Microchip Technology F1 LV Evaluation Platform Motor Control Add-Ons User guide

F1 LV Evaluation Platform

Motor Control Add-Ons

User’s Guide

 2012 Microchip Technology Inc. DS41629A

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QUALITY MANAGEMENT S

DS41629A-page 2  2012 Microchip Technology Inc.

ISBN: 9781620761236

Microchip received ISO/TS-16949:2009 certification for its worldwide headquarters, design and wafer fabrication facilities in Chandler and Tempe, Arizona; Gresham, Oregon and design centers in California and India. The Company’s quality system processes and procedures are for its PIC devices, Serial EEPROMs, microperipherals, nonvolatile memory and analog products. In addition, Microchip’s quality system for the design and manufacture of development systems is ISO 9001:2000 certified.

MCUs and dsPIC® DSCs, KEELOQ

code hopping

F1 LV EVALUATION PLATFORM

MOTOR CONTROL ADD-ONS

Table of Contents

Chapter 1. F1 LV Evaluation Platform Overview

1.1 Introduction ............................................................................................. 13

1.2 Hardware Overview ................................................................................ 13

1.2.1 Evaluation Platforms .............................................................................. 13

1.2.2 Add-on Boards ....................................................................................... 13

1.2.3 USB Interface ........................................................................................ 14

1.2.4 Add-on Board Power ............................................................................. 14

1.2.5 Add-on Board Memory .......................................................................... 14

1.3 PC Software Overview ........................................................................... 14

1.4 Using the F1LVDemo Control Software ................................................. 17

1.4.1 Software Updates .................................................................................. 17

1.4.2 Serial Link .............................................................................................. 17

1.4.3 Connecting the F1 LV Evaluation Platform to the Add-on Board .......... 17

1.4.4 Connecting the F1 LV Evaluation Platform to the PC ............................ 17

1.4.5 Open Versus Closed Loop .................................................................... 18

1.4.6 Changing Motor Parameters ................................................................. 18

1.4.7 Saving and Restoring Motor Parameters .............................................. 18

1.4.8 Hints for Optimum Performance ............................................................ 19

1.4.9 Header File Versus GUI Motor Parameters ........................................... 19

Chapter 2. The BLDC Add-on Board

2.1 Overview ................................................................................................. 21

2.1.1 Features ................................................................................................ 21

2.1.2 What’s Included ..................................................................................... 21

2.1.3 Reference Documents ........................................................................... 22

2.2 Board Setup ............................................................................................ 22

2.3 Hardware ................................................................................................ 22

2.3.1 General Architecture .............................................................................. 22

2.3.2 Attaching the Motor ............................................................................... 23

2.3.3 Power-Up ............................................................................................... 23

2.3.4 Power Stage .......................................................................................... 23

2.3.5 Protection .............................................................................................. 24

2.3.6 Speed Control ........................................................................................ 24

2.4 Demo Software ....................................................................................... 24

2.4.1 Introduction ............................................................................................ 24

2.4.2 The Motor Control GUI Application ........................................................ 24

2.4.3 BLDC Parameter Optimization .............................................................. 25

Chapter 3. The Brushed DC Add-on Board

3.1 Getting Started ....................................................................................... 29

3.1.1 Overview ................................................................................................ 29

3.1.2 Features ................................................................................................ 29

3.1.3 What’s Included ..................................................................................... 29

 2012 Microchip Technology Inc. DS41629A-page 3

F1 LV Evaluation Platform Motor Control Add-Ons

3.1.4 Reference Documents ...........................................................................30

3.2 Board Setup ............................................................................................ 30

3.3 Hardware ................................................................................................ 30

3.3.1 General Architecture ..............................................................................30

3.3.2 Attaching the Motor ................................................................................31

3.3.3 Power-Up ...............................................................................................31

3.3.4 Power Stage ..........................................................................................31

3.3.5 Protection ...............................................................................................32

3.3.6 UNI/O

3.3.7 Speed Control ........................................................................................32

3.4 Demo Software ....................................................................................... 32

3.4.1 Introduction ............................................................................................32

3.4.2 The Motor Control GUI Application ........................................................32

Chapter 4. The Bipolar Stepper Add-on Board

4.1 Getting Started ....................................................................................... 33

