ATSAMD21BLDC24V-STK - Kit de contrôle moteur Microchip - Free user manual and instructions

USER MANUAL ATSAMD21BLDC24V-STK Microchip

2. Getting Started with ATSAMD21BLDC24V-STK....6

3. ATSAMD21BLDC24V-STK Hardware.... 12

3.1. ATSAMD21BLDC24V-STK MCU Board....12
3.2. ATSAMD21BLDC24V-STK Driver Board....13
3.3. ATSAMD21BLDC24V-STK MCU-driver Interface.... 23

4. Hardware Revision History and Known Issues....26

4.1. Identifying Product ID and Revision.... 26
4.2. Revision....26

5. Product Compliance.... 27

6. Revision History....28

1. Atmel Low Voltage Motor Control Starter Kit

The Atmel ^® ATSAMD21BLDC24V-STK is a low voltage BLDC, PMSM motor control starter kit. The kit contains a driver board hardware with half-bridge power MOSFET drivers, current and voltage sensing circuit, Hall and Encoder interface, fault protection circuits, etc. The ATSAMD21MOTOR MCU card is plugged into the driver board and has an on-board debugger. Supported by the Atmel studio integrated development platform, the kit provides easy access to the features of ATSAMD21J18A MCU and explains how to integrate the device in a custom motor control application. Pluggable MCU cards are available from Atmel, supporting other SMART ARM ^® MCUs.

Blue Altmet / SMART integrated circuit board with connected motor and wiring (no readable text or symbols)

1.1. ATSAMD21BLDC24V-STK Features

ATSAMD21BLDC24V-STK has the following features:

• Pluggable MCU card interface
• Debug support using on-board Atmel EDBG device
  • Three half-bridge MOSFET driver
• Motor BEMF sensing
  • Motor individual phase current sensing

• DC-bus voltage sensing

• Hall sensor interface
  • Encoder sensor interface
  • Over-current protection support
  • Over-voltage protection at 30VDC
  • 5V and 3.3V MCU card support

• Selectable MCU supply voltage
• Reverse power supply voltage protection
• Atmel Xplained Pro compatible header interface
• On board Temperature sensor
• On board serial flash
  • LED fault indications
• Atmel studio plug-and-use support using unique ID device

1.2. ATSAMD21BLDC24V-STK Kit Content

ATSAMD21BLDC24V-STK Kit contains the PCBs, BLDC motor, power adaptor and USB cable to get started and running the motor in the kit.

The kit contains the following items:

1. AT24VBLDC driver board.
2. ATSAMD21MOTOR MCU card.
3. LDO brush-less DC motor (LDO: 42BL02402-0026B-002).
4. Fully assembled chassis plate.
5. 24V, 4A AC adapter (EDAC: EA11011E-240).
6. Micro-USB cable.

Figure 1-1. ATSAMD21BLDC24V-STK Kit Content

Three electronic components: a blue circuit board labeled 'Assembled Chassis', a black power adapter, and a USB cable with wires (no visible text or symbols on components)

1.3. Design Documentation and Relevant Links

The following list contains links to the most relevant documents and software for ATSAMD21BLDC24V-STK:

• Xplained Pro products - Atmel Xplained Pro is a series of small-sized and easy-to-use evaluation kits for Atmel microcontrollers and other Atmel products. It consists of a series of low-cost MCU boards for evaluation and demonstration of features and capabilities of different MCU families.
  • ATSAMD21BLDC24V-STK User Guide - PDF version of this User Guide.
• ATSAMD21BLDC24V-STK Design Documentation - Package containing schematics, BOM, assembly drawings, 3D plots, layer plots, etc.
• Atmel Studio - Free Atmel IDE for development of C/C++ and assembler code for Atmel microcontrollers.
• EDBG User Guide - User guide containing more information about the on-board Embedded Debugger.
• Atmel Data Visualizer - Atmel Data Visualizer is a program used for processing and visualizing data. Data Visualizer can receive data from various sources such as the Embedded Debugger Data Gateway Interface found on Xplained Pro boards and COM ports.
  • ATSAMD21BLDC24V-STK - Product page.
  • ATSAMD21J18A - MCU datasheet.

2. Getting Started with ATSAMD21BLDC24V-STK

This chapetr is a step-by-step guide to get started with the SAMD21BLDC24V-STK.

1. SAMD21BLDC24V-STK kit contains a fully assembled chassis and 24VDC power adaptor.
2. Connect the power adaptor to the "SUPPLY-IN connector". Connect white color cable to + PIN.

