SLAU927B June   2024  – November 2024 MSPM0G3507

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2Hardware Setup
    1. 2.1  EVM Hardware Setup
      1. 2.1.1 EVM Hardware Support
    2. 2.2  Pin Configurations for IPD Usage
    3. 2.3  Pin Configurations for PWM Outputs
    4. 2.4  Pin Configurations for ADC Currents
    5. 2.5  Pin Configurations for ADC Voltages
    6. 2.6  Pin Configurations for Faults
    7. 2.7  Pin Configurations for GPIO Output Functions
    8. 2.8  Pin Configurations for SPI Communication
    9. 2.9  Pin Configurations for UART Communication
    10. 2.10 External Connections for Evaluation Boards
  6. 3Software Setup
  7. 4GUI Setup
    1. 4.1 Serial Port Configuration
    2. 4.2 GUI Home Page
    3. 4.3 System Configurations
    4. 4.4 Register Map
    5. 4.5 Motor Tuning Page
    6. 4.6 Collateral Page
  8. 5Register Map
    1. 5.1 Register Map Page in GUI
    2. 5.2 User Control Registers (Base Address = 0x20200400h)
      1. 5.2.1 Speed Control Register (Offset = 0h) [Reset = 00000000h]
      2. 5.2.2 Algo Debug Control 1 Register (Offset = 4h) [Reset = 00000000h]
      3. 5.2.3 Algo Debug Control 2 Register (Offset = 8h) [Reset = 00000000h]
      4. 5.2.4 Algo Debug Control 3 Register (Offset = Ch) [Reset = 00000000h]
      5. 5.2.5 DAC Configuration Register (Offset = 10h) [Reset = 00000000h]
    3. 5.3 User Input Registers (Base Address = 0x20200000h)
      1. 5.3.1  SYSTEM_PARAMETERS (Offset = 0h)
      2. 5.3.2  ISD_CONFIG Register (Offset = 38h) [Reset = 00000000h]
      3. 5.3.3  RVS_DRV_CONFIG Register (Offset = 3Ch) [Reset = 00000000h]
      4. 5.3.4  MOTOR_STARTUP1 Register (Offset = 40h) [Reset = 00000000h]
      5. 5.3.5  MOTOR_STARTUP2 Register (Offset = 44h) [Reset = 00000000h]
      6. 5.3.6  CLOSED_LOOP1 Register (Offset = 48h) [Reset = 00000000h]
      7. 5.3.7  CLOSED_LOOP2 Register (Offset = 4Ch) [Reset = 00000000h]
      8. 5.3.8  FIELD_CTRL Register (Offset = 50h) [Reset = 00000000h]
      9. 5.3.9  FAULT_CONFIG1 Register (Offset = 54h) [Reset = 00000000h]
      10. 5.3.10 FAULT_CONFIG2 Register (Offset = 58h) [Reset = 00000000h]
      11. 5.3.11 MISC_ALGO Register (Offset = 5Ch) [Reset = 00000000h]
      12. 5.3.12 PIN_CONFIG Register (Offset = 60h) [Reset = 00000000h]
      13. 5.3.13 PERI_CONFIG Register (Offset = 64h) [Reset = 00000000h]
    4. 5.4 User Status Registers (Base Address = 0x20200430h)
  9. 6Basic Tuning
    1. 6.1 System Configuration Parameters
      1. 6.1.1 Configuring System Parameters from GUI
      2. 6.1.2 Motor Resistance in Milliohms (mΩ)
      3. 6.1.3 Motor Inductance in Microhenries (μH)
      4. 6.1.4 Saliency of IPMSM Motor
      5. 6.1.5 Motor BEMF Constant
      6. 6.1.6 Base Voltage (V)
      7. 6.1.7 Base Current (A)
      8. 6.1.8 Maximum Motor Electrical Speed (Hz)
    2. 6.2 Control Configurations for Basic Motor Spinning
      1. 6.2.1 Basic Motor Startup
        1. 6.2.1.1 Disable ISD
        2. 6.2.1.2 Motor Start Option - Align
        3. 6.2.1.3 Motor Open Loop Ramp
        4. 6.2.1.4 Motor Open Loop Debug
      2. 6.2.2 Controller Configuration for spinning the Motor in Closed Loop
        1. 6.2.2.1 PI Controller Tuning for Closed Loop Speed Control
          1. 6.2.2.1.1 Reference
          2. 6.2.2.1.2 Speed Controller Tuning
        2. 6.2.2.2 Testing for Successful Startup Into Closed Loop
    3. 6.3 Fault Handling
      1. 6.3.1 Abnormal BEMF Fault [ABN_BEMF]
      2. 6.3.2 Monitoring Power Supply Voltage Fluctuations for Voltage Out of Bound Faults
      3. 6.3.3 No Motor Fault [NO_MTR]
  10. 7Advanced Tuning
    1. 7.1 Control Configurations Tuning
      1. 7.1.1  Control Mode of Operation
        1. 7.1.1.1 Closed Loop Speed Control Mode
        2. 7.1.1.2 Closed Loop Power Control Mode
        3. 7.1.1.3 Closed Loop Torque Control Mode
        4. 7.1.1.4 Voltage Control Mode
      2. 7.1.2  Initial Speed Detection of the Motor for Reliable Motor Resynchronization
      3. 7.1.3  Unidirectional Motor Drive Detecting Backward Spin
      4. 7.1.4  Preventing Back Spin of Rotor During Startup
        1. 7.1.4.1 Option 1: IPD
        2. 7.1.4.2 Option 2: Slow First Cycle
      5. 7.1.5  Gradual and Smooth Start up Motion
      6. 7.1.6  Faster Startup Timing
        1. 7.1.6.1 Option 1: Initial Position Detection (IPD)
        2. 7.1.6.2 Option 2: Slow First Cycle
      7. 7.1.7  Stopping Motor Quickly
      8. 7.1.8  Flux Weakening: Operating Motor at Speeds Higher than Rated Speed
      9. 7.1.9  Maximum Torque Per Ampere : Improve Efficiency of IPMSM Motors
      10. 7.1.10 Preventing Supply Voltage Overshoot During Motor Stop.
      11. 7.1.11 Protecting the Power Supply
      12. 7.1.12 FOC Bandwidth Selection
  11. 8Hardware Configurations
    1. 8.1 Direction Configuration
    2. 8.2 Brake Configuration
    3. 8.3 Main.h Definitions
      1. 8.3.1 Sense Amplifier Configuration
      2. 8.3.2 Driver Propagation Delay
      3. 8.3.3 Driver Min On Time
      4. 8.3.4 Current Shunt Configuration Selection
        1. 8.3.4.1 Three Shunt Configurations
        2. 8.3.4.2 Dual Shunt Configuration
        3. 8.3.4.3 Single Shunt Configuration
      5. 8.3.5 CSA Offset Scaling Factor Selection
    4. 8.4 Real Time Variable Tracking
  12. 9Revision History

