MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX) User Guide

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

UG10252

LPCXpresso860-MAX , PMSM, FOC, MCAT, MID, Motor control, Sensorless control, Speed control, Servo control, Position control

NXP B.V.

Phase PMSM and BLDC Motors (LPC860MAX ...

MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

MCUXpresso SDK for Motor Control | NXP Semiconductors

File Info : application/pdf, 57 Pages, 3.99MB

UG10252

MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors

(LPC860MAX)

Rev. 1.0 -- 3 July 2025

User guide

Document information

Information

Content

Keywords

LPCXpresso860-MAX , PMSM, FOC, MCAT, MID, Motor control, Sensorless control, Speed control, Servo control, Position control

Abstract

This user guide describes the implementation of the motor-control software for 3-phase Permanent Magnet Synchronous Motors.

NXP Semiconductors

UG10252

MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

1 Introduction

SDK motor control example user guide describes the implementation of the motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) using following NXP platforms:
· LPCXpresso860-MAX · Freedom Development Platform for Low-Voltage, 3-Phase PMSM Motor Control (FRDM-MC-LVPMSM)
The document is divided into several parts. Hardware setup, processor features, and peripheral settings are described at the beginning of the document. The next part contains the PMSM project description and motor control peripheral initialization. The last part describes user interface and additional example features.
Available motor control examples types with supported motors, and possible control methods are listed in Table 1.

Table 1.Available example type, supported motors and control methods

Possible control methods in SDK example

Example type

Supported motor

Scalar and Current FOC Sensorless Sensored

Sensored

Voltage

(Torque) Speed FOC Speed FOC Position FOC

Linix 45ZWN24-40

pmsm_snsless

Teknic M-2311P

N/A

SDK motor control example description:
· pmsm_snsless - pmsm example uses fraction arithmetic, the example contains sensorless Field Oriented Control (FOC). Default motor configuration is tuned for the Teknic M-2311P motor.
The SDK motor control example contains several additional features:
· FreeMASTER pmsm_frac.pmpx project provides a simple and user-friendly way for algorithm tuning, software control, debugging, and diagnostics.
· MCAT - Motor Control Application Tuning page based on the FreeMASTER runtime debugging tool. · MID - Motor parameter identification. The control software and the PMSM control theory, in general, are described in Sensorless PMSM FieldOriented Control (FOC) (document DRM148).

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

2 Hardware setup

The following chapter describes the used hardware and the setup needed for proper example working

2.1 Linix motor

The Linix 45ZWN24-40 motor is a low-voltage 3-phase permanent-magnet motor with hall sensor used in PMSM applications. The motor parameters are listed bellow.

Table 2.Linix 45ZWN24-40 motor parameters

Characteristic

Symbol

Rated voltage

Rated speed

Rated torque

Rated power

Continuous current

Ics

Number of pole-pairs

24 4000 0.0924 40 2.34 2

Value

V RPM Nm W A -

Units

Figure 1.Linix 45ZWN24-40 permanent magnet synchronous motor
The motor has two types of connectors (cables). The first cable has three wires and is designated to power the motor. The second cable has five wires and is designated for the hall sensors' signal sensing. For the PMSM sensorless application, only the power input wires are needed.

2.2 Teknic motor

The Teknic M-2310P-LN-04K and M-2311P-LN-08D are a low-voltage 3-phase permanent-magnet motors used in PMSM applications. The motors have two feedback sensors (hall and encoder). For information on the wiring of feedback sensors, see the data sheet on the manufacturer webpage. The motor parameters are listed bellow.

Table 3.Teknic M-2310P-LN-04K motor parameters

Characteristic

Symbol

Rated speed

Continuous (RMS) torque T

6000 0.247

Value

RPM Nm

Units

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

Table 3.Teknic M-2310P-LN-04K motor parameters...continued

Characteristic

Symbol

Value

Continuous (RMS) power

170

Continuous (RMS) current Ics

7.1

Number of pole-pairs

Encoder density

4000 (1000)

Units W A count/revolution (pulses)

Table 4.Teknic M-2311P-LN-08D motor parameters

Characteristic

Symbol

Rated speed

Continuous (RMS) torque T

Continuous (RMS) power

Continuous (RMS) current Ics

Number of pole-pairs

Encoder density

Value 6000 0.4 206 7.7 4 8000 (2000)

Units RPM Nm W A count/revolution (pulses)

Figure 2.Teknic permanent magnet synchronous motor
For the sensorless control mode, you only need the power input wires. If used with the hall or encoder sensors, connect the sensor wires to the NXP Freedom power stage.

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

12345678 9 10 11 12 13 14 15 16

Color

DRAIN x3

N/A

GRN

4 GRN/WHT

5 GRY/WHT

DRAIN x1

BLK

8* BLU/WHT

Encoder wires

Figure 3.Teknic motor connector type 1

(Wire entry view)

Motor phases

Signal Pin

Color

P DRAIN 9 16AWG BLK

N/A

10 16AWG RED

COMM S-T 11 16AWG WHT

COMM R-S 12

RED

COMM T-R 13

BRN

E DRAIN 14

ORN

GND

BLU

ENC A~ 16* ORN/WHT

Signal PHASE R PHASE S PHASE T +5VDC IN
ENC 1 ENC B ENC A ENC B~

B CP

L UK

DR E

TJ H

Motor phases (Mating face shown) Encoder wires

Color

R DRAIN x3

C 16AWG RED

D 16AWG WHT

B 16AWG BLK

BLU

K* BLU/WHT

H GRN/WHT

BLK

Signal Pin

P DRAIN L

PHASE S U

PHASE T G

PHASE R T

ENC A F*

ENC A~

COMM R-S M

GND

Color GRY/WHT
BRN GRN RED ORN/WHT ORN DRAIN x1

Signal COMM T-R
ENC I COMM S-T +5VDC IN
ENC B~ ENC B E DRAIN

Figure 4.Teknic motor connector type 2

2.3 FRDM-MC-LVPMSM
In a shield form factor, this evaluation board effectively turns an NXP Freedom development board or an evaluation board into a complete motor-control reference design. It is compatible with existing NXP Freedom development boards and evaluation boards. The Freedom motor-control headers are compatible with the Arduino R3 pin layout.
The FRDM-MC-LVPMSM low-voltage, 3-phase Permanent Magnet Synchronous Motor (PMSM) Freedom development platform board has a power supply input voltage of 24 VDC to 48 VDC with reverse polarity protection circuitry. The auxiliary power supply of 5.5 VDC is created to supply the FRDM MCU boards. The output current is up to 5 A RMS. The inverter itself is realized by a 3-phase bridge inverter (six MOSFETs) and a 3-phase MOSFET gate driver. The analog quantities (such as the 3-phase motor currents, DC-bus voltage, and DC-bus current) are sensed on this board. There is also an interface for speed and position sensors (encoder, hall).

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

24-48V DC
Motor Encoder Hall

FRDM-MC-LVPMSM

Polarity Protection

Power Supply

6x MOSFET

15V
MOSFET Predriver

Analog Sensing
Encoder / Hall

5.5V 3.3V
6xPWM
Ia, Ib, Ic Udc, Idc Enc, Hall

Controler card
Power Supply
Open SDA

Target MCU

Buttons LEDs Accel Therm

Figure 5.Motor-control development platform block diagram

FRDM-MC-LVPMSM Parts Controller Card Parts
USB JTAG

Figure 6.FRDM-MC-LVPMSM
The FRDM-MC-LVPMSM board does not require a complicated setup. For more information about the Freedom development platform, see www.nxp.com.
Note: There might be a wrong FRDM-MC-LVPMSM series in the market (series VV19520XXX). This series is populated with 10 mOhm shunt resistors and noisy operational amplifiers which affect phase current measurement. The mc_pmsm example is tuned for original FRDM-MC-LVPMSM board with 20 mOhm shunt resistors.

2.4 LPCXpresso860-MAX
The LPCXpresso860-MAX board is a powerful and flexible, evaluation and development platform for NXP LPC865 microcontroller (MCU). It belongs to the LPCXpresso family of boards -- boards for NXP LPC MCUs based on Arm Cortex-M cores. The board is compatible with the Arduino UNO R3 and Pmod compatible

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

boards. It can be used with a wide range of development tools, including NXP MCUXpresso IDE, Keil µVision, and IAR Embedded Workbench. The board is lead-free and RoHS-compliant. The LPCXpresso860-MAX board uses an onboard debug probe, for debugging the LPC865 MCU. To begin, configure the jumpers on the LPCXpresso860-MAX properly.

Table 5.LPCXpresso860-MAX jumper settings Jumper
P4

Setting 2-3

Figure 7.LPCXpresso860-MAX board
2.4.1 LPCXpresso860-MAX board assembling
1. Connect the FRDM-MC-LVPMSM shield on top of the LPCXpresso860-MAX board (there is only one possible option).
2. Connect the 3-phase motor wires to the screw terminals (J7) on the Freedom PMSM power stage. 3. Plug the USB cable from the USB host to the Debug USB connector J4 on the LPCXpresso860-MAX board. 4. Plug the 24-V DC power supply to the DC power connector on the Freedom PMSM power stage.

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

Figure 8.Assembled system
Note: The example has been tested on the board with schematic number: SCH-54315 REV A. Note: To enable Over-current protection is needed connect J6_8 (PIO0_14) with J1_9 (P0_13) on the LPC board by wire (J2_9 with J4_8 on FRDM-MC-LVPMSM) and enable M1_FAULT_ENABLE macro.

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

3 Processors features and peripheral settings
This chapter describes the peripheral settings and application timing.
3.1 LPC86X
The LPC800 series based on Arm Cortex-M0+ offers a range of low-power, space efficient, low-pin-count options for basic microcontroller applications. The LPC800 series MCUs, part of the EdgeVerseTM edge computing platform, include differentiated product features, such as an NFC communication interface, mutual capacitive touch, switch matrix for flexible configuration of each I/O pin function and SCTimer/PWM, giving embedded developers unprecedented design-flexibility.
The LPC86x is an Arm Cortex-M0+ based, low-cost 32-bit MCU family operating at CPU frequencies of up to 48 MHz. The LPC86x supports up to 64 KB of flash memory and 8 KB of SRAM. The peripheral complement of the LPC86x includes a CRC engine, one I3C -bus interface, one I2C-bus interface, up to three USARTs, up to two SPI interfaces, one multi-rate timer, self-wake-up timer, two FlexTimers, one general purpose 32-bit counter/ timer, a DMA, one 12-bit ADC, one analog comparator, function-configurable I/O ports through a switch matrix, an input pattern match engine, and up to 54 general-purpose I/O pins.
3.1.1 LPCXpresso860MAX - Hardware timing and synchronization
Correct and precise timing is crucial for motor-control applications. Therefore, the motor-control-dedicated peripherals take care of the timing and synchronization on the hardware layer. In addition, it is possible to set the PWM frequency as a multiple of the ADC interrupt (ADC ISR) frequency where the FOC algorithm is calculated. In this case, the PWM frequency is equal to the FOC frequency. The timing diagram is shown in Figure 9.

Figure 9.Hardware timing and synchronization on LPCXpresso860-MAX
· The top signal (FTM counter) shows the FTM counter reloads. At the PWM top and PWM bottom signals, the dead time is emphasized. The FTM_TRIG is generated on the PWM reload, which triggers ADC conversion.