Figure 2-1. Kit with Power and USB Ports Connected

Electronic components including a blue Atmet | SMART board, a black stepper motor, and cable connectors (no readable text or symbols)

1. Switch ON the power adaptor.
2. Connect the Micro-USB cable to the "EDBG-USB connector" and PC USB port.
3. The power LED indications on the MCU board are now ON.
4. Open "Data Visualizer".
5. In the "Data Visualizer Connect Window" Choose the kit from the DGI control panel's drop down list.

Figure 2-2. Data Visualizer Connect Window

Data Visualizer DGI Control Panel ATSAMD21MOTOR ATMLCD4000000000000 Connect Start Interfaces: ADP Logging Autodetect ADP Reset MCU

1. Click "Connect". The orange LED in the MCU board shall now blink.
2. The Data Visualizer default window will pop up once the connection is made. All the fields shall show default values.

Figure 2-3. Data Visualizer Start Window

Data Visualizer DGI Control Panel ADP Control Panel - Motor Control Example for SAMD21 BLDC Motor Control BC Hall with SAMD21v1.0.0 Speed ref (rpm) 2000 Kp 40 Ki 20 Rampup (rpm/ms) 1 Direction CW CCW Start Speed (rpm) 6000 5000 4000 3000 2000 1000 0 00 00 01 02 03 04 05 Auto-scroll Automatically fit Y Legend Reference Speed Actual Speed Position 00:00:00 00:01:00

1. Click on "Start" to turn the motor ON with default values.

Figure 2-4. Data Visualizer "Start Motor" Window

Data Visualizer DGI Control Panel ADP Control Panel - Motor Control Example for SAMD21 BLDC Motor Control BC Hall with SAMD21v1.0.0 Speed ref (rpm) 2000 Kp 40 Ki 20 Rampup (rpm/ms) 1 Direction CW CCW Stop Speed (rpm) 6000 5000 4000 3000 2000 1000 0 Auto-scroll Automatically fit Y Legend Reference Speed 002000 002003 Actual Speed Position 6 4 2 0 01:17.00

1. Change the value in a field and press "Enter". For instance, to change the motor speed, type in the desired speed within the motor's rating and press "Enter".

Figure 2-5. Data Visualizer "Change Parameter"

Data Visualizer DGI Control Panel ADP Control Panel - Motor Control Example for SAMD21 BLDC Motor Control BC Hall with SAMD21 v1.0.0 Speed ref (rpm) 3000 Kp 40 Ki 20 Rampup (rpm/ms) 1 Direction CW CCW Stop Speed (rpm) 6000 5000 4000 3000 2000 1000 0 03:00 03:10 03:20 03:30 03:40 Auto-scroll Automatically fit Y Legend Reference Speed Actual Speed 003000 02990 Position 6 4 2 0 03:42.00

1. Stop the Motor by clicking the "Stop" button.
2. To change direction of rotation after "Stop", choose "CCW" in radio button and click "Start".

Figure 2-6. Data Visualizer "Change Direction"

Data Visualizer DGI Control Panel ADP Control Panel - Motor Control Example for SAMD21 BLDC Motor Control BC Hall with SAMD21 v1.0.0 Speed ref (rpm) 3000 Kp 40 Ki 20 Rampup (rpm/ms) 1 Direction CW CCW Stop Speed (rpm) 6000 5000 4000 3000 2000 1000 0 Auto-scroll Automatically fit Y Legend Reference Speed Actual Speed 0.03000 0.72990 Position 6 4 2 0 05.04.00

1. Adjust the graph by checking "Automatically fit Y".

3. ATSAMD21BLDC24V-STK Hardware

The ATSAMD21BLDC24V-STK has a two-board architecture. The driver base board contains drive circuits, sensor circuits, protection circuits, power supply, etc., and the MCU board (MCU card) contains the MCU, clock circuit, and debug circuit. The MCU card is inserted into the 67-pin NGFF standard interface on the driver board. The ATSAMD21BLDC24V-STK comes with an ATSAMD21J18A MCU card.

3.1. ATSAMD21BLDC24V-STK MCU Board

The main components in the ATSAMD21MOTOR MCU card are highlighted in the PCB and block diagram given below.

