The TGT3-0065-60-48/T5PUXS4-H09 motor is a low-voltage 3-phase
permanent-magnet motor with EnDat2.2 high resolution encoder used
in PMSM servo applications.

Motor Parameters:

Rated Voltage: Vt = 48V
Rated Speed: 6000 RPM

Rated Torque: 0.62 Nm
Rated Power: 346 W

Continuous Current: 11.1 A
Number of Pole-Pairs: pp = 3

The motor has two types of connectors: one with eight wires for
power and brake, and the other with twelve wires for EnDat encoder
communication.

Frequently Asked Questions (FAQ)

Q: What types of motors are supported by the SDK motor control
example?

A: The SDK supports PMSM motors like TGT3-0065-60-48 and
HMD06-011-048.

Q: Where can I find more information on the control software
and PMSM control theory?

A: Refer to the Sensorless PMSM Field-Oriented Control (FOC)
document DRM148 for detailed information.

“`

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User guide

Document information

Information

Content

Keywords

i.MX943-EVK, 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.

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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:
· i.MX943-EVK · Freedom Development Platform for Low-Voltage, 3-Phase PMSM Motor Control – Factory automation (FRDM-
LVPMSM-FA) Note: This platform is currently available for internal use only.
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

pmsm_servo

TGT3-0065-60-48

HMD06-011-048 (Motor Control 1)

pmsm_servo_dual

TGT3-0065-60-48 (Motor Control 2)

SDK motor control example description:
· pmsm_servo – pmsm servo example uses float arithmetic, the example contains improved position Field Oriented Control (FOC) loops with feed-forward and also sensorless FOC. Digital encoder is used instead of the quadrature encoder. This example can be used for single motor control application. Default motor configuration is tuned for the TGT3-0065-60-48 motor.
· pmsm_servo_dual – pmsm servo dual example uses float arithmetic, the example contains improved position Field Oriented Control (FOC) loops with feed-forward and also sensorless FOC. Digital encoder is used instead of the quadrature encoder. This example can be used for dual motor control application. Default motor configurations are tuned for the Hedrive HMD06-011-048 motor (Arduino Motor Control 1 connector) and for the TGT3-0065-60-48 motor (Arduino Motor Control 2 connector). Note: For performance optimization, the macro SERVO_OPTIM is defined in the project settings by default. Only position control is available in this case. Remove this macro to enable all control modes.
The SDK motor control example contains several additional features:
· FreeMASTER pmsm_float_servo_dual.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.
The control software and the PMSM control theory, in general, are described in Sensorless PMSM FieldOriented Control (FOC) (document DRM148).

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2 Hardware setup

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

2.1 TGT motor

The TG drives TGT3-0065-60-48/T5PUXS4-H09 motor is a low-voltage 3-phase permanent-magnet motor with EnDat2.2 high resolution encoder used in PMSM servo applications. The motor parameters are listed bellow.

Table 2.TGT3-0065-60-48 motor parameters

Characteristic

Symbol

Rated voltage

Rated speed

–

Rated torque

Rated power

Continuous current

Ics

Number of pole-pairs

48 6000 0.62 346 11.1 3

Value

V RPM Nm W A –

Units

Figure 1.TGT3-0065-60-48 permanent magnet synchronous motor
The motor has two types of connectors (cables). The first cable has eight wires and is designated to power and brake the motor. The second cable has twelve wires and is designated for the EnDat encoder communication.

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2.2 Heidrive motor

The Heidrive HMD06-011-048-60-OPB1MW230 motor is a low-voltage 3-phase permanent-magnet motor with BiSS high resolution encoder used in PMSM servo applications. The motor parameters are listed bellow.

Table 3.HMD06-011-048 motor parameters

Characteristic

Symbol

Rated voltage

Rated speed

–

Rated torque

Rated power

Continuous current

Ics

Number of pole-pairs

27.2 6000 0.77 630 12.4 5

Value

V RPM Nm W A –

Units

Figure 2.HMD06-011-048 permanent magnet synchronous motor
The motor has two types of connectors (cables). The first cable has eight wires and is designated to power and brake the motor. The second cable has twelve wires and is designated for the BiSS encoder communication.
2.3 FRDM-LVPMSM-FA
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.
Freedom Development Platform for Low-Voltage, 3-Phase PMSM Motor Control – Factory automation (FRDMLVPMSM-FA) development platform board features:

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· Up to 48V/12A output. · Phase current and DCbus voltage measurement using Sigma Delta modulators OR external/internal OpAmps. · Interface for Quadrature encoder or Digital encoders via RS-485. · Over voltage, over current fault protection.
Note: The FRDM-LVPMSM-FA board is currently available for internal use only.

Figure 3.FRDM-LVPMSM-FA block diagram

Figure 4.FRDM-LVPMSM-FA board
Switches SW30 and SW90 should be set with regards to used encoder type. SW30 setting – Select the appropriate voltage based on the properties of the sensor. For the SW90 setting, see the tables below or set base on used encoder.

Table 4.SW90 setting for BiSS encoder

SW position

SW state

1:2

ON:OFF

OFF

Description Full duplex Echo Enabled

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Table 4.SW90 setting for BiSS encoder…continued

SW position

SW state

Description ENDAT is used

Table 5.SW90 setting for EnDat2.2 encoder

SW position

SW state

1:2

OFF:ON

OFF

Description Half duplex Echo Enabled ENDAT is used

Connect sensor signals to the J70 connector on the FRDM-LVPMSM-FA as follow:

Table 6.BiSS point-to-point connection

Pin name (FRDM-LVPMSM-FA)

Pin location (FRDM-LVPMSM-FA)

ENC_CLK_P

J70-2

ENC_CLK_N

J70-7

ENC_DATA_IN_P

J70-3

ENC_DATA_IN_N

J70-8

VENC

J70-1

GND

J70-6

Sensor signal name MASTER_CLOCK_INPUT_P MASTER_CLOCK_INPUT_N SLAVE_DATA_P SLAVE_DATA_N VDC – Power supply voltage GND

Table 7.EnDat2.2 connection Pin name (FRDM-LVPMSM-FA) ENC_CLK_P ENC_CLK_N ENC_DATA_IO_P ENC_DATA_IO_N VENC GND

Pin location (FRDM-LVPMSM-FA) J70-2 J70-7 J70-4 J70-9 J70-1 J70-6

Sensor signal name CLOCK_P CLOCK_N DATA_P DATA_N UP – Power supply voltage GND

2.4 i.MX943-EVK board

The i.MX943-EVK board offers a rich set of peripherals targeting industrial, automotive telematics, and consumer IoT market segments. The i.MX 943 applications processors integrate up to four Arm Cortex-A55 cores and supports functional safety with built-in 2x Arm Cortex -M33 and -M7 cores.