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· When the ADC conversion is completed, the ADC ISR (ADC interrupt) is entered. The FOC calculation is done in this interrupt.
3.2 CPU load and memory usage
The following information applies to the application built using one of the following IDE: MCUXpresso IDE, IAR, Keil MDK or CodeWarrior. The memory usage is calculated from the *.map linker file, including FreeMASTER recorder buffer allocated in RAM. In the MCUXpresso IDE, the memory usage can be also seen after project build in the Console window. The table below shows the maximum CPU load of the supported examples. The CPU load is measured using the SYSTICK timer. The CPU load is dependent on the fast-loop (FOC calculation) and slow-loop (speed loop) frequencies. The total CPU load is calculated using the following equations:
(1)

(2)

(3)

Where:

CPUfast = the CPU load taken by the fast loop cyclesfast = the number of cycles consumed by the fast loop ffast = the frequency of the fast-loop calculation fCPU = CPU frequency CPUslow = the CPU load taken by the slow loop cyclesslow = the number of cycles consumed by the slow loop fslow = the frequency of the slow-loop calculation CPUtotal = the total CPU load consumed by the motor control

Table 6.Maximum CPU load (fast loop) CPU load

LPCXpresso860-MAX (Release configuration) 79.0 %

Table 7.Memory usage
Readonly code memory Readonly data memory Readwrite data memory

LPCXpresso860-MAX (Release configuration) 31 798 B 9 578 B 3 876 B

Measured CPU load and memory usage applies to the application built using IAR IDE. Note: Memory usage and maximum CPU load can differ depending on the used IDEs and settings.

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MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC860MAX)

4 SDK package project file and IDE workspace structure
All the necessary files are included in one package, which simplifies the distribution and decreases the size of the final package. The directory structure of this package is simple, easy to use, and organized logically. The folder structure used in the IDE differs from the structure of the PMSM package installation, but it uses the same files. The different organization is chosen due to better manipulation of folders and files in workplaces and the possibility of adding or removing files and directories. The pack_motor_<board_name> project includes all the available functions and routines. This project serves for development and testing purposes.
4.1 PMSM project structure
The directory tree of the PMSM project is shown in below.

Figure 10.Directory tree
The main project folder pack_motor_<board_name>\boards\<board_name>\demo_apps\mc_pmsm \pmsm_snsless\ contains the following folders and files:
· iar: for the IAR Embedded Workbench IDE. · armgcc: for the GNU Arm IDE. · mdk: for the uVision Keil IDE. · m1_pmsm_appconfig.h: contains the definitions of constants for the application control processes,
parameters of the motor and regulators, and the constants for other vector-control-related algorithms. When

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you tailor the application for a different motor using the Motor Control Application Tuning (MCAT) tool, the tool generates this file at the end of the tuning process. · main.c: contains the basic application initialization (enabling interrupts), subroutines for accessing the MCU peripherals, and interrupt service routines. The FreeMASTER communication is performed in the background infinite loop. · board.c: contains the functions for the UART, GPIO, and SysTick initialization. · board.h: contains the definitions of the board LEDs, buttons, UART instance used for FreeMASTER, and so on. · clock_config.c and .h: contains the CPU clock setup functions. These files are going to be generated by the clock tool in the future. · mc_periph_init.c: contains the motor-control driver peripherals initialization functions that are specific for the board and MCU used. · mc_periph_init.h: header file for mc_periph_init.c. This file contains the macros for changing the PWM period and the ADC channels assigned to the phase currents and board voltage. · freemaster_cfg.h: the FreeMASTER configuration file containing the FreeMASTER communication and features setup. · pin_mux.c and .h: port configuration files. Generate these files in the pin tool. · peripherals.c and .h: MCUXpresso Config Tool configuration files.
The main motor-control folder pack_motor_<board_name>\middleware\motor_control\ contains these subfolders:
· pmsm: contains main PMSM motor-control functions. · freemaster: contains the FreeMASTER project file pmsm_float_enc.pmpx. Open this file in the
FreeMASTER tool and use it to control the application. The folder also contains the auxiliary files for the MCAT tool.
The pack_motor_<board_name>\middleware\motor_control\pmsm\pmsm_float\ folder contains these subfolders common to the other motor-control projects:
· mc_algorithms: contains the main control algorithms used to control the FOC and speed control loop. · mc_cfg_template: contains templates for MCUXpresso Config Tool components. · mc_drivers: contains the source and header files used to initialize and run motor-control applications. · mc_identification: contains the source code for the automated parameter-identification routines of the
motor. · mc_state_machine: contains the software routines that are executed when the application is in a particular
state or state transition. · state_machine: contains the state machine functions for the FAULT, INITIALIZATION, STOP, and RUN
states.

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5 Github project structure
More informations for examples released through NXP MCUXpresso Github are available on link MCUXpresso SKD Documentation.

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6 Motor-control peripheral initialization
The motor-control peripherals are initialized by calling the MCDRV_Init_M1() function during MCU startup and before the peripherals are used. All initialization functions are in the mc_periph_init.c source file and the mc_periph_init.h header file. The definitions specified by the user are also in these files. The features provided by the functions are the 3-phase PWM generation and 3-phase current measurement, as well as the DC-bus voltage and auxiliary quantity measurement. The principles of both the 3-phase current measurement and the PWM generation using the Space Vector Modulation (SVM) technique are described in Sensorless PMSM Field-Oriented Control (document DRM148).
The mc_periph_init.h header file provides the following macros defined by the user:
· M1_MCDRV_ADC_PERIPH_INIT: this macro calls ADC peripheral initialization. · M1_MCDRV_PWM_PERIPH_INIT: this macro calls PWM peripheral initialization. · M1_MCDRV_QD_ENC: this macro calls QD peripheral initialization. · M1_PWM_FREQ: the value of this definition sets the PWM frequency. · M1_FOC_FREQ_VS_PWM_FREQ: enables you to call the fast-loop interrupt at every first, second, third, or
nth PWM reload. This is convenient when the PWM frequency must be higher than the maximal fast-loop interrupt. · M1_SPEED_LOOP_FREQ: the value of this definition sets the speed loop frequency (TMR1 interrupt). · M1_PWM_DEADTIME: the value of the PWM dead time in nanoseconds. · M1_PWM_PAIR_PH[A..C]: these macros enable a simple assignment of the physical motor phases to the PWM periphery channels (or submodules). You can change the order of the motor phases this way. · M1_ADC[1,2]_PH_[A..C]: these macros assign the ADC channels for the phase current measurement. The general rule is that at least one-phase current must be measurable on both ADC converters, and the two remaining phase currents must be measurable on different ADC converters. The reason for this is that the selection of the phase current pair to measure depends on the current SVM sector. If this rule is broken, a preprocessor error is issued. For more information about the 3-phase current measurement, see Sensorless PMSM Field-Oriented Control (document DRM148). · M1_ADC[1,2]_UDCB: this define is used to select the ADC channel for the measurement of the DC-bus voltage.
In the motor-control software, the following API-serving ADC and PWM peripherals are available:
· The available APIs for the ADC are: mcdrv_adc_t: MCDRV ADC structure data type. void M1_MCDRV_ADC_PERIPH_INIT(): this function is by default called during the ADC peripheral initialization procedure invoked by the MCDRV_Init_M1() function and should not be called again after the peripheral initialization is done. void M1_MCDRV_CURR_3PH_CHAN_ASSIGN(mcdrv_adc_t*): calling this function assigns proper ADC channels for the next 3-phase current measurement based on the SVM sector. void M1_MCDRV_CURR_3PH_CALIB_INIT(mcdrv_adc_t*): this function initializes the phase-current channel-offset measurement. void M1_MCDRV_CURR_3PH_CALIB(mcdrv_adc_t*): this function reads the current information from the unpowered phases of a stand-still motor and filters them using moving average filters. The goal is to obtain the value of the measurement offset. The length of the window for moving the average filters is set to eight samples by default. void M1_MCDRV_CURR_3PH_CALIB_SET(mcdrv_adc_t*): this function asserts the phase-current measurement offset values to the internal registers. Call this function after a sufficient number of M1_MCDRV_CURR_3PH_CALIB() calls.

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void M1_MCDRV_CURR_3PH_VOLT_DCB_GET(mcdrv_adc_t*): this function reads and calculates the actual values of the 3-phase currents, DC-bus voltage, and auxiliary quantity.
· The available APIs for the PWM are: mcdrv_pwma_pwm3ph_t: MCDRV PWM structure data type. void M1_MCDRV_PWM_PERIPH_INIT: this function is by default called during the PWM periphery initialization procedure invoked by the MCDRV_Init_M1() function.
void M1_MCDRV_PWM3PH_SET(mcdrv_pwma_pwm3ph_t*): this function updates the PWM phase duty cycles.
void M1_MCDRV_PWM3PH_EN(mcdrv_pwma_pwm3ph_t*): this function enables all PWM channels. void M1_MCDRV_PWM3PH_DIS(mcdrv_pwma_pwm3ph_t*): this function disables all PWM channels. bool_t M1_MCDRV_PWM3PH_FLT_GET(mcdrv_pwma_pwm3ph_t*): this function returns the state of
the overcurrent fault flags and automatically clears the flags (if set). This function returns true when an overcurrent event occurs. Otherwise, it returns false.
· The available APIs for the quadrature encoder are: mcdrv_qd_enc_t: MCDRV QD structure data type. void M1_MCDRV_ENC_PERIPH_INIT(): this function is by default called during the QD periphery initialization procedure invoked by the MCDRV_Init_M1() function.
void M1_MCDRV_ENC_GET(mcdrv_qd_enc_t*): this function returns the actual position and speed. void M1_MCDRV_ENC_SET_DIRECTION(mcdrv_qd_enc_t*): this function sets the direction of the
quadrature encoder.
void M1_MCDRV_ENC_SET_PULSES(mcdrv_qd_enc_t*): this function sets the number of pulses of the quadrature encoder.
void M1_MCDRV_ENC_CLEAR(mcdrv_qd_enc_t*): this function clears the internal variables and decoder counter.
Note: Not all macros are available for every motor control example type. The structure data types may vary across the platforms.

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7 User interface
The application contains the demo mode to demonstrate motor rotation. You can operate it either using the user button, or using FreeMASTER. The NXP development boards include a user button associated with a port interrupt (generated whenever one of the buttons is pressed). At the beginning of the ISR, a simple logic executes and the interrupt flag clears. When you press the button, the demo mode starts. When you press the same button again, the application stops and transitions back to the STOP state.
The other way to interact with the demo mode is to use the FreeMASTER tool. The FreeMASTER application consists of two parts: the PC application used for variable visualization and the set of software drivers running in the embedded application. The serial interface transfers data between the PC and the embedded application. This interface is provided by the debugger included in the boards.
The application can be controlled using the following two interfaces:
· The user button on the development board (controlling the demo mode): LCPXpresso860-MAX - SW2
· Remote control using FreeMASTER (Following chapter): Setting a variable in the FreeMASTER Variable Watch. See chapter Section 8.4
Identify all motor parameters if you are using your own motor (different from the default motors). The automated parameter identification is described in the following sections.

