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Copyright ©2016 Zilog Inc. All rights reserved. www.zilog.com User Manual MultiMotor Series Development Kit ZNEO CPU-Based Motor Control UM026204-0616 MultiMotor Series MultiMotor Series

MultiMotor Series Development Kit User Manual ii DO NOT USE THIS PRODUCT IN LIFE SUPPORT SYSTEMS. LIFE SUPPORT POLICY ZILOG’S PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYSTEMS WITHOUT TH E EXPRESS PRIOR WRITTEN APPROV AL OF THE PRESIDENT AND GENERAL COUNSEL OF ZILOG CORPORATION. As used herein Life support devices or systems are devices which (a) are intended for surgical implant into the body, or (b) support or sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the labeling can be reasonably expected to result in a significant injury to the user. A criti- cal component is any component in a life support device or system whose failure to perform can be reason- ably expected to cause the failure of the life support device or system or to affect its safety or effectiveness. Document Disclaimer ©2016 Zilog, Inc. All rights reserved. Information in this publication concerning the devices, applications, or technology described is intended to suggest possible uses and ma y be superseded. ZILOG , INC. DOES NOT ASSUME LIABILITY FOR OR PROVIDE A REPRESENTATION OF ACCURACY OF THE INFORMATION, DEVICES, OR TECHNOLOGY DESCRIBED IN THIS DOCUMENT. ZILOG ALSO DOES NOT ASSUME LIABILITY FOR INTELLECTUAL PROPERTY INFRINGEMENT RELATED IN ANY MANNER TO USE OF INFORMATI ON, DEVICES, OR TECHNOLOGY DESCRIBED HEREIN OR OTHERWISE. The information contained within this document has been verified according to the general principles of electrical and mechanical engineering. ZNEO is a trademark or registered trademark of Zi log, Inc. All other product or service names are the property of their respective owners. Warning:

MultiMotor Series Development Kit User Manual iii

Revision History

Each instance in the Revision History table below reflects a change to this document from its previous version. Date Revision Level Description Page No Jun 2016

04 Added Z32F128 Module description and features 5, 9,

11, 14, 30, 31 Jan 2015 03 Corrected footer in Appendix. 26-33 Oct 2014

02 Updated throughout based on debundling of the Opto-Isolated SmartCables

from the MultiMotor Series development kits. All Oct 2013

01 Original issue n/a

UM026204-0616 Table of Contents MultiMotor Series Development Kit User Manual iv Table of Contents V External V

UM026204-0616 Table of Contents MultiMotor Series Development Kit User Manual v

Table 2. MultiMotor Series Development Boar d Signals to the Z16FMC MCU Module Table 7. V Table 11. Connectors, Jumpers, and Contro ls on the MultiMotor Series Development Table 14. External V Table 16. V

UM026204-0616 Introduction MultiMotor Series Development Kit User Manual Introduction Zilog’s MultiMotor Series Development Kit (ZMULTIMC100ZCOG) aids in the develop- ment of motor control applications using an assortment of Zilog MCUs aimed at the motor control environment. It provides an application-specific platform for creating a design using a Zilog motor control MCU. This development platform features a 3-phase MultiM- otor Series Development Board connected to a Zilog MCU Module, which is available separately. A 24 V DC/3200 RPM 3-phase motor is included with the Kit. Several motor types are supported, including BLDC, PMSM, and ACIM. Control algorithms including sensored, trapezoidal, sinusoidal, Field Oriented Control (FOC), and sensorless block commutation are also supported in this MultiMotor Series. This version of the MultiMotor Series Development Kit does not include a MultiMotor Series MCU Module, which must be purchased separately to use this kit. Each of Zilog’s MultiMotor Series MCU modules features a different Zilog MCU capable of motor control and contains a debug connector to connect the board to a host development PC via an opto-isolated USB Smart- Cable. Kit Features The key features of the MultiMotor Series Development Kit include:

