Cypress MB9BF568R Series Manuale utente

THIS SPEC IS OBSOLETE

Spec No: 002-04466

Spec Title: MB9BF568R SERIES FM4 PMSM SERVO

MOTOR SPEED CONTROL USER MANUAL

Replaced by: NONE

MB9BF568R 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.cypress.com

Copyrights

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 2

and its subsidiaries, including Spansion LLC (“Cypress”). This document, including any software or firmware included or

referenced in this document (“Software”), is owned by Cypress under the intellectual property laws and treaties of the

United States and other countries worldwide. Cypress reserves all rights under such laws and treaties and does not,

except as specifically stated in this paragraph, grant any license under its patents, copyrights, trademarks, or other

intellectual property rights. If the Software is not accompanied by a license agreement and you do not otherwise have a

written agreement with Cypress governing the use of the Software, then Cypress hereby grants you a personal, non-

exclusive, nontransferable license (without the right to sublicense) (1) under its copyright rights in the Software (a) for

Software provided in source code form, to modify and reproduce the Software solely for use with Cypress hardware

products, only internally within your organization, and (b) to distribute the Software in binary code form externally to end

users (either directly or indirectly through resellers and distributors), solely for use on Cypress hardware product units,

and (2) under those claims of Cypress’s patents that are infringed by the Software (as provided by Cypress, unmodified)

to make, use, distribute, and import the Software solely for use with Cypress hardware products. Any other use,

reproduction, modification, translation, or compilation of the Software is prohibited.

TO THE EXTENT PERMITTED BY APPLICABLE LAW, CYPRESS MAKES NO WARRANTY OF ANY KIND, EXPRESS

OR IMPLIED, WITH REGARD TO THIS DOCUMENT OR ANY SOFTWARE OR ACCOMPANYING HARDWARE,

INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY 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 any liability arising out of the application or use of any product

or circuit described in this document. Any information provided in this document, including any sample design information

or programming code, is provided only for reference purposes. It is the responsibility of the user of this document to

properly design, program, and test the functionality and safety of any application made of this information and any

resulting product. Cypress products are not designed, intended, or authorized for use as critical components in systems

designed or intended for the operation of weapons, weapons systems, nuclear installations, life-support devices or

systems, other medical devices or systems (including resuscitation equipment and surgical implants), pollution control or

hazardous substances management, or other uses where the failure of the device or system could cause personal injury,

death, or property damage (“Unintended Uses”). A critical component is any component of a device or system whose

failure to perform can be reasonably expected to cause the failure of the device or system, or to affect its safety or

effectiveness. Cypress is not liable, in whole or in part, and you shall and hereby do release Cypress from any claim,

damage, or other liability arising from or related to all Unintended Uses of Cypress products. You shall indemnify and

hold Cypress harmless from and against all claims, costs, damages, and other liabilities, including claims for personal

injury or death, arising from or related to any Unintended Uses of Cypress products.

Cypress, the Cypress logo, Spansion, the Spansion logo, and combinations thereof, PSoC, CapSense, EZ-USB, F-RAM,

and Traveo are trademarks or registered trademarks of Cypress in the United States and other countries. For a more

complete list of Cypress trademarks, visit cypress.com. Other names and brands may be claimed as property of their

respective owners.

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 3

Contents

1. Introduction....................................................................................................................................................................4

1.1 Purpose.................................................................................................................................................................4

1.2 Definitions, Acronyms and Abbreviations..............................................................................................................4

1.3 Document Overview..............................................................................................................................................4

2. System Hardware Environment....................................................................................................................................5

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 Priority Setting.......................................................................................................................................13

5.3 Interrupt Generation ............................................................................................................................................14

6. Demo System...............................................................................................................................................................16

6.1 Demo System Introduction ..................................................................................................................................16

6.2 Motor Debug........................................................................................................................................................19

6.3 Troubleshooting...................................................................................................................................................27

7. Additional Information ................................................................................................................................................28

Revision History...................................................................................................................................................................29

Document Revision History ...........................................................................................................................................29

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 4

1. Introduction

1.1 Purpose

This user manual describes the speed-control solution of the Cypress servo motor and how to use the inverter

servo motor FW library.

This document will help you quickly learn how to build a servo motor project and how to debug the motor with

Cypress inverter servo motor FW library.

The document introduces the basic information of whole servo motor control system, including hardware,

firmware, initial functions, basic 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 project step.

1.2 Definitions, Acronyms and Abbreviations

API - Application Programming Interface

FOC - Field Oriented Control

FW - Firmware

HW - Hardware

I/O - Input and output

CW - Clockwise

CCW - Counter clockwise

1.3 Document Overview

The rest of document is organized as the following:

Chapter 2 explains System Hardware Environment

Chapter 3 explains Development Environment

Chapter 4 explains System Firmware Design

Chapter 5 explains Interrupt Function

Chapter 6 explains Demo System

Chapter 7 explains Additional Information

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 5

2. System 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 Space: 1024KB.

Demo HW version: FSDC-FM3-314-1-0015-01 + FSDC-FM4-560-2-071200050

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 6

3. Development Environment

Table 1. MCU Development Environment

Name

Description

Part Number

Manufacturer

Remark

IAR bedded Workbench 7.3

FW code edit , compile and

debug

N/A

J-Link

Debug and Load FW by JTAG

N/A

Cypress Flash Loader

Flash download program

N/A

Source Insight

Source code edit

N/A

Editor

Eclipse

Source code edit

N/A

Editor

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 7

4. System Firmware Design

This chapter introduces the FW structure of the inverter servo motor project.

4.1 FW Feature

The features of the servo motor speed control solution are shown in Table 2.

Table 2. Feature List of Servo Motor Speed Control

No.

Feature

Description

Remark

Encoder Zero-Check

Match encoder zero signal with electrical position

Hardware Self -check

Check offset of current sampling

Adjustable Carrier

Frequency

Carrier frequency can be set by the corresponding variable in

user interface

Rapid speed acceleration

Motor can be accelerated from 0rpm to 5000 rpm within 200 ms

Rapid speed deceleration

Motor can be decelerated from 5000rpm to 0rpm within 200ms

FOC Control

Using FOC control algorithm

Speed regulate

This function is used to speed up or slow down a motor by the

command from host via UART or debugger

Speed precision

Accurate speed controlling with less than 1% target error.

Brake

Stop motor by brake down

Slow down a motor by brake

Current sample

Three-phase hall-sensor for current sampling

Protect

DC voltage protect

A/D offset protect

Lock rotor protect

Over Current Protect

Bi- directional rotating

Motor can run in both directions.

System Firmware Design

FM4 PMSM Servo Motor Speed Control User Manual, Doc. No. 002-04466 Rev. *B 8

4.2 FW Structure

There are 5 layers in the FW structure of IAR, which are shown in Figure 1.

Figure 1. Structure of FW

The C source and Header files which are included in each layer are shown in Table 3.

Table 3. Directory Description of Project

Layer

Folder

Description

global

h01_global,

s01_global

MCU system file

driver

h02_driver,

s02_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,

s04_app

Application folder for the files of application functions such as speed

and position generator by hall sensor, protection, motor start-up, field

weaken, brake and etc.

user

h05_user,

s05_user

Customer interface folder for the files for motor Configuration and HW

setting

Note: If you want to quickly start the motor, you can refer to the setting for user layer at

6.2.1 FW Interface Configuration and Chapter 5. Interrupt Function.

System Firmware Design

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-files in Each Layer

Indice

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