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8 Remote control using FreeMASTER
This section provides information about the tools and recommended procedures to control the sensor/ sensorless PMSM Field-Oriented Control (FOC) application using FreeMASTER. The application contains the embedded-side driver of the FreeMASTER real-time debug monitor and data visualization tool for communication with the PC. It supports non-intrusive monitoring, as well as the modification of target variables in real time, which is very useful for the algorithm tuning. Besides the target-side driver, the FreeMASTER tool requires the installation of the PC application as well. You can download the latest version of FreeMASTER at www.nxp.com/freemaster. To run the FreeMASTER application including the MCAT tool, double-click the pmsm_frac.pmpx file located in the middleware\motor_control\freemaster folder. The FreeMASTER application starts and the environment is created automatically, as defined in the *.pmpx file.
Note: In MCUXpresso, the FreeMASTER application can run directly from IDE in motor_control/ freemaster folder.
8.1 Establishing FreeMASTER communication
The remote operation is provided by FreeMASTER via the USB interface. To control a PMSM motor using FreeMASTER, perform the steps below:
1. Download the project from your chosen IDE to the MCU and run it. 2. Open the FreeMASTER project pmsm_frac.pmpx . The PMSM project uses the TSA by default, so it is not
necessary to select a symbol file for FreeMASTER. 3. To establish the communication, click the communication button (the green "GO" button in the top left-hand
corner).

Figure 11. Green "GO" button placed in top left-hand corner 4. If the communication is established successfully, the FreeMASTER communication status in the
bottom right-hand corner changes from "Not connected" to "RS-232 UART Communication; COMxx; speed=115200". Otherwise, the FreeMASTER warning pop-up window appears.
Figure 12.FreeMASTER--communication is established successfully 5. To reload the MCAT HTML page and check the App ID, press F5. 6. Control the PMSM motor by writing to a control variable in a variable watch. 7. If you rebuild and download the new code to the target, turn the FreeMASTER application off and on.
If the communication is not established successfully, perform the following steps:
1. Go to the Project > Options > Comm tab and make sure that the correct COM port is selected and the communication speed is set to 115200 bps.

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Figure 13.FreeMASTER communication setup window 2. Ensure, that your computer is communicating with the plugged board. Unplug and then plug in the USB
cable and reopen the FreeMASTER project.
8.2 TSA replacement with ELF file
The FreeMASTER project for motor control example uses Target-Side Addressing (TSA) information about variable objects and types to be retrieved from the target application by default. With the TSA feature, you can describe the data types and variables directly in the application source code and make this information available to the FreeMASTER tool. The tool can then use this information instead of reading symbol data from the application's ELF/Dwarf executable file.
FreeMASTER reads the TSA tables and uses the information automatically when an MCU board is connected. A great benefit of using the TSA is no issues with the correct path to ELF/Dwarf file. The variables described by TSA tables may be read-only, so even if FreeMASTER attempts to write the variable, the target MCU side denies the value. The variables not described by any TSA tables may also become invisible and protected even for read-only access.
The use of TSA means more memory requirements for the target. If you do not want to use the TSA feature, you must modify the example code and FreeMASTER project.
To modify the example code, follow the steps below:
1. Open motor control project and rewrite macro FMSTR_USE_TSA from 1 to 0 in freemaster_cfg.h file. 2. Build, download, and run motor control project. 3. Open FreeMASTER project and click to Project > Options (or use shortcut Ctrl+T). 4. Click to MAP Files tab and find Default symbol file (ELF/Dwarf executable file) located in IDE output folder.

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Figure 14.Default symbol file 5. Click OK and restart the FreeMASTER communication.
For more information, check FreeMASTER User Guide.

8.3 Motor Control Aplication Tuning interface (MCAT)
The PMSM sensor/sensorless FOC application can be easily controlled and tuned using the Motor Control Application Tuning (MCAT) plug-in for PMSM. The MCAT for PMSM is a user-friendly page, which runs within the FreeMASTER. The tool consists of the tab menu and workspace as shown in Figure 15. Each tab from the tab menu (4) represents one submodule which enables tuning or controlling different application aspects. Besides the MCAT page for PMSM, several scopes, recorders, and variables in the project tree (5) are predefined in the FreeMASTER project file to further the motor parameter tuning and debugging simplify.
When the FreeMASTER is not connected to the target, the "Board found" line (2) shows "Board ID not found". When the communication with the target MCU is established, the "Board found" line is read from Board ID variable watch and displayed. If the connection is established and the board ID is not shown, press F5 to reload the MCAT HTML page.
There are three action buttons in MCAT (3):
· Load data - MCAT input fields (for example, motor parameters) are loaded from mX_pmsm_appconfig.h file (JSON formatted comments). Only existing mX_pmsm_appconfig.h files can be selected for loading. Loaded mX_pmsm_appcofig.h file is displayed in grey field (7).
· Save data - MCAT input fields (JSON formatted comments) and output macros are saved to mX_pmsm_appconfig.h file. Up to 9 files (m1-9_pmsm_appconfig.h) can be selected. A pop-up window with the user motor ID and description appears when a different mX_pmsm_appcofig.h file is selected. The motor ID and description are also saved in mX_pmsm_appcofig.h as a JSON comment. The embedded code includes m1_pmsm_appcofig.h only at single motor control application. Therefore, saving to higher indexed mX_pmsm_appconfig.h files has no effect at the compilation stage.
· Update target - writes the MCAT calculated tuning parameters to FreeMASTER Variables, which effectively updates the values on target MCU. These tuning parameters are updated in MCU's RAM. To write these

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tuning parameters to MCU's flash memory, m1_pmsm_appcofig.h must be saved, code recompiled, and downloaded to MCU.
Every time the communication with the board is established or MCAT is refreshed by pressing F5, MCAT looks for the m1_pmsm_appconfig.h file. A path to m1_pmsm_appconfig is relative to *.pmpx file. The path is composed from the fixed defined folders name and from the following FreeMASTER variables: User Path 1, User Path 2, Board ID, Example ID. Variables User Path 1 and User Path 2 are intended for user's custom path to the m1_pmsm_appconfig.h. These variables are defined in example's main.c file where user can modify them. There are several possible paths with different priority (higher to lower) and typical use case:
1. User Path 1/ 2. User Path 2/ 3. ../boards/Board ID/mc_pmsm/Example ID/
· typical use case during SDK example development 4. ../../../boards/Board ID/demo_apps/mc_pmsm/Example ID/
· typical use case in the SDK package 5. ../../../boards/Board ID/demo_apps/mc_pmsm/Example ID/cm7/
· typical use case in the SDK package 6. ../../../boards/Board ID/demo_apps/mc_pmsm/Example ID/cm33_core0/
· typical use case in the SDK package 7. ../../source/
· typical use case in the workspace
When the m1_pmsm_appconfig.h is found in one of the above defined path, it is loaded into the MCAT. Then, MCAT uses this directory for further operations (Load data, Save data). When m1_pmsm_appconfig.h is not found even in one of the path above, the default m1_pmsm_appconfig.h is loaded. The default m1_pmsm_appconfig.h is located in the mcat folder. In case of default file is loaded to the MCAT, newly saved mX_pmsm_appconfig.h files will be placed next to the *.pmpx file.
Note: Since the path to mX_pmsm_appconfig.h is composed from User Path 1, User Path 2, Board ID and Example ID, FreeMASTER must be connected to the target, and FreeMASTER variables value read prior using Save/Load buttons.
Note: Only Update target button updates values on the target in real time. Load/Save buttons operate with mX_pmsm_appcofig.h file only.
Note: MCAT may require Internet connection. If no Internet connection is available, CSS and icons may not be loaded properly.

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Figure 15.FreeMASTER + MCAT layout
In the default configuration, the following tabs (4) are available:
· Application concept: welcome page with the PMSM sensor/sensorless FOC diagram and a short application description.
· Parameters: this page enables you to modify the motor parameters, hardware and application scales specification, alignment, and fault limits.
· Current loop: current loop PI controller gains and output limits. · Speed loop: this tab contains fields for the specification of the speed controller proportional and integral gains,
as well as the output limits and parameters of the speed ramp. . · Servo control: this tab contains fields for the specification of the position controller proportional gain, as well
as the output limits. · Sensorless: this page enables you to tune the parameters of the BEMF observer, tracking observer, and
open-loop startup. · Output file: this tab shows all the calculated constants that are required by the PMSM sensor/sensorless FOC
application. It is also possible to generate the mX_pmsm_appconfig.h file, which is then used to preset all application parameters permanently at the project rebuild. · Online update : this tab shows actual values of variables on target and new calculated values, which can be used to update the target variables.
Every sublock in FreeMASTER project tree (5) has defined several variables in variable watch (6).
The following sections provide simple instructions on how to identify the parameters of a connected PMSM motor and how to tune the application appropriately.
8.3.1 MCAT tabs description
This chapter describes MCAT input parameters and equations used to calculate MCAT output (generated) parameters. In the default configuration, the below described tabs are available. Some tabs may be missing

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if not supported in the embedded code. There are general constants used at MCAT calculations listed in the following table:

Table 8.Constants used in equations Constant
UmaxCoeff DiscMethodFactor IIRxCoefsScaleType SPEED_IIR_filt

Value 1.73205
2 8 100

Unit -

8.3.1.1 Application concept
This tab is a welcome page with the PMSM sensor/sensorless FOC diagram and a short description of the application.

8.3.1.2 Parameters

This tab enables modification of motor parameters, specification of hardware and application scales, alignment, and fault limits. All inputs are described in the following table. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations below.

Table 9.Parameters tab inputs

MCAT group

MCAT name

Motor

parameters

Equation name parametersPP

parametersRs

parametersLd

parametersLq

Ke J Iph nom

parametersKe parametersJ parametersIphNom

Description

Unit

Motor number of pole-pairs.

Obtain from motor manufacturer

or use the pole-pair assistant to

determine and then fill manually.

Stator phase resistance. Obtain [] from motor manufacturer or use the electrical parameters identification and then fill manually.

Stator direct inductance. Obtain [H] from motor manufacturer or use the electrical parameters identification and then fill manually.

Stator quadrature inductance. [H] Obtain from motor manufacturer or use the electrical parameters identification and then fill manually.

Motor electrical constant. Obtain from motor manufacturer or use the Ke identification and then fill manually.

[V.sec/rad]

Drive inertia (motor + plant). Use [kg.m2] the mechanical identification and then fill manually.

Nominal motor current. Obtain [A] from motor manufacturer.

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Table 9.Parameters tab inputs...continued

MCAT group

MCAT name

Equation name

Uph nom

parametersUphNom

N nom

parametersNnom

Hardware scales I max

parametersImax

U DCB max

parametersUdcbMax

Fault limits

U DCB trip

parametersUdcbTrip

U DCB under
U DCB over
N over N min

parametersUdcbUnder
parametersUdcbOver
parametersNover parametersNmin

E block E block per

parametersEblock parametersEblockPer

Application scales

N max

parametersNmax

E max kt U DCB IIR F0

parametersEmax parametersKt parametersUdcbIIRf0

Calibration duration parametersCalibDuration

Description

Unit

Nominal motor voltage. Obtain [V] from motor manufacturer.

Nominal motor speed. Obtain from motor manufacturer.

[rpm]

Current sensing HW scale. Keep [A] as-is in case of standard NXP HW or recalculate according to own schematic.

DCBus voltage sensing HW

[V]

scale. Keep as-is in case of

standard NXP HW or recalculate

according to own schematic.

DCBus braking resistor

[V]

threshold. Braking resistor's

transitor is turned on when

DCbus voltage exceeds this

threshold.

DCBus under voltage fault

[V]

threshold

DCBus over voltage fault

[V]

threshold

Over speed fault threshold

[rpm]

Minimal closed loop speed. When the required speed ramps down under this threshold, the motor control state machine goes to freewheel state where top and bottom transistors are turned off and motor speeds down freely. Applies only for sensorless operation.