  • 3-phase MultiMotor Series Development Board capable of driving multiple motor types
  • Multiple MCU modules using different Zilog microcontrollers designed specifically for motor control (must be ordered separately)
  • 3-phase, 24 V DC, 30 W, 3200 RPM motor with Internal Hall Sensors capable of run- ning in Sensored or Sensorless modes
  • UART-to-USB adapter with opto-isolator
  • Universal 24 V AC/DC power supply
  • USB SmartCable with opto-isolator (must be ordered separately) For MultiMotor Series Development Kit installation and setup instructions, refer to the MultiMotor Series Development Kit Quick Start Guide (QS0091). This document is avail- able free for download from zilog.com. Note:

Environment (IDE), and to the 3-Phase MultiMotor Series Development Board. Z32F128 MCU was accomplished with Keil MDK version 5.20. Figure 3. A Zilog Z16FMC MCU Module

MultiMotor Series Development Kit User Manual MCU Module Features The features of the MCU Module include:

  • A Zilog MCU specifically designed for motor control applications
  • Two SPDT switches to control DIRECTION and STOP/RUN
  • One 5K potentiometer to control SPEED
  • Green LED (illuminates when power is applied to the Board)
  • General-purpose LEDs
  • UART port
  • 6-pin DBG interface
  • Spansion SPI 32 MB Flash Memory for datalogging on some modules
  • 30-pin header for connecting to the 3-phase MultiMotor Series Development Board
  • Multiple headers to allow easy access to all pertinent signals Z32F128 MCU The Z32F128 MCU, a member of the ZNEO32! Family of microcontrollers, is a cost- effective and high-performance 32-bit microcontroller. The Z32F128 MCU provides 3- phase PWM generator units which are suitable for inverter bridges, including motor drive systems. The two built-in channels of these generators control two inverter motors simul- taneously. The key features of the Z32F128 MCU include:
  • High performance low-power Cortex-M3 core
  • 128 KB code Flash memory with cache function
  • 12 KB SRAM
  • 3-Phase Motor PWM with ADC triggering function –2 c h a n n e l s
  • 1.5Msps high-speed ADC with burst conversion function – 2 or 3 units with 16 channel input
  • Built-in Programmable Gain Amplifier (PGA) for ADC inputs –4 c h a n n e l s
  • Built-in analog comparator –4 c h a n n e l s
  • System fail-safe function by clock monitoring
  • XTAL OSC fail monitoring

MultiMotor Series Development Kit User Manual

  • Precision internal oscillator clock (20MHz ± 3%, and up to 80 MHz using PLL)
  • Watchdog timer
  • Six general purpose timers
  • Quadrature encoder counter
  • External communication ports: 4 UARTs, 2 I2Cs, 2 SPIs
  • High current driving port for UART photo couplers
  • Debug and emergency stop function
  • Real-time monitoring function support for more effective development
  • JTAG and Serial Wire Debug (SWD) in-circuit debugger
  • Various memory size and package options – LQFP-80, LQFP-64
  • Industrial grade operating temperature (-40 ~ +85°C) To learn more about the Z32F128 MCU, refer to the Z32F128 MCU Product Specification (PS0345). Z16FMC Series MCUs The Z16FMC Series Flash microcontroller is based on Zilog’s advanced ZNEO 16-bit CPU core. Optimized for motor control applications, these devices support the control of single- and multi-phase variable-speed motors. Target applications are large appliances, small appliances, and HV AC. The key features of the Z16FMC MCU include:
  • 20 MHz, 16-bit optimized single-cycle CISC core
  • Up to 128 KB of in-circuit programmable Flash memory
  • 4 KB internal RAM with 16-bit access
  • Highly integrated digital/analog peripherals: – 12-bit PWM module with three complementary pairs or six independent PWM outputs – Fast 12-channel, 10-bit Analog-to-Dig ital Converter (ADC) for current sampling and back-EMF detection – Three standard 16-bit timers with capture, compare, and PWM capability – Analog comparator for current limiting or overcurrent shutdown – Operational amplifier – 4-channel DMA Controller