Table 8.i.MX943-EVK switch settings Switch SW4 SW7 [1:4] SW8

Setting based on used BOOT_MODE ON:OFF:ON:ON all to OFF

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All others jumpers are open.

Figure 5.i.MX943-EVK board
2.4.1 Hardware assembling
1. Connect the FRDM-LVPMSM-FA shield on Motor Control 1 or Motor Control 2 connector of the i.MX943EVK board (with regard to used example).
2. Connect the 3-phase motor wires to the screw terminals (J140) on the FRDM-LVPMSM-FA board. 3. Connect the sensor signal wires to the J70 connector on the FRDM-LVPMSM-FA board. 4. Plug the USB cable from the USB host to the FTDI_DEBUG USB connector J15 on the i.MX943-EVK
board. 5. Plug the 12-V DC power supply to the P1 connector on the i.MX943-EVK board. 6. Plug the 24-V DC power supply to the J10 connector on the FRDM-LVPMSM-FA board.
2.4.2 Additional information
· pmsm_servo example is available on Arduino Motor Control 1 connector. EnDat2.2 encoder is used. · pmsm_servo_dual example – BiSS encoder is used on Arduino Motor Control 1 connector. EnDat2.2 encoder
is used on Arduino Motor Control 2 connector. MCAT interface is available only on Arduino Motor Control 1 connector.

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3 Processors features and peripheral settings
This chapter describes the peripheral settings and application timing.
3.1 i.MX 94x
For more information about i.MX94 processor family, see product web pages.
3.1.1 i.MX94X – Hardware timing and synchronization Correct and precise timing is crucial for motor-control servo applications. Therefore, the motor-control-dedicated peripherals take care of the timing and synchronization on the hardware layer. PWM frequency is 32 kHz. Fast loop frequency is 64 kHz.

Figure 6.Timing on i.MX94X – SINC trigger and ISR
· The top signals show the PWM_AT (PWM phase A – top) and PWM_AB (PWM phase A – bottom). · The eFlexPWM submodule SM0 generates trigger 0 (SINC trigger) to hit the second sample right in the
middle/top of PWM. · When the SINC conversion is completed, the SINC ISR (SINC interrupt) is entered. The phase currents and
DC bus voltage are process in this interrupt to be ready for the Fast loop.

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Figure 7.Timing i.MX94X – BiSS trigger and Fast loop ISR
· The eFlexPWM submodule 1 generates trigger 0 (BiSS trigger) to request data from the BiSS encoder sensor. · After BiSS communication is finisned, BiSS ISR is entered and Fast loop is process. · Similar approach is used for the EnDat2.2 encoder triggering.
High-level timing diagram for the dual motor-control servo application can be seen on the folowing image.

Figure 8.Timing i.MX94X – dual servo application

3.1.2 i.MX94X – Peripheral settings

This section describes the peripherals used for the motor control applications. On i.MX94X, three submodules from the enhanced FlexPWM (eFlexPWM) are used for 6-channel PWM generation and four channels of SINC

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filter for the phase currents and DC-bus voltage measurement. The eFlexPWM and SINC are synchronized via submodule 0 from the eFlexPWM. Position feedback is ensured by digital encoders communicating via BiSS or EnDat2.2 interface. The following settings are located in the mc_periph_init.c and pin_mux.c files and their header files.
3.1.2.1 PWM generation
· Six channels from three submodules are used for the 3-phase PWM generation. · Submodules 1 and 2 get their clocks from submodule 0. · The counters at submodules 1 and 2 are synchronized with the master reload signal from submodule 0. · Submodule 0 trigger 0 is used for synchronization with the SINC filter. The submodule generates the output
trigger to hit the second sample of SINC filter conversion right in the the middle/top of PWM cycle. · Submodule 1 trigger 0 is used for trigger communication with digital encoders. · Submodule 0 trigger 1 is used for synchronization with second instance of the PWM module. Second PWM is
shifted by 90 degrees. Note: This setting only applies to dual motor application. · Fault mode is enabled for channels A and B at submodules 0, 1, and 2 with automatic fault clearing. Note: The PWM outputs are re-enabled at the first PWM reload after the fault input returns to zero. · The PWM period (frequency) is determined by how long the counter takes to count from INIT to VAL1. By default, INIT = -MODULO/2 and VAL1 = MODULO/2 -1 where MODULO = FastPeripheralClock / M1_PWM_FREQ. PWM frequency is set to 32 kHz by default. · Dead time insertion is enabled. Define the dead time length in the M1_PWM_DEADTIME macro. · PWM registers are updated on both half and full cycle reload events.
3.1.2.2 SINC filter
· SINC filter is used for the MC sensing of phase currents and DC-bus voltage. SINC converts an external ADC sigma-delta modulator bitstream to a data stream.
· SINC operates as a 3rd-order filter. Filter order is defined by SINC1_ORD macro. · SINC Oversampling ration (OSR) is set to 64. OSR value is defined as OSR = SINC1_OSR + 1, where
SINC1_OSR macro is set to 63. · SINC operates in a continuous conversion mode. Hardware trigger is used.
3.1.2.3 BiSS interface
· BiSS interface is used for a communication with the digital encoder. · BiSS communication runs at 10 MHz. · 16-bits single-turn resolution, 12-bits multi-turn resolution. · Available only for dual motor application. · For mor information about BiSS interface navigate to BiSS Association e.V. website.
3.1.2.4 EnDat2.2 interface
· EnDat2.2 interface is used for a communication with the digital encoder. · EnDat2.2 communications runs at 8.333 MHz. · 25-bits single-turn resolution. · For mor information about EnDat2.2 interface navigate to HEIDENHAIN website.

