ATSAMD21E16LMOTOR - Electronic component Microchip - Free user manual and instructions

Product Type	Microcontroller with motor control support
Brand	Microchip
Model	ATSAMD21E16LMOTOR
Architecture	ARM Cortex-M0+ 32-bit
Maximum Clock Speed	48 MHz
Flash Memory	64 KB
SRAM	8 KB
Operating Voltage	1.62 V to 3.63 V
Package Type	TQFP-32 (typical)
Digital I/O Pins	26 (up to)
Analog Inputs	10-channel 12-bit ADC
DAC	1-channel 10-bit
PWM Channels	Up to 18
Motor Control Features	Built-in PWM and fault protection for BLDC motors
Low Power Modes	Idle, Standby, Sleep
Operating Temperature Range	-40°C to +85°C
Maintenance & Cleaning	No regular maintenance required; avoid moisture and static discharge.
Safety Precautions	Use ESD protection when handling; follow voltage ratings.
Spare Parts & Repairability	Non-repairable component; replace if faulty.
General Information	Designed for embedded motor control applications.

Frequently Asked Questions - ATSAMD21E16LMOTOR Microchip

What is the ATSAMD21E16LMOTOR and what is it used for?

The ATSAMD21E16LMOTOR is a microcontroller from Microchip featuring an ARM Cortex-M0+ core. It is specifically optimized for motor control applications, providing built-in PWM modules and fault protection for BLDC motors.

How do I program the ATSAMD21E16LMOTOR?

You can program it using Microchip's MPLAB X IDE or Atmel Studio with a programmer/debugger such as Atmel-ICE or a bootloader via UART or USB. The device supports SWD (Serial Wire Debug) interface.

What is the maximum supply voltage for this microcontroller?

The operating voltage range is 1.62V to 3.63V. Absolute maximum ratings are -0.5V to +4.0V. Exceeding these may damage the device.

Can I use this microcontroller with a 5V system?

No, the ATSAMD21E16LMOTOR is not 5V-tolerant on its I/O pins. Level shifters are required to interface with 5V logic.

Does the ATSAMD21E16LMOTOR have a built-in bootloader?

Yes, it comes pre-programmed with a USB bootloader that allows firmware updates via USB without an external programmer. This bootloader is stored in a protected section of flash.

What are the low-power capabilities of this device?

The device supports multiple low-power modes: Idle (CPU stopped, peripherals running), Standby (fast wake-up), and Sleep (deep sleep with few peripherals). Typical current consumption in sleep mode is around 2 µA.

How many PWM channels are available for motor control?

It provides up to 18 PWM channels, with dedicated timer/counter modules that can be configured for complementary outputs, dead-time insertion, and fault protection ideal for driving three-phase BLDC motors.

What is the recommended PCB layout for this microcontroller?

Use a solid ground plane, place decoupling capacitors (0.1 µF and 10 µF) close to the VDD pin, and keep analog and digital traces separate. Follow Microchip's application notes for motor control designs.

Where can I find the datasheet and reference design?

The complete datasheet, application notes, and reference designs are available on Microchip's official website at www.microchip.com. Search for 'ATSAMD21E16LMOTOR' or 'SAM D21 Motor Control'.

What are the common failure modes?

Common failures include overvoltage (>3.63V), ESD damage during handling, and reverse polarity. Always use proper ESD protection and adhere to the specified voltage range.

USER MANUAL ATSAMD21E16LMOTOR Microchip

1. Product Compliance.... 12

2. Identifying Product ID and Revision....13

3. Revision....14

4. Document Revision History.... 15

1. ATSAMD21E16L Microcontroller Card for Atmel Motor Control Starter Kit

The ATSAMD21E16LMOTOR is an MCU card for Atmel ^® Motor control starter kits. The hardware has the Atmel | SMART ARM ^® -based MCU, ATSAMD21E16L, with integrated on-board debug support. The MCU card can be directly used with the currently available ATSAMD21BLDC24V-STK ^® , 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. Supported by the Atmel studio integrated development platform, the kit provides easy access to the features of ATSAMD21E16L MCU and explains how to integrate the device in a custom motor control application. Plug-able MCU cards are available from Atmel, supporting other SMART ARM MCUs.

Atmel SMART 5000000 Atmel SMART unlock lock ATSAMD21E16LMOTOR MCU card

2. ATSAMD21E16LMOTOR Features

ATSAMD21E16LMOTOR has the following features:

• Debug support using on-board Atmel EDBG device
• TCC PWM signals for three-phase half-bridge drive
  • ADC channels for common shunt and individual shunt phase current sensing
  • ADC channels for motor BEMF sensing
  • AC channels for BEMF signals
  • EXTINT hall sensor interface
  • EXTINT encoder sensor interface
• Atmel Xplained PRO extension signals support
  • Communication and Power status LEDs

3. ATSAMD21E16LMOTOR Kit Content

ATSAMD21E16LMOTOR Kit contains ATSAMD21E16L MCU card that is pre-programmed with hall sensor based block commutation firmware for the ATSAMD21BLDC24V-STK setup. Quick start guide can be found in , ATSAMBLDC24V-STK User quide user guide for Atmel Low voltage BLDC motor control kit. . A nylon snap lock is attached to the MCU card that can be rotated to attach the card to the Driver base board in ATSAMD21BLDC24V-STK.

