MCF2407

MCF240X-BL Brushless Motor Control Firmware

MCF240X-BL is a set of DSP firmware (software) modules necessary to control brushed DC and 3 phase brushless motors. Written in assembly language for TMS320LF240X series (Texas Instruments) DSP micro-controller, the firmware can run on any other TI C2XX family target system with appropriate changes in hardware-specific portions. It is composed of various real-time and non-real-time procedures necessary to configure, control and monitor the operation of the motor drive system. Operation can be easily programmed to suit various system configurations such as

§ 6-step, Trapezoidal or Sinusoidal operation

§ Bus current feedback or phase current feedback

§ Various feedback options (Hall sensors, Encoders, etc.)

§ Torque, velocity, or position mode operation

§ Velocity profile generation

§ Digital phase current regulator

Some of the notable features of the firmware are as follows:

§ ASCII communication via serial (RS-232) port for configuration, tuning,

command and monitoring

§ Assembly language programming for small code size (10 Kwords)
§ Flash memory – program can now be upgraded through serial port (No

   EPROM change)
§    On-board serial EEPROM for parameter storage
§    Programmable motor and feedback devices (# of poles, encoder

resolution)
§ Allows room for "intelligent motion control"

SELECTED LIST OF COMMANDS

A. Operational Commands

EN – Enable power stage	K – Kill power stage (coast to stop)
ALN – Align phase	J sxx – Jog at specified speed
T sxx – Torque	PA sxxxx – Absolute positional move
PR sxxxx - Relative positional move

B. Status Readouts

V: Current Velocity	T: Current (Average of 16 samples) Torque
P - Displays current position	PE - Displays current position error
ENC – Current mechanical angle

C. Mode Selection

MT x – Select Motor Type	MD x – Operational mode
RM x – Reference command mode	FBK x – Feedback sensor mode
IFB x – Current feedback type	NPP xx - Number of Pole Pairs of the Motor
NENC xx - Encoder Resolution	VEST x – Velocity estimation mode
IM x – Current regulator mode.	PWM x – PWM control mode in 6-step
SEQ x – Phase sequence direction.	HAM Hall sensor Polarity Mode
TDT xx – Dead-time.

D. Setup and Tuning Parameters

VMAX xx – Maximum velocity	AT xx – Acceleration time
VP xx – Reference speed during positional move	IMAX xx – Maximum allowable current.
IKP xx – Current-loop Proportional gain	IKI xx – Current-loop Integral gain
VKP xx – Velocity-loop Proportional gain	VKI xx – Velocity-loop Proportional gain
PKP xx – Position-loop Proportional gain	PKI xxx – Position-loop integral gain
FLP xxx – Set low-pass filter frequency

E. Load and Save Parameters

SAV: Save user parameters in EEPROM.

LEE: Load user parameters from EEPROM.

Drivetech Inc. | 25492 Carrington Drive, South Riding, VA 20152 | 703.327.2797