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Introduction
This user manual describes the features of the eMotion Kit, and explains how use the kit to
perform generic speed control of DC and BLDC motors.
Figure 1.
Key features
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GUI software (Windows XP OS-compatible)
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Control board MDK-ST10 (ST10F276 core, 16-bit DSP @ 64 MHz)
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Shielded interface board (for encoder feedback)
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powerSPIN boards (L6205 / L6235 eval)
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Configurable PID closed speed loop for up three motors DC or BLDC
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RS232 communication
November 2006
eMotion: a motion control kit based on ST10F276
eMotion kit
Rev 1
UM0289
User manual
www.st.com
1/29
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Summary of Contents for ST eMotion
- Page 1 User manual eMotion: a motion control kit based on ST10F276 Introduction This user manual describes the features of the eMotion Kit, and explains how use the kit to perform generic speed control of DC and BLDC motors. Figure 1. eMotion kit Key features ■...
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Page 2: Table Of Contents
Installing eMotion GUI ........ -
Page 3: Overview
Overview Getting started eMotion is a motion control kit able to manage up to 3 motors (DC or BLDC) simultaneously, it can be used as starting point for the evaluation of control algorithms, motors and drivers. The complete kit is composed of: ●... - Page 4 Overview UM0289 Encoder feedback signals are directly managed by the ST10F276 through its dedicated peripherals. In order to guarantee an optimum quality of encoder waveforms, a special adapter is included to shield the signals and to avoid interference (refer to Section 2.3 on page 9 further information).
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Page 5: Hardware
MDK-ST10 (Refer to the MDK-ST10 User manual (UM0288) for more detailed information) The core of the eMotion Kit is the control board which is based on the ST10F276 microcontroller, in which all the driver board management routines are implemented. Board key features: ●... - Page 6 Hardware UM0289 Figure 3. MDK-ST10 board MC_CONNECTOR POWERSPIN_1 CAN1 POWERSPIN_2 ST10F276 CAN2 VN808 / GP RS485 POWERSPIN_3 RS232 Note: Refer also to Section 5.1.2: Board configuration on page 23 The default configuration of the board (once programmed) is: ● EA jumper: 1 (in order to obtain the fetch of the code from internal flash of microcontroller) ●...
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Page 7: Powerspin Boards
GPIO / Capcom PowerSPIN boards eMotion kit can manage up to three boards based on monolithic driver of L62xx family. This first release of system works with DC and BLDC drivers so with boards L6205 and L6235 but also with similar boards for the same motors. -
Page 8: L6235 Eval Board (Bldc Motor)
2.2.2 L6235 Eval board (BLDC Motor) (refer to application note AN1625 and the L6235 datasheet for more details) eMotion kit can manage the evaluation board based on L6235 three phase brushless DC motor. Figure 5. Eval 6235 board Refer to Section 5.1.2: Board configuration on page 23... -
Page 9: Feedback Board
UM0289 Hardware Feedback board In order to interface the control system with encoder signals coming from motors, a special board, with two 20 pins connectors in the top side, is used (Feedback board). This is a stackable board and has to be inserted using the four 36-pin connectors around the microcontroller in the MDK-ST10 board. - Page 10 Hardware UM0289 Conn.2 MDK-ST10 Pin Functionality P1L.6 GPIO / ADC In P1L.7 GPIO / ADC In P1H.0 GPIO P1H.7 CC27 (capture / GPIO) P1H.1 GPIO P1H.2 GPIO P1H.3 GPIO Figure 6. Feedback board schematic 10/29...
- Page 11 UM0289 Hardware Figure 7. Feedback board - TOP In order to report the feedback of motors, a 20-pin flat cable could be used. The first connector can be used for an incremental encoder as the timer pins are used for incremental interface mode.
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Page 12: Pc Software
Section 5.1.1: Installing eMotion GUI on page 23 for the installation procedure. After start-up of the eMotion GUI, a series of menu functions are available to the user: File: Connect: Open the "Serial Port Selection" window, from which it is possible to select the serial port to open the communication between the PC and the MDK-ST10 board Disconnect: Close the connection between the PC and the MDK-ST10 board. - Page 13 UM0289 PC software Figure 8. 6235 window The Connector Selection panel shows the connector of the MDK-ST10 with which the EVAL6235 can be connected (some connector selections could be disabled if the connector is used by other windows). The left part of this window allows the user to control a BLDC motor in open loop mode.