Figure 3-1. MCU Board PCB

Atmel SMART ATSAMD21MOTOR 1 11 13 67 NGFF Expansion card interface PWM to FET driver GND VL WH UH WL UL VH J102 BEMF_W Main MCU PWR BOARD power LED EDBG – debug MCU Cortex Header RESET Switch TMS TDI TCK GND GND VTG TDO RST BOOT VCC CORTEX DBG PWR STA RESET GND DGI UART JUMPER DEBUG LEDs

Figure 3-2. MCU Board Block Diagram

graph TD
    A["DRIVER BOARD"] --> B["SAMD21J18A"]
    B --> C["External comparator"]
    B --> D["ENCODER DIR"]
    B --> E["RESET switch"]
    B --> F["Cortex debug header"]
    B --> G["32KHz Xtal"]
    B --> H["EDBG USB"]
    H --> I["EDBG"]
    I --> J["Power LED"]
    I --> K["Status LED"]
    I --> L["MCU voltage sense"]
    B <--> M["SWD"]
    B <--> N["SERCOM"]
    B <--> O["67pin NGFF interface"]

3.1.1. Power Supply

The ATSAMD21MOTOR MCU card takes 3.3VDC supply from the 67-pin edge connector. Both the EDBG device and the Main MCU operates from 3.3VDC. The power supply selection jumper on the Driver board should be connected to 3V3 (silk screen text) selection.

3.1.2. Main MCU Circuit

The ATSAMD21MOTOR has an ATSAMD21J18A device. The device is intended to work with MCU internal clock source. A 32.768kHz crystal is connected externally to the MCU.

3.1.3. Embedded Debugger

The ATSAMD21J18A MCU is interfaced to the EDBG debug device. The EDBG uses SWD interface for programming and debugging the main MCU. A debug header is also provided on the MCU board with ARM Cortex ^® debug pinout. An external debugger can be connected to this debug port.

The DGI is a proprietary communication interface used by the Atmel Data Visualizer software to communicate with the development kits through the EDBG. SERCOM4 of the ATSAMD21J18A connected to the EDBG device support DGI SPI interface and uses Atmel ADP protocol. The MCU SERCOM4 is also connected to the UART channel of the EDBG through a pair of "normally open" jumpers, the J200 and J201. Shorting these jumpers will enable the CDC UART interface for the main MCU.

High Speed USB port of the EDBG is accessible at the driver board. EDBG USB enumerates as a composite device supporting debug, DGI SPI, and CDC interfaces.

The USB port of the ATSAMD21J18A is connected to the Micro-USB connector on the driver board.

3.2. ATSAMD21BLDC24V-STK Driver Board

The driver board contains half-bridge MOSFET driver circuits for three-phase BLDC, PMSM motor drive and supports 12-24VDC recommended bus drive voltage. Individual phase current sense, bus voltage sense, and back-EMF sense circuits supports development of sensor-less motor drive algorithms. Hall and Encoder sensor interfaces enables the user to develop sensor-based motor control applications. The

driver board has over-voltage protection in hardware and over-current shutdown through the MCU input. Reverse voltage protection is available at 12-24VDC and EXT1-header external supply inputs. USB interface headers are interfaced to the main MCU and EDBG device in the MCU board. Temperature sensor, serial flash, XPRO interface header, and UID chip circuits are the other features included in the driver board hardware. The figure below shows the main components and block diagram of driver board.

Figure 3-3. ATSAMD21BLDC24V-STK Driver Board PCB

Atmel SMART ATBLDC24V Motor Phase Connector Phase-U bridge driver Phase-V bridge driver Phase-W bridge driver Encoder Connector Temperature sensor Hall Connector Hall and Encoder interface BEMF, DC bus filter circuit NGFF socket Xplained Extension connector MCU USB connector EDBG (Debug/Serial) USB conenctor Driver Board MCU voltage level selection OCP board reset Digital voltage source selection LED fault indications Fuse 12-24V supply input connector

