Cypress MB9BF568R Series User Manual Download Page 1

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THIS SPEC IS OBSOLETE

Spec No

: 002-04466

Spec Title

: MB9BF568R SERIES FM4 PMSM SERVO

MOTOR SPEED CONTROL USER MANUAL

Replaced by

: NONE

Summary of Contents for MB9BF568R Series

Page 1: ...THIS SPEC IS OBSOLETE Spec No 002 04466 Spec Title MB9BF568R SERIES FM4 PMSM SERVO MOTOR SPEED CONTROL USER MANUAL Replaced by NONE...

Page 2: ...R Series FM4 PMSM Servo Motor Speed Control User Manual Doc No 002 04466 Rev B Cypress Semiconductor 198 Champion Court San Jose CA 95134 1709 Phone USA 800 858 1810 Phone Intnl 1 408 943 2600 www cyp...

Page 3: ...HANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE To the extent permitted by applicable law Cypress reserves the right to make changes to this document without further notice Cypress does not assume an...

Page 4: ...3 Development Environment 6 4 System Firmware Design 7 4 1 FW Feature 7 4 2 FW Structure 8 4 3 Files Description 11 4 4 FW Control Flow 12 5 Interrupt Function 13 5 1 Function List 13 5 2 Interrupt Pr...

Page 5: ...c motor setting functions and FOC drive modules When you have understood the provided information you can get an overview of a whole servo motor project And you can run a motor following the demo proj...

Page 6: ...tem Hardware Environment The below provides the brief information of MCU used in servo motor inverter board CPU chip Cypress MB9BF568R CPU Frequency 160 MHz MCU pin number 120 pin RAM Space 128KB Code...

Page 7: ...nt Environment Name Description Part Number Manufacturer Remark IAR bedded Workbench 7 3 FW code edit compile and debug N A N A N A J Link Debug and Load FW by JTAG N A N A N A Cypress Flash Loader Fl...

Page 8: ...t by the corresponding variable in user interface 4 Rapid speed acceleration Motor can be accelerated from 0rpm to 5000 rpm within 200 ms 5 Rapid speed deceleration Motor can be decelerated from 5000r...

Page 9: ...driver MCU register setting function such as GPIO interrupt MFT AD module h03_module s03_module Algorithm folder for basic motor control such as FOC frame transform SVPWM math PID filter app h04_app s...

Page 10: ...ign FM4 PMSM Servo Motor Speed Control User Manual Doc No 002 04466 Rev B 9 The sub files in each folder are shown in Figure 2 and the structure of header files is the same with C files Figure 2 Sub f...

Page 11: ...r e User Layer App Layer Module Layer Drive Layer Global Layer Coordinate transformation SVPWM PID Regulator Math Filter Motor Start up Brake Motor Speed Set Speed Calculation Voltage Protect A D Offs...

Page 12: ...based on the ADC ISR brake c The brake module including motor stop by brake limitation c The FOC current and voltage limitation module Dead time compensation c Dead time compensation module motor_ctr...

Page 13: ...onverter The timer events are executed in the end less loop and the timers are generated in the zero detection interrupt ISR_MFT_FRT of the free run timer 0 Figure 4 Diagram of the Control Flow Feed w...

Page 14: ...o detect ISR for the motor control s05_user isr c __root void Mft0_Wfg_IsrHandler void The HW over current ISR s05_user isr c __root void Adc_0_IsrHandler void The ADC unit0 ISR trigger at the zero po...

Page 15: ...at the zero point Figure 6 Free Run Timer Interrupt 5 3 2 Encoder Capture The PWC timer is used to capture the encoder A B signal and calculate pulse width of the edge of A B Figure 7 Encoder Capture...

Page 16: ...gger the HW fault protection from the IPM When the phase current is large enough to trigger the HW over current fault the interrupt is got and all of the drive signals for the motor control will shut...

Page 17: ...he primary steps are shown as following Hardware Connection FW Interface Configuration Encoder Check Encoder CheckRun Motor Speed Acceleration and Deceleration 6 1 Demo System Introduction The servo m...

Page 18: ...of the encoder signal line follows the definition in the below table Table 6 Encoder Connection Motor s line Inverter Board Circuit Port Encoder A AIN Encoder B BIN Encoder Z ZIN 5 V Vcc GND GND Note...

Page 19: ...st connect it And it is also recommended to connect according to the UVW definition of the motor 3 Connect JTAG to Inverter shown as below Figure 12 JTAG Line Connection Note If there is no isolator b...

Page 20: ...gram to open the IAR and open the EWW file of the inverter servo motor workspace at the location you ve stored on your computer as shown in Figure 14 Figure 14 Open the Workspace 6 2 1 FW Interface Co...

Page 21: ...tor Amplification Carrier Frequency and Dead Time Table 7 Sample Resistor Amplification Carrier Frequency and Dead Time Name Explanation Value Motor_f32IuvwSampleResistor Sample resistor 0 015 Motor_i...

Page 22: ...rtion parameters in Q axis Motor_f32Skp Speed loop integration parameters when speed higher than Motor_u16ChgPiSpdHz Motor_f32Skp Speed loop proportion parameters when speed higher than Motor_u16ChgPi...

Page 23: ...d 5000 rpm Motor_f32SpdAccelerationHz Acceleration rate 600 Hz 2 Motor_f32SpdDecelerationHz Deceleration rate 400 Hz 2 6 2 1 7 UI_07 Protection Parameters Table 11 Protection Parameters Name Explanati...

Page 24: ...servo motor for example And if the encoder information has been known this section can be ignored and the motor can be normal started now and taken the reference at section 0 Modify SWAPBIT definition...

Page 25: ...efinition in hardware_config h Set it the same value as Qprc_RunPars i32Q22_AngleToZeroInx Redefine ZEROMATHCEN to 1 Encoder check is complete 6 2 3 Run Motor When the encoder angle has been checked t...

Page 26: ...Demo System FM4 PMSM Servo Motor Speed Control User Manual Doc No 002 04466 Rev B 25 Figure 17 Download and Debug by J link Figure 18 Motor Run by J link A B...

Page 27: ...RunPar i16TargetSpeedRpm Running Status 0 CW 0 CCW 0 Stop Note 3 Watch the important variable MotorCtrl i32Q8_EstimWmHzf to check whether motor is achieved the command speed and running speed is stabl...

Page 28: ...R_VOLTAGE 0x02 DC bus under voltage define SW_OVER_CURRENT 0x04 over current define MOTOR_OVER_CURRENT 0x08 over current of HW define MOTOR_LOSE_PHASE 0x10 motor lose phase define NO_CONECT_COMPRESSOR...

Page 29: ...oducts please visit our website http www cypress com cypress microcontrollers For more information on PMSM Servo Motor Speed Control please visit our website http www cypress com applications home app...

Page 30: ...ory Document Title MB9BF568R Series FM4 PMSM Servo Motor Speed Control User Manual Document Number 002 04466 Revision Issue Date Origin of Change Description of Change 01 26 2014 WJLV Initial release...

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