Figure 3-1. ATSADM21E16LMOTOR Kit Content

ATSAMD21E16LMOTOR PCB Atmel SMART ATSAMD21E16LMOTOR J201 J200 VTG TMS TDO TDI RST TCK BOOT GND VCC GND CORTEX D8G MOLOWR QNO SNAP lock unlock lock

4. Design Documentation and Relevant Links

The following list contains links to the most relevant documents and software for ATSAMD21E16LMOTOR:

• ATSAMD21E16LMOTOR - Product page.
• ATSAMD21E16LMOTOR User Guide - PDF version of this User Guide.
• ATSAMD21BLDC24V-STK - Product page.
- ATSAMBLDC24V-STK User guide - User guide for Atmel Low voltage BLDC motor control kit. It contains the quick start guide instructions and driver board descriptions.
- 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.
- 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.
• ATSAMD21E16L - MCU datasheet.

5. ATSAMD21E16L MCU Board

The main components on the ATSAMD21E16LMOTOR MCU card are highlighted in the PCB and block diagram given below.

Figure 5-1. MCU Board PCB

Atmel SMART ATSAMD21E16LMOTOR WH WL VH VL UH UL GND NGFF Expansion card interface PWM to FET driver MCU-PWR BOARD power LED SAMD21E16L EDBG - debug MCU Cortex Header DGI UART JUMPER RESET Switch RESET GND PWR STA J201 J200 VTG TDI TCK GND GND CORTEX DBG GND

Figure 5-2. MCU Board Block Diagram

graph TD
    A["DRIVER BOARD"] --> B["SAMD21J18A"]
    B --> C["EDBG"]
    C --> D["Power LED"]
    C --> E["Status LED"]
    C --> F["MCU voltage sense"]
    B --> G["Board-power RED LED"]
    B --> H["RESET switch"]
    B --> I["Cortex debug header"]
    B --> J["67pin NGFF interface"]
    J --> K["EDBG USB"]
    K --> C
    B <--> L["SWD"]
    B <--> M["SERCOM"]

5.1. Power Supply

The ATSAMD21E16LMOTOR 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.

5.2. Main MCU Circuit

The ATSAMD21E16LMOTOR has an ATSAMD21E16L device. The device is intended to work with the MCU internal clock source. An external reset switch is connected to the MCU RESET pin.

5.3. Embedded Debugger

The ATSADM21E16L 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. The SERCOM3 of the ATSAMD21E16L connected to the EDBG device, supports the DGI SPI interface and uses the Atmel ADP protocol. The MCU SERCOM3 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.

5.4. 67-pin MCU-DRIVER Board Interface

MCU pins are connected to the 67-pin interface header as given in the table below. The MCU card can be used with the Motor control driver kits from Atmel. The table given below describes the interface with Atmel low voltage motor control starter kit. Signals indicated by "||" are jumper connected pins that share

another directly connected functionality. The normally-open jumper needs to be shorted in the PCB in order to access these additional features.