[rpm]

Blocked rotor detection. When [V]

BEMF voltage drops under E block threshold for more than E

block per (fast loop ticks), the

blocked rotor fault is detected.

Application speed scale. Keep about 10 % margin above N over.

[rpm]

FOC BEMF Maximum Limit.

[V]

Torque Constant.

[Nm/A]

Cut-off frequency of DCBus IIR [Hz] filter

ADC (phase current offset) calibration duration. Done every time transitioning from STOP to RUN.

[sec]

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Table 9.Parameters tab inputs...continued

MCAT group

MCAT name

Equation name

Fault duration

parametersFaultDuration

Freewheel duration parametersFreewheelDuration

Alignment

Scalar Uq min

parametersScalarUqMin

Scalar V/Hz factor ratio
Align voltage
Align duration

parametersScalarVHzRatio
parametersAlignVoltage parametersAlignDuration

Description

Unit

After fault condition disappears, wait defined time to clear pending faults bitfield and transition to STOP state.

[sec]

Free-wheel state duration.

[sec]

Freewheel state in entered when ramped speed drops under N min.

Scalar control voltage minimal [V] value.

Scalar V/Hz ratio gain.

[%]

Motor alignment voltage. Motor alignment duration.

[V] [sec]

Output equations
Applies for saving to mX_pmsm_appconfig.h. (Pressing the Save data button)
Does NOT apply for updating the corresponding FreeMASTER variable. (Pressing Update target button)
· sensorlessWmax = (2 * Math.PI * parametersPp * parametersNmax / 60) · scalarVHzFactor = parametersUphNom * parametersScalarVHzRatio / 100 / (parametersNnom *
parametersPp * 2 * Math.PI / 60) * sensorlessWmax / parametersUmax · scalarVHzFactorShift = scalarVHzFactor > 1 ? - Math.ceil (Math.log(Math.abs( 1 / scalarVHzFactor )) /
Math.log(2) - 1) · M1_U_MAX (parametersUmax) = parametersUdcbMax / constants.UmaxCoeff · M1_MOTOR_PP = parametersPP · M1_I_PH_NOM = parametersIphNom / parametersImax · M1_I_MAX = parametersImax · M1_U_DCB_MAX = parametersUdcbMax · M1_U_DCB_TRIP = parametersUdcbTrip / parametersUdcbMax · M1_U_DCB_UNDERVOLTAGE = parametersUdcbUnder / parametersUdcbMax · M1_U_DCB_OVERVOLTAGE = parametersUdcbOver / parametersUdcbMax · M1_FREQ_MAX = parametersNmax / 60 * parametersPp · M1_ALIGN_DURATION = parametersAlignDuration / currentLoopSampleTime · M1_CALIB_DURATION = parametersCalibDuration / speedLoopSampleTime · M1_FAULT_DURATION = parametersFaultDuration / speedLoopSampleTime · M1_FREEWHEEL_DURATION = parametersFreewheelDuration / speedLoopSampleTime · M1_E_MAX = parametersEmax · M1_E_BLOCK_TRH = parametersEblock / parametersEmax · M1_E_BLOCK_PER = parametersEblockPer · M1_N_MIN = parametersNmin / parametersNmax · M1_N_MAX = parametersNmax · M1_N_NOM = parametersNnom / parametersNmax · M1_N_OVERSPEED = parametersNover / parametersNmax · M1_UDCB_IIR_B0 = 4 * ((2 * Math.PI * parametersUdcbIIRf0 * currentLoopSampleTime) / (2 + (2 * Math.PI *
parametersUdcbIIRf0 * currentLoopSampleTime))) / constants.IIRxCoefsScaleType

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· M1_UDCB_IIR_B1 = 4 * ((2 * Math.PI * parametersUdcbIIRf0 * currentLoopSampleTime) / (2 + (2 * Math.PI * parametersUdcbIIRf0 * currentLoopSampleTime))) / constants.IIRxCoefsScaleType
· M1_UDCB_IIR_A1 = 4 * (-(2 * Math.PI * parametersUdcbIIRf0 * currentLoopSampleTime - 2) / (2 + (2 * Math.PI * parametersUdcbIIRf0 * currentLoopSampleTime))) / constants.IIRxCoefsScaleType
· M1_SCALAR_UQ_MIN = parametersScalarUqMin / parametersUmax · M1_ALIGN_VOLTAGE = parametersAlignVoltage / parametersUmax · M1_SCALAR_VHZ_FACTOR_GAIN = scalarVHzFactor * Math.pow( 2 , -scalarVHzFactorShift) · M1_SCALAR_VHZ_FACTOR_SHIFT = scalarVHzFactor · M1_SCALAR_INTEG_GAIN = 2 * Math.PI * parametersPp * parametersNmax / 60 * currentLoopSampleTime /
Math.PI
· M1_SCALAR_RAMP_UP = speedLoopRampUp / 60 * parametersPp * 2 * Math.PI / sensorlessWmax * currentLoopSampleTime
· M1_SCALAR_RAMP_DOWN = speedLoopRampDown / 60 * parametersPp * 2 * Math.PI / sensorlessWmax * currentLoopSampleTime

8.3.1.3 Current loop

This tab enables current loop PI controller gains and output limits tuning. All inputs are described in the following table. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.

Table 10.Current loop tab input

MCAT group

MCAT name

Loop parameters Sample time

Equation name currentLoopSampleTime

Current PI controller limits

F0 Output limit

currentLoopF0 currentLoopKsi currentLoopOutputLimit

Description

Unit

Fast control loop period. This [sec] disabled value is read from target via FreeMASTER because application timing is set in embedded code by peripherals setting. This value is accessible only if target is not connected and value cannot be obtained from target.

Current controller's bandwidth [Hz]

Current controller's attenuation -

Current controllers' output

[%]

voltage limit = Duty cycle limit.

Be careful setting this limit above

95 % because it affects current

sensing (Some minimal bottom

transistors on time is required).

Output equations (applies for saving to mX_pmsm_appconfig.h and also for updating a corresponding FreeMASTER variable):
· M1_CLOOP_LIMIT = currentLoopOutputLimit / 100 · M1_D_KP_GAIN = ((2 * currentLoopKsi * 2 * Math.PI * currentLoopF0 * parametersLd) - parametersRs) *
parametersImax / parametersUmax · M1_D_KI_GAIN = ((Math.pow((2 * Math.PI * currentLoopF0), 2) * parametersLd) * currentLoopSampleTime /
constants.DiscMethodFactor) * parametersImax / parametersUmax · M1_Q_KP_GAIN = ((2 * currentLoopKsi * 2 * Math.PI * currentLoopF0 * parametersLq) - parametersRs) *
parametersImax / parametersUmax

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· M1_Q_KI_GAIN = ((Math.pow((2 * Math.PI * currentLoopF0), 2) * parametersLq) * currentLoopSampleTime / constants.DiscMethodFactor) * parametersImax / parametersUmax

8.3.1.4 Speed loop

This tab enables speed loop PI controller gains and output limits tuning, required speed ramp parameters, feedback speed filter tuning, and position P controller gain tuning (available at sensored/encoder applications only). MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.

Table 11.Speed loop tab input

MCAT group

MCAT name

Loop parameters Sample time

Equation name speedLoopSampleTime

Speed ramp

F0 Inc up

Inc down

Actual speed filter
Speed PI controller limits

Cut-off freq Upper limit

Lower limit

speedLoopF0 speedLoopKsi speedLoopIncUp speedLoopIncDown speedLoopCutOffFreq speedLoopUpperLimit
speedLoopLowerLimit

Description

Unit

Slow control loop period. This [sec] disabled value is read from target via FreeMASTER because application timing is set in embedded code by peripherals setting. This value is accessible only if target is not connected and value cannot be obtained from target.

Speed controller's bandwidth [Hz]

Speed controller's attenuation -

Required speed maximal acceleration

[rpm/sec]

Required speed maximal acceleration

[rpm/sec]

Speed feedback (before entering [Hz] PI subtraction) filter bandwidth.

Maximal required Q-axis current [A] (Speed controller's output). Qaxis current limitation equals to motor torque limitation.

Minimal required Q-axis current [A] (Speed controller's output). Qaxis current limitation equals to motor torque limitation.

Output equations (applies for saving to mX_pmsm_appconfig.h and also for updating a corresponding FreeMASTER variable):
· M1_SPEED_PI_PROP_GAIN = 2 * speedLoopKsi * 2 * Math.PI * Math.round(speedLoopF0) * parametersJ / parametersKt * (sensorlessWmax / parametersImax)
· M1_SPEED_PI_INTEG_GAIN = ((Math.pow((2 * Math.PI * speedLoopF0), 2) * parametersJ) / parametersKt * speedLoopSampleTime) * (sensorlessWmax / parametersImax)
· M1_SPEED_LOOP_HIGH_LIMIT = speedLoopUpperLimit / parametersImax · M1_SPEED_LOOP_LOW_LIMIT = speedLoopLowerLimit / parametersImax · M1_SPEED_RAMP_UP = (speedLoopIncUp / 60 * parametersPp * 2 * Math.PI / sensorlessWmax *
speedLoopSampleTime)
· M1_SPEED_RAMP_DOWN = (speedLoopIncDown / 60 * parametersPp * 2 * Math.PI / sensorlessWmax * speedLoopSampleTime)

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· M1_SPEED_IIR_B0= 4 * ((2 * Math.PI * speedLoopCutOffFreq * speedLoopSampleTime) / (2 + (2 * Math.PI * speedLoopCutOffFreq * speedLoopSampleTime))) / IIRxCoefsScaleType
· M1_SPEED_IIR_B1 = 4 * ((2 * Math.PI * speedLoopCutOffFreq * speedLoopSampleTime) / (2 + (2 * Math.PI * speedLoopCutOffFreq * speedLoopSampleTime))) / IIRxCoefsScaleType
· M1_SPEED_IIR_A1 = 4 * (-(2 * Math.PI * speedLoopCutOffFreq * speedLoopSampleTime - 2) / (2 + (2 * Math.PI * speedLoopCutOffFreq * speedLoopSampleTime))) / IIRxCoefsScaleType

8.3.1.5 Sensorless

This tab enables BEMF observer and Tracking observer parameters tuning and open-loop startup tuning. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.