MultiMotor Series Development Kit User Manual – Flexible communication in terface including a UART with LIN and IrDA, I2C, and ESPI

  • Oscillator supports either internal IPO or external crystals and ceramic resonators
  • Up to 46 General-Purpose Input/Output (GPIO) pins
  • V oltage Brown-Out/Power-On Reset (VBO/POR)
  • Watchdog Timer (WDT) with internal RC oscillator
  • Single-pin on-chip debugger To learn more about the Z16FMC MCU, refer to the Z16FMC Series Motor Control Prod- uct Specification (PS0287) or the Z16FMC Series Flash Microcontroller Product Brief (PB0229). Each of these documents is available free for download from zilog.com. Z8FMC16100 Series MCUs The Z8FMC16100 Series Flash microcontrollers, a part of the Z8 Encore! MC™ family of motor control devices are based on Zilog’s advanced eZ8 8-bit CPU core. Optimized for motor control applications, these devices support the control of single and multi-phase variable-speed motors. Target applications are large appliances, small appliances, and HV AC. The key features of the Z8FMC16100 MCU include:
  • 20 MHz Zilog eZ8 CPU core
  • Up to 16 KB Flash program memory
  • 512 B Register SRAM
  • Highly-integrated digital/analog peripherals: – 12-bit pulse-width modulator (PWM) modu le with three complementary pairs or six independent PWM outputs with dead-band generation and fault trip input – 8-channel 10-bit Analog-to-Digital Co nverter (ADC) for current sampling and back-EMF detection – 16-bit timer with capture, compare, and PWM capability – Analog comparator for current limiting or overcurrent shutdown – Operational amplifier – Flexible communication in terface including a UART with LIN and IrDA, I 2C, and ESPI
  • Oscillator supports either internal IPO or external crystals and ceramic resonators
  • Up to 17 General-Purpose Input/Output (GPIO) pins

MultiMotor Series Development Kit User Manual

  • V oltage Brown-Out/Power-On Reset (VBO/POR)
  • Watchdog Timer (WDT) with internal RC oscillator
  • Single-pin on-chip debugger To learn more about the Z8FMC16100 MCU, refer to the Z8FMC16100 Series Product Specification (PS0246) or the Z8FMC16100 Series Product Brief (PB0166). Each of these documents is available free for download from zilog.com. Z51F3220 MCU The Z51F3220 MCU, a member of Zilog’s new Z8051 product family, is an advanced CMOS 8-bit microcontroller with 32 KB of Flash memory. This powerful microcontroller provides a highly flexible and cost-effective solution to many embedded control applica- tions, including motor control. The key features of the Z51F3220 MCU include:
  • 16 MHz high-performance 8-bit CISC core
  • Up to 32 KB Flash program memory
  • Highly-integrated digital/analog peripherals: – 10-bit pulse-width modulator (PWM) modu le with three complementary pairs of PWM outputs – 16-channel 12-bit Analog-to-Digital Co nverter (ADC) for current sampling and back-EMF detection – 16-bit timer with capture, compare, and PWM capability – Flexible communication inte rface including a UART, I2C, and SPI – LCD driver (21 segments/8 common)
  • Oscillator supports either internal RC oscillator or external crystals and ceramic reso- nators
  • Up to 42 General-Purpose Input/Output (GPIO) pins
  • V oltage Brown-Out/Power-On Reset (VBO/POR)
  • Watchdog Timer (WDT) with internal RC oscillator
  • Two-wire on-chip debugger To learn more about the Z51F3220 MCU, refer to the Z51F3200 Series Product Specifica- tion (PS0299) or the Z51FM3220MCU Series Product Brief (PB0239). Each of these doc- uments is available free for download from zilog.com.