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3.1.2.5 XBAR – peripheral interconnection
Inter-Peripheral Crossbar Switch (XBAR) is used to interconnect signals. The following signals are interconnected using XBAR:
· The PWM output trigger 0 (generated by submodule 0) to the SINC input hardware trigger. · The PWM output trigger 0 (generated by submodule 1) to the BiSS GETSENS signal. · The PWM output trigger 0 (generated by submodule 1) to the EnDat2.2 nstr signal. · The PWM output trigger 1 (generated by submodule 0) to the PWM ExtSync0 signal. · The GPIO inputs to the PWM Fault signals (over current and over voltage fault protection).
3.1.2.6 Slow-loop interrupt generation
The QuadTimer module TMR1 is used to generate the slow-loop interrupt.
· The interrupt is generated after the counter counts from LOAD = 0 to COMP1 = FastPeripheralClock / (16U * Speed Loop Freq). The speed loop frequency is set in the M1_SPEED_LOOP_FREQ macro and equals 4000 Hz.
· An interrupt (which serves the slow-loop period) is enabled and generated at the reload event.
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

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Table 9.Maximum CPU load (fast loop)

i.MX943-EVK i.MX943-EVK

Device

Example pmsm_servo pmsm_servo_dual

Debug configuration Position Control
22.2 % 45.4 %

Table 10.Memory usage
Readonly code memory Readwrite code memory Readonly data memory Readwrite data memory Parameters

Debug configuration

Release configuration

60 449 B

44 436 B

80 B

22 528 B

18 074 B

11 239 B

11 248 B

pmsm_servo_dual example, IAR IDE, SERVO_OPTIM macro defined

CPU load measured with defined RAM_RELOCATION and SERVO_OPTIM macros. Measured CPU load 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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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.

pack_motor_<board_name>/

boards/

imx943evk/

demo_apps/

mc_pmsm/

pmsm_servo/

pmsm_servo_dual/

cm7_core1/

iar/

armgcc/

CMSIS/

components/

devices/

docs/

examples/

middleware/

freemaster/

motor_control/

freemaster/

licenses/

pmsm/

pmsm_float/

mc_algorithms/

mc_cfg_template/

mc_drivers/

mc_identification/

mc_state_machine/

state_machine/

rtcesl/

tools/

The main project folder pack_motor_<board_name>boardsimx943evkdemo_appsmc_pmsmpmsm_ servo contains the following folders and files (the same is included in pmsm_servo_dual folder):
· iar– for the IAR Embedded Workbench IDE. · armgcc–for the GNU Arm 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 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.

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· m2_pmsm_appconfig.h–contains constants and parameters tuned for another motor. In the dual motor application, this parameters set is used for the second motor.
· 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 for reading the phase currents, DC bus voltage, position and speed. · freemaster_cfg.h–the FreeMASTER configuration file containing the FreeMASTER communication and
features setup. · pin_mux.c and .h–port configuration files. It is recommended to 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>middlewaremotor_control contains these subfolders:
· pmsm–contains main pmsm motor-control functions · freemaster–contains the FreeMASTER project file pmsm_float_servo_dual.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>middlewaremotor_controlpmsmpmsm_float folder contains the following subfolders common to the other motor-control projects:
· mc_algorithms–contains the main control algorithms used to control the FOC and speed control loop. Folder also contains MCAA library.
· 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() 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 and the DC-bus voltage measurement. Moreover, the reading and processing data from the position sensors are provided as well. 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_SINC_INIT: this macro calls SINC peripheral initialization. · M1_MCDRV_PWM_PERIPH_INIT: this macro calls PWM peripheral initialization. · M1_MCDRV_ENDAT2P2_PERIPH_INIT: this macro calls EnDat2.2 peripheral initialization. Available in the
single motor application. · M1_MCDRV_BISS_PERIPH_INIT: this macro calls BiSS peripheral initialization. Available in the dual motor
application. · M2_MCDRV_ENDAT2P2_PERIPH_INIT: this macro calls EnDat2.2 peripheral initialization. Available in the
dual motor application. · 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. · M1_PWM_DEADTIME: the value of the PWM dead time in nanoseconds. · The macros related to the second motor are prefixed with M2_.
In the motor-control software, the following API-serving SINC and PWM peripherals are available:
· The available APIs for the SINC are: mcdrv_sinc_t: MCDRV SINC structure data type. void M1_MCDRV_SINC_INIT(): this function is by default called during the SINC peripheral initialization procedure invoked by the MCDRV_Init() function and should not be called again after the peripheral initialization is done. void M1_MCDRV_SINC_GET(mcdrv_sinc_t*): this function reads and process the actual values of the 3-phase currents and DC-bus voltage. The APIs for SINC control of the second motor are prefixed with M2_.
· The available APIs for the PWM are: mcdrv_pwm3ph_pwma_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() function. void M1_MCDRV_PWM3PH_SET(mcdrv_pwm3ph_pwma_t*): this function updates the PWM phase duty cycles. void M1_MCDRV_PWM3PH_EN(mcdrv_pwm3ph_pwma_t*): this function enables all PWM channels. void M1_MCDRV_PWM3PH_DIS(mcdrv_pwm3ph_pwma_t*): this function disables all PWM channels. bool_t M1_MCDRV_PWM3PH_FLT_GET(mcdrv_pwm3ph_pwma_t*): this function returns the state of the overcurrent fault flag and automatically clears the flag (if set). This function returns true when an overcurrent event occurs. Otherwise, it returns false. bool_t M1_MCDRV_PWM3PH_FLT_OV_GET(mcdrv_pwm3ph_pwma_t*): this function returns the state of the overvoltage fault flag and automatically clears the flag (if set). This function returns true when an overvoltage event occurs. Otherwise, it returns false.