Table 12.Sensorless tab input

MCAT group

MCAT name

Equation name

BEMF observer F0

parameters

sensorlessBemfObsrvF0 sensorlessBemfObsrvKsi

Tracking

observer parameters

sensorlessTrackObsrvF0 sensorlessTrackObsrvKsi

TO IRR speed Cut-off freq filter

sensorlessTrackObsrvIIRSpeed CutOff

Open loop startup parameters

Startup ramp Startup current Merging Speed

sensorlessStartupRamp sensorlessStartupCurrent sensorlessMergingSpeed

Merging Coefficient sensorlessMergingCoeff

Description BEMF observer bandwidth BEMF observer attenuation Tracking observer bandwidth Tracking observer attenuation
Tracking observer IIR speed filter cut-off frequency. Open loop startup ramp Open loop startup current Merging speed Merging coefficient (100 % = merging is done within one electrical revolution)

Unit [Hz] [Hz] -
[Hz]
[rpm/sec] [A] [rpm] [%]

Output equations (applies for saving to mX_pmsm_appconfig.h and also for updating a corresponding FreeMASTER variable):
· sensorlessToKp = (2 * sensorlessTrackObsrvKsi * 2 * Math.PI * sensorlessF0) * (1 / sensorlessWmax) · sensorlessToKi = ((Math.pow(2 * Math.PI * sensorlessTrackObsrvF0 , 2)) * currentLoopSampleTime) * (1 /
sensorlessWmax)
· sensorlessTheta = currentLoopSampleTime * sensorlessWmax / Math.PI · M1_I_SCALE = (parametersLd / (parametersLd + currentLoopSampleTime * parametersRs)) · M1_U_SCALE = (currentLoopSampleTime / (parametersLd + currentLoopSampleTime * parametersRs) *
(parametersUmax / parametersImax))
· M1_E_SCALE = (currentLoopSampleTime / (parametersLd + currentLoopSampleTime * parametersRs) * (parametersEmax / parametersImax))
· M1_WI_SCALE = (parametersLq * currentLoopSampleTime / (parametersLd + currentLoopSampleTime * parametersRs) * sensorlessWmax)
· M1_BEMF_DQ_KP_GAIN = (2 * sensorlessBemfObsrvKsi * 2 * Math.PI * sensorlessBemfObsrvF0 * parametersLd - parametersRs) * (parametersImax / parametersEmax)
· M1_BEMF_DQ_KI_GAIN = ((parametersLd * Math.pow(2 * Math.PI * sensorlessBemfObsrvF0, 2)) * currentLoopSampleTime) * (parametersImax / parametersEmax)
· M1_TO_KP_SHIFT(sensorlessToKpShift)= Math.ceil(Math.log(Math.abs(sensorlessToKp)) / Math.log(2)) · M1_TO_KP_GAIN = sensorlessToKp * Math.pow(2, -sensorlessToKpShift)

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· M1_TO_KI_SHIFT(sensorlessToKiShift) = Math.ceil(Math.log(Math.abs(sensorlessToKi)) / Math.log(2)) · M1_TO_KI_GAIN = sensorlessToKi * Math.pow(2, -sensorlessToKiShift) · M1_TO_THETA_SHIFT(sensorlessThetaShift) = Math.ceil(Math.log(Math.abs(sensorlessTheta)) / Math.log(2)) · M1_TO_THETA_GAIN = sensorlessTheta * Math.pow(2, -sensorlessThetaShift) · M1_OL_START_RAMP_INC = (sensorlessStartupRamp / 60 * parametersPp * 2 * Math.PI / sensorlessWmax *
currentLoopSampleTime) · M1_MERG_SPEED_TRH = sensorlessMergingSpeed / parametersNmax · M1_MERG_COEFF = ((sensorlessMergingCoeff / 100)* sensorlessMergingSpeed * parametersPp *
currentLoopSampleTime)/60 · x = 2 * Math.PI * sensorlessTrackObsrvIIRSpeedCutOff * currentLoopSampleTime · M1_TO_SPEED_IIR_B0 = 4 * (x / (2 + x)) / constants.IIRxCoefsScaleType · M1_TO_SPEED_IIR_B1 = 4 * ((2 * Math.PI * sensorlessTrackObsrvIIRSpeedCutOff *
currentLoopSampleTime) / (2 + (2 * Math.PI * sensorlessTrackObsrvIIRSpeedCutOff * currentLoopSampleTime))) / constants.IIRxCoefsScaleType · M1_TO_SPEED_IIR_A1 = 4 * (-(2 * Math.PI * sensorlessTrackObsrvIIRSpeedCutOff * currentLoopSampleTime - 2) / (2 + (2 * Math.PI * sensorlessTrackObsrvIIRSpeedCutOff * currentLoopSampleTime))) / constants.IIRxCoefsScaleType · M1_OL_START_I = sensorlessStartupCurrent / parametersImax
8.4 Motor Control Modes - How to run motor
In the "Project Tree", you can choose between the scalar and FOC control using the appropriate FreeMASTER tabs. The FreeMASTER variables can control the application, corresponding to the control structure selected in the FreeMASTER project tree. This is useful for application tuning and debugging. The required control structure must be selected in the "M1 MCAT Control" variable. To turn on or off the application, use "M1 Application Switch" variable. Set/clear "M1 Application Switch" variable also enables/disables all PWM channels.
Before motor starts, several conditios have to be completed:
1. Connected power supply to the inverter with the correct voltage value. 2. No pending fault. Check variable "M1 Fault Pending" in "Motor M1" project tree subblock. If there is some
value, first remove the cause of the fault, or disable fault checking. (for example in variable "M1 Fault Enable Blocked Rotor")
8.4.1 Scalar control
The scalar control diagram is shown in figure below. It is the simplest type of motor-control techniques. The ratio between the magnitude of the stator voltage and the frequency must be kept at the nominal value. Therefore, the control method is sometimes called Volt per Hertz (or V/Hz). The position estimation BEMF observer and tracking observer algorithms run in the background, even if the estimated position information is not directly used. This is useful for the BEMF observer tuning. For more information, see the Sensorless PMSM FieldOriented Control (document DRM148).

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Ud_req = 0 Um = Uq_req

U_req U_req

SVM

Frequency 2pi

e e Integrator

VDC VSI
PMSM
Sensor

Figure 16.Scalar control mode
For run motor in scalar control, follow these steps:
1. Switch project tree subblock on "Scalar & Voltage Control". 2. Switch variable "M1 MCAT Control" on "SCALAR_CONTROL". 3. In variable "M1 Scalar Freq Required" set required frequency. (i.e. 20Hz) 4. Set variable "M1 Application Switch" to "1". Motor start spinning. 5. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.
8.4.2 Open loop control mode
Open loop mode (its diagram is shown in figure below) is similar in function to the Scalar control mode. However, it provides more flexibility in specifying required parameters. This mode allows you to set specific angle and frequency, according to the following equation:
(4)

Besides setting voltage in DQ axis, when using this mode you can also enable current controllers and specify required currents in D and Q axis. Therefore, this function can be utilized for current controller parameter tuning. Please, bear in mind that current controllers cannot be enabled/disabled in SPIN state (user must turn the Application Switch OFF before enabling/disabling current controllers).

VDC

Ud_req Uq_req

U_req U_req

SVM

init

VSI PMSM
Sensor

Frequency 2pi

e Integrator

Figure 17.Voltage - Open loop control

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For run motor in Voltage - Open loop control, follow these steps:
1. Switch project tree subblock on "Openloop Control". 2. Switch variable "M1 MCAT Control" on "OPEN_LOOP". 3. In variable "M1 Openloop Required Ud" and "M1 Openloop Required Uq" set required values. 4. In variable "M1 Openloop Theta Electrical" set required initial position. 5. In variable "M1 Openloop Required Frequency Electrical" set required frequency. 6. Set variable "M1 Application Switch" to "1". Motor start spinning. 7. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.

id_req

iq_req

ZC filter

Output limit [%]

Current PI controller Limit
calculation

Ud_req

Uq_req

U_req U_req

SVM

VDC VSI

id_real iq_real

i_real i_real

abc

ia_real ib_real ic_real

init

PMSM Sensor

Frequency 2pi

e Integrator

Figure 18.Current - Open loop control
For run motor in Current - Open loop control, follow these steps:
1. Switch project tree subblock on "Openloop Control". 2. Switch variable "M1 MCAT Control" on "OPEN_LOOP". 3. Set variable "M1 Openloop Use I Control" to "1". 4. In variable "M1 Openloop Required Id" and "M1 Openloop Required Iq" set required values. 5. In variable "M1 Openloop Theta Electrical" set required initial position. 6. In variable "M1 Openloop Required Frequency Electrical" set required frequency. 7. Set variable "M1 Application Switch" to "1". Motor start spinning. 8. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.

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8.4.3 Voltage control
The block diagram of the voltage FOC is shown in Figure 19. Unlike the scalar control, the position feedback is closed using the BEMF observer and the stator voltage magnitude is not dependent on the motor speed. Both the d-axis and q-axis stator voltages can be specified in the "M1 MCAT Ud Required" and "M1 MCAT Uq Required" fields. This control method is useful for the BEMF observer functionality check.

VDC

Ud_req Uq_req

U_req U_req

SVM

VSI PMSM

Position/Speed

evaluation

Sensor

Figure 19.Voltage FOC control mode
For run motor in voltage control, follow these steps:
1. Switch project tree subblock on "Scalar & Voltage Control". 2. Switch variable "M1 MCAT Control" on "VOLTAGE_FOC". 3. In variable "M1 MCAT Uq Required" and "M1 MCAT Ud Required" set required voltages. 4. Set variable "M1 Application Switch" to "1". Motor start spinning. 5. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.
8.4.4 Current/Torque control
The current FOC (or torque) control requires the rotor position feedback and the currents transformed into a dq reference frame. There are two reference variables ("M1 MCAT Id Required" and "M1 MCAT Iq Required") available for the motor control, as shown in Figure 20. The d-axis current component "M1 MCAT Id Required" controls the rotor flux. The q-axis current component of the current "M1 MCAT Iq Required" generates torque and, by its application, the motor starts running. By changing the polarity of the current "M1 MCAT Iq Required", the motor changes the direction of rotation. Supposing the BEMF observer is tuned correctly, the current PI controllers can be tuned using the current FOC control structure.

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id_req = 0

Output limit [%]

Current PI controller Limit
calculation

Ud_req

iq_req

ZC filter

Uq_req

id_real iq_real

VDC

U_req

SVM

VSI

U_req

i_real i_real

abc

ia_real ib_real ic_real

Position/Speed

evaluation

PMSM Sensor

Figure 20.Current/Torque control mode (sensored)
For run motor in current control, follow these steps:
1. Switch project tree subblock on "Current Control". 2. Switch variable "M1 MCAT Control" on "CURRENT_FOC". 3. In variable "M1 MCAT Iq Required" and "M1 MCAT Id Required" set required currents. 4. Set variable "M1 Application Switch" to "1". Motor start spinning. 5. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.
8.4.5 Speed FOC control
As shown in Figure 21, the speed PMSM sensor/sensorless FOC is activated by enabling the speed FOC control structure. Enter the required speed into the "M1 Speed Required" field. The d-axis current reference is held at 0 during the entire FOC operation.

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Output limit [%]
M1_CLOOP_LIMIT
Current PI controller Limit
calculation

e_req (M1 Speed Required)

M1_SPEED_RAMP_UP M1_SPEED_RAMP_DOWN
Speed ramp

Switch

filter

M1_SPEED_IIR_ZC_B0
M1_SPEED_IIR_ZC_B1 M1_SPEED_IIR_ZC_A1

id_req = 0

M1_SPEED_LOOP_HIGH_LIMIT M1_SPEED_LOOP_LOW_LIMIT
Limits

iq_req

ZC filter

M1_SPEED_PI_PROP_GAIN M1_SPEED_PI_INTEG_GAIN

M1_Q_IIR_ZC_B0
M1_Q_IIR_ZC_B1 M1_Q_IIR_ZC_A1

Ud_req

M1_D_KP_GAIN M1_D_KI_GAIN

Uq_req PI
M1_Q_KP_GAIN M1_Q_KI_GAIN
id_real

iq_real

e_real

M1_SPEED_IIR_B0
M1_SPEED_IIR_B1 M1_SPEED_IIR_A1

Speed filter

VDC

U_req

SVM

VSI

U_req

i_real i_real

abc

ia_real ib_real ic_real

e Position/Speed evaluation

PMSM Sensor

Figure 21.Speed FOC control mode (sensored)
For run motor in speed FOC control, follow these steps:
1. Switch project tree subblock on "Speed Control". 2. Switch variable "M1 MCAT Control" on "SPEED_FOC". 3. In variable "M1 Speed Required" set the required speed. (i.e. 1000rpm). The motor automatically starts
spinning. 4. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.