Figure 3-4. ATSAMD21BLDC24V-STK Block Diagram

graph TD
    A["LED indication"] --> B["MCU USB"]
    B --> C["UID chip"]
    C --> D["Serial flash"]
    D --> E["EDBG USB"]
    E --> F["Temperature sensor"]
    F --> G["Atmel XPRO interface"]
    G --> H["Encoder sensor"]
    H --> I["Hall Sensor"]
    I --> J["BEMF sense"]
    J --> K["Phase current sense"]
    K --> L["FET driver"]
    L --> M["MOSFET half bridge"]
    M --> N["Output"]
    O["12-24VDC"] --> P["Reverse voltage protection"]
    P --> Q["Over voltage protection"]
    Q --> R["Power supply 5V,3.3V"]
    R --> S["MCU voltage Sel. jumper"]
    S --> T["Supply source select switch"]
    T --> U["USB VBUS"]
    T --> V["12-24VDC"]
    T --> W["XPRO EXTVDC"]
    U --> X["GPIO"]
    V --> X
    W --> X
    X --> Y["MCU card"]
    Y --> Z["MCU"]
    Z --> AA["GPIO"]
    AA --> AB["Single wire"]
    AB --> AC["SPI"]
    AC --> AD["I2C"]
    AD --> AE["IO/SERIAL/ADC/INT/PWM"]
    AE --> AF["PWM"]
    AF --> AG["ADC"]
    AG --> AH["EXT INT"]
    AH --> AI["EXTINT"]
    AI --> AJ["ADC"]
    AJ --> AK["MCU card"]
    AK --> AL["GPIO"]
    AL --> AM["Single wire"]
    AM --> AN["I2C"]
    AN --> AO["I2C"]
    AO --> AP["GPIO"]
    AP --> AQ["MCU card"]
    AQ --> AR["GPIO"]
    AR --> AS["I2C"]
    AS --> AT["I2C"]
    AT --> AU["GPIO"]
    AU --> AV["I2C"]
    AV --> AW["GPIO"]
    AW --> AX["I2C"]
    AX --> AY["I2C"]
    AY --> AZ["I2C"]

3.2.1. Half-bridge FET Driver

The half-bridge circuit is based on the NTMFS5C646NL N-channel Power MOSFET. Each half-bridge is driven by the NCP5106A gate driver. The gate driver takes two independent PWM inputs from the MCU and uses bootstrap technique to drive the high side Power MOSFET in the half-bridge. The bootstrap capacitor is tied between PIN5 and PIN8 of the NCP5106 through a resistor. C5 is the bootstrap capacitor and D1 is the bootstrap diode for phase-U half-bridge, as shown in the figure below. The bootstrap capacitor value is chosen based on the total charge to be supplied by the capacitor and maximum allowable voltage drop on the bootstrap capacitor.

Figure 3-5. Half-bridge Driver Schematic

VCC_D C4 1u GND U2 1 2 3 4 VCC VBOOT IN_HI DRV_HI IN_LO BRIDGE GND DRV_LO NCP5106 R5 2.2R C5 4.7uF 8 7 6 5 R8 OR R20 OR R7 100k TP7 TESTPAD 2 3 NTMFS5C646NL R2 0.82R C6 2.2n TP47 TESTPAD U_emf R3 100k R4 100k GND GND R57 OR R9 0.82R D2 SM6T68CA GND TP51 TESTPAD 2 R11 100k M1 NTMFS5C646NL C7 2.2n

3.2.2. Power Supply

The driver board has multiple power supply selection options. Automatic supply input selection is similar to the Atmel Xplained Pro hardware. The block diagram shows how to use the SW1 user switch and the jumper available on the PCB to select the MCU voltage supply.

Figure 3-6. Driver Board Power Supply

graph LR
    A["12-24VDC input"] --> B["regulator"]
    C["EXT 5VDC"] --> B
    D["EDBG USB 5VDC"] --> E["open"]
    F["MCU USB 5VDC"] --> E
    B --> G["MOT-5V SW1 USB/X5V"]
    E --> H["JUMPER"]
    G --> I["3.3VDC"]
    H --> I
    I --> J["MCU supply"]

3.2.3. Phase Current Sense

The current sense resistor and the differential amplifier circuit enables measurement of individual phase currents using the ADC channel of the MCU. The figure below shows the sense circuit for the U-phase and reference generator. R30 is the current shunt and op-amp U8 is configured in inverting differential amplifier configuration. Voltage offset is added to the sense output, which is the reference voltage output generated from the MCU supply voltage (MCU supply divided by 2). Solving the circuit,

$$ \mathrm{Vout} = \mathrm{Vr} - (\mathrm{Is.Rs}) (\mathrm{R52/R16}) $$

$$ \text { Vout } = \text { U_I_sense at TP13 } $$

$$ \mathrm{Vr} = \text { reference voltage } (= 1. 6 5 \mathrm{V}) $$

$$ \text { Is } = \text { phase current } $$

$$ R s = \text { shunt resistor } $$

R52 = feedback resistor

R16 = input side resistor

Figure 3-7. Current Sense and Reference Generation Circuit

10 Gain -> R52 and R45 are 10K 20 Gain -> R52 and R45 are 20K R52 10k C34 100p R16 1k R30 0.02R TP51 TESTPAD R41 1k GND R45 10k VCC_P GND U8 1 TP13 U_I sens LTC2050HS5@PBF VCC_P R54 10k TP61 TESTPAD R56 10k GND VCC_P/2 1.65V Reference Voltage VCC_P R54 10k TP61 TESTPAD R56 10k GND OPA348AIDBVTG4 VCC_P C39 100n GND U15 R55 10R C40 1u GND TP15 TESTPOINT TESTPAD