names and descriptions for each of these MCU modules. Table 1. MCU Module Connectors, Jumpers, and Controls Fault0 NMI J1 J1 N/A Input to the MCU (active Low). CS1+ PA3 J3 J3 J4 Current Sense 1: Positive. CS1– N/A J4 J4 J5 Current Sense 1: Negative. CS2+ J2 J5 N/A N/A Current Sense 2: Positive. CS2– J2 J6 N/A N/A Current Sense 2: Negative. J7 J23 N/A ADC reference voltage. Temperature PA1 J8 J5 J7 Temperature reference signal. COMPOUT N/A J9 N/A J12 Comparator output. CPINN N/A J10 N/A N/A Comparator input: Negative. J11 J8 N/A Comparator input: Positive. OPOUT N/A J12 J9 J9 Op-amp output. Signal Header J13 J13 J10 J8 Provides access to various signals. Debug Connector J1 J14 J14 J10 Debug. 5 V J7 J15 N/A J14 5V DC header. IN J7 J16 J16 J13 Independent 5V input. Ground J9 J18 J18 J17, J19 Ground header. UART Connector J10 J19 J19 J18 Serial communication. R18 R11 R11 R12 To adjust motor speed. Fault1 N/A SW1 N/A N/A Switch to simulate a system fault.

ule. Figure 5 shows the header pin layout for the Z32F128 MCU Module. Direction Switch SW5 SW3 SW3 SW2 Controls motor direction. Stop/Run Switch SW6 SW4 SW4 SW3 Controls motor on/off. N/A N/A J21 N/A Jumper: UART or Flash operation. LCD Connector N/A N/A N/A J15, J16 Optional LCD connector. I2C Connector N/A N/A N/A J20 4 pins for I 2C communication. Figure 4. MultiMotor Series Development Board Connector, Z16FMC MCU Module Table 1. MCU Module Connectors, Jumpers, and Controls (Continued)

Figure 5. MultiMotor Series Development Board Connector, Z32F128 MCU Module Table 2. MultiMotor Series Development Board Signals to the Z16FMC MCU Module CC_5VM 11 N/A 5V DC power to the MCU Module. VBUS_M 13 I Analog input to the ADC proportional to the VBUS voltage. ENABLE 15 O Enables the V BUS relay.

VCC_5VM 17 N/A 5V DC power to MCU Module. CS1+ 20 I Analog input to the ADC related to monitoring motor current. CS1- 22 I Analog input to the ADC related to monitoring motor current. CS2+ 24 I Analog input to the ADC: not generally used. CS2- 26 I Analog input to the ADC: not generally used. CC_3v3 30 N/A 3.3V DC power supplied to the Development Board. Table 2. MultiMotor Series Development Board Signals to the Z16FMC MCU Module (Continued)

Table 3 identifies the signals headers and their pin functions for each MCU Module. conjunction with ZDS II for programming and debug operations on the MCU Modules. Figure 8 shows the debug connector’s pin layout for the Z16FMC MCU Module. Table 3. Signal Header Pin Outputs

1 PWML0 PWML0 PWML0 PWML0

2 PWMH0 PWMH0 PWMH0 PWMH0

3 BEMF_A BEMF_A BEMF_A BEMF_A

4 PWMH1 PWMH1 PWMH1 PWMH1

5 PWML1 PWML1 PWML1 PWML1

6 BEMF_B BEMF_B BEMF_B BEMF_B

8 PWMH2 PWMH2 PWMH2 PWMH2

9 ENABLE ENABLE ENABLE ENABLE

10 PWML2 PWML2 PWML2 PWML2

11 BEMF_C BEMF_C BEMF_C BEMF_C

12 HSA HSA HSA HSA

13 HSB HSB HSB HSB

14 HSC HSC HSC HSC

15 N/A or NC PD6 NC TEMP

16 GROUND GROUND GROUND GROUND

Table 4 identifies the debug connector signals and their functions. Figure 8. Debug Connector, Z16FMC MCU Module Table 4. Debug Connector Signal Descriptions VCC_3v3 1 N/A 3.3 V DC Power.

