Xilinx Spartan 6 FPGA User manual

Qdesys Sensorless Field Oriented Control Quick Start Guide
© Copyright 2012 Xilinx
1
Qdesys Sensorless Field Oriented
Control Quick Start Guide
Version 1.0
Xilinx®Spartan™-6 FPGA
Motor Control Development Kit

Qdesys Sensorless Field Oriented Control Quick Start Guide
© Copyright 2012 Xilinx
2
Revision History
DATE
VERSION
REVISION
10/31/2012
1.0
Initial Release

Qdesys Sensorless Field Oriented Control Quick Start Guide
© Copyright 2012 Xilinx
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Qdesys Sensorless Field Oriented Control Quick Start Guide
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TABLE OF CONTENTS
ABOUT THIS GUIDE ............................................................................................................. 6
Additional Documentation ........................................................................................................................................................ 6
Additional Support Resources.................................................................................................................................................. 6
QDeSys SFOC DEMO SET UP AND INSTRUCTIONS.........................................................7
Introduction.......................................................................................................................................................................... 7
Field Oriented Control System Diagram .............................................................................................................................. 8
QDeSys MC Manager GUI Instructions................................................................................................................................ 9
Host PC Network Configuration ........................................................................................................................................... 10
Firewall Settings .................................................................................................................................................................. 11
Motor Demo Hardware Requirement.................................................................................................................................... 13
Xilinx Software Installation................................................................................................................................................... 14
Programming the flash using iMPACT ................................................................................................................................. 18
RUNNING THE DEMO...........................................................................................................19
Using the GUI...................................................................................................................................................................... 19
Setting the Motor Type......................................................................................................................................................... 20
Spinning the Motors............................................................................................................................................................. 22
Main panel Description ........................................................................................................................................................ 24
Waveform Display................................................................................................................................................................ 26
Waveform Description.......................................................................................................................................................... 27
ADVANCED DEMO................................................................................................................29

Qdesys Sensorless Field Oriented Control Quick Start Guide
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About this Guide
This guide provides detailed information for getting started with the Qdesys Sensorless Field Oriented Control (FOC) demonstration
on the Xilinx Spartan-6 FPGA Motor Control Development Kit. Follow the steps outlined in the following sections to install and
enable the required software for this kit and run the FOC demonstration.
Additional Documentation
The following documents are available for download at:
http://www.xilinx.com/products/silicon-devices/fpga/spartan-6/index.htm
http://www.xilinx.com/support/documentation/spartan-6.htm
Spartan-6 Family Overview: This overview outlines the features and product selection of the Spartan-6 family.
Spartan-6 FPGA Data Sheet: DC and Switching Characteristics: This data sheet contains the DC and switching
characteristic specifications for the Spartan-6 FPGAs.
Spartan-6 FPGA Packaging and Pinout Specifications: This specification includes the tables for device/package
combinations and maximum I/Os, pin definitions, pinout tables, pinout diagrams, mechanical drawings, and thermal
specifications.
Spartan-6 FPGA Configuration User Guide: This all-encompassing configuration guide includes chapters on configuration
interfaces (serial and parallel), multi-bitstream management, bitstream encryption, boundary-scan and JTAG configuration, and
reconfiguration techniques.
Spartan-6 FPGA SelectIO Resources User Guide: This guide describes the SelectIO™ resources available in all Spartan-6
devices.
Spartan-6 FPGA Clocking Resources User Guide: This guide describes the clocking resources available in all Spartan-6
devices, including the DCMs and PLLs.
Spartan-6 FPGA Block RAM Resources User Guide: This guide describes the Spartan-6 device block RAM capabilities.
Spartan-6 FPGA DSP48A1 Slice User Guide: This guide describes the architecture of the DSP48A1 slice in Spartan-6
FPGAs.
Spartan-6 FPGA PCB Designers Guide: This guide provides information on the PCB design for Spartan-6 devices, with a
focus on strategies for making design decisions at the PCB interface level.
System Generator Users Guide: This guide provides information using System Generator with Simulink®to create DSP
designs targeted to Xilinx FPGAs.
Additional Support Resources
To search the database of silicon and software questions and answers or to create a technical support case in WebCase, see the
Xilinx website at: http://www.xilinx.com/support.