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The APIs for PWM control of the second motor are prefixed with M2_. · The available APIs for the BiSS sensor are:
BISSC_Type: MCDRV BiSS structure data type. void M1_MCDRV_BISS_PERIPH_INIT: this function is by default called during the BiSS periphery
initialization procedure invoked by the MCDRV_Init() function.
void M1_MCDRV_ENC_GET_DATA_FAST(BISSC_Type*): this function reads and process the actual electrical position from BiSS sensor.
void M1_MCDRV_ENC_GET_DATA_SLOW(BISSC_Type*): this function reads and process the actual mechanical position and speed from BiSS sensor.
void M1_MCDRV_ENC_CLEAR(BISSC_Type*): this function clears the internal variables and revolutions. void M1_MCDRV_ENC_SET_OFFSET(BISSC_Type*): this function sets the revolutions offset. The APIs related to the BiSS sensor are available only in the dual motor application. · The available APIs for the EnDat2.2 sensor are: mcdrv_endat2p2_t: MCDRV EnDat2.2 structure data type. void M2_MCDRV_ENDAT2P2_PERIPH_INIT: this function is by default called during the EnDat2.2
periphery initialization procedure invoked by the MCDRV_Init() function.
void M2_MCDRV_ENC_GET_DATA_FAST(mcdrv_endat2p2_t*): this function reads and process the actual electrical position from EnDat2.2 sensor.
void M2_MCDRV_ENC_GET_DATA_SLOW(mcdrv_endat2p2_t*): this function reads and process the actual mechanical position and speed from EnDat2.2 sensor.
void M2_MCDRV_ENC_CLEAR(mcdrv_endat2p2_t*): this function clears the internal variables and revolutions.
void M2_MCDRV_ENC_SET_OFFSET(mcdrv_endat2p2_t*): this function sets the revolutions offset. The APIs related to the EnDat2.2 sensor are available in the single motor application and are prefixed with
M1_.
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): i.MX943-EVK – N/A
· 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_float_servo_dual file located in the middlewaremotor_controlfreemaster 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_float_servo_dual.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 9. 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 10.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 11.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 12.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 13. 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 13.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 11.Constants used in equations

Constant

Value

Unit

UmaxCoeff

1.73205

–

DiscMethodFactor

–

k_factor

100

–

3.1416

–

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 12.Parameters tab inputs

MCAT group

MCAT name

Motor

parameters

Equation name parametersPp

parametersRs

parametersLd

parametersLq

Kt J Iph nom

parametersKt 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 torque constant. Obtain from motor manufacturer or use the Kt identification and then fill manually.

[Nm/A]

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 12.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

U DCB IIR F0

parametersUdcbIIRf0

Calibration duration parametersCalibDuration

Fault duration

parametersFaultDuration

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]

Cut-off frequency of DCBus IIR [Hz] filter

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

[sec]

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

[sec]

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Table 12.Parameters tab inputs…continued

MCAT group

MCAT name

Equation name

Freewheel duration parametersFreewheelDuration

Alignment

Scalar Uq min

parametersScalarUqMin

Scalar V/Hz factor ratio
Align voltage
Align duration

parametersScalarVHzRatio
parametersAlignVoltage parametersAlignDuration

Description

Unit

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 and also for updating a corresponding FreeMASTER variable):

· M1_U_MAX = parametersUdcbMax / UmaxCoeff · M1_MOTOR_PP = parametersPp · M1_I_PH_NOM = parametersIphNom · M1_I_MAX = parametersImax · M1_U_DCB_MAX = parametersUdcbMax · M1_U_DCB_TRIP = parametersUdcbTrip · M1_U_DCB_UNDERVOLTAGE = parametersUdcbUnder · M1_U_DCB_OVERVOLTAGE = parametersUdcbOver · M1_FREQ_MAX = parametersNmax / 60 * parametersPp · M1_ALIGN_DURATION = parametersAlignDuration / speedLoopSampleTime · M1_CALIB_DURATION = parametersCalibDuration / speedLoopSampleTime · M1_FAULT_DURATION = parametersFaultDuration / speedLoopSampleTime · M1_FREEWHEEL_DURATION = parametersFreewheelDuration / speedLoopSampleTime · M1_E_BLOCK_TRH = parametersEblock · M1_E_BLOCK_PER = parametersEblockPer · M1_N_MIN = parametersNmin / 60 * (parametersPp * 2 * pi) · M1_N_MAX = parametersNmax / 60 * (parametersPp * 2 * pi) · M1_N_ANGULAR_MAX = (60 / (parametersPp * 2 * pi)) · M1_N_NOM = parametersNnom / 60 * (parametersPp * 2 * pi) · M1_N_OVERSPEED = parametersNover / 60 * (parametersPp * 2 * pi) · M1_UDCB_IIR_B0 = (2 * pi * parametersUdcbIIRf0 * currentLoopSampleTime) / (2 + (2 * pi *
parametersUdcbIIRf0 * currentLoopSampleTime))
· M1_UDCB_IIR_B1 = (2 * pi * parametersUdcbIIRf0 * currentLoopSampleTime) / (2 + (2 * pi * parametersUdcbIIRf0 * currentLoopSampleTime))
· M1_UDCB_IIR_A1 = -(2 * pi * parametersUdcbIIRf0 * currentLoopSampleTime – 2) / (2 + (2 * pi * parametersUdcbIIRf0 * currentLoopSampleTime))
· M1_SCALAR_UQ_MIN = parametersScalarUqMin · M1_ALIGN_VOLTAGE = parametersAlignVoltage · M1_SCALAR_VHZ_FACTOR_GAIN = parametersUphNom * parametersScalarVHzRatio / 100 /
( parametersNnom * parametersPp / 60)
· M1_SCALAR_INTEG_GAIN = 2*pi*parametersPp*parametersNmax/60*currentLoopSampleTime/pi · M1_SCALAR_RAMP_UP = speedLoopIncUp*currentLoopSampleTime/60*parametersPp · M1_SCALAR_RAMP_DOWN = speedLoopIncDown*currentLoopSampleTime/60*parametersPp

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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 13.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 / UmaxCoeff / 100 · M1_D_KP_GAIN = (2 * currentLoopKsi * 2 * pi * currentLoopF0 * parametersLd) – parametersRs · M1_D_KI_GAIN = (2 * pi * currentLoopF0)^2 * parametersLd * currentLoopSampleTime / DiscMethodFactor · M1_Q_KP_GAIN = (2 * currentLoopKsi * 2 * pi * currentLoopF0 * parametersLq) – parametersRs · M1_Q_KI_GAIN = (2 * pi * currentLoopF0)^2 * parametersLq * currentLoopSampleTime / DiscMethodFactor · kp_q = (4*currentLoopKsi*pi*currentLoopF0*parametersLq-parametersRs) · ki_q = (parametersLq*(2*pi*currentLoopF0)^2) · Ti = kp_q/ki_q · M1_Q_IIR_ZC_B0= currentLoopSampleTime/(currentLoopSampleTime+2*Ti) · M1_Q_IIR_ZC_B1= currentLoopSampleTime/(currentLoopSampleTime+2*Ti) · M1_Q_IIR_ZC_A1= -(currentLoopSampleTime-2*Ti)/(currentLoopSampleTime+2*Ti)

8.3.1.4 Speed loop

This tab enables speed loop PI controller gains and output limits tuning, required speed ramp parameters and feedback speed filter tuning. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.