Table 6 identifies the I2C connector pin signals and their functions.

5 VIN Connector

bench power supply without being attached to the MultiMotor Series Development Board. ground, as indicated in Table 1 on page 9. This section presents multiple settings for the MCU Modules’ jumpers and switches. from the MCU, as indicated in Table 7. Table 6. I2C Connector

access to the UART or to SPI memory, as indicated in Table 9. system may not function properly. operating in Sensored or Sensorless modes, as indicated in Table 10. system may not function properly. Table 8. VBUS Enable Port Table 9. UART Flash Select Jumper Settings Table 10. Sensor Select Jumper Settings

MultiMotor Series Development Kit User Manual Reset Switch This switch resets the MCU. Stop/Run Switch This switch is used to turn the 3-phase motor ON and OFF. Direction Switch This switch is used to change the 3-phase motor’s direction of rotation. This direction of rotation is determined by viewing the motor from the shaft end, and is designated as Clockwise (forward) or Counterclockwise (reverse). Speed Potentiometer This switch is used to adjust the 3-phase motor’s number of revolutions per minute (RPM). Fault1 Switch Using this switch can simulate a system fault to the MCU. Note:

  • Electronics provided to run the motor in Sensored or Sensorless modes
  • Five terminal screw connectors for the Hall sensors
  • 30-pin header for connection to the MCU Module
  • On-board temperature sensor
  • 24 V DC, 30 W universal power adapter to provide a single power supply connection (a bench-top power supply is not required for most applications)
  • On-board power converters to supply proper voltages for the motor bus, gate drivers, USB, and electronics
  • 2 A fuse for bus power
  • Relay to enable/disable motor bus voltage
  • Two terminal screw connectors for optional external bus voltage supply up to 48 V
  • Two terminal screw connectors for ACIM tachometer inputs for speed monitoring and control Connectors, Headers, Jumpers, and Switches Multiple connectors, controls, and monitoring points are included on the MultiMotor Series Development Board to allow easy monitoring and modification to fit user require- ments. Table 11 lists signal names and descriptions.

Table 11. Connectors, Jumpers, and Controls on the MultiMotor Series Development Board Motor Driver Connector J1 3-phase power connections to the motor. Hall Sensor Connection J3 5-terminal screw connector for motor position sensors. Motor Select J4 Jumper to select be tween BLDC and ACIM motor types. ACIM Connection J5 Tachometer input from an AC induction motor. CS2 J6 Current Sense 2 connections (optional). External Power Connector J7 Independent external bus voltage input (< 48V DC). External VBUS Select J9 Jumper to select bus volt age source: internal or external.

11 identifies the signals and their functions. tor pins and their descriptions. connector pins and their descriptions. Ground J13, J14 Ground header. 24 V DC In P1 24 V DC input from AC/DC adapter. Table 12. 3-Phase Power Connector Phase_A 1 Phase A motor connection. Phase_B 2 Phase B motor connection. Phase_C 3 Phase C motor connection. Table 13. Hall Sensor Connector

Table 14 identifies the external VBUS power connector pins and their descriptions. J11 in order to power the gate drivers and electronics. Bus V oltages higher than 48V DC may damage the Board and components. Figure 12. External Power Connector Table 14. External VBUS Power Connector

Do not use bus voltages higher than 24V DC with the Linix motor supplied with this kit. This section describes the jumper and switch settings. External position. Refer to Table 16 for details. that this hardware not be used with motors that exceed these specifications. Table 15. Motor Type Jumper Table 16. VBUS Selection Jumper

24 V (Internal) X

UM026204-0616 MultiMotor Series Development Board MultiMotor Series Development Kit User Manual Power MOSFETs and Gate Drivers Each of the phase outputs on the three-terminal connector J1 are driven by a pair of power MOSFETs, one for the high side and one for the low side. A gate driver circuit is associ- ated with each pair of power MOSFETs.