3.2.4. BEMF, DC Bus Sense

Back-EMF generated in the phase windings can be determined from the voltage read at the individual phase terminals. A schematic drawing for the voltage scaling and the filter circuit is shown in the figure below. BEMF output is connected to the ADC and analog comparator of the MCU. Motor DC supply is divided by network R79, R80 and connected to ADC reference and analog comparator.

Figure 3-8. Back-EMF, DC Bus Voltage Sense Circuit

U_emf R64 39.2K R65 6.04K GND TP21 C49 2.2n GND L2 BLM21AG102SN1D U_emf_SENS U_emf_ADC VDC_MOTOR TP27 TESTPAD R79 84.5K R80 6.04K GND TP28 C59 1n GND L5 BLM21AG102SN1D Ref_BEMF_sens Ref_BEMF_ADC

3.2.5. Over-voltage Protection (OVP)

DC bus voltage is monitored by the voltage sense circuit. If the voltage gets higher than 30VDC, the over-voltage protection will shut down the FET driver. The OVP circuit is shown in the figure below. Sense voltage is determined by the zener diode (D7) voltage (28V) and R-network R117 and R118. Vgs (threshold) of Q8A is typically 2V.

Figure 3-9. OVP Circuit

VDC_DRIVER TP38 D7 TZM5255B-GS08 R117 47R R118 47k GND TP41 OV_LED Q8A 2N7002DW GND R33 100k 3 5 4 GND C23 1u GND U5 5 VI 6 NC 7 NC EN GND TGND Vout 8 ADJ 1 CSO 4 NCV47700 2 9

3.2.6. Over-current Protection

Over-current protection (OCP OFF) is signaled from the MCU when the total individual phase shunt current value exceeds the limit. Shutdown circuit is shown in the image below. Q8B will be OFF in normal operation and switches ON and shuts off U5 when OCP OFF triggers. Shutting down U5 will cut off the MOSFET driver and can be switched back to active condition by pressing the SW2 push button.

Figure 3-10. Over-current Protection Circuit

OCP_OFF TP45 R121 100k GND Q12 BC847B TP42 3 Q11A 5 2N7002DW C52 10n GND VDC_DRIVER R120 100k R119 200k Q11B 6 2N7002DW C53 1n GND GND Q8B 2N7002DW 2 GND TP43 OC_LED R122 39R TP44 SW2 SKRAALE010 4 GND DRIVER SUPPLY ENABLE

3.2.7. Hall Sensor Interface

The Hall sensor interface uses NTS0104 level translator. The interface is tested with motors with open drain and push pull type Hall sensor output. The LDO motor supplied with ATSAMD21BLDC24V-STK has open drain Hall sensor output type.

3.2.8. Encoder Sensor Interface

The encoder sensor interface uses a NTS0104 level translator. The interface is tested with motors with open drain and push pull type encoder sensor output. The LDO motor supplied with ATSAMD21BLDC24V-STK has open drain output type.

3.2.9. Atmel Xplained PRO Interface

The Xplained PRO compatible header has a 20-pin EXT1 connector and a 4-pin power connector. All the lines of the 20-pin header are routed to the 67-pin NGFF interface. Some pins of the header are not connected to the MCU ports, also some pins are connected to other features on the driver board. This is based on the availability of pins on the MCU card. The table below shows the pinout for both the connectors in the case of ATSAMD21MOTOR MCU card supplied with the kit.