8.5 Faults explanation
When the motor is running or during the tuning process, there may be several fault conditions. Therefore, the motor-control example has an integrated fault indication located in the variable watch of the "Motor M1" FreeMASTER subblock. If a fault is indicated, state machine enters the FAULT state.

Figure 22.Faults in variable watch located in "Motor M1" subblock

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8.5.1 Variable "M1 Fault Pending"
It shows actually persisting faults, which means that the fault indicated during fault conditions is accomplished. For example, if the source voltage is still under the undervoltage fault threshold, the undervoltage pending fault is shown. If the fault condition disappears, the fault pending is cleared automatically. "M1 Fault Pending" is shown in a binary format in the FreeMASTER variable watch. Each place in the variable denotes a different fault condition.
· b 0000 0001 - the overcurrent fault is indicated. If the overcurrent fault is present, the PWMs are automatically disabled. The fault occurs when the DC-Bus current exceeds the Imax value (current-sensing HW scale).
· b 0000 0010 - the undervoltage fault is indicated. The undervoltage fault occurs when the UDCBus voltage (source voltage) is lower than the U DCB under threshold.
· b 0000 0100 - the overvoltage fault is indicated. The overvoltage fault occurs when the UDCBus voltage (source voltage) is higher than the U DCB over threshold.
· b 0000 1000 - the overload fault is indicated. The overload fault occurs when the rotor is overloaded. · b 0001 0000 - the overspeed fault is indicated. The overspeed fault occurs when the rotor speed exceeds the
N over threshold. · b 0010 0000 - the block rotor fault is indicated. The block rotor fault occurs when the back-EMF voltage is
lower than the E block threshold and the duration of the drop is longer than E block per.

Figure 23.Undervoltage fault is indicated (pending)
8.5.2 Variable "M1 Fault Captured"
If any fault condition appears, the fault captured is indicated. Similar to fault pending, fault captured is shown in the BIN format, but every fault type has its own variable ("M1 Fault Captured Over Curent" and others). For example, if the undervoltage fault condition is accomplished, fault captured is indicated. Fault captured is also indicated after the undervoltage fault condition disappears. The captured faults are cleared manually by writing "Clear [1]" to "M1 Fault Clear".

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Figure 24.Undervoltage fault is captured

8.5.3 Variable "M1 Fault Enable"
The fault indication can be unwanted during the tuning process. Therefore, the fault indication can be disabled by writing "Disabled [0]" to the "M1 Fault Enable" variables. Note: The overcurrent fault cannot be disabled. Note: Fault thresholds are located in the "MCAT parameters" tab.

8.6 Initial motor parameters and harware configuration

Motor control examples contain two or more configuration files: m1_pmsm_appconfig.h, m2_pmsm_appconfig.h, and so on. Each contains constants tuned for the selected motor (see supported motors in Section 2). The initial motor parameters and the hardware configuration (inverter) are to MCAT loaded from m1_pmsm_appconfig.h configuration file. There are tree ways to change motor configuration corresponding to the connected motor.
1. The first way is rename the configuration file: · In the project example folder, find configuration file to be used. · Rename this configuration file to m1_pmsm_appconfig.h. · Rebuild project and load the code to the MCU.
2. The second way is to change motor configuration, as described in Section 8.3. 3. The last way is change motor and hardware parameters manually:
· Open the PMSM control application FreeMASTER project containing the dedicated MCAT plug-in module. · Select the "Parameters" tab. · Specify the parameters manually. The motor parameters can be obtained from the motor data sheet
or using the PMSM parameters measurement procedure described in PMSM Electrical Parameters Measurement (document AN4680). All parameters provided in Table 13 are accessible. The motor inertia J expresses the overall system inertia and can be obtained using a mechanical measurement. The J parameter is used to calculate the speed controller constant. However, the manual controller tuning can also be used to calculate this constant.

Table 13.MCAT motor parameters Parameter

[-]

Units

Description Motor pole pairs

Typical range 1-10

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Table 13.MCAT motor parameters...continued

Parameter

Units

Description

Typical range

[]

1-phase stator resistance 0.3-50

[H]

1-phase direct inductance 0.00001-0.1

[H]

1-phase quadrature

0.00001-0.1

inductance

[V.sec/rad]

BEMF constant

0.001-1

[kg.m2]

System inertia

0.00001-0.1

Iph nom

[A]

Motor nominal phase current

0.5-8

Uph nom

[V]

Motor nominal phase voltage

10-300

N nom

[rpm]

Motor nominal speed

1000-2000

· Set the hardware scales--the modification of these two fields is not required when a reference to the standard power stage board is used. These scales express the maximum measurable current and voltage analog quantities.
· Check the fault limits--these fields are calculated using the motor parameters and hardware scales (see Table 14).

Table 14.Fault limits Parameter

Units

Description

Typical range

U DCB trip

[V]

Voltage value at which the external braking resistor switch turns on

U DCB Over ~ U DCB max

U DCB under

[V]

Trigger value at which the undervoltage fault is detected

0 ~ U DCB Over

U DCB over

[V]

Trigger value at which the U DCB Under ~ U max overvoltage fault is detected

N over

[rpm]

Trigger value at which the N nom ~ N max overspeed fault is detected

N min

[rpm]

Minimal actual speed value (0.05~0.2) *N max for the sensorless control

· Check the application scales--these fields are calculated using the motor parameters and hardware scales (see Table 15).

Table 15.Application scales Parameter

Units

Description

Typical range

N max

[rpm]

Speed scale

>1.1 * N nom

E block

[V]

BEMF scale

ke* Nmax

[Nm/A]

Motor torque constant

· Check the alignment parameters--these fields are calculated using the motor parameters and hardware scales. The parameters express the required voltage value applied to the motor during the rotor alignment and its duration.
· To save the modified parameters into the inner file, click the "Store data" button.

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8.7 Identifying parameters of user motor
Because the model-based control methods of the PMSM drives provide high performance (for example, dynamic response, efficiency), obtaining an accurate model of a motor is an important part of the drive design and control. For the implemented FOC algorithms, it is necessary to know the value of the stator resistance Rs, direct inductance Ld, quadrature inductance Lq, and BEMF constant Ke. Unless the default PMSM motor described above is used, the motor parameter identification is the first step in the application tuning. This section shows how to identify user motor parameters using MID. MID is written in floating-point arithmetics. Each MID algorithm is detailed in Section 8.8. MID is controlled via the FreeMASTER "Motor Identification" page shown in Figure 25.

Figure 25.MID FreeMASTER control

8.7.1 Switch between Spin and MID

Users can switch between two modes of application: Spin and MID (Motor Identification). Spin mode is used for control PMSM (see Section 8.3). MID mode is used for motor parameters identification (see Motor parameter identification using MID). The actual mode of application is shown in APP: State variable. The mode is changed by writing one to APP: MID to Spin request or APP: Spin to MID request variables. The transition between Spin

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and MID can be done only if the actual mode is in a defined stop state (for example, MID not in progress or motor stopped). The result of the change mode request is shown in APP: Fault variable. MID fault occurs when parameters identification still runs, or the MID state machine is in the fault state. A spin fault occurs when M1 Application switch variable watch is ON, or M1 Application state variable watch is not STOP.

8.7.2 Motor parameter identification using MID

The whole MID is controlled via the FreeMASTER "Variable Watch". Motor Identification (MID) sub-block shown in Figure 25. The motor parameter identification workflow is following:
1. Set the MID: On/Off variable to OFF. 2. Select the measurement type you want to perform via the MID: Measurement Type variable:
· PP_ASSIST - Pole-pair identification assistant.
· EL_PARAMS - Electrical parameters measurement. 3. Set the measurement configuration paramers in the MID: Config set of variables. 4. Start the measurement by setting MID: On/Off to ON. 5. Observe the MID: Status variable which indicates whether identification runs or not. Variable MID: State
indicates actual state of the MID state machine. Variable MID: Fault indicates fault captured by estimation algorithm (e.g. incorrect measurement parameters). Variable is cleared automatically. Variable DIAG: Fault Captured indicates captured hardware faults (e.g. DC bus undervoltage). Variable is cleared by setting "On" to DIAG: Fault clear variable. 6. If the measurement finishes successfully, the measured motor parameters are shown in the MID: Measured set of variables and MID: State goes to STOP.

Table 16.MID: Fault variable Fault mask b#0001
b#0010

Description
Error during initialization electrical parameters measurement.
Electrical parameters measurement fault. Some required value cannot be reached or wrong measurement configuration.

Troubleshooting Check whether inputs to the MCAA_ EstimRLInit_F16 are valid.
Check whether measurement configuration is valid.

Table 17.DIAG: Fault Captured variable Fault mask b#0001 b#0010 b#0100

Description Overcurrent fault occurs. Undervoltage fault occurs. Overvoltage fault occurs.

8.8 MID algorithms
This section describes how each MID algorithm works.
8.8.1 Stator resistance measurement The stator resistance Rs is averaged from the DC steps generated by the algorithm. The DC step levels are automatically derived from the currents inserted by the user. For more details, refer to the documentation of AMCLIB_EstimRL function from AMMCLib.

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8.8.2 Stator inductances measurement
Injection of the AC-DC currents is used for the inductances (Ld and Lq) estimation. Injected AC-DC currents are automatically derived from the currents inserted by the user. The default AC current frequency is 500 Hz. For more detail, refer to the documentation of AMCLIB_EstimRL function from AMMCLib.
8.8.3 Number of pole-pair assistant
The number of pole-pairs can only be measured with a position sensor. However, there is a simple assistant to determine the number of pole-pairs (PP_ASSIST). The number of the pp assistant performs one electrical revolution, stops for a few seconds, and then repeats. Because the pp value is the ratio between the electrical and mechanical speeds, it can be determined as the number of stops per one mechanical revolution. It is recommended to refrain from counting the stops during the first mechanical revolution because the alignment occurs during the first revolution and affects the number of stops. During the PP_ASSIST measurement, the current loop is enabled, and the Id current is controlled to MID: Config Pp Id Meas. The electrical position is generated by integrating the open-loop frequency MID: Config Pp Freq El. Required. If the rotor does not move after the start of PP_ASSIST assistant, stop the assistant, increase MID: Config Pp Id Meas, and restart the assistant.
8.9 Electrical parameters measurement control
This section describes how to control electrical parameters measurement, which contains measuring stator resistance Rs, direct inductance Ld and quadrature inductance Lq. There are available 4 modes of measurement which can be selected by MID: Config El Mode Estim RL variable. Function MCAA_EstimRLInit_F16 must be called before the first use of MCAA_EstimRL_F16. Function MCAA_EstimRL_F16 must be called periodically with sampling period F_SAMPLING, which can be definied be user. Maximum sampling frequency F_SAMPLING is 10 kHz. In the scopes under "Motor identification" FreeMASTER sub-block can be observed measured currents, estimated parameters etc.
8.9.1 Mode 0
This mode is automatic, inductances are measured at a single operating point. Rotor is not fixed. User has to specify nominal current (MID: Config El I DC nominal variable). The AC and DC currents are automatically derived from the nominal current. Frequency of the AC signal set to default 500 Hz. The function will output stator resistance Rs, direct inductance Ld and quadrature inductance Lq.
8.9.2 Mode 1
DC stepping is automatic at this mode. Rotor is not fixed. Compared to the Mode 0, there will be performed an automatic measurement of the inductances for a definied number (NUM_MEAS) of different DC current levels using positive values of the DC current. The Ldq dependency map can be seen in the "Inductances (Ld, Lq)" recorder. User has to specify following parameters before parameters estimation: · MID: Config El I DC (estim Lq) - Current to determine Lq. In most cases nominal current. · MID: Config El I DC positive max - Maximum positive DC current for the Ldq dependency map measurement. Injected AC and DC currents are automatically derived from the MID: Config El I DC (estim Lq) and MID: Config El I DC positive max currents. Frequency of the AC signal set to default 500 Hz. The function will output stator resistance Rs, direct inductance Ld , quadrature inductance Lq and Ldq dependency map.