4.1.1 Overview ................................................................................................33

4.2 Features ................................................................................................. 33

4.2.1 What’s Included .....................................................................................33

4.2.2 Reference Documents ...........................................................................33

4.3 Getting Started ....................................................................................... 34

4.4 Hardware ................................................................................................ 34

4.4.1 General Architecture ..............................................................................34

4.4.2 Attaching the Motor ................................................................................35

4.4.3 Power-Up ...............................................................................................35

4.4.4 Power Stage ..........................................................................................35

4.4.5 Protection ...............................................................................................36

4.4.6 UNI/O

4.4.7 Speed Control ........................................................................................36

4.4.8 Current Control ......................................................................................36

4.5 Demo Software ....................................................................................... 37

4.5.1 Introduction ............................................................................................37

4.5.2 The Motor Control GUI Application ........................................................37

4.6 Optimizing Stepper Motor Parameters ................................................... 38

4.6.1 Stepper Motor Closed-Loop Drive Overview .........................................38

4.6.2 Optimizing DUTY_SCALE and SPEED_SCALING_CONST .................39

Memory Chip .............................................................................32

Memory Chip .............................................................................36

Chapter 5. The Unipolar Stepper Add-on Board

5.1 Getting Started ....................................................................................... 41

5.1.1 Overview ................................................................................................41

5.1.2 Features .................................................................................................41

5.1.3 What’s Included .....................................................................................41

5.1.4 Reference Documents ...........................................................................42

5.2 Getting Started ....................................................................................... 42

5.3 Hardware ................................................................................................ 42

5.3.1 General Architecture ..............................................................................42

5.3.2 Attaching the Motor ................................................................................43

5.3.3 Power-Up ...............................................................................................43

5.3.4 Power Stage ..........................................................................................43

5.3.5 Protection ...............................................................................................44

DS41629A-page 4  2012 Microchip Technology Inc.

5.3.6 UNI/O® Memory Chip ............................................................................ 44

5.3.7 Speed Control ........................................................................................ 44

5.3.8 Current Control ...................................................................................... 44

5.4 Demo Software ....................................................................................... 45

5.4.1 Introduction ............................................................................................ 45

5.4.2 The Motor Control GUI Application ........................................................ 45

5.5 Optimizing Stepper Motor Parameters ................................................... 46

5.5.1 Stepper Motor Closed-Loop Drive Overview ......................................... 46

5.5.2 Optimizing DUTY_SCALE and SPEED_SCALING_CONST ................ 47

Appendix A. Board Layout and Schematics

A.1 Introduction ............................................................................................. 49

Appendix B. Conversion Factors

B.1 Conversion Factor Derivations ............................................................... 55

B.2 Start-up: Speed ...................................................................................... 55

B.3 Slow Step ............................................................................................... 55

B.4 Stepper Run and Stop Percentages ....................................................... 56

B.5 Degrees Per Step ................................................................................... 56

B.6 Stepper: Min and Max Duty Percent ....................................................... 56

B.7 Constants Derived From Stepper Parameters ....................................... 56

B.7.1 DUTY_SCALE Constant ........................................................................ 56

B.7.2 SPEED_SCALING_CONST Constant ................................................... 57

B.8 uStep Table ............................................................................................ 57

 2012 Microchip Technology Inc. DS41629A-page 5

F1 LV Evaluation Platform Motor Control Add-Ons

NOTES:

DS41629A-page 6  2012 Microchip Technology Inc.

F1 LV EVALUATION PLATFORM

MOTOR CONTROL ADD-ONS

Preface

NOTICE TO CUSTOMERS

All documentation becomes dated, and this manual is no exception. Microchip tools and documentation are constantly evolving to meet customer needs, so some actual dialogs and/or tool descriptions may differ from those in this document. Please refer to our web site (www.microchip.com) to obtain the latest documentation available.

Documents are identified with a “DS” number. This number is located on the bottom of each page, in front of the page number. The numbering convention for the DS number is “DSXXXXXA”, where “XXXXX” is the document number and “A” is the revision level of the document.