Table 14.Speed loop tab input

MCAT group

MCAT name

Loop parameters Sample time Ts

Equation name speedLoopSampleTime

Description

Unit

Slow control loop period. This [sec] disabled value is read from target via FreeMASTER because

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Table 14.Speed loop tab input…continued

MCAT group

MCAT name

Equation name

Speed ramp

Bandwidth F0 Attenuation Inc up

Inc down

Actual speed filter
Speed PI controller limits

Cut-off freq Upper limit

speedLoopF0 speedLoopKsi speedLoopIncUp
speedLoopIncDown
speedLoopCutOffFreq
speedLoopUpperLimit

Lower limit

speedLoopLowerLimit

Description

Unit

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 = (4 * speedLoopKsi * pi * speedLoopF0 * parametersJ) / (parametersKt * parametersPp))
· M1_SPEED_PI_INTEG_GAIN = ((2 * pi * speedLoopF0) * (2 * pi * speedLoopF0) * parametersJ) / (parametersKt * parametersPp) * (speedLoopSampleTime / DiscMethodFactor))
· M1_SPEED_RAMP_UP = (speedLoopIncUp * speedLoopSampleTime / (60 / (parametersPp * 2 * pi))) · M1_SPEED_RAMP_DOWN = (speedLoopIncDown * speedLoopSampleTime / (60 / (parametersPp * 2 * pi))) · M1_SPEED_IIR_B0= (2 * pi * speedLoopCutOffFreq * speedLoopSampleTime) / (2 + (2 * pi *
speedLoopCutOffFreq * speedLoopSampleTime))
· M1_SPEED_IIR_B1 = (2 * pi * speedLoopCutOffFreq * speedLoopSampleTime) / (2 + (2 * pi * speedLoopCutOffFreq * speedLoopSampleTime))
· M1_SPEED_IIR_A1 = -(2 * pi * speedLoopCutOffFreq * speedLoopSampleTime – 2) / (2 + (2 * pi * speedLoopCutOffFreq * speedLoopSampleTime))
· M1_SPEED_LOOP_HIGH_LIMIT = speedLoopUpperLimit · M1_SPEED_LOOP_LOW_LIMIT = speedLoopLowerLimit · Tfilt = M1_SPEED_PI_PROP_GAIN/(M1_SPEED_PI_INTEG_GAIN * (2/speedLoopSampleTime)) · M1_SPEED_IIR_ZC_B0=(speedLoopSampleTime / (speedLoopSampleTime + 2 * Tfilt )) · M1_SPEED_IIR_ZC_B1=(speedLoopSampleTime / (speedLoopSampleTime + 2 * Tfilt )) · M1_SPEED_IIR_ZC_A1=(-1)*(speedLoopSampleTime – 2 * Tfilt) / (speedLoopSampleTime + 2 * Tfilt )

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8.3.1.5 Servo control

This tab enables position loop P/PI controller gains and output limits tuning. MCAT group and MCAT name help to locate the parameter in MCAT layout. Equation name represents the input parameter in equations bellow.

Table 15.Servo control tab input

MCAT group

MCAT name

Servo control parameters

Sample time Ts

Equation name positionLoopSampleTime

Bandwidth F0 Attenuation Position loop – P Upper limit controller limits Lower limit
Speed loop – PI Upper limit controller limits

positionLoopF0 positionLoopKsi positionPControllerHighLimit
positionPControllerLowLimit
servo_speedLoopUpperLimit

Lower limit

servo_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.

Servo controller’s bandwidth

[Hz]

Servo controller’s attenuation –

Maximal required speed (Position controller’s output)

[rpm/sec]

Minimal required speed (Position [rpm/sec] controller’s output)

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):
· k10 = 1/(2 * pi * parametersPp) · M1_SERVO_POSITION_P_PROP_GAIN= (2 * pi * positionLoopF0)/(2 * positionLoopKsi + 1) * k10 · M1_SERVO_POSITION_P_HIGH_LIMIT=( 2 * pi * positionPControllerHighLimit * parametersPp / 60.0 ) · M1_SERVO_POSITION_P_LOW_LIMIT=( 2 * pi * positionPControllerLowLimit * parametersPp / 60.0 ) · M1_SERVO_FEED_FRWD_K1= ( 2 * positionLoopKsi * M1_SERVO_POSITION_P_PROP_GAIN / ( 2 * pi *
positionLoopF0) )
· M1_SERVO_FEED_FRWD_K2= ( M1_SERVO_POSITION_P_PROP_GAIN / (( 2 * pi * positionLoopF0) * ( 2 * pi * positionLoopF0)) )
· Tfilt = (2 * positionLoopKsi + 1 ) / (( 2 * positionLoopKsi + 1) * 2 * pi * positionLoopF0) · M1_SERVO_IIR_ZC_B0 = ( positionLoopSampleTime/(positionLoopSampleTime + 2 * Tfilt) ) · M1_SERVO_IIR_ZC_B1= ( positionLoopSampleTime/(positionLoopSampleTime + 2 * Tfilt) ) · M1_SERVO_IIR_ZC_A1= (-1) * ( positionLoopSampleTime – 2 * Tfilt ) / ( positionLoopSampleTime + 2 * Tfilt) · M1_SERVO_SPEED_PI_PROP_GAIN = ( ((2 * positionLoopKsi + 1) * (2 * pi * positionLoopF0) * parametersJ) /
(parametersKt * parametersPp) )
· M1_SERVO_SPEED_PI_INTEG_GAIN = ( ((parametersJ * (2 * positionLoopKsi + 1) * (2 * pi * positionLoopF0) * (2 * pi * positionLoopF0)) / (parametersKt * parametersPp) ) * (positionLoopSampleTime / DiscMethodFactor)