UM026204-0616 ZDS II IDE Support MultiMotor Series Development Kit User Manual ZDS II IDE Support The Zilog Developer Studio II (ZDS II) Integrated Development Environment (IDE) is a complete stand-alone system that provides a state-of-the-art development and debug envi- ronment. Based on the Windows® XP/Vista-32/Win 2000-SP4 user interfaces, ZDS II inte- grates a language-sensitive editor, a project manager, a C-Compiler, an assembler, linker, and librarian, and a source-level symbolic debugger that supports the Z16FMC (ZNEO) and Z8FMC16100 (Z8 Encore!) series of devices. ZDS II can be downloaded for free from the Zilog Store. The Z32F128 ARM Cortex MCU development is supported with third party development tools Keil MDK, IAR, and GCC for ARM Embedded. All of Zilog’s development for the Z32F128 MCU was accomplished with Keil MDK version 5.20. The Z8051 MCU development was performed with the Keil C8051 development environ- ment. Note:

to power and access internal sensors, as indicated in Table 17.

  1. The sensor wires are slightly smaller in diameter than the motor phase wires.
  2. The Linix 45ZWN24 30 W motor provided w ith this kit is a relatively simple, low-

optimized for that particular motor. Table 17. Motor Wiring Information 20 gauge white wire Motor Phase_A connection. 20 gauge blue wire Motor Phase_B connection. 20 gauge green wire Motor Phase_C connection. 22 gauge red wire Sensor Power. 22 gauge black wire Sensor Ground. 22 gauge white wire Sensor Signal_A connection. 22 gauge blue wire Sensor Signal_B connection. 22 gauge green wire Sensor Signal_C connection.

Figures 13 and 14 present schematic diagrams of the MultiMotor Series Development Board. Figure 13. MultiMotor Series Development Board Schematic, #1 of 2

2 POS

Figure 14. MultiMotor Series Development Board Schematic, #2 of 2

Figures 15 and 16 show schematic diagrams of the Z32F128 MCU Module. Figure 15. Z32F128 MCU Module Schematic, #1 of 2 should be replaced with 0 Ohm resistors.

8 MHZ

0 Ohm

Figure 16. Z32F128 MCU Module Schematic, #2 of 2

Figures 17 and 18 show schematic diagrams of the Z16FMC MCU Module. Figure 17. Z16FMC MCU Module Schematic, #1 of 2 PLACE J3 - J12 WHERE THE ROUTING ALLOWS.

3 J101

Figure 18. Z16FMC MCU Module Schematic, #2 of 2

Figures 19 and 20 show schematic diagrams of the Z8FMC16100 MCU Module. Figure 19. Z8FMC16100 MCU Module Schematic, #1 of 2 PLACE J3 - J6, J8, J9 WHERE THE ROUTING ALLOWS.

Figure 20. Z8FMC16100 MCU Module, #2 of 2

Figures 21 and 22 show schematic diagrams of the Z51F3220 MCU Module. Figure 21. Z51F3220 MCU Module Schematic, #1 of 2

Figure 22. Z51F3220 MCU Module Schematic, #2 of 2

1 LCD1

UM026204-0616 Customer Support MultiMotor Series Development Kit User Manual Customer Support To share comments, get your technical questions answered, or report issues you may be experiencing with our products, please visit Zilog’s Technical Support page at sup- port.zilog.com. To learn more about this product, find additional documentation, or to discover other fac- ets about Zilog product offerings, please visit the Zilog Knowledge Base or consider par- ticipating in the Zilog Forum. This publication is subject to replacement by a later edition. To determine whether a later edition exists, please visit the Zilog website at www.zilog.com.