Table 5-1. ATSAMBLDC24V-STK driver board, ATSAMD21E16LMOTOR MCU Board Interface

PIN LV INTERFACE Name LV		DRIVER BOARD function	SAM D21E16L PIN D21E16L FUNCTION
1 EDBG USB HSP EDBG USB		EDBG_DPHS EDBG_USB_HS_P
2 NC	NC NC NC
3 EDBG USB HSN EDBG USB		EDBG_DMHS EDBG_USB_HS_N
4 EDBG ID2 EDBG_ID2/EXT1_1 EDBG PB01 EDBG ID2
5 NC	NC NC NC
6 EDBG ID1 EDBG_ID1 EDBG PA28 EDBG ID1
7	MCU USB DP	TARGET_USB_HS_P	PA25	MCU_USB_P
8 TARGET USB VBUS VCC_TARGET_USB_P5V0			PA27	MCU USB VBUS SENSE
9 MCU USB DN TARGET_USB_HS_N PA24			MCU_USB_N
10	EDBG USB VBUS	VCC_EDBG_USB_P5V0	EDBG A10	EDBG USB VBUS SENSE
11	TARGET_USB_ID	TARGET_USB_ID	NC NC
12	TEMP SDA	TWI_SDA, EXT1_11	NC NC
13	TEMP SCL	TWI_SCL, EXT_12	NC NC
14	FLASH SS	SPI_SS	NC NC
15	FLASH MISO	SPI_MISO, EXT1_17	NC NC
16	FLASH SCK SPI_SCK, EXT1_18 NC NC
17	FLASH MOSI	SPI_MOSI, EXT1_16	NC NC
18	MCU GPIO1	EXT1_7(GPIO1)	NC NC
19	MCU GPIO2	EXT1_8(GPIO2)	NC NC
20	MCU GPIO3	EXT_3	NC NC
21	MCU GPIO4	NC(GPIO4) NC NC
22	MCU GPIO5	EXT1_5(GPIO5)	NC NC
23	MCU GPIO6	EXT1_6(GPIO6)	NC NC
24	MCU GPIO7	Temp_Alert(GPIO7)	NC	NC
25	OCP	OCP(GPIO8)	PB03	GPIO
26	EXT1 RXD	UART RXD_EXT1_13	PA19	SERCOM1(PAD3)
27	EXT1 TXD	UART TXD_EXT1_14	PA18||	SERCOM1(PAD2)
28	PWM UH	FET Driver	PA08	TCC0(WO0)
PIN LV INTERFACE Name LV DRIVER BOARD function			SAM D21E16L PIN D21E16L FUNCTION
29 PWM UL FET Driver PA14		TCC0(WO4)
30 PWM VH FET Driver PA09		TCC0(WO1)
31 PWM VL FET Driver PA15		TCC0(WO5)
32 PWM WH FET Driver PA10		TCC0(WO2)
33 PWM WL FET Driver PA16		TCC0(WO6)
34 MCU_GPIO8(ISENSE_COMMON)		EXT_15 PA02|| ADC(AIN0)
35 ATA RESET EXT1_4(GPIO10) NC			NC
36 ATA WD		EXT1_10(GPIO11) NC	NC
37 ATA SLEEP		EXT1_9(GPIO12) NC	NC
38	USHUNT_ADC	Current sense	PB04||	ADC(AIN12)
39	VSHUNT_ADC	Current sense	PB05||	ADC(AIN13)
40	WSHUNT_ADC	Current sense	PA11	ADC(AIN7)
41 MOTOR VDC (VSENSE)		MOTOR_ADC	PB02	ADC(AIN10)
42 BEMF U_ADC		BEMF sense ADC	PA04 ADC(AIN4)
43 BEMF V_ADC		BEMF sense ADC	PA05 ADC(AIN5)
44 BEMF_W_ADC		BEMF sense ADC	PA06 ADC(AIN6)
45	BEMF UP	BEMD sense AC	PA04 ||	AC0(AIN0)
46	BEMF UN	BEMD sense AC	PA05 ||	AC0(AIN1)
47 BEMF VP BEMD sense AC		PA06 ||	AC0(AIN2)
48	BEMF VN	BEMD sense AC	PA07 ||	AC0(AIN3)
49 BEMF WP		BEMD sense AC	PB04	AC1(AIN0)
50 BEMF WN		BEMD sense AC	PB05	AC1(AIN1)
51 HALL1		Hall interface	PA03 EXTINT3
52 HALL2		Hall interface	PA02 EXTINT2
53 HALL3		Hall interface	PA07 EXTINT7
54 HALL TRX OE		HALL_TRX_OE	NC	NC
55 ENCODER_A		Encoder Interface NC	NC
56 ENCODER_B		Encoder Interface NC	NC
57 ENCODER_Z		Encoder Interface NC	NC
58 ENCODER_EN		ENCODER EN	NC	NC
59 NC		NC	NC	NC

PIN LV INTERFACE Name LV DRIVER BOARD function		SAM D21E16L PIN D21E16L FUNCTION
60 MCU BRAKE NC NC NC
61 NC NC NC NC
62 3V3 SUPPLY for MCU VCC_P 3V3 SUPPLY for MCU 3V3 SUPPLY for MCU
63 3V3 SUPPLY for MCU VCC_P 3V3 SUPPLY for MCU 3V3 SUPPLY for MCU
64 GND GND GND GND
65 GND GND GND GND
66 GND GND GND GND
67 GND GND GND GND

6. Product Compliance

RoHS and WEEE

The Atmel ATSAMD21E16LMOTOR 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 ATSAMD21E16LMOTOR 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.

7. Identifying Product ID and Revision

The revision and product identifier of the ATSAMD21E16LMOTOR 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 unique serial number.

The product identifier for ATSAMD21E16LMOTOR is A09-2684.

8. Revision

Kit assembly revision for initial version is A09-2684/04. There are no known issues in this revision.

9. Document Revision History

Doc. rev. Date Comment

42747A 08/2016 Initial document release

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© 2016 Atmel Corporation. / Rev.: Atmel-42747A-ATSAMD21E16LMOTOR_User Guide-08/2016

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