For the most up-to-date information on development tools, see the MPLAB Select the Help menu, and then Topics to open a list of available online help files.

INTRODUCTION

IDE online help.

This chapter contains general information that will be useful to know before using the F1 LV Evaluation Platform Motor Control Add-ons User’s Guide. Items discussed in this chapter include:

• Document Layout

• Conventions Used in this Guide

• Warranty Registration

• Recommended Reading

• The Microchip Web Site

• Development Systems Customer Change Notification Service

• Customer Support

• Document Revision History

DOCUMENT LAYOUT

This document describes how to use the F1 LV Evaluation Platform Motor Control Add-ons User’s Guide as a development tool to emulate and debug firmware on a target board. The manual layout is as follows:

• Chapter 1. “F1 LV Evaluation Platform Overview”

• Chapter 2. “The BLDC Add-on Board”

• Chapter 3. “The Brushed DC Add-on Board”

• Chapter 4. “The Bipolar Stepper Add-on Board”

• Chapter 5. “The Unipolar Stepper Add-on Board”

• Appendix A. “Board Layout and Schematics”

• Appendix B. “Conversion Factors”

 2012 Microchip Technology Inc. DS41629A-page 7

F1 LV Evaluation Platform Motor Control Add-Ons

CONVENTIONS USED IN THIS GUIDE

This manual uses the following documentation conventions:

DOCUMENTATION CONVENTIONS

Description Represents Examples

Arial font:

Italic characters Referenced books MPLAB

Emphasized text ...is the only compiler...

Initial caps A window the Output window

A dialog the Settings dialog A menu selection select Enable Programmer

Quotes A field name in a window or

dialog

Underlined, italic text with right angle bracket

Bold characters A dialog button Click OK

N‘Rnnnn A number in verilog format,

Text in angle brackets < > A key on the keyboard Press <Enter>, <F1>

Courier New font:

Plain Courier New Sample source code #define START

Italic Courier New A variable argument file.o, where file can be

Square brackets [ ] Optional arguments mcc18 [options] file

Curly brackets and pipe character: { | }

Ellipses... Replaces repeated text var_name [,

A menu path File>Save

A tab Click the Power tab

where N is the total number of digits, R is the radix and n is a digit.

Filenames autoexec.bat File paths c:\mcc18\h Keywords _asm, _endasm, static Command-line options -Opa+, -Opa- Bit values 0, 1 Constants 0xFF, ‘A’

Choice of mutually exclusive arguments; an OR selection

Represents code supplied by user

“Save project before build”

4‘b0010, 2‘hF1

any valid filename

[options]

errorlevel {0|1}

var_name...] void main (void)

{ ... }

IDE User’s Guide

DS41629A-page 8  2012 Microchip Technology Inc.

WARRANTY REGISTRATION

Please complete the enclosed Warranty Registration Card and mail it promptly. Sending in the Warranty Registration Card entitles users to receive new product updates. Interim software releases are available at the Microchip web site.

Chapter 1. F1 LV Evaluation Platform Overview

1.1 INTRODUCTION

This user’s guide offers a quick start-up and eventual troubleshooting for the motor control add-ons used together with the F1 LV Evaluation Platform. For more details regarding the supported applications, control algorithms, hardware and software support, please visit the reference sections inside this user’s guide.

1.2 HARDWARE OVERVIEW

1.2.1 Evaluation Platforms

The F1 Evaluation and F1 LV Evaluation Boards are stand-alone evaluation platforms for investigating the capabilities of the PIC16(L)F1XXX family of devices. F1 is an abbreviation for all PIC number. All F1 devices are enhanced mid-range devices. Only enhanced mid-range devices have the F1 notation.

There are two development boards for evaluating the F1 devices:

• F1 Evaluation Platform with 44-pin PIC16LF1937 microcontroller

• F1 LV Evaluation Platform with 64-pin PIC16LF1947 microcontroller

This document refers primarily to the F1 LV Evaluation Platform.

The F1 LV Evaluation Platform is the second generation evaluation platform for the enhanced mid-range devices with more I/O pins and expanded capability. For more information about the F1 LV Evaluation Platform refer to DS41614, “F1 LV Evaluation

Platform for Enhanced PIC

F1 LV EVALUATION PLATFORM

MOTOR CONTROL ADD-ONS

microcontroller devices with the notation “F1” in the device

Microcontrollers User’s Guide”.