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· M1_SERVO_SPEED_PI_HIGH_LIMIT = servo_speedLoopUpperLimit · M1_SERVO_SPEED_PI_LOW_LIMIT = servo_speedLoopLowerLimit

8.3.1.6 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 16.Sensorless tab input

MCAT group

MCAT name

Equation name

BEMF observer F0

parameters

sensorlessBemfObsrvF0 sensorlessBemfObsrvKsi

Tracking

observer parameters

sensorlessTrackObsrvF0 sensorlessTrackObsrvKsi

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
Open loop startup ramp Open loop startup current Merging speed Merging coefficient (100 % = merging is done within one electrical revolution)

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

Output equations (applies for saving to mX_pmsm_appconfig.h and also for updating a corresponding FreeMASTER variable):
· M1_I_SCALE = (parametersLd / (parametersLd + currentLoopSampleTime * parametersRs)) · M1_U_SCALE = (currentLoopSampleTime / (parametersLd + currentLoopSampleTime * parametersRs)) · M1_E_SCALE = (currentLoopSampleTime / (parametersLd + currentLoopSampleTime * parametersRs)) · M1_WI_SCALE = (parametersLq * currentLoopSampleTime / (parametersLd + currentLoopSampleTime *
parametersRs))
· M1_BEMF_DQ_KP_GAIN = ((2 * sensorlessBemfObsrvKsi * 2 * pi * sensorlessBemfObsrvF0 * parametersLd parametersRs))
· M1_BEMF_DQ_KI_GAIN = (parametersLd * (2 * pi * sensorlessBemfObsrvF0)^ 2 * currentLoopSampleTime) · M1_TO_KP_GAIN = 2 * sensorlessTrackObsrvKsi * 2 * pi * sensorlessTrackObsrvF0 · M1_TO_KI_GAIN = ((2 * pi * sensorlessTrackObsrvF0)^ 2) * currentLoopSampleTime · M1_TO_THETA_GAIN = (currentLoopSampleTime / pi) · M1_OL_START_RAMP_INC = (sensorlessStartupRamp * currentLoopSampleTime / (60 / (parametersPp * 2 *
pi)))
· M1_OL_START_I = sensorlessStartupCurrent · M1_MERG_SPEED_TRH = (sensorlessMergingSpeed / (60 / (parametersPp * 2 * pi))) · M1_MERG_COEFF = ((sensorlessMergingCoeff / 100) * sensorlessMergingSpeed * parametersPp *
currentLoopSampleTime) / 60
· TO_IIR_cutoff_freq = 1 / (2 * speedLoopSampleTime) * 0.8 · M1_TO_SPEED_IIR_B0 = (2 * pi * TO_IIR_cutoff_freq * currentLoopSampleTime) / (2 + (2 * pi *
TO_IIR_cutoff_freq * currentLoopSampleTime))
· M1_TO_SPEED_IIR_B1 = (2 * pi * TO_IIR_cutoff_freq * currentLoopSampleTime) / (2 + (2 * pi * TO_IIR_cutoff_freq * currentLoopSampleTime))

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· M1_TO_SPEED_IIR_A1 = -(2 * pi * TO_IIR_cutoff_freq * currentLoopSampleTime – 2) / (2 + (2 * pi * TO_IIR_cutoff_freq * currentLoopSampleTime))

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. If you want to use sensored control (encoder feedback), connect the encoder to the inverter. 3. 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).

VDC

Ud_req = 0 Um = Uq_req

U_req U_req

SVM

Frequency 2pi

e e Integrator

VSI PMSM
Sensor

Figure 14.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.

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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 15.Voltage – Open loop control
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.

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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 16.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.
8.4.3 Voltage control
The block diagram of the voltage FOC is shown in Figure 17. 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.

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Ud_req Uq_req

U_req U_req

SVM

Position/Speed

evaluation

VDC VSI

PMSM Sensor

Figure 17.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 18. 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 18.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 19, 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 19.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. Choose between sensored and sensorless control in variable “M1 MCAT POSPE Sensor”. 4. In variable “M1 Speed Required” set the required speed. (i.e. 1000rpm). The motor automatically starts
spinning. 5. Observe motor speed, position, phase currents and other graphs predefined in subblock scopes and
recorders.

8.4.6 Position (servo) control

The position of PMSM sensor FOC is shown in Figure 20 (available for sensored/encoder based applications only). The position control using the P controller can be tuned in the “Servo control” menu tab. An encoder sensor is required for the feedback. Without the sensor, the position control does not work. A braking resistor is missing on the FRDM-MC-LVPMSM board. Therefore, it is necessary to set a soft parameters of P controller because the voltage on the DC-bus can rise when braking the quickly spinning shaft. It may cause an overvoltage fault.

m_req (M1 Position Required)

Feed forward

M1_SERVO_FEED_FRWD_K1

Der

M1_SERVO_FEED_FRWD_K2
k1

id_req = 0

M1_SERVO_POSITION_P_HIGH_LIMIT M1_SERVO_POSITION_P_LOW_LIMIT

Limits

On/Off

M1_SERVO_SPEED_PI_HIGH_LIMIT M1_SERVO_SPEED_PI_LOW_LIMIT
Limits

–

e_req

filter

–

iq_req

ZC filter

–

M1_SERVO_POSITION_P_PROP_GAIN

M1_SERVO_IIR_ZC_B0
M1_SERVO_IIR_ZC_B1 M1_SERVO_IIR_ZC_A1

M1_SERVO_SPEED_PI_PROP_GAIN M1_Q_IIR_ZC_B0
M1_SERVO_SPEED_PI_INTEG_GAIN M1_Q_IIR_ZC_B1 M1_Q_IIR_ZC_A1

Output limit [%] M1_CLOOP_LIMIT
Current PI controller Limit
calculation

–

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

m_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 20.Position control mode For run motor in position (servo) control, follow these steps:

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1. Switch project tree subblock on “Position Control”. 2. Switch variable “M1 MCAT Control” on “POSITION_CNTRL”. 3. Swich variable “M1 MCAT POSPE Sensor” to “Encoder [1]”. 4. In variable “M1 Position Required” set the required psition. (i.e. 10 revs). 5. Set variable “M1 Application Switch” to “1”. The motor starts and automatically stops in the required
position. 6. Change “M1 Encoder Direction” if the motor does not spin. (See chapter Section 8.7.1) 7. 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 21.Faults in variable watch located in “Motor M1” subblock
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.