Table 3-1. EXT1-Xplained PRO Extension Header

Pin	Pin name 67-pin interface Driver board connections SAMD21J18A port
1 ID_2 4 EDBG_ID2/EXT1_1 EDBG_PB01
2 GND 67 - GND
3 ADC(+) 20 EXT_3 NC
4 ADC(-) 35 EXT1_4(GPIO10) NC
5 GPIO5	22	EXT1_5(GPIO5) PB31
6 GPIO6	23	EXT1_6(GPIO6) PA17
7 PWM(+)	18	EXT1_7(GPIO1) PA19
8 PWM(-)	19	EXT1_8(GPIO2) PB08
9 IRQ/GPIO	37	EXT1_9(GPIO12)	NC
10	SPI_SS_B/GPIO	36 EXT1_10(GPIO11)	NC
11	TWI_SDA	12 TEMP_SDA, EXT1_11	PA22
12	TWI_SCL	13 TEMP_SCL, EXT_12	PA23
13	UART_RX	26 RXD_EXT1_13	PA13
14	UART_TX	27 TXD_EXT1_14	PA12
15	SPI_SS_A	34 EXT_15	PA02
16	SPI_MOSI	17 SPI_MOSI, EXT1_16	PB16
17	SPI_MISO	15 SPI_MISO, EXT1_17	PA20
18	SPI_SCK 16 SPI_SCK, EXT1_18		PB17
19	GND 67 --
20	VCC_P	63 VCC_P	VCC_TARGET_P3V3

Table 3-2. Xplained PRO Power Header

Pin	Signal name	Description
1	VCC_EXT_P5V0	External 5VDC input
2	GND	Ground

3 VCC_P5V0 5V
4 VCC_P MCU Voltage

3.2.10. Temperature Sensor

The temperature sensor is placed adjacent to the MOSFET drive circuit to sense the board temperature. The AT30TSE758 temperature sensor is connected to the MCU through I^2C and SMBus compatible 2-wire interface and has 7-bit I^2C address 1001111.

Table 3-3. I²C Pin Connection

Signal 67Pin # SAMD21J18A MCU pin Indented MUX function
TEMP SDA 12 PA22 SERCOM3(PAD0)
TEMP SCL 13 PA23 SERCOM3(PAD1)
TEMP alert 24 PB30 IO

3.2.11. Serial Flash

The AT25DF0181A 8Mb serial flash is connected to the MCU through SPI interface. Some of the pins are routed to the EXT1 header as given in the table below.

Table 3-4. Flash Pin Connection

Signal	67Pin #	SAMD21J18A MCU pin	Indented MUX function	Other connection
FLASH SS	14	PA21	SERCOM5(PAD3)
FLASH MISO	15	PA20	SERCOM5(PAD2)	EXT1_17
FLASH SCK	16	PB17	SERCOM5(PAD1)	EXT1_18
FLASH MOSI	17	PB16	SERCOM5(PAD0)	EXT1_16

3.2.12. UID Identification Chip

The UID chip is a unique ID chip used by the EDBG interface to enable automatic board identification in Atmel Studio. When the motor control evaluation board is connected to the USB port the Atmel studio recognizes it and load the necessary software and documentation.

3.2.13. USB Communication Interface

The driver board has EDBG and MCU Micro-USB headers. EDBG USB is connected to the HS USB port of the EDBG device in the MCU card. MCU USB is connected to the USB port of the MCU in the MCU card plugged in.

3.2.14. Debug Test Points

Test points are available on the driver board for probing debug signals. Proper silk screen text is provided on the PCB to identify the test points. Some of the most useful test points are highlighted in the image below.

Figure 3-11. Debug Test Points on the Driver Board

Atmel SMART PHASE-V PHASE-N ATBLDC24V U-BEMF V-BEMF V-ESHUNT Ground Motor VDC scaled MCN Voltage ENCODER Ground 1.3VDC MOSC MOTOR SUPPLY IN PHASE-U U-SHUNT Ground E-I E-A E-Z E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I E-I

3.2.15. Motor Specification

Specification and wiring for the motor are given in the figure below.

Figure 3-12. Motor Specification

Label Brushless Motor 42BL02402-0026B-002 24V 4000r/min 26W YYYY.MM.DD

Specifications:

PART NUMBER				LDO-42BLS41EN256
NUMBER OF POLES				8 poles
LINE TO LINE RESISTANCE				1.8 Ohms ±15%
LINE TO LINE INDUCTANCE				2.4 mH ±20%
NOMINAL VOLTAGE				24 VDC
RATED TORQUE				0.0625 N.m
RATED SPEED				4000 RPM ±10%
RATED CURRENT				1.6 A
RATED POWER				26 W
NO LOAD CURRENT				0.5 A REF
NO LOAD SPEED				5600 RPM ±10%
WEIGHT				0.4 Kg APPROX.
WIRE DIAGRAM
UL1007 22AWG			UL1007 26AWG
PHASE U	PHASE V	PHASE W	HALL +5V	HALL 1	HALL 2	HALL 3	HALL GND
GRN	ORG	BRN	RED	BLU	WHT	YEL	BLK