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Page 14: Eval 6205 Window
The 6205 window is designed to allow the user to drive a DC motor through EVAL6205. After starting eMotion click on the 6205 window icon or choose New - 6205 window from the File menu. A new 6205 window is now opened. - Page 15 UM0289 PC software Figure 9. 6205 window The Connector Selection panel shows the connector of the MDK-ST10 with which the EVAL6205 can be connected (some connector selections could be disabled if the connector is used by other windows). The left part of this window allows the user to control a DC motor in open loop mode.
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Page 16: Log Window
PC software UM0289 Control Parameters panel: Refer to Section 3.1.1: EVAL 6235 window on page Control loop time: Refer to Section 3.1.1: EVAL 6235 window on page 3.1.3 Log window Using the log window is possible to view the frames sent and received by the GUI (to check the state of communication with the board). -
Page 17: St10 Firmware
UM0289 ST10 firmware ST10 firmware The firmware to manage the eMotion system is organized in two separate modules: ● Communication module: able to exchange data with the PC-GUI using a structured protocol. ● Control module: able to perform the open and closed loop operation on three motors and communicates with the first module. - Page 18 ST10 firmware UM0289 Frame name Description Frame Type Length Direction Type Set reverse motor direction Reverse_Motor 0x06 PC-MDK ST10 Command (6205 motor drive) Set duty cycle Set_PWM 0x07 PC-MDK ST10 Command+Data of PWM Set frequency Set_Freq_PWM 0x08 PC-MDK ST10 Command+Data of PWM Set the PID Set_PID_Contr...
- Page 19 UM0289 ST10 firmware Byte Value 0x3A Third connector with eval 6235 0x3B Third connector with eval 6205 ACK timeout is fixed at 10 ms, both for the PC and ST10, and the payload of the "ACK" frame is the command code to be acknowledged. "Set_PID_Control"...
- Page 20 ST10 firmware UM0289 Table 8. Send_Parameters contents Payload Field Description byte order 1 Byte indicating which powerSPIN board is connected to Motor Connector a specific connector. 2 Bytes indicating the number of pulses for revolution of Encoder motor encoder. Byte indicating the duty cycle value of PWM (range: 0- PWM % 100) PWM Freq.
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Page 21: Control Algorithm
Control Communication Shared Layer Layer memory SERIAL BUFFER Figure 12 shows how the two modules interact (through shared memory) to perform eMotion operations. The PID algorithm implemented is approximated with the following formula: − − ∑ ⋅ ⋅ ⋅ ⋅... - Page 22 ST10 firmware UM0289 where: u(n): is the output at time n (related to the duty cycle sent to driver) P, I, D: are respectively proportional gain, integrational gain and derivative gain. e : is the error (in terms of encoder pulses) T : is the sample time 22/29...
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Page 23: Using Emotion
5 of switch 3 and reset the board. Now MDK-ST10 is ready to be used with eMotion kit (EA jumpers has to be switched to 1) J206 jumpers: In order to use the power spin boards, J206 jumpers have to placed in "Practi"... -
Page 24: Control Operations
Refer to the L6205 datasheet for more detailed information Note: For each EVAL 6205 board eMotion kit allows to connect and control one motor. Eval 6235 configuration: JP1 and JP2: Install JP1 and JP2 to enable the on-board 5VDC supply. - Page 25 UM0289 Using eMotion The direction of rotation depends on the connection of motor. At startup the Duty cycle is fixed at 50 % For a BLDC: enable the driver and unbrake the motor. Start to vary the PWM Duty %...
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Page 26: Limitations
Limitations UM0289 Limitations This section provides tips for use of the eMotion system to avoid incorrect operation. Hardware issues Due to the sharing of some microcontroller configuration pins with the powerSPIN connectors (P0L.0 and P0L.1), the reset phase, when a L6235 evaluation board is connected through the "practi1"... -
Page 27: Revision History
UM0289 Revision history Revision history Table 12. Document revision history Date Revision Changes 30-Nov-2006 Initial release. 27/29... -
Page 28: Appendix A Bibliography
Bibliography UM0289 Appendix A Bibliography ● AN1794 Application Note, "PractiSpin evaluation system configuration and setup guide". ● L6205 datasheet ● L6235 datasheet ● UM0288, MDK-ST10 user manual 28/29... - Page 29 No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under this document. If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein.
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