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8.9.3 Mode 2
DC stepping is automatic at this mode. Rotor must be mechanically fixed after initial alignment with the first phase. Compared to the Mode 1, there will be performed an automatic measurement of the inductances for a definied number (NUM_MEAS) of different DC current levels using both positive and negative values of the DC current. The estimated inductances can be seen in the "Inductances (Ld, Lq)" recorder. User has to specify following parameters before parameters estimation:
· MID: Config El I DC (estim Ld) - Current to determine Ld. In most cases 0 A. · MID: Config El I DC (estim Lq) - Current to determine Lq. In most cases nominal current. · MID: Config El I DC positive max - Maximum positive DC current for the Ldq dependency map measurement.
In most cases nominal current. · MID: Config El I DC negative max - Maximum negative DC current for the Ldq dependency map
measurement.
Injected AC and DC currents are automatically derived from the MID: Config El I DC (estim Ld), MID: Config El I DC (estim Lq), MID: Config El I DC positive max and MID: Config El I DC negative max currents. Frequency of the AC signal set to default 500 Hz.
The function will output stator resistance Rs, direct inductance Ld , quadrature inductance Lq and Ldq dependency map.
8.9.4 Mode 3
This mode is manual. Rotor must be mechanically fixed after alignment with the first phase. Rs is not calculated at this mode. The estimated inductances can be observed in the "Ld" or "Lq" scopes. The following parameters can be changed during the runtime:
· MID: Config El DQ-switch - Axis switch for AC signal injection (0 for injection AC signal to d-axis, 1 for injection AC signal to q-axis).
· MID: Config El I DC req (d-axis) - Required DC current in d-axis. · MID: Config El I DC req (q-axis) - Required DC current in q-axis. · MID: Config El I AC req - Required AC current injected to the d-axis or q-axis. · MID: Config El I AC frequency - Required frequency of the AC current injected to the d-axis or q-axis.
8.10 Control parameters tuning
To check correct current measuring and proper working of back EMF observer, follow the steps below:
1. Select the scalar control in the "M1 MCAT Control" FreeMASTER variable watch. 2. Set the "M1 Application Switch" variable to "ON". The application state changes to "RUN". 3. Set the required frequency value in the "M1 Scalar Freq Required" variable; for example, 15 Hz in the
"Scalar & Voltage Control" FreeMASTER project tree. The motor starts running. 4. Select the "Phase Currents" recorder from the "Scalar & Voltage Control" FreeMASTER project tree. 5. The optimal ratio for the V/Hz profile can be found by changing the V/Hz factor directly using MCAT
input "Scalar V/Hz factor ratio". The shape of the motor currents should be close to a sinusoidal shape (Figure 26).

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Figure 26.Phase currents
6. Select the "Position" recorder to check the observer functionality. The difference between the "Position Electrical Scalar" and the "Position Estimated" should be minimal (see Figure 27) for the Back-EMF position and speed observer to work properly. The position difference depends on the motor load. The higher the load, the bigger the difference between the positions due to the load angle.

Figure 27.Generated and estimated positions 7. If an opposite speed direction is required, set a negative speed value into the "M1 Scalar Freq Required"
variable. 8. The proper observer functionality and the measurement of analog quantities is expected at this step. 9. Enable the voltage FOC mode in the "M1 MCAT Control" variable while the main application switch "M1
Application Switch" is turned off. 10. Switch on the main application switch on and set a non-zero value in the "M1 MCAT Uq Required" variable.
The FOC algorithm uses the estimated position to run the motor.
8.10.1 Alignment tuning
For the alignment parameters, navigate to the "Parameters" MCAT tab. The alignment procedure sets the rotor to an accurate initial position and enables you to apply full startup torque to the motor. A correct initial position is

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needed mainly for high startup loads (compressors, washers, and so on). The alignment aims to have the rotor in a stable position, without any oscillations before the startup.
· The alignment voltage is the value applied to the d-axis during the alignment. Increase this value for a higher shaft load.
· The alignment duration expresses the time when the alignment routine is called. Tune this parameter to eliminate rotor oscillations or movement at the end of the alignment process.
8.10.2 Current loop tuning
The parameters for the current D, Q, and PI controllers are fully calculated using the motor parameters and no action is required in this mode. If the calculated loop parameters do not correspond to the required response, the bandwidth and attenuation parameters can be tuned.
1. Select "Openloop Control" in the FreeMASTER project tree, set "M1 MCAT Control" to "OPENLOOP_CTRL" and switch "M1 Openloop Use I Control" on.
2. Turn the application on by switching "M1 Application Switch" on and then set "M1 Openloop Requred Id" for rotor alignment. (Rotor alignment always uses Id, even when you are tuning the Q axis regulator)
3. Mechanically lock the motor schaft and turn the application off. 4. Set the required loop bandwidth and attenuation in MCAT "Current loop" tab and then click the "Update
target" button. The tuning loop bandwidth parameter defines how fast the loop response is while the tuning loop attenuation parameter defines the actual overshoot magnitude. 5. Select "Current Controller Id" recorder in project tree, turn the application on and set the required step amplitude in "M1 Openloop Requred Id". Observe the step response in the recorder. 6. Tune the loop bandwidth and attenuation until you achieve the required response. The example waveforms show the correct and incorrect settings of the current loop parameters: · The loop bandwidth is low (100 Hz) and the settling time of the Id current is long (Figure 28).

Figure 28.Slow step response of the Id current controller · The loop bandwidth (300 Hz) is optimal and the response time of the Id current is sufficient (Figure 29).

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Figure 29.Optimal step response of the Id current controller
· The loop bandwidth is high (700 Hz) and the response time of the Id current is very fast, but with oscillations and overshoot (Figure 30).

Figure 30.Fast step response of the Id current controller
8.10.3 Speed ramp tuning
To tune speed ramp parameters, follow the steps below:
1. The speed command is applied to the speed controller through a speed ramp. The ramp function contains two increments (up and down) which express the motor acceleration and deceleration per second. If the increments are very high, they can cause an overcurrent fault during acceleration and an overvoltage fault during deceleration. In the "Speed" scope, you can see whether the "Speed Actual Filtered" waveform shape equals the "Speed Ramp" profile.
2. The increments are common for the scalar and speed control. The increment fields are in the "Speed loop" tab and accessible in both tuning modes. Clicking the "Update target" button applies the changes to the MCU. An example speed profile is shown in Figure 31. The ramp increment down is set to 500 rpm/sec and the increment up is set to 3000 rpm/sec.
3. The startup ramp increment is in the "Sensorless" tab and its value is higher than the speed loop ramp.

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Figure 31.Speed profile
8.10.4 Open loop startup
To tune open loop startup parameters, follow the steps below:
1. The startup process can be tuned by a set of parameters located in the "Sensorless" tab. Two of them (ramp increment and current) are accessible in both tuning modes. The startup tuning can be processed in all control modes besides the scalar control. Setting the optimal values results in a proper motor startup. An example startup state of low-dynamic drives (fans, pumps) is shown in Figure 32.
2. Select the "Startup" recorder from the FreeMASTER project tree. 3. Set the startup ramp increment typically to a higher value than the speed-loop ramp increment. 4. Set the startup current according to the required startup torque. For drives such as fans or pumps, the
startup torque is not very high and can be set to 15 % of the nominal current. 5. Set the required merging speed. When the open-loop and estimated position merging starts, the threshold is
mostly set in the range of 5 % ~ 10 % of the nominal speed. 6. Set the merging coefficient--in the position merging process duration, 100 % corresponds to a one of an
electrical revolution. The higher the value, the faster the merge. Values close to 1 % are set for the drives where a high startup torque and smooth transitions between the open loop and the closed loop are required. 7. To apply the changes to the MCU, click the "Update Target" button. 8. Select "SPEED_FOC" in the "M1 MCAT Control" variable. 9. Set the required speed higher than the merging speed. 10. Check the startup response in the recorder. 11. Tune the startup parameters until you achieve an optimal response. 12. If the rotor does not start running, increase the startup current. 13. If the merging process fails (the rotor is stuck or stopped), decrease the startup ramp increment, increase the merging speed, and set the merging coefficient to 5 %.

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Figure 32.Motor startup

8.10.5 BEMF observer tuning
The bandwidth and attenuation parameters of the BEMF and tracking observer can be tuned. To tune the bandwidth and attenuation parameters, follow the steps below:
1. Navigate to the "Sensorless" MCAT tab. 2. Set the required bandwidth and attenuation of the BEMF observer. The bandwidth is typically set to a value
close to the current loop bandwidth. 3. Set the required bandwidth and attenuation of the tracking observer. The bandwidth is typically set in the
range of 10 20 Hz for most low-dynamic drives (fans, pumps). 4. To apply the changes to the MCU, click the "Update target" button. 5. Select the "Observer" recorder from the FreeMASTER project tree and check the observer response in the
"Observer" recorder.

8.10.6 Speed PI controller tuning

The motor speed control loop is a first-order function with a mechanical time constant that depends on the motor inertia and friction. If the mechanical constant is available, the PI controller constants can be tuned using the loop bandwidth and attenuation. Otherwise, the manual tuning of the P and I portions of the speed controllers is available to obtain the required speed response (see Figure 33). There are dozens of approaches to tune the PI controller constants. To set and tune the speed PI controller for a PM synchronous motor, follow the steps below:
1. Select the "Speed Controller" option from the FreeMASTER project tree. 2. Select the "Speed loop" tab. 3. Check the "Manual Constant Tuning" option--that is, the "Bandwidth" and "Attenuation" fields are disabled
and the "SL_Kp" and "SL_Ki" fields are enabled. 4. Tune the proportional gain:
· Set the "SL_Ki" integral gain to 0. · Set the speed ramp to 1000 rpm/sec (or higher).

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· Run the motor at a convenient speed (about 30 % of the nominal speed). · Set a step in the required speed to 40 % of Nnom. · Adjust the proportional gain "SL_Kp" until the system responds to the required value properly and without
any oscillations or excessive overshoot:
If the "SL_Kp" field is set low, the system response is slow. If the "SL_Kp" field is set high, the system response is tighter. When the "SL_Ki" field is 0, the system most probably does not achieve the required speed. To apply the changes to the MCU, click the "Update Target" button. 5. Tune the integral gain:
· Increase the "SL_Ki" field slowly to minimize the difference between the required and actual speeds to 0. · Adjust the "SL_Ki" field such that you do not see any oscillation or large overshoot of the actual speed
value while the required speed step is applied.
· To apply the changes to the MCU, click the "Update target" button. 6. Tune the loop bandwidth and attenuation until the required response is received. The example waveforms
with the correct and incorrect settings of the speed loop parameters are shown in the following figures:
· The "SL_Ki" value is low and the "Speed Actual Filtered" does not achieve the "Speed Ramp".

Figure 33.Speed controller response--SL_Ki value is low, Speed Ramp is not achieved
· The "SL_Kp" value is low, the "Speed Actual Filtered" greatly overshoots, and the long settling time is unwanted.

