
(8) Tune potentiometer on R/B board to set target speed which is displayed on
LCD.
(9) Start motor rotation by changing the start switch to “L”. Check if motor
rotation speed displayed on LCD can achieve target speed.
(10) Tune potentiometer on R/B board to change target speed which is displayed
on LCD. Check if motor rotation speed displayed on LCD can achieve to the
target speed.
(11) Stop motor rotation by changing Start switch to “H”.
To rotate the motor, shift the start switch of the shield to “L”.
Current rotation speed is displayed as “C” parameter of the LCD module.
After rotation is started, rotation speed is controlled to maintain the current speed even power supply
voltage is changed.

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Software on Arduino UNO
The latest Arduino Software (IDE) can be downloaded here:
https://www.arduino.cc/en/Main/Software
Read the appropriate procedure for your system.
Please download and install it.
Run the Arduino IDE and open the provided example sketches.
Figure 7-6 Arduino IDE
Arduino Sketch
A sketch is the name that Arduino uses for a program. This system needs a sketch “closed_loop_mcd.ino” to
implement closed-loop system.
closed_loop_mcd.ino includes 3rd party libraries:
–#include <LiquidCrystal_I2C.h>
–#include <TimerOne.h>
* Refer to next page for how to install 3rd party libraries.
LiquidCrystal_I2C: Display characters on LCD shield
TimerOne: Use hardware Timer 1 for running an periodic interrupt function

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7.8.1. How to Install
1. Unzip LiquidCrystal_I2C.zip and TimerOne.zip
2. Copy folder LiquidCrystal_I2C and TimerOne to
“…∖Documents∖Arduino∖libraries”
3. Check if library is installed:
Arduino IDE->Sketch->Include Library-> LiquidCrystalI2C
Arduino IDE->Sketch->Include Library-> TimerOne
Figure 7-7 Install

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Connection with Arduino UNO
1. Open closed_loop_mcd.ino using Arduino IDE
2. Connect the PC with Arduino board with USB cable
3. Select Board and Port
Figure 7-8 Connection with Arduino UNO

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Code Uploading to Arduino UNO
1. Verify/compile code till no errors reported
2. Upload program to Arduino board by USB cable
Figure 7-9 Code Uploading to Arduino UNO

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Serial Monitor of Arduino IDE
Monitor Serial output for debugging
Figure 7-10 Serial Monitor

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How to Change Kp in Serial Monitor
A Kp value can be changed using Serial Monitor for PI control.
When a Kp value is changed, upload the revised sketch to Arduino again.
Figure 7-11 Changing Kp value
1. Input Kp value 2. Click Send button 3. Kp is changed

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Selected LCD Shield
‒ HW
Use three signal pins of Arduino connectors.
‒ SW
Library “LiquidCrystalI2C” is dedicated for the LCD shield in this R/B.
7.13.1. Other Type Shield
‒ HW
May use more signal pins of Arduino connectors.
Please refer to pin assignment in 7.9. Do not use pins for motor and serial.
‒ SW
Use a library provided by vender of your LCD shield and modify the software accordingly.