Wiring Diagram:

PHASE U GREEN PHASE V ORANGE PHASE W BROWN

HALL +5V RED HALL GND BLK HALL 1 HALL 2 HALL 3 HALL 1 BLU HALL 2 WHT HALL 3 YEL

Drive Pattern:

ROTATION: CW VIEWED FROMTHE OUTPUT SHAFT.
SENSOR OUTPUT			DRIVER OUTPUT
H1	H2	H3	PHU	PHV	PHW
1	0	1	HIGH	LOW	X
0	0	1	X	LOW	HIGH
0	1	1	LOW	X	HIGH
0	1	0	LOW	HIGH	X
1	1	0	X	HIGH	LOW
1	0	0	HIGH	X	LOW

ROTATION: CCW VIEWED FROMTHE OUTPUT SHAFT.
SENSOR OUTPUT			DRIVER OUTPUT
H1	H2	H3	PHU	PHV	PHW
1	0	1	LOW	HIGH	X
1	0	0	LOW	X	HIGH
1	1	0	X	LOW	HIGH
0	1	0	HIGH	LOW	X
0	1	1	HIGH	X	LOW
0	0	1	X	HIGH	LOW

3.3. ATSAMD21BLDC24V-STK MCU-driver Interface

Atmel low voltage motor control solution support plugable MCU cards. The MCU card and driver interface is a standard 67-pin interface as given in table below.

Table 3-5. MCU-driver Interface Pin-out

PIN INTERFACE NAME DRIVER BOARD SAMD21J18A PIN SAMD21 FUNCTION
1 EDBG USB HSP EDBG_USB_HS_P EDBG_USB_HS_P EDBG_USB_HS_N
2 NC NC NC NC
3 EDBG USB HSN EDBG_USB_HS_N EDBG_USB_HS_N EDBG_USB_HS_N
4 EDBG ID2 EDBG_ID2/EXT1_1 EDBG_PB01 EDBG
5 NC NC NC NC
6 EDBG ID1 EDBG_ID1		EDBG_PA28	EDBG
7	MCU USB DP	TARGET_USB_HS_P	PA25	USB_DN
8 TARGET USB VBUS VCC_TARGET_USB_P5V0			NC NC
9	MCU USB DN	TARGET_USB_HS_N	PA24	USB_DP
10	EDBG USB VBUS	VCC_EDBG_USB_P5V0	VCC_EDBG_USB_P5V0	VCC_EDBG_USB_P5V0
11	TARGET_USB_ID	TARGET_USB_ID	NC NC
12	TEMP SDA	TEMP_SDA, EXT1_11	PA22	SERCOM3(PAD0)
13	TEMP SCL	TEMP_SCL, EXT_12	PA23	SERCOM3(PAD1)
14	FLASH SS	SPI_SS	PA21	SERCOM5(PAD3)
15	FLASH MISO	SPI_MISO, EXT1_17	PA20	SERCOM5(PAD2)
16	FLASH SCK	SPI_SCK, EXT1_18	PB17	SERCOM5(PAD1)
17	FLASH MOSI	SPI_MOSI, EXT1_16	PB16	SERCOM5(PAD0)
18	MCU GPIO1	EXT1_7(GPIO1)	PA19 (0)	I/O, EXTINT8(Encoder)
19	MCU GPIO2	EXT1_8(GPIO2)	PB08	I/O
20	MCU GPIO3	EXT_3	NC I/O
21	MCU GPIO4	NC(GPIO4)	NC I/O
22	MCU GPIO5	EXT1_5(GPIO5)	PB31	I/O
23	MCU GPIO6	EXT1_6(GPIO6)	PA17	I/O
24	MCU GPIO7	Temp_Alert(GPIO7) PB30 I/O
25	OCP	OCP(GPIO8)	PB03	I/O
26	EXT1 RXD	RXD_EXT1_13	PA13	SERCOM2(PAD1)
27	EXT1 TXD	TXD_EXT1_14	PA12	SERCOM2(PAD0)
28 PWM UH PWM_UH PA08 W00(TCC0)
29 PWM UL PWM_UL PA14 W04(TCC0)
30 PWM VH PWM_VH PA09 W01(TCC0)
31 PWM VL PWM_VL PA15 W05(TCC0)
32 PWM WH PWM_WH PA10 W02(TCC0)
33 PWM WL PWM_WL PA16 W06(TCC0)
34 MCU_GPIO8 EXT_15 PA02 AIN0 (ADC)
35 ATA RESET EXT1_4(GPIO10) NC I/O
36 ATA WD EXT1_10(GPIO11) NC I/O
37 ATA SLEEP EXT1_9(GPIO12) NC I/O
38 USHUNT_ADC USHUNT_ADC PB04 AIN12(ADC)
39 VSHUNT_ADC VSHUNT_ADC PB05 AIN13(ADC)
40 WSHUNT_ADC WSHUNT_ADC PA11 AIN19(ADC)
41 MOTOR VDC MOTOR_ADC PB02 AIN10(ADC)
42 BEMF U_ADC BEMF_UADC PB00 AIN8(ADC)
43 BEMF V_ADC BEMF_VADC PB01 AIN9(ADC)
44 BEMF_W_ADC BEMF_WADC PB06 AIN14(ADC)
45 BEMF UP BEMF_UP PA04 AIN0 (AC)
46 BEMF UN BEMF_UN PA05 AIN1 (AC)
47 BEMF VP BEMF_VP PA06 AIN2 (AC)
48 BEMF VN BEMF_VN PA07 AIN3 (AC)
49 BEMF WP BEMF_WP PB07 AIN0(AC1)
50 BEMF WN BEMF_WN PB07 AIN1(AC1)
51 HALL1 HALL1 PA03 EXTINT3
52 HALL2 HALL2 PA18 EXTINT2
53 HALL3 HALL3 PA28 EXTINT8
54 HALL TRX OE HALL_TRX_OE PB11 I/O
55 ENCODER_A ENCODER_A PB09 EXTINT9
56 ENCODER_B ENCODER_B PB10 EXTINT10
57 ENCODER_Z ENCODER_Z PB23 EXTINT7
58 ENCODER_EN ENCODER_EN PB22 I/O
59 NC NC NC NC
60 NC NC NC NC
61 NC NC NC NC