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· 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 22.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”.

Figure 23.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.

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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 17 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 17.MCAT motor parameters Parameter

Units

Description

Typical range

[-]

Motor pole pairs

1-10

[]

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 18).

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Table 18.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 19).

Table 19.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.

8.7 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 24).

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Figure 24.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 25) 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 25.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.

8.7.1 Encoder sensor setting
The encoder sensor settings are in the “Sensors” tab. The encoder sensor enables you to compute speed and position for the sensored speed. For a proper encoder counting, set the number of encoder pulses per one revolution and the proper counting direction. The number of encoder pulses is based on information about the

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encoder from its manufacturer. If the encoder sensor has more pulses per revolution, the speed and position computing is more accurate. The counting direction is provided by connecting the encoder signals to the NXP Freedom board and also by connecting the motor phases.
To determine the direction of rotation, follow the steps below:
1. Navigate to the “Scalar & Voltage Control” tab in the project tree and select “SCALAR_CONTROL” in the “M1 MCAT Control” variable.
2. Turn on the application switch. The application state changes to “RUN”. 3. Set the required frequency value in the “M1 Scalar Freq Required” variable; for example, 15 Hz. The motor
starts running. 4. Check the encoder direction. Select the “Encoder Direction Scope” from the “Scalar & Voltage Control”
project tree. If the encoder direction is right, the estimated speed is equal to the measured mechanical speed. If the measured mechanical speed is opposite to the estimated speed, the direction must be changed. The first way is to change “M1 Encoder Direction” variable – only 0 or 1 value is allowed. The second way is invert the encoder wires–phase A and phase B (or the other way round).

Figure 26.Encoder direction–right direction

Figure 27.Encoder direction–wrong direction

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8.7.2 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 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.
8.7.3 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
8.7.4 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
8.7.5 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

8.7.6 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.

8.7.7 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
8.7.8 Position P controller tuning
The position control loop can be tuned Bandwidth F0 and Attenuation in Servo control tab. A proportional controller can be used to unpretend the position-control systems. The key for the optimal position response is a proper value of the controller, which multiplies the error by the proportional gain (Kp) to get the controller output. An encoder sensor must be used for a working position control. The following steps provide an example of how to set the position P controller for a PM synchronous motor:

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1. Select the “Position Controller” scope in “Position Control” tab in the FreeMASTER project tree. 2. Tune the proportional gain by Bandwidth F0 and Attenuation :
· Set preffered value of Bandwidth F0 and Attenuation . The MCAT automatically compute position controller gain and feed forward constants.
· Select the position control, and set the required position in “M1 Position Required” variable (for example; 10 revolutions).
· Select the “Position Controller” scope and watch the actual position response. 3. Repeat the previous steps until you achieve the required position response.
The “PL_Kp” value is low and the actual position response on the required position is very slow.

Figure 36.Position controller response–PL_Kp value is low, the actual position response is very slow The “PL_Kp” value is too high and the actual position overshoots the required position.

Figure 37.Position controller response–PL_Kp value is too high and the actual position overshoots The “PL_Kp” value and the actual position response are optimal.

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Figure 38.Position controller response–the actual position response is good

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9 Conclusion
This application note describes the implementation of the sensor and sensorless field-oriented control of a 3-phase PMSM. The motor control software is implemented on NXP i.MX943-EVK board with the FRDMLVPMSM-FA 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.

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10 Acronyms and abbreviations

Table 20 lists the acronyms and abbreviations used in this document.

Table 20.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 · 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 21.Revision history

Document ID

Release date

UG10263 v.1.0

03 July 2025

Description Initial release

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AMBA, Arm, Arm7, Arm7TDMI, Arm9, Arm11, Artisan, big.LITTLE, Cordio, CoreLink, CoreSight, Cortex, DesignStart, DynamIQ, Jazelle, Keil, Mali, Mbed, Mbed Enabled, NEON, POP, RealView, SecurCore, Socrates, Thumb, TrustZone, ULINK, ULINK2, ULINK-ME, ULINKPLUS, ULINKpro, Vision, Versatile — are trademarks and/or registered trademarks of Arm Limited (or its subsidiaries or affiliates) in the US and/or elsewhere. The related technology may be protected by any or all of patents, copyrights, designs and trade secrets. All rights reserved.
BiSS — is a trademark of iC-Haus GmbH.

CodeWarrior — is a trademark of NXP B.V. EdgeLock — is a trademark of NXP B.V. EdgeVerse — is a trademark of NXP B.V. IAR — is a trademark of IAR Systems AB. J-Link — is a trademark of SEGGER Microcontroller GmbH. Kinetis — is a trademark of NXP B.V. Tower — is a trademark of NXP B.V.

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Tables

Tab. 1.
Tab. 2. Tab. 3. Tab. 4. Tab. 5. Tab. 6. Tab. 7. Tab. 8. Tab. 9. Tab. 10.

Available example type, supported motors and control methods ………………………………….. 2 TGT3-0065-60-48 motor parameters ……………. 3 HMD06-011-048 motor parameters ……………….4 SW90 setting for BiSS encoder …………………… 5 SW90 setting for EnDat2.2 encoder ………………6 BiSS point-to-point connection …………………….. 6 EnDat2.2 connection ………………………………….. 6 i.MX943-EVK switch settings ………………………. 6 Maximum CPU load (fast loop) ………………….. 12 Memory usage ………………………………………… 12

Tab. 11. Tab. 12. Tab. 13. Tab. 14. Tab. 15. Tab. 16. Tab. 17. Tab. 18. Tab. 19. Tab. 20. Tab. 21.

Constants used in equations ………………………24 Parameters tab inputs ………………………………. 24 Current loop tab input ………………………………. 27 Speed loop tab input …………………………………27 Servo control tab input ……………………………… 29 Sensorless tab input ………………………………… 30 MCAT motor parameters …………………………… 39 Fault limits ………………………………………………. 40 Application scales ……………………………………. 40 Acronyms and abbreviations ……………………… 52 Revision history ………………………………………..55

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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. Fig. 19. Fig. 20. Fig. 21.
Fig. 22.