1.2.2 Add-on Boards

Four motor control add-on boards are available for use in conjunction with the F1 LV Evaluation Platform. This document describes those boards and the companion control software for evaluating and optimizing motor control. The four motor control boards include:

TABLE 1-1:

Motor Type ID Shown on Platform LCD Part Number F1 LV Eval F1 Eval

Brushless DC bldc DM164130-2 Yes Yes

Brushed DC bdc DM164130-6 Yes No

Bipolar Stepper bstp DM164130-7 Yes No

Unipolar Stepper ustp DM164130-8 Yes No

The software and hardware interface of the F1 Evaluation Board supports only the BLDC Add-on Board. The software supplied and preloaded on the F1 LV Evaluation Platform supports all four of the add-on boards.

 2012 Microchip Technology Inc. DS41629A-page 13

F1 LV Evaluation Platform Motor Control Add-ons

1.2.3 USB Interface

The F1 LV Evaluation Platform includes a USB to serial interface. This provides the capability to control the motors in real time without entering Debug mode. PC control software communicates with the F1 LV Evaluation Platform software to create an integrated motor control evaluation system. The PC software and interface driver are available for free download from the Microchip web site at www.microchip.com/F1Eval

1.2.4 Add-on Board Power

When using an add-on board, the F1 LV Evaluation Platform power should be supplied from the add-on board. The J6 jumper option makes this connection. There is no jumper option to supply power to the add-on board from the F1 LV Evaluation Platform, because most of the platform power options do not have sufficient capacity. When power is applied to the F1 LV Evaluation Platform through the add-on board, then the

UNI/O ures itself to operate the motor identified in the memory. This automatic configuration also applies to the PC control software.

1.2.5 Add-on Board Memory

Every add-on board, with one exception, includes a UNI/O memory device that contains:

• board ID

• board revision

• parameters associated with the motor supplied with the add-on board

When the F1 LV Evaluation Platform senses that an add-on board is attached, the initial display shows the motor type and add-on board revision. Motor speed can be controlled with either the potentiometer on the F1 LV Evaluation Platform or with the PC interface speed control. Additional motor capabilities are available through the PC control interface. These are described in more detail in the sections specific to each motor.

The first generation BLDC boards do not have a UNI/O memory. When the F1 LV Evaluation Platform does not detect a UNI/O memory, it then checks voltages on other selected J3 connections to determine if a BLDC circuit is present. When a BLDC board without UNI/O memory is detected, the motor parameters are then retrieved from the F1 LV Evaluation Platform EEPROM memory. The factory defaults for these parameters match those needed for the motor originally supplied with the BLDC board. If the parameters are modified for another motor, then the File->RAM->EEPROM save those parameters to the F1 LV Evaluation Platform EEPROM memory in lieu of the UNI/O memory.

The advantage that the UNI/O equipped boards have is that several different add-on boards can each support and remember the settings for a different motor. Various BLDC motors can be accommodated when working with the first generation BLCD Add-on Board, by saving and recalling the motor parameters to and from the PC disc storage with the File->Save…

memory is detected and read. The F1 LV Evaluation Platform software config-

and File->Open… options.

option will

1.3 PC SOFTWARE OVERVIEW

The F1LVDemo software is a Graphical User Interface (GUI) providing control of the motor speed and direction. The GUI also provides access to key parameters of the motor operation. The control parameters vary by motor type. Each parameter and method of optimization are described in detail in the motor sections of this document.

Figure 1-1 and Figure 1-2 show the front panel of the PC control GUI. Features of the

control GUI are identified and described below.

DS41629A-page 14  2012 Microchip Technology Inc.