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Figure 34.Speed controller response--SL_Kp value is low, Speed Actual Filtered greatly overshoots
· The speed loop response has a small overshoot and the "Speed Actual Filtered" settling time is sufficient. Such response can be considered optimal.

Figure 35.Speed controller response--speed loop response with a small overshoot

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9 Conclusion
This application note describes the implementation of the sensor and sensorless field-oriented control of a 3phase PMSM. The motor control software is implemented on NXP board with the FRDM-MC-LVPMSM NXP Freedom development platform . The hardware-dependent part of the control software is described in Section 2. The motor-control application timing, and the peripheral initialization are described in Section 3. The motor user interface and remote control using FreeMASTER are described in Section 7. The motor parameters identification theory and the identification algorithms are described in Section 8.8.

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10 Acronyms and abbreviations

Table 18 lists the acronyms and abbreviations used in this document.

Table 18.Acronyms and abbreviations Acronym
ADC ACIM ADC_ETC AN BLDC CCM CPU DC DRM ENC FOC GPIO LPIT LPUART MCAT MCDRV MCU PDB PI PLL PMSM PWM QD TMR USB XBAR IOPAMP

Meaning Analog-to-Digital Converter Asynchronous Induction Motor ADC External Trigger Control Application Note Brushless DC motor Clock Controller Module Central Processing Unit Direct Current Design Reference Manual Encoder Field-Oriented Control General-Purpose Input/Output Low-power Periodic Interrupt Timer Low-power Universal Asynchronous Receiver/Transmitter Motor Control Application Tuning tool Motor Control Peripheral Drivers Microcontroller Programmable Delay Block Proportional Integral controller Phase-Locked Loop Permanent Magnet Synchronous Machine Pulse-Width Modulation Quadrature Decoder Quad Timer Universal Serial Bus Inter-Peripheral Crossbar Switch Internal operational amplifier

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11 References
These references are available on www.nxp.com: · Sensorless PMSM Field-Oriented Control (document DRM148) · Motor Control Application Tuning (MCAT) Tool for 3-Phase PMSM (document AN4642)

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12 Useful links
· MCUXpresso SDK for Motor Control www.nxp.com/sdkmotorcontrol · Motor Control Application Tuning (MCAT) Tool · FRDM-MC-PMSM Freedome Development Platform · MCUXpresso IDE - Importing MCUXpresso SDK · MCUXpresso Config Tool · MCUXpresso SDK Builder (SDK examples in several IDEs) · Model-Based Design Toolbox (MBDT)

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13 Revision history

This section summarizes the changes done to the document since the initial release.

Table 19.Revision history

Document ID

Release date

UG10252 v.1.0

03 July 2025

Description New document ID (before PMSMLPC860MAX)

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Legal information
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Tables

Tab. 1.
Tab. 2. Tab. 3. Tab. 4. Tab. 5. Tab. 6. Tab. 7. Tab. 8. Tab. 9.

Available example type, supported motors and control methods ......................................... 2 Linix 45ZWN24-40 motor parameters ............... 3 Teknic M-2310P-LN-04K motor parameters ...... 3 Teknic M-2311P-LN-08D motor parameters ...... 4 LPCXpresso860-MAX jumper settings .............. 7 Maximum CPU load (fast loop) ....................... 10 Memory usage ................................................ 10 Constants used in equations ...........................22 Parameters tab inputs ..................................... 22

Tab. 10. Tab. 11. Tab. 12. Tab. 13. Tab. 14. Tab. 15. Tab. 16. Tab. 17. Tab. 18. Tab. 19.

Current loop tab input ..................................... 25 Speed loop tab input .......................................26 Sensorless tab input ....................................... 27 MCAT motor parameters ................................. 35 Fault limits ....................................................... 36 Application scales ........................................... 36 MID: Fault variable ..........................................38 DIAG: Fault Captured variable ........................ 38 Acronyms and abbreviations ........................... 49 Revision history ...............................................52

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Figures

Fig. 1.
Fig. 2.
Fig. 3. Fig. 4. Fig. 5.
Fig. 6. Fig. 7. Fig. 8. Fig. 9.
Fig. 10. Fig. 11.
Fig. 12.
Fig. 13.
Fig. 14. Fig. 15. Fig. 16. Fig. 17. Fig. 18.

Linix 45ZWN24-40 permanent magnet synchronous motor ............................................3 Teknic permanent magnet synchronous motor ................................................................. 4 Teknic motor connector type 1 .......................... 5 Teknic motor connector type 2 .......................... 5 Motor-control development platform block diagram ..............................................................6 FRDM-MC-LVPMSM ......................................... 6 LPCXpresso860-MAX board ............................. 7 Assembled system ............................................ 8 Hardware timing and synchronization on LPCXpresso860-MAX ....................................... 9 Directory tree ...................................................11 Green "GO" button placed in top left-hand corner .............................................................. 17 FreeMASTER--communication is established successfully ..................................17 FreeMASTER communication setup window .............................................................18 Default symbol file ...........................................19 FreeMASTER + MCAT layout ......................... 21 Scalar control mode ........................................ 29 Voltage - Open loop control ............................ 29 Current - Open loop control ............................ 30

Fig. 19. Fig. 20. Fig. 21. Fig. 22.
Fig. 23. Fig. 24. Fig. 25. Fig. 26. Fig. 27. Fig. 28.
Fig. 29.
Fig. 30.
Fig. 31. Fig. 32. Fig. 33.
Fig. 34.
Fig. 35.

Voltage FOC control mode ..............................31 Current/Torque control mode (sensored) .........32 Speed FOC control mode (sensored) ............. 33 Faults in variable watch located in "Motor M1" subblock ...................................................33 Undervoltage fault is indicated (pending) ........ 34 Undervoltage fault is captured ........................ 35 MID FreeMASTER control .............................. 37 Phase currents ................................................ 41 Generated and estimated positions .................41 Slow step response of the Id current controller ..........................................................42 Optimal step response of the Id current controller ..........................................................43 Fast step response of the Id current controller ..........................................................43 Speed profile ................................................... 44 Motor startup ................................................... 45 Speed controller response--SL_Ki value is low, Speed Ramp is not achieved ................... 46 Speed controller response--SL_Kp value is low, Speed Actual Filtered greatly overshoots ....................................................... 47 Speed controller response--speed loop response with a small overshoot .....................47

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Contents

1 2 2.1 2.2 2.3 2.4 2.4.1 3
3.1 3.1.1
3.2 4
4.1 5 6 7 8 8.1 8.2 8.3
8.3.1 8.3.1.1 8.3.1.2 8.3.1.3 8.3.1.4 8.3.1.5 8.4 8.4.1 8.4.2 8.4.3 8.4.4 8.4.5 8.5 8.5.1 8.5.2 8.5.3 8.6
8.7 8.7.1 8.7.2 8.8 8.8.1 8.8.2 8.8.3 8.9 8.9.1 8.9.2 8.9.3

Introduction ...................................................... 2 Hardware setup ................................................3 Linix motor ......................................................... 3 Teknic motor ...................................................... 3 FRDM-MC-LVPMSM ..........................................5 LPCXpresso860-MAX ........................................6 LPCXpresso860-MAX board assembling .......... 7 Processors features and peripheral settings ............................................................. 9 LPC86X ..............................................................9 LPCXpresso860MAX - Hardware timing and synchronization ...........................................9 CPU load and memory usage ......................... 10 SDK package project file and IDE workspace structure ......................................11 PMSM project structure ................................... 11 Github project structure ............................... 13 Motor-control peripheral initialization ..........14 User interface .................................................16 Remote control using FreeMASTER ............ 17 Establishing FreeMASTER communication ..... 17 TSA replacement with ELF file ........................ 18 Motor Control Aplication Tuning interface (MCAT) .............................................................19 MCAT tabs description .................................... 21 Application concept ..........................................22 Parameters ...................................................... 22 Current loop .....................................................25 Speed loop ...................................................... 26 Sensorless ....................................................... 27 Motor Control Modes - How to run motor .........28 Scalar control ...................................................28 Open loop control mode .................................. 29 Voltage control .................................................31 Current/Torque control ..................................... 31 Speed FOC control ..........................................32 Faults explanation ............................................33 Variable "M1 Fault Pending" ............................ 34 Variable "M1 Fault Captured" .......................... 34 Variable "M1 Fault Enable" ..............................35 Initial motor parameters and harware configuration .................................................... 35 Identifying parameters of user motor ............... 37 Switch between Spin and MID .........................37 Motor parameter identification using MID ........ 38 MID algorithms ................................................ 38 Stator resistance measurement .......................38 Stator inductances measurement .................... 39 Number of pole-pair assistant ..........................39 Electrical parameters measurement control .....39 Mode 0 ............................................................ 39 Mode 1 ............................................................ 39 Mode 2 ............................................................ 40

8.9.4 8.10 8.10.1 8.10.2 8.10.3 8.10.4 8.10.5 8.10.6 9 10 11 12 13

Mode 3 ............................................................ 40 Control parameters tuning ............................... 40 Alignment tuning .............................................. 41 Current loop tuning ..........................................42 Speed ramp tuning .......................................... 43 Open loop startup ............................................44 BEMF observer tuning .....................................45 Speed PI controller tuning ............................... 45 Conclusion ..................................................... 48 Acronyms and abbreviations ....................... 49 References ......................................................50 Useful links .................................................... 51 Revision history .............................................52 Legal information ...........................................53

Please be aware that important notices concerning this document and the product(s) described herein, have been included in section 'Legal information'.

References

Apache FOP Version 2.8

	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) and BLDC Motors using NXP's MCUXpresso SDK and the MIMXRT1180-EVK platform. It covers hardware setup, processor features, peripheral settings, and application timing for advanced motor control.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) using NXP platforms like FRDM-MCXN947 and FRDM-MC-LVPMSM. It covers hardware setup, processor features, peripheral settings, and the SDK package structure for motor control applications.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) and Brushless DC (BLDC) Motors using the MCUXpresso SDK and NXP platforms like FRDM-MCXA346 and FRDM-MC-LVPMSM. It covers hardware setup, processor features, peripheral settings, and project structure for advanced motor control.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) using NXP's MCUXpresso SDK, focusing on the FRDM-MCXE247 and FRDM-MC-LVPMSM platforms. It covers hardware setup, processor features, peripheral settings, and software structure for motor control applications.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) using NXP platforms like FRDM-MCXN236 and FRDM-MC-LVPMSM. It covers hardware setup, processor features, peripheral settings, and software structure for motor control applications.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide from NXP Semiconductors details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) and Brushless DC (BLDC) Motors using the MCUXpresso SDK and NXP platforms like FRDM-MCXA153 and FRDM-MC-LVPMSM. It covers hardware setup, processor features, peripheral settings, and software structure for motor control applications.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors User Guide This user guide details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) using NXP's FRDM-MCXA156 and FRDM-MC-LVPMSM platforms. It covers hardware setup, processor features, peripheral settings, and the SDK package structure for motor control applications.
	MCUXpresso SDK Field-Oriented Control of 3-Phase PMSM and BLDC Motors (LPC55S69EVK) User Guide This user guide from NXP Semiconductors details the implementation of motor-control software for 3-phase Permanent Magnet Synchronous Motors (PMSM) and Brushless DC (BLDC) Motors using the MCUXpresso SDK and the LPC55S69EVK development platform. It covers hardware setup, processor features, peripheral settings, and provides examples for motor control.