62 3V3 SUPPLY for MCU VCC_P VCC_TARGET_P3V3 NC
63 3V3 SUPPLY for MCU VCC_P VCC_TARGET_P3V3 NC
64 GND GND GND NC
65 GND GND GND NC
66 GND GND GND NC
67 GND GND GND NC

4. Hardware Revision History and Known Issues

4.1. Identifying Product ID and Revision

The revision and product identifier of ATSAMD21BLDC24V-STK can be found by looking at the sticker on the bottom side of the PCB. The identifier and revision are printed in plain text as A09-nnnn\rr, where nnnn is the identifier and rr is the revision. Also the label contains a 10-digit serial number unique to each kit assembly that contains the PCBs, motor and chassis.

The product identifier for ATSAMD21BLDC24V-STK is A09-2671.

4.2. Revision

Kit assembly revision for initial version is A09-2671/03. Known issues in this revision are:

- The driver board should be powered OFF when the user is changing the power supply selection switch or power supply selection jumper. Overall power consumption of the board seems to be increasing otherwise.

5. Product Compliance

RoHS and WEEE

The Atmel ATSAMD21BLDC24V-STK and its accessories are manufactured in accordance to both the RoHS Directive (2002/95/EC) and the WEEE Directive (2002/96/EC).

CE and FCC

The Atmel ATSAMD21BLDC24V-STK unit has been tested in accordance to the essential requirements and other relevant provisions of Directives:

• Directive 2004/108/EC (class B)
• FCC rules part 15 subpart B

The following standards are used for evaluation:

• EN 61326-1 (2013)
• FCC CFR 47 Part 15 (2013)

The Technical Construction File is located at:

Atmel Norway
Vestre Rosten 79
7075 Tiller
Norway 

Every effort has been made to minimize electromagnetic emissions from this product. However, under certain conditions, the system (this product connected to a target application circuit) may emit individual electromagnetic component frequencies which exceed the maximum values allowed by the above-mentioned standards. The frequency and magnitude of the emissions will be determined by several factors, including layout and routing of the target application with which the product is used.

6. Revision History

Doc. Rev. Date Description
42681A 02/2016 Initial document release.

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© 2016 Atmel Corporation. / Rev.: Atmel-42681A-SMART-ARM-based-Motor-Control-Kit_User Guide-02/2016

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