FIGURE 1-1:



1

121718

2 3 4 5 6 7 8

1315 14

1. Motor Parameters pull-down menu. Save and recall to and from disc.

2. Speed control (relative 0 to 255):

• Commutation rate in open loop

• Drive level in closed loop

3. Zero cross advance/retard (BLDC only).

4. Motor drive voltage control (open loop). In BLDC closed loop this control reverts to a balance control.

5. BLDC open-loop single-step button.

6. Open/closed-loop control selection (BLDC and stepper motors only).

7. Panic STOP button – Forces drive and com- mutation to zero.

8. Motor direction selection.

9. Number of motor poles (BLDC only).

10. Serial port selection.

11. Serial link Open/Close button.

12. Motor type indicator.

13. Motor RPM – click label to update.

14. Initial drive level for start-up.

15. Initial speed setting for start-up.

16. PC Software version.

17. F1 LV Evaluation Platform software version.

18. Run time and static motor parameters tabs.

F1 LV Evaluation Platform Overview

 2012 Microchip Technology Inc. DS41629A-page 15

F1 LV Evaluation Platform Motor Control Add-ons



19

20

21

33 32

22 23 25 26 2724

31 30

19. BLDC flyback voltage blanking time.

20. BLDC dwell time at each start-up step.

21. BLDC milliseconds to remain in Open-Loop mode at start-up before closing the loop.

22. BLDC minimum commutation time below which a stall is detected.

23. BLDC error feedback multiplication factor. Each shift divides error by 2.

24. Stepper motor steps in each drive phase when microstepping is selected.

25. Button to invoke new microstep sinusoid drive look-up table.

26. Peak drive level in microstep look-up table.

27. Stepper motor commutation mode selection.

28. Stepper motor maximum RPM commutation rate when speed control is set at maximum.

29. Degrees per step physical attribute of the attached motor.

30. Maximum drive voltage duty cycle applied when speed control is at the maximum RPM. This prevents excessive overdrive of the motor.

31. Stepper motor drive voltage duty cycle applied when speed control is at the lowest run speed above stop.

32. Percent of speed control setting, relative to maximum, below which the motor drive is removed and the motor is stopped.

33. Percent of speed control setting, relative to maximum, above which the motor starts from a stopped state.

FIGURE 1-2:

DS41629A-page 16  2012 Microchip Technology Inc.

F1 LV Evaluation Platform Overview

1.4 USING THE F1LVDEMO CONTROL SOFTWARE

1.4.1 Software Updates

The software supplied and preloaded into the F1 LV Evaluation Platform supports all four of the add-on motor control boards. The preloaded software is the latest version available at time of manufacture. Source code including any updates is available for free download from the Microchip web site: www.microchip.com/F1Eval

All motors can be controlled with the PC-based F1LVDemo control GUI. The F1LVDemo control software is available for free download from the Microchip web site:

www.microchip.com/F1Eval

1.4.2 Serial Link

The F1LVDemo control GUI operates through a USB to serial interface that appears as a standard RS-232 serial port to the PC operating system. The USB interface on the F1 LV Evaluation Platform is an MCP2200 USB to Serial interface device. Ensure that the drivers for this interface are loaded in the PC before making the connection. Interface drivers can be downloaded for free from the MCP2200 product page of the Microchip web site.

1.4.3 Connecting the F1 LV Evaluation Platform to the Add-on Board

Perform the following steps in the order shown to establish the link between the F1LVDemo control software and the F1 LV Evaluation Platform.

1. Connect the desired add-on board to the F1 LV Evaluation Platform J3.

2. Connect the supplied motor to the add-on board.

3. Ensure the following jumpers are in place on the F1 LV Evaluation Platform:

• J10 – Pot Enable

• J9 – Temperature Sense Enable

• J4 – I Sense break

• J6 – Expansion Board Power

4. Turn the RF2 potentiometer fully counter clockwise.

5. Each add-on board is equipped with a linear 3.3 Volt regulator that supplies power to the F1 LV Evaluation Platform.

Apply 9-12 V

2.5 mm power jack or directly to the appropriate pins of the add-on board motor con-

nector. The power jack connector is designed to accept 9 V former. The center pin is the positive terminal. When power is applied the F1 LV Evaluation Platform LCD will display the motor type and add-on board revision.

At this point the motor can be operated stand-alone with the potentiometer on the F1 LV Evaluation Platform. Additional motor controls are accessible only with the control GUI.