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Qdesys Sensorless Field Oriented Control
Demo Setup & Instructions
This guide provides detailed information for getting started with the Xilinx Spartan-6 FPGA Motor Control
Development Kit using Qdesys IP for Sensorless Field Oriented Control of DC motors.
Introduction
The Xilinx Spartan-6 FPGA Motor Control Development Kit was designed by Avnet in collaboration with
Xilinx. The kit is designed for ease-of-use, flexibility to support multiple DC motor types, and
demonstration of advanced algorithms exhibiting high performance and efficiency.
Traditional HDL-based reference designs are provided as an introduction to FPGA-based motor control.
ISE®Design Suite: System Edition is used to implement the top-level design, leveraging System
Generator for DSP to design, verify, and generate HDL for a PI speed control loop using MathWorks®
Simulink®. These designs may be downloaded from Avnet’s Design Resource Center (DRC). Here is
the link to the Avnet DRC: http://www.em.avnet.com/en-us/design/drc/pages/default.aspx
In addition to these HDL designs, a demonstration of a powerful set of modular building blocks for
Sensorless Field Oriented Control (SFOC) from third-party IP provider Qdesys is also available on the
Avnet DRC. This design suite includes FOC algorithms, advanced modulation schemes, and a
comprehensive graphical user interface for monitoring motor parameters and fine tuning performance.
This User’s Guide will walk you through the steps to setup the Spartan-6 LX75T development board and
the Motor FMC daughter card and to run the basic Qdesys Sensorless Field Oriented Control
demonstration. If you have not already installed the Xilinx ISE®software, you will be directed through the
steps to install the software, get updates and generate a license.
What’s Available Online?
License for ISE Design Suite: System Edition
ohttp://www.xilinx.com/getproduct
ohttp://www.xilinx.com/tools/faq.htm
Development Kit home page with Documentation and Reference Designs
ohttp://www.xilinx.com/applications/industrial/motor-control
ohttp://www.em.avnet.com/spartan6motor
Technical Support
ohttp://www.xilinx.com/support
Qdesys IP pricing & information
ohttp://www.qdesys.com
omailto: [e-mail]

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Field Oriented Control System Diagram
The diagram below shows a high level depiction of the main blocks and architecture for this Field
Oriented Control (FOC) demonstration. Two motor phase currents are sampled and the missing third
phase current is calculated using Kirchoff’s Current Law. The 3 phase currents are converted into a 2-
axis, stationary coordinate system using the Clarke Transform. The 2-axis system is then translated into
a rotating frame of reference (the rotor’s frame of reference) via the Park Transform. The PID loops
calculate and correct the error. The inverse transforms are applied and then a final modulation stage
creates the proper PWM sequence for the h-bridge circuitry to deliver power to the motor.
This closed loop control system enables precise control of motor torque, which leads to better efficiency,
smoother operation, lower cost motors, and longer lasting equipment. Note that in this demonstration, the
motor position (theta) is obtained by using a sensorless algorithm known as a Sliding Mode Observer.
This eliminates the need for costly encoders and bulky wiring harnesses. However, the Qdesys design
also allows an encoder connection, which is desirable in some applications.
Before you set up the board, please install the host PC software, including the Qdesys MC
Manager GUI and other software and settings needed to demonstrate the QDESYS IP.