5.2.2 Algo Debug Control 1 Register (Offset = 4h) [Reset = 00000000h]

Table 5-4 shows the register to control Algorithm debug functions.

Table 5-4 Algorithm Debug Control 1 Register Field Descriptions
Bit Field Type Reset Description
31 CLEAR_FAULT W 0b Bit to clear set controller and Gate Driver Faults. Bit is automatically reset.
1h = Clear Fault Command
30-22 FORCED_ALIGN_ANGLE W 000000000b

9-bit value (in °) used during forced align state ( FORCE_ALIGN_EN = 1) Angle applied (°) = FORCED_ALIGN_ANGLE % 360°
21-16 RESERVED R 0h
15 CLOSED_LOOP_DIS W 0b

Use to disable closed loop

0h = Enable closed loop

1h = Disable closed loop, motor commutation in open loop
14 FORCE_ALIGN_EN W 0b Force align state enable

0h = Disable force align state, device comes out of align state if MTR_STARTUP is selected as ALIGN or DOUBLE ALIGN

1h = Enable force align state, device stays in align state if MTR_STARTUP is selected as ALIGN or DOUBLE ALIGN
13

FORCE_SLOW_FIRST_C

YCLE_EN

 W 0b Force slow first cycle enable

0h = Disable force slow first cycle state, device comes out of slow first cycle state if MTR_STARTUP is selected as SLOW FIRST CYCLE

1h = Enable force slow first cycle state, device stays in slow first cycle state if MTR_STARTUP is selected as SLOW FIRST CYCLE
12 FORCE_IPD_EN W 0b Force IPD enable

0h = Disable Force IPD state, device comes out of IPD state if MTR_STARTUP is selected as IPD

1h = Enable Force IPD state, device stays in IPD state if MTR_STARTUP is selected as IPD
11 FORCE_ISD_EN W 0b Force ISD enable

0h = Disable Force ISD state, device comes out of ISD state if ISD_EN is set

1h = Enable Force ISD state, device stays in ISD state if ISD_EN is set
10 FORCE_ALIGN_ANGLE_SRC_SEL W 0b Force align angle state source select

0h = Force Align Angle defined by ALIGN_ANGLE

1h = Force Align Angle defined by FORCED_ALIGN_ANGLE

9-0 FORCE_IQ_REF_SPEED_LOOP_DIS W-IQ(9) 0000000000b Sets Iq_ref in PU IQ(9)when speed loop is disabled If SPEED_LOOP_DIS = 1b, then Iq_ref is set using IQ_REF_SPEED_LOOP_DIS Iq_ref = (FORCE_IQ_REF_SPEED_LOOP_DIS / 511) × 10, if FORCE_IQ_REF_SPEED_LOOP_DIS < 512 -(FORCE_IQ_REF_SPEED_LOOP_DIS - 512) / 511 × 10 if FORCE_IQ_REF_SPEED_LOOP_DIS > 512 Valid values are 0 to 511 and 512 to 1000