TGT3-0065-60-48 permanent magnet synchronous motor ……………………………………..3 HMD06-011-048 permanent magnet synchronous motor ……………………………………..4 FRDM-LVPMSM-FA block diagram ………………. 5 FRDM-LVPMSM-FA board ………………………….. 5 i.MX943-EVK board …………………………………….7 Timing on i.MX94X – SINC trigger and ISR ……. 8 Timing i.MX94X – BiSS trigger and Fast loop ISR …………………………………………………… 9 Timing i.MX94X – dual servo application ……….. 9 Green “GO” button placed in top left-hand corner …………………………………………………….. 19 FreeMASTER–communication is established successfully …………………………….19 FreeMASTER communication setup window …………………………………………………….20 Default symbol file …………………………………….21 FreeMASTER + MCAT layout ……………………. 23 Scalar control mode …………………………………. 31 Voltage – Open loop control ………………………. 32 Current – Open loop control ………………………. 33 Voltage FOC control mode …………………………34 Current/Torque control mode (sensored) ………35 Speed FOC control mode (sensored) …………. 36 Position control mode ………………………………..36 Faults in variable watch located in “Motor M1” subblock ……………………………………………37 Undervoltage fault is indicated (pending) …….. 38

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.
Fig. 36.
Fig. 37.
Fig. 38.

Undervoltage fault is captured …………………… 38 Phase currents ………………………………………… 41 Generated and estimated positions ……………..41 Encoder direction–right direction ………………. 42 Encoder direction–wrong direction ……………..42 Slow step response of the Id current controller ………………………………………………….43 Optimal step response of the Id current controller ………………………………………………….44 Fast step response of the Id current controller ………………………………………………….44 Speed profile …………………………………………… 45 Motor startup …………………………………………… 46 Speed controller response–SL_Ki value is low, Speed Ramp is not achieved ………………. 47 Speed controller response–SL_Kp value is low, Speed Actual Filtered greatly overshoots ………………………………………………. 48 Speed controller response–speed loop response with a small overshoot …………………48 Position controller response–PL_Kp value is low, the actual position response is very slow ……………………………………………………….. 49 Position controller response–PL_Kp value is too high and the actual position overshoots ………………………………………………. 49 Position controller response–the actual position response is good …………………………. 50

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Contents

1 2 2.1 2.2 2.3 2.4 2.4.1 2.4.2 3
3.1 3.1.1
3.1.2 3.1.2.1 3.1.2.2 3.1.2.3 3.1.2.4 3.1.2.5 3.1.2.6 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 8.3.1.6 8.4 8.4.1 8.4.2 8.4.3 8.4.4 8.4.5 8.4.6 8.5 8.5.1 8.5.2 8.5.3 8.6
8.7

Introduction ……………………………………………… 2 Hardware setup …………………………………………3 TGT motor ………………………………………………… 3 Heidrive motor …………………………………………… 4 FRDM-LVPMSM-FA ……………………………………. 4 i.MX943-EVK board ……………………………………. 6 Hardware assembling …………………………………. 7 Additional information …………………………………. 7 Processors features and peripheral settings ……………………………………………………. 8 i.MX 94x …………………………………………………….8 i.MX94X – Hardware timing and synchronization ………………………………………….. 8 i.MX94X – Peripheral settings ………………………. 9 PWM generation ………………………………………. 10 SINC filter ……………………………………………….. 10 BiSS interface …………………………………………..10 EnDat2.2 interface ……………………………………. 10 XBAR – peripheral interconnection ……………… 11 Slow-loop interrupt generation …………………….11 CPU load and memory usage ……………………. 11 SDK package project file and IDE workspace structure ………………………………..13 PMSM project structure …………………………….. 13 Github project structure …………………………. 15 Motor-control peripheral initialization ……….16 User interface ………………………………………….18 Remote control using FreeMASTER ………… 19 Establishing FreeMASTER communication ….. 19 TSA replacement with ELF file …………………… 20 Motor Control Aplication Tuning interface (MCAT) …………………………………………………….21 MCAT tabs description ……………………………… 23 Application concept ……………………………………24 Parameters ……………………………………………… 24 Current loop ……………………………………………..27 Speed loop ……………………………………………… 27 Servo control …………………………………………… 29 Sensorless ………………………………………………. 30 Motor Control Modes – How to run motor ………31 Scalar control ……………………………………………31 Open loop control mode ……………………………. 32 Voltage control ………………………………………….33 Current/Torque control ………………………………. 34 Speed FOC control ……………………………………35 Position (servo) control ………………………………36 Faults explanation ……………………………………..37 Variable “M1 Fault Pending” ………………………. 37 Variable “M1 Fault Captured” …………………….. 38 Variable “M1 Fault Enable” …………………………38 Initial motor parameters and harware configuration ……………………………………………. 39 Control parameters tuning …………………………. 40

8.7.1 8.7.2 8.7.3 8.7.4 8.7.5 8.7.6 8.7.7 8.7.8 9 10 11 12 13

Encoder sensor setting ………………………………41 Alignment tuning ………………………………………. 43 Current loop tuning ……………………………………43 Speed ramp tuning …………………………………… 44 Open loop startup ……………………………………..45 BEMF observer tuning ……………………………….46 Speed PI controller tuning …………………………. 46 Position P controller tuning …………………………48 Conclusion …………………………………………….. 51 Acronyms and abbreviations ………………….. 52 References ………………………………………………53 Useful links ……………………………………………. 54 Revision history ………………………………………55 Legal information …………………………………….56

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

Documents / Resources

NXP Semiconductors UG10263 SDK Field Oriented Control [pdf] User Manual
i.MX943-EVK, UG10263 SDK Field Oriented Control, UG10263, SDK Field Oriented Control, Oriented Control, Control

References

User Manual

NXP Semiconductors UG10263 SDK Field Oriented Control User Manual

UG10263 SDK Field Oriented Control

Product Information

Specifications

Product Usage Instructions

1. Introduction

2. Hardware Setup

2.1 TGT Motor

Frequently Asked Questions (FAQ)

Q: What types of motors are supported by the SDK motor control
example?

Q: Where can I find more information on the control software
and PMSM control theory?

Documents / Resources

References

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