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QDESYS MC Manager GUI Installation
1. Install Microsoft .NET Framework 4.0 redistributable package Full version
a. Filename: dotNetFx40_Full_x86_x64.exe
b. URL: http://www.microsoft.com/download/en/details.aspx?id=17718
2. Install Microsoft Visual C++ 2010 Redistributable Package (x86)
a. Filename: vcredist_x86.exe
b. URL: http://www.microsoft.com/download/en/details.aspx?id=5555
3. Install National Instruments LabVIEW Run-Time Engine 2010 SP1
a. Filename: LVRTE2010sp1std.exe
b. URL: http://joule.ni.com/nidu/cds/view/p/id/2292/lang/en
4. Install Qdesys MC Manager
a. Archive Name: qdesys_demo_files.zip
b. Filename: mc_manager_rel_1.0.0.38.zip
c. URL: http://em.avnet.com/spartan6motor (click Support Files & Downloads)
After you have unzipped the mc_manager archive and run the mcm_setup.msi file, you’ll find a new entry
in your Windows ‘programs’ menu named ‘qdesys’. Here is the default path:
There are many useful files in this directory:
1. Mc_manager.pdf has additional documentation on how to use the demo. It can also be
accessed from the help menu of the demonstration GUI. The document you are reading is less
detailed, but contains instructions to more quickly get the demo up and running.
2. Mc_manager.exe will open up the GUI to control the motors
3. The db_motors and db_boards folders contain the motor configuration files and the board
configuration files respectively.

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Host PC Network Configuration
1. Start Control Panel Network Connections
2. Local Area Connection -> Properties
3. Double-click Internet Protocol (TCP/IP)
4. Set IP Address to: 192.168.1.1 (the baseboard has a fixed IP address of 192.168.1.100, so you
may choose other host IP addresses around it, for example 192.168.1.2 –192.168.1.99)
5. Click on Control Panel Network and Sharing LAN Configure and set Link Speed and
Duplex to Autonegotiation as shown below:

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Firewall Settings:
The host computer must allow transactions on its Ethernet port from the FPGA firmware. The easiest
way to allow this on the host PC is to disable all Firewall programs. However this is often not possible or
not desired. Instead a single exception can be made for this application by following a few simple steps in
Windows 7. The process will be similar for other Windows versions.
1. Start Control Panel Windows Firewall
2. Select the quick link on the left side pane Allow a program or feature through Windows
Firewall
3. Click the Change Settings button
4. Click Allow another program

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5. Select the mc_manager.exe file from the root installation path shown below
6. Once you’ve added the exception for mc_manager.exe, check the boxes as shown below.

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Motor Demo Hardware Requirements
All hardware required to run the motor demonstration and tutorials is provided with the Spartan-6 FPGA
Motor Control Development Kit.
Motor Demo Setup Instructions
1. Connect the Portescap 16BHS Brushless DC (BLDC) motor to the Motor FMC module ports –
MOTOR_1_SENSOR and MOTOR_1 (Leave motor 5-pin (black) sensor connector disconnected, as
this is a “sensorless” demo)..
Figure 2
2. Move SW800 on the Motor FMC module to the FMC_12V power position as shown in Figure 2.
3. Connect 6-pin baseboard power adapter.
4. Connect the Cat-5 Ethernet cable to the S6LX75T baseboard and your laptop.
5. Attach the HS1 JTAG USB Programming cable to the baseboard at connector J1.
6. Attach the 12V wall power supply to baseboard 6-pin connector J2 using the provided adapter cable.
7. Power up the board by turning the baseboard slider power switch ON.
The Qdesys demonstration bitstream must be loaded into the S6LX75T baseboard flash in order
to configure the FPGA. That process is covered in the following sections.
SW800
Power Switch
5-pin Sensor Connection
JTAG

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Xilinx Software Installation
Follow these instructions for installing the Xilinx Lab Tools software, unless you already have a
version of the Xilinx tools installed on your host computer.
1. Run the ISE Design Suite Installer:
a. Option 1: Insert the ISE Design Suite DVD included in this kit into the computer
oIf the Installer does not start automatically, run the “xsetup” executable from the DVD
b. Option 2: Run the Web Installer that can be downloaded from
http://www.xilinx.com/support/download/index.htm
A screen will appear with a welcome dialog, two license agreement dialogs and an opportunity to select the
location for the software installation.
Note: Lab Tools software does not require a license file so that step can be skipped.
Figure 11: ISE Install Welcome Screen

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Figure 12: ISE End-User License Agreement
Figure 13: ISE Third-Party Usage License Agreement

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Figure 14: Select Edition to Install
Figure 15: Select Installation Options

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Figure 16: Select Destination Directory and Program Folder
Figure 17: Installation Summary

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Programming the Flash using iMPACT
The Qdesys demonstration bitstream must be loaded into the S6LX75T baseboard flash in order to
configure the FPGA. That process is covered in the following sections.
Locate the following zip file in the downloaded archive. This can be found in the archive downloaded at
the beginning of this guide during the QDESYS MC Manager GUI Installation (step 4).
Archive Name: qdesys_demo_files.zip
File name: lx75t_mc_rel_c2_0.47.0.zip
URL: http://em.avnet.com/spartan6motor (click Support Files & Downloads)
Extract the lx75t_mc_rel_c2_0.47.0.zip file to your host PC. You will use the “.mcs” file for programming
the flash.
Download the FPGA bitsream to the on-board flash
1. Open the Xilinx iMPACT programming tool at Start All programs Xilinx ISE Design Suite
ISE Design Tools 64 Bit tools iMPACT (path may differ slightly for non-Windows 7
versions of Xilinx tools)
2. Double-click “Boundary Scan” in the IMPACT Flows window
3. Select File Initialize chain
4. Now Right click on the device and select add SPI/BPI Flash and then select the file
“s6lx75t_spi_prom.mcs”(found in the lx75t_mc_rel_c2_0.47.0.zip archive you extracted)
5. Click ok and select the flash: N25Q128 in the drop down menu.
6. Right click on the FLASH device on top of the green Xilinx device and select program. The flash
will be programmed with the .mcs file.
You are now ready to run the demo!

Qdesys Sensorless Field Oriented Control Quick Start Guide
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Running the Demo
The Qdesys Motor Control Manager Application (mc_manager) provides an extensive graphical user
interface for controling and monitoring the system. This is an extensive suite of applications that allow the
expert user to monitor every aspect of the control loop and finely tune the peformance for their particular
motors and system parameters. In addition, there high level controls that allow for quick demonstrations
without expert knowledge of motor control or this application. The following steps will introduce you to
some of the basic functionality.
Using the GUI:
1. From the Windows Start menu choose Start All Programs Qdesys mc_manager 
mc_manager
2. When the mc_manager GUI opens, click RUN to initialize the Ethernet connection. Verify
that the link connection status illuminates green in the window. Note that it may turn orange for
several seconds while negotiating the link. You should get this on the GUI after the connection is
complete:

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NOTE –If the link status remains red, try one of the following actions:
Disable the firewall & antivirus software on your laptop
Check the IP address settings (see section “Host PC Network Configuration”)
Ensure that you programmed the FPGA configuration flash as described in previous
steps.
Setting the motor type:
3. Click Motor 0 to open the Main Panel for the motor connected to the MOTOR_1 position on the
FMC module.
4. In the window that opens click on File Open. You will see a selection of all motors.
5. Select the following motor which is provided with the S6MC1 kit: 16BHS-3C-P01.xml. This XML
file descriptor sets the appropriate parameters in the GUI for control of that particular motor,
selecting a different motor profile may lead to damages.
Note that adding new motors to the system requires only the addition of an XML file containing the
specific parameters of that motor (i.e. Torque Constant, BEMF Constant, etc.) and the user’s system.
Modifying and existing XML file is the best way to get started. This allows for rapid adoption with
custom motors not provided in the kit.