DC power to the add-on board. Power can be applied through the black

DC, 0.75 amp wall trans-

1.4.4 Connecting the F1 LV Evaluation Platform to the PC

6. Connect a USB cable from the PC to the F1 LV Evaluation Platform J2.

7. Execute the F1LVDemo program.

8. Select the communication port associated with the F1 LV Evaluation Platform. This will most likely be the highest numbered communication port in the selection box.

9. The communication port list is built during the F1LVDemo program initialization. If you connect to the board after the program is started, the communication port will not appear in the selection list.

 2012 Microchip Technology Inc. DS41629A-page 17

F1 LV Evaluation Platform Motor Control Add-ons

10. Click the Open button. After the link to the F1 LV Evaluation Platform is estab-

lished, the F1 LV Evaluation Platform software version will be displayed, as well as the detected motor type.

When the link is established, all user accessible motor parameters stored in the add-on board will be retrieved and shown in the corresponding controls of the GUI. Controls not applicable to the detected motor will be disabled and grayed out.

1.4.5 Open Versus Closed Loop

The open-loop and closed-loop selections apply only to brushless DC and stepper motors. In open-loop operation, the motor voltage and speed controls are independent. In closed-loop operation the speed control functions as the control for both the speed and voltage.

Brushless DC is truly a closed-loop operation where the applied voltage is set with the speed control and the motor speed responds automatically to keep the back EMF voltage equal to the applied voltage.

Stepper motor closed-loop operation is technically not closed loop. Both the motor voltage and speed outputs simultaneously follow the single-speed control input as independent open-loop functions of the minimum and maximum speed and drive parameters.

1.4.6 Changing Motor Parameters

To change a motor parameter, type the new value into the corresponding text box. The initial key press clears the previous value and changes the value to red. Red indicates that the value has not been sent to the Platform RAM. When the enter key is pressed the value is immediately sent to the Evaluation Platform RAM and the display returns to the default black. The entry can be terminated without updating the Platform RAM by pressing the Escape key. Changed parameters reside in volatile RAM only. Any Platform Reset will restore the RAM values to those in the Platform EEPROM memory. Unexpected Platform Resets will cause inconsistencies between the parameters displayed in the GUI and those in the Platform RAM. Select the pull-down menu

File->RAM->Display

Platform RAM.

option to resynchronize the displayed values with those in the

1.4.7 Saving and Restoring Motor Parameters

Sometimes it is useful to try many different motor setups when optimizing performance. Setups can be saved to disc storage with the pull-down menu File->Save…

Previously stored setups can be recovered with the pull-down menu File->Open… option. Parameters retrieved from disc update both the display and the Platform RAM.

When the optimum setup is determined those parameters can be saved to the Platform nonvolatile memory with the pull-down menu File->RAM->EEPROM Parameters saved to EEPROM will be restored to RAM on every Platform Reset. The values in the Platform EEPROM can be restored to RAM without a Reset with the pull-down menu File->EEPROM->RAM

The EEPROM can also be restored to the factory defaults with the pull-down menu

File->Defaults->EEPROM

the source code and programming the Platform program memory after recompiling the source code.

option. The factory defaults can be altered only by changing

option.

DS41629A-page 18  2012 Microchip Technology Inc.

+ 42 hidden pages

Microchip Technology F1 LV Evaluation Platform Motor Control Add-Ons User guide

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1. F1 LV Evaluation Platform Overview

1.1 INTRODUCTION

1.2 HARDWARE OVERVIEW

1.2.1 Evaluation Platforms

1.2.2 Add-on Boards

TABLE 1-1:

1.2.3 USB Interface

1.2.4 Add-on Board Power

1.2.5 Add-on Board Memory

1.3 PC SOFTWARE OVERVIEW

FIGURE 1-1:

FIGURE 1-2:

1.4 USING THE F1LVDEMO CONTROL SOFTWARE

1.4.1 Software Updates

1.4.2 Serial Link

1.4.3 Connecting the F1 LV Evaluation Platform to the Add-on Board

1.4.4 Connecting the F1 LV Evaluation Platform to the PC

1.4.5 Open Versus Closed Loop

1.4.6 Changing Motor Parameters

1.4.7 Saving and